Graphics enhanced version of this site

Publications, Howie Choset

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• A Dynamic Single Actuator Vertical Climbing Robot
  A. Degani, A. Shapiro, H. Choset, and M. Mason
  Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, November, 2007, pp. 2901-2906. [Abstract]
  Download: pdf [420 KB] copyrighted

• Context Identification for Efficient Multiple-Model State Estimation
  S. Skaff, H. Choset, and A. Rizzi
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), No. 2, November, 2007, pp. 2435-2440. [Abstract]
  Download: pdf [279 KB] copyrighted

• Valet Parking Without a Valet
  D.C. Conner, H. Kress-Gazit, H. Choset, A. Rizzi, and G.J. Pappas
  Proceedings of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), IEEE, San Diego, CA, October, 2007, pp. 572-577. [Abstract]
  Download: pdf [187 KB] copyrighted

• Epicardial Atrial Ablation Using a Novel Articulated Robotic Medical Probe Via a Percutaneous Subxiphoid Approach
  T. Ota, A. Degani, B. Zubiate, A. Wolf, H. Choset, D. Schwartzman, and M.A. Zenati
  nnovations: Technology & Techniques in Cardiothoracic & Vascular Surgery, Vol. 1, No. 6, December, 2006, pp. 335-340. [Abstract]

• Integrated Planning and Control for Convex-bodied Nonholonomic systems using Local Feedback Control Policies
  D.C. Conner, H. Choset, and A. Rizzi
  tech. report CMU-RI-TR-06-34, Robotics Institute, Carnegie Mellon University, August, 2006. [Abstract]
  Download: pdf [1774 KB] copyrighted

• Integrated Planning and Control for Convex-bodied Nonholonomic Systems Using Local Feedback
  D.C. Conner, H. Choset, and A. Rizzi
  Proceedings of Robotics: Science and Systems II, MIT Press, Philadelphia, PA, August, 2006, pp. 57-64. [Abstract]
  Download: pdf [446 KB] copyrighted

• Motion Planning for Variable Inertia Mechanical Systems
  E.A. Shammas, H. Choset, and A. Rizzi
  In Proceedings of the International Workshop on the Algorithmic Foundations of Robotics, July, 2006.

• A Unified Approach to Gait Analysis and Generation for a General Class of Under-actuated Mechanical Systems
  E.A. Shammas, H. Choset, and A. Rizzi
  International Journal of Robotics Research, May, 2006.

• Geometric Gait Analysis and Generation for Two Classes of Under-actuated Mechanical Systems
  E.A. Shammas, H. Choset, and A. Rizzi
  International Journal of Robotics Research, May, 2006.

• Highly Articulated Robotic Probe for Minimally Invasive Surgery
  A. Degani, H. Choset, A. Wolf, and M.A. Zenati
  Proceedings of the 2006 IEEE International Conference on Robotics and Automation, IEEE, May, 2006, pp. 4167-4172. [Abstract]
  Download: pdf [846 KB] copyrighted

• Towards Provable Navigation and Control of Nonholonomically Constrained Convex-BodiedSystems
  D.C. Conner, H. Choset, and A. Rizzi
  Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006. [Abstract]
  Download: pdf [150 KB] copyrighted

• Towards Automated Gait Generation for Dynamic Systems with Non-holonomic Constraints
  E.A. Shammas, H. Choset, and A. Rizzi
  In Proceedings of the International Conference on Robotics and Automation (ICRA '06), April, 2006. [Abstract]
  Download: pdf [663 KB] copyrighted

• Percutaneous Intrapericardial Interventions Using a Highly Articulated Robotic Probe
  A. Degani, H. Choset, A. Wolf, T. Ota, and M.A. Zenati
  Proceedings of the 2006 IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, February, 2006, pp. 7 - 12. [Abstract]
  Download: pdf [657 KB] copyrighted

• Paint Deposition Modeling for Trajectory Planning on Automotive Surfaces
  D.C. Conner, A.L. Greenfield, P. Atkar, A. Rizzi, and H. Choset
  IEEE Transactions on Automation Science and Engineering, Vol. 2, No. 4, October, 2005, pp. 381 - 392. [Abstract]
  Download: pdf [1368 KB] copyrighted

• Natural Gait Generation Techniques for Principally Kinematic Systems
  E.A. Shammas, H. Choset, and A. Rizzi
  Proceedings of Robotics: Science and Systems, June, 2005. [Abstract]
  Download: pdf [962 KB] copyrighted

• Principles of Robot Motion: Theory, Algorithms, and Implementations
  H. Choset, K.M. Lynch, S. Hutchinson, G.A. Kantor, W. Burgard, L.E. Kavraki, and S. Thrun
  MIT Press, Cambridge, MA, June, 2005, p. 603. [Abstract]

• The hierarchical atlas
  B. Lisien, D. Morales, D. Silver, G.A. Kantor, I. Rekleitis, and H. Choset
  IEEE Transactions on Robotics, Vol. 21, No. 3, June, 2005, pp. 473 - 481. [Abstract]
  Download: pdf [835 KB] copyrighted

• A Context-Based State Estimation Technique for Hybrid Systems
  S. Skaff, A. Rizzi, H. Choset, and P. Lin
  Proceedings of the 2005 IEEE International Conference on Robotics and Automation, IEEE, April, 2005, pp. 3935-3940. [Abstract]
  Download: pdf [202 KB] copyrighted

• Natural Gait Generation Techniques for Purely Mechanical Systems
  E.A. Shammas, K. Schmidt, and H. Choset
  In Proceedings of International Conference on Robotics and Automation (ICRA '05), April, 2005, pp. 3664 - 3669. [Abstract]
  Download: pdf [887 KB] copyrighted

• Three Degrees-of-freedom joint for spatial hyper-redundant robots
  E.A. Shammas, A. Wolf, and H. Choset
  Journal of Mechanism and Machine Theory, April, 2005, pp. 170 - 190.
  Download: pdf [3301 KB] copyrighted

• Orientation Preserving Angular Swivel Joint
  E.A. Shammas and H. Choset
  US Patent Number 6,871,563, March, 2005.
  Download: pdf [1205 KB] copyrighted

• Arc carving: obtaining accurate, low latency maps from ultrasonic range sensors
  D. Silver, D. Morales, I. Rekleitis, B. Lisien, and H. Choset
  Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 2, May, 2004, pp. 1554 - 1561. [Abstract]
  Download: pdf [611 KB] copyrighted

• Development and deployment of a line of sight virtual sensor for heterogeneous teams
  R. Grabowski, P. Khosla, and H. Choset
  Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 3, May, 2004, pp. 3024 - 3029. [Abstract]
  Download: pdf [708 KB] copyrighted

• Bearing-only landmark initialization with unknown data association
  A. Costa, G.A. Kantor, and H. Choset
  Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 2, April, 2004, pp. 1764 - 1770. [Abstract]
  Download: pdf [526 KB] copyrighted

• Construction and Automated Deployment of Local Potential Functions for Global Robot Control and Navigation
  D.C. Conner, A. Rizzi, and H. Choset
  tech. report CMU-RI-TR-03-22, Robotics Institute, Carnegie Mellon University, November, 2003. [Abstract]
  Download: pdf [4316 KB], ps.gz [1904 KB] copyrighted

• A mobile hyper redundant mechanism for search and rescue tasks
  A. Wolf, H. Brown, R. Casciola, A. Costa, M. Schwerin, E. Shamas, and H. Choset
  Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, October, 2003, pp. 2889 - 2895. [Abstract]
  Download: pdf [612 KB] copyrighted

• An enhanced occupancy map for exploration via pose separation
  R. Grabowski, P. Khosla, and H. Choset
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'03), Vol. 1, October, 2003, pp. 705 - 710. [Abstract]
  Download: pdf [0 KB] copyrighted

• Autonomous exploration via regions of interest
  R. Grabowski, P. Khosla, and H. Choset
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'03), Vol. 2, October, 2003, pp. 1691 - 1696. [Abstract]
  Download: pdf [566 KB] copyrighted

• Composition of local potential functions for global robot control and navigation
  D.C. Conner, A. Rizzi, and H. Choset
  Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), IEEE, Vol. 4, October, 2003, pp. 3546- 3551. [Abstract]
  Download: pdf [567 KB] copyrighted

• Hierarchical simultaneous localization and mapping
  B. Lisien, D. Morales, D. Silver, G.A. Kantor, I. Rekleitis, and H. Choset
  2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), Vol. 1, October, 2003, pp. 448 - 453.
  Download: pdf [538 KB] copyrighted

• New Joint Design for Three-dimensional Hyper Redundant Robots
  E.A. Shammas, A. Wolf, H. Brown, and H. Choset
  Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems. (IROS '03), Vol. 4, October, 2003, pp. 3594 - 3599. [Abstract]
  Download: pdf [537 KB] copyrighted

• Towards optimal coverage of 2-dimensional surfaces embedded in IR/sup 3/: choice of start curve
  P. Atkar, H. Choset, and A. Rizzi
  2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), Vol. 4, October, 2003, pp. 3581 - 3587. [Abstract]
  Download: pdf [562 KB] copyrighted

• Experimental Verification of Deposition Models for Automotive Painting with Electrostatic Rotating Bell Atomizers
  D.C. Conner, A. Rizzi, and H. Choset
  Experimental Robotics VIII (proceedings of ISER '02), Springer-Verlag, Berlin, Heidelberg, 2003, pp. 136-145. [Abstract]

• Deposition Modeling for Paint Application on Surfaces Embedded in R^3
  D.C. Conner, P. Atkar, A. Rizzi, and H. Choset
  tech. report CMU-RI-TR-02-08, Robotics Institute, Carnegie Mellon University, October, 2002. [Abstract]
  Download: pdf [2036 KB] copyrighted

• Probabilistic hierarchical spatial model for mine locations and its application in robotic landmine search
  Y. Zhang, M. Schervish, and H. Choset
  Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002, pp. 681 - 689.
  Download: pdf [590 KB] copyrighted

• Development of Deposition Models for Paint Application on Surfaces Embedded in R^3 for Use in Automated Path Planning
  D.C. Conner, P. Atkar, A. Rizzi, and H. Choset
  Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), September, 2002. [Abstract]
  Download: pdf [502 KB] copyrighted

• Exploiting Critical Points to Reduce Positioning Error for Sensor-based Navigation
  E. Acar and H. Choset
  Proceedings of the 2002 IEEE International Conference on Robotics & Automation (ICRA '02), May, 2002. [Abstract]
  Download: pdf [1447 KB] copyrighted

• Sensor-Based Exploration for Convex-Bodies: A New Roadmap for a Convex-shaped Robot
  unknown and H. Choset
  Proceedings of the 2002 IEEE International Conference on Robotics & Automation (ICRA '02), May, 2002. [Abstract]
  Download: pdf [645 KB] copyrighted

• Towards sensor based coverage with robot teams
  D.T. Latimer, IV, S. Srinivasa, V.L. Shue, S. Sonne, H. Choset, and A. Hurst
  Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), IEEE, Vol. 1, May, 2002, pp. 961 - 967. [Abstract]
  Download: pdf [9395 KB] copyrighted

• Complete Sensor-based Coverage with Extended-range Detectors: A Hierarchical Decomposition in Terms of Critical Points and Voronoi Diagrams
  E. Acar and H. Choset
  Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), October, 2001, pp. 1305 - 1311.
  Download: pdf [646 KB], ps.gz [1370 KB] copyrighted

• Probabilistic Methods for Robotic Landmine Search
  Y. Zhang, M. Schervish, E. Acar, and H. Choset
  Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), October, 2001, pp. 1525 - 1532.
  Download: pdf [1049 KB] copyrighted

• Robust Sensor-based Coverage of Unstructured Environments
  E. Acar and H. Choset
  Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), October, 2001, pp. 61 - 68. [Abstract]
  Download: pdf [572 KB], ps.gz [1618 KB] copyrighted

• Sensor-Based Construction of a Retract-Like Structure for a Planar Rod Robot
  H. Choset and J.Y. Lee
  IEEE Transactions of Robotics and Automation, Vol. 17, No. 4, August, 2001. [Abstract]
  Download: pdf [388 KB] copyrighted

• Distributed Manipulation Using Discrete Actuator Arrays
  J. Luntz, W. Messner, and H. Choset
  The International Journal of Robotics Research, Vol. 20, No. 7, July, 2001, pp. 553 - 583. [Abstract]
  Download: pdf [2080 KB] copyrighted

• Exact Cellular Decomposition of Closed Orientable Surfaces Embedded in R^3
  P. Atkar, H. Choset, A. Rizzi, and E. Acar
  Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA '01), May, 2001. [Abstract]
  Download: pdf [381 KB] copyrighted

• Sensor Based Planning for Rod Shaped Robots in Three Dimensions: Piece-wise Retracts of R^3 x S^2
  unknown, H. Choset, and A. Rizzi
  Proceedings of the 2001 IEEE International Conference on Robotics & Automation (ICRA '01), May, 2001.
  Download: pdf [712 KB] copyrighted

• Topological simultaneous localization and mapping (SLAM): toward exact localization without explicit localization
  H. Choset and K. Nagatani
  IEEE Transactions on Robotics and Automation, Vol. 17, No. 2, April, 2001, pp. 125 - 137. [Abstract]
  Download: pdf [222 KB] copyrighted

• Coverage for robotics - A survey of recent results
  H. Choset
  Annals of Mathematics and Artificial Intelligence, Vol. 31, 2001, pp. 113 - 126.
  Download: pdf [17822 KB] copyrighted

• Path Planning for Robotic Demining and Development of a Test Platform
  E. Acar, Y. Zhang, H. Choset, M. Schervish, A. Costa, R. Melamud, D. Lean, and A. Graveline
  Proceedings of the 2001 International Conference on Field and Service Robotics, 2001, pp. 161 - 168. [Abstract]
  Download: pdf [436 KB], ps.gz [1884 KB] copyrighted

• Designing and implementing hands-on robotics labs
  M. Rosenblatt and H. Choset
  IEEE Intelligent Systems, Vol. 15, No. 6, November, 2000, pp. 32 - 39.
  Download: pdf [523 KB] copyrighted

• Closed-Loop Operation of Actuator Arrays
  J. Luntz, W. Messner, and H. Choset
  Proceedings of IEEE International Conference on Robotics and Automation (ICRA '00), Vol. 4, April, 2000, pp. 3666 - 3672. [Abstract]
  Download: pdf [180 KB], ps.gz [92 KB] copyrighted

• Critical Point Sensing in Unknown Environments
  E. Acar and H. Choset
  Proceedings of IEEE International Conference on Robotics and Automation (ICRA '00), Vol. 4, April, 2000, pp. 3803 - 3810. [Abstract]
  Download: pdf [358 KB], ps.gz [313 KB] copyrighted

• Exact Cellular Decompositions in Terms of Critical Points of Morse Functions
  H. Choset, E. Acar, A. Rizzi, and J. Luntz
  Proceedings of IEEE International Conference on Robotics and Automation (ICRA '00), Vol. 3, April, 2000, pp. 2270 - 2277. [Abstract]
  Download: pdf [227 KB], ps.gz [94 KB] copyrighted

• Sensor-Based Exploration: Incremental Construction of the Hierarchical Generalized Voronoi Graph
  H. Choset, S. Walker, K. Eiamsa-Ard, and J. Burdick
  The International Journal of Robotics Research, Vol. 19, No. 2, February, 2000, pp. 126 - 148. [Abstract]
  Download: pdf [393 KB] copyrighted

• Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph
  H. Choset and J. Burdick
  The International Journal of Robotics Research, Vol. 19, No. 2, February, 2000, pp. 96 - 125. [Abstract]
  Download: pdf [592 KB] copyrighted

• Coverage of Known Spaces: The Boustrophedon Cellupdar Decomposition
  H. Choset
  Autonomous Robots, Vol. 9, 2000, pp. 247 - 253.
  Download: pdf [553 KB] copyrighted

• Toward Robust Sensor Based Exploration by Constructing Reduced Generalized Voronoi Graph
  K. Nagatani and H. Choset
  Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '99), Vol. 3, October, 1999, pp. 1687 - 1692. [Abstract]
  Download: pdf [355 KB], ps.gz [448 KB] copyrighted

• Path Planning between Two Points for a Robot Experiencing Localization Error in Known and Unknown Environments
  H. Choset, M. La Civita, and J. Park
  FSR'99 Proceedings of the International Conference on Field and Service Robotics, August, 1999, pp. 98-103. [Abstract]
  Download: pdf [307 KB] copyrighted

• Discrete Actuator Array Vectorfield Design for Distributed Manipulation
  J. Luntz, W. Messner, and H. Choset
  Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA '99), Vol. 3, May, 1999, pp. 2235 - 2241. [Abstract]
  Download: pdf [210 KB], ps.gz [123 KB] copyrighted

• Open Loop Orientability of Objects on Actuator Arrays
  J. Luntz, W. Messner, and H. Choset
  Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA '99), Vol. 3, May, 1999, pp. 2242 - 2248. [Abstract]
  Download: pdf [367 KB], ps.gz [141 KB] copyrighted

• Path planning and control for AERCam, a free-flying inspection robot in space
  H. Choset, R.A. Knepper, J. Flasher, S. Walker, A. Alford, D. Jackson, D. Kortenkamp, R. Burridge, and J. Fernandez
  Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA '99), Vol. 2, May, 1999, pp. 1396 - 1403. [Abstract]
  Download: pdf [364 KB], ps.gz [567 KB] copyrighted

• The Arc-Transversal Median Algorithm: an Approach to Increasing Ultrasonic Sensor Accuracy
  H. Choset, K. Nagatani, and N. Lazar
  Proceedings of ICRA '99, Vol. 1, May, 1999, pp. 644 - 651. [Abstract]
  Download: pdf [286 KB], ps.gz [242 KB] copyrighted

• A Follow-the-Leader Approach to Serpentine Robot Motion Planning
  H. Choset and W. Henning
  ASCE Journal of Aerospace Engineering, 1999. [Abstract]
  Download: pdf [531 KB], ps.gz [704 KB] copyrighted

• Path Planning and Control for AERCam, a Free-flying Inspection Robot in Space
  H. Choset and D. Kortenkamp
  ASCE Journal of Aerospace Engineering, 1999. [Abstract]
  Download: pdf [372 KB], ps.gz [567 KB] copyrighted

• Stick-Slip Operation of The Modular Distributed Manipulated System
  J. Luntz, W. Messner, and H. Choset
  Proceedings of the 1998 AACC American Controls Conference, Vol. 6, June, 1998, pp. 3853 - 3857. [Abstract]
  Download: pdf [388 KB], ps.gz [383 KB] copyrighted

• Towards Exact Localization without Explicit Localization with the Generalized Voronoi Graph
  K. Nagatani, H. Choset, and S. Thrun
  Proceedings of ICRA '99, Vol. 1, May, 1998, pp. 342 - 348. [Abstract]
  Download: pdf [184 KB], ps.gz [83 KB] copyrighted

• Towards Exact Location without Explicit Localization
  K. Nagatani, H. Choset, and S. Thrun
  Proceedings of the 1998 IEEE International Conference on Robotics and Automation (ICRA '98), May, 1998.
  Download: pdf [702 KB] copyrighted

• Motion Planning for Serpentine Robots
  W. Henning, F. Hickman, and H. Choset
  Proceedings of ASCE Space and Robotics, 1998.
  Download: pdf [245 KB], ps.gz [324 KB] copyrighted

• Velocity Field Design for the Modular Distributed Manipulator System
  J. Luntz, W. Messner, and H. Choset
  Proceedings of the 1998 Workshop on the Algorithmic Fundamentals of Robotics, 1998.
  Download: pdf [581 KB], ps.gz [603 KB] copyrighted

• Incremental Construction of the Generalized Voronoi Diagram, the Generalized Voronoi Graph, and the Hierarchical Generalized Voronoi Graph
  H. Choset
  Proceedings of the First CGC Workshop on Computational Geometry, October, 1997.
  Download: pdf [259 KB], ps.gz [169 KB] copyrighted

• Mobile Robot Navigation: Implementing the GVG in the Presence of Sharp Corners
  I. Konukseven and H. Choset
  Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '97), Vol. 3, September, 1997, pp. 1218 - 1223. [Abstract]
  Download: pdf [191 KB], ps.gz [118 KB] copyrighted

• Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph
  H. Choset, I. Konukseven, and A. Rizzi
  Proceedings of ICAR '97, July, 1997, pp. 333 - 338. [Abstract]
  Download: pdf [262 KB], ps.gz [207 KB] copyrighted

• Parcel Manipulation and Dynamics with a Distributed Actuator Array: The Virtual Vehicle
  J.E. Luntz, W. Messner, and H. Choset
  Proceedings of the 1997 IEEE International Conference on Robotics and Automation (ICRA '97), Vol. 2, April, 1997, pp. 1541 - 1546. [Abstract]
  Download: pdf [382 KB], ps.gz [297 KB] copyrighted

• Sensor Based Planning for a Planar Rod Robot: Incremental Construction of the Planar Rod-HGVG
  H. Choset, B. Mirtich, and J. Burdick
  Proceedings of the 1997 IEEE International Conference on Robotics and Automation (ICRA '97), Vol. 4, April, 1997, pp. 3427 - 3434. [Abstract]
  Download: pdf [258 KB], ps.gz [80 KB] copyrighted

• Coverage Path Planning: The Boustrophedon Decomposition
  H. Choset and P. Pignon
  International Conference on Field and Service Robotics, 1997. [Abstract]
  Download: pdf [144 KB], ps.gz [62 KB] copyrighted

• Mobile Robot Navigation: Implementing the GVG in the Presence of Sharp Corners
  I. Konukseven and H. Choset
  Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '97), 1997.
  Download: pdf [184 KB], ps.gz [118 KB] copyrighted

• Nonsmooth Analysis, Convex Analysis, and their Applications to Motion Planning
  H. Choset
  Special Issue of the International Journal of Computational Geometry and Applications, 1997. [Abstract]
  Download: pdf [249 KB], ps.gz [96 KB] copyrighted

• Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph
  H. Choset, I. Konukseven, and A. Rizzi
  Proceedings of ICAR '97, 1997.
  Download: pdf [254 KB], ps.gz [207 KB] copyrighted

• Sensor Based Planning: Using a Honing Strategy and Local Map Method to Implement the Generalized Voronoi Graph
  H. Choset, K. Nagatani, and A. Rizzi
  SPIE Mobile Robotics, 1997.
  Download: pdf [298 KB], ps.gz [267 KB] copyrighted

• Virtual Vehicle: Parcel Manipulation and Dynamics with a Distributed Actuator Array
  J. Luntz, W. Messner, and H. Choset
  Proceedings of the SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, Sensors and Controls for Advanced Manufacturing, Vol. SPIE 3201, 1997.
  Download: pdf [452 KB], ps.gz [487 KB] copyrighted

• Mobile Robot Navigation: Issues in Implementation the Generalized Voronoi Graph in the Plane
  H. Choset, I. Konukseven, and J. Burdick
  Proceedings of the IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, December, 1996, pp. 241 - 248. [Abstract]
  Download: pdf [338 KB], ps.gz [250 KB] copyrighted

• Sensor Based Planning for a Rod Robot
  H. Choset and J. Burdick
  Proceedings of the 1996 IEEE International Conference on Robotics and Automation (ICRA '96), Vol. 4, April, 1996, pp. 3584 - 3591. [Abstract]
  Download: pdf [269 KB], ps.gz [84 KB] copyrighted

• Mobile Robot Navigation: Issues in Implementation the Generalized Voronoi Graph in the Plane
  H. Choset, I. Konukseven, and J. Burdick
  Proceedings of the 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, 1996, pp. 241 - 248.
  Download: pdf [789 KB] copyrighted

• Sensor Based Motion Planning: The Hierarchical Generalized Voronoi Graph
  H. Choset and J. Burdick
  Workshop on Algorithmic Foundations of Robotics, 1996.
  Download: pdf [369 KB], ps.gz [214 KB] copyrighted

• Sensor Based Planning, Part I: The Generalized Voronoi Graph
  H. Choset and J. Burdick
  Proceedings of the 1995 IEEE International Conference on Robotics and Automation (ICRA '95), Vol. 2, May, 1995, pp. 1649 - 1655. [Abstract]
  Download: pdf [226 KB], ps.gz [76 KB] copyrighted

• Sensor Based Planning, Part II: Incremental Construction of the Generalized Voronoi Graph
  H. Choset and J. Burdick
  Proceedings of the 1995 IEEE International Conference on Robotics and Automation (ICRA '95), Vol. 2, May, 1995, pp. 1643 - 1648. [Abstract]
  Download: pdf [209 KB], ps.gz [73 KB] copyrighted

• Sensor Based Planning and Nonsmooth Analysis
  H. Choset and J. Burdick
  Proceedings of the 1994 IEEE International Conference on Robotics and Automation (ICRA '94), Vol. 4, May, 1994, pp. 3034 - 3041. [Abstract]
  Download: pdf [270 KB], ps.gz [81 KB], ps.z [115 KB] copyrighted

• Extensibility in Local Sensor Based Planning For Hyper Redundant Manipulators (Robot Snakes)
  H. Choset and J. Burdick
  Proceedings of the 1994 Conference on Intelligent Robots for Field, Factory, Service, and Space (CIRFFSS '94), 1994. [Abstract]
  Download: pdf [197 KB], ps.gz [72 KB], ps.z [102 KB] copyrighted

• Experimental Results for Sensor Based Planning for Hyper-redundant Manipulators
  N. Takanashi, H. Choset, and J. Burdick
  Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), October, 1993. [Abstract]
  Download: pdf [213 KB], ps.gz [81 KB], ps.z [114 KB] copyrighted