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Publications, David Wettergreen

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

• Autonomous Rover Reflectance Spectroscopy with Dozens of Targets
  F. Calderon, D.R. Thompson, and D. Wettergreen
  International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), February, 2008. [Abstract]
  Download: pdf [513 KB] copyrighted

• Intelligent Maps for Autonomous Kilometer-Scale Science Survey
  D.R. Thompson and D. Wettergreen
  International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), February, 2008. [Abstract]
  Download: pdf [758 KB] copyrighted

• Plowing for Controlled Steep Crater Descents
  J. Ziglar, D. Kohanbash, D. Wettergreen, and W.L. Whittaker
  International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), February, 2008. [Abstract]
  Download: pdf [6045 KB] copyrighted

• Analysis of High-Efficiency Solar Cells in Mobile Robot Applications
  F. Calderon, R.A. Luders, D. Wettergreen, J. Teza, and A. Guesalaga
  Journal of Solar Energy Engineering, Vol. 129, No. 3, August, 2007, pp. 343-346. [Abstract]
  Download: pdf [297 KB] copyrighted

• Multi-scale Features for Detection and Segmentation of Rocks in Mars Images
  H. Dunlop, D.R. Thompson, and D. Wettergreen
  IEEE Conference on Computer Vision and Pattern Recognition, June, 2007. [Abstract]
  Download: pdf [1253 KB] copyrighted

• Technologies Toward Lunar Crater Exploration
  J. Ziglar, D. Kohanbash, D. Wettergreen, and W.L. Whittaker
  tech. report CMU-RI-TR-07-40, Robotics Institute, Carnegie Mellon University, April, 2007. [Abstract]
  Download: pdf [6719 KB] copyrighted

• Spatial Point Process Models for the Clustering Behavior of Northern Plains Boulders
  D.R. Thompson and D. Wettergreen
  Lunar and Planetary Science Conference, March, 2007. [Abstract]
  Download: pdf [1042 KB] copyrighted

• Experiments in Navigation and Mapping with a Hovering AUV
  G.A. Kantor, N. Fairfield, D. Jonak, and D. Wettergreen
  Intl. Conf. on Field and Service Robotics, 2007. [Abstract]
  Download: pdf [1131 KB] copyrighted

• Field Results of the Control, Navigation, and Mapping Systems of a Hovering AUV
  N. Fairfield, D. Jonak, G.A. Kantor, and D. Wettergreen
  Intl. Symp. on Unmanned Untethered Submersible Technology, 2007. [Abstract]
  Download: pdf [1988 KB] copyrighted

• Generating Exponentially Smaller POMDP Models Using Conditionally Irrelevant Variable Abstraction
  T. Smith, D.R. Thompson, and D. Wettergreen
  Proc. Int. Conf. on Applied Planning and Scheduling (ICAPS), 2007. [Abstract]
  Download: pdf [706 KB] copyrighted

• Real-Time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels
  N. Fairfield, G.A. Kantor, and D. Wettergreen
  Journal of Field Robotics, 2007. [Abstract]
  Download: pdf [1867 KB] copyrighted

• Challenges to Grounding in Human-Robot Collaboration: Errors and Miscommunications in Remote Exploration Robotics
  K. Stubbs, P. Hinds, and D. Wettergreen
  tech. report CMU-RI-TR-06-32, Robotics Institute, Carnegie Mellon University, July, 2006. [Abstract]
  Download: pdf [3346 KB] copyrighted

• Towards Particle Filter SLAM with Three Dimensional Evidence Grids in a Flooded Subterranean Environment
  N. Fairfield, G.A. Kantor, and D. Wettergreen
  Proceedings of ICRA 2006, May, 2006, pp. 3575 - 3580. [Abstract]
  Download: pdf [1310 KB] copyrighted

• Autonomous Detection of Novel Biologic and Geologic Features in Atacama Desert Rover Imagery
  D.R. Thompson, T. Smith, and D. Wettergreen
  Proc. of the Lunar and Planetary Science Conference, March, 2006. [Abstract]
  Download: pdf [57 KB] copyrighted

• Autonomous Rover Detection and Response Applied to the Search for Life Via Chlorophyll Fluorescence in the Atacama Desert
  T. Smith, D.R. Thompson, S. Weinstein, and D. Wettergreen
  Proc. of the Lunar and Planetary Science Conference, March, 2006. [Abstract]
  Download: pdf [388 KB] copyrighted

• Mission-level path planning and re-planning for rover exploration
  P. Tompkins, A. Stentz, and D. Wettergreen
  Robotics and Autonomous Systems, Intelligent Autonomous Systems, Vol. 54, No. 2, February, 2006, pp. 174 - 183. [Abstract]
  Download: pdf [1803 KB] copyrighted

• A Sun Tracker for Planetary Analog Rovers
  M.C. Deans, D. Wettergreen, and D. Villa
  8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005. [Abstract]
  Download: pdf [718 KB] copyrighted

• Data Mining During Rover Traverse: From Images to Geologic Signatures
  D.R. Thompson, T. Smith, and D. Wettergreen
  8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005. [Abstract]
  Download: pdf [2740 KB] copyrighted

• Design and Control of a Passively Steered, Dual Axle Vehicle
  M.D. Wagner, S. Heys, D. Wettergreen, J. Teza, D. Apostolopoulos, G.A. Kantor, and W.L. Whittaker
  8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005. [Abstract]
  Download: pdf [4416 KB] copyrighted

• Rover Design for Polar Astrobiological Exploration
  L. Pedersen, D. Wettergreen, D. Apostolopoulos, C. McKay, M.E. DiGioia, D. Jonak, S. Heys, J. Teza, and M.D. Wagner
  8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005. [Abstract]
  Download: pdf [367 KB] copyrighted

• Second Experiments in the Robotic Investigation of Life in the Atacama Desert of Chile
  D. Wettergreen, N. Cabrol, V. Baskaran, F. Calderon, S. Heys, D. Jonak, R.A. Luders, D. Pane, T. Smith, J. Teza, P. Tompkins, D. Villa, C. Williams, and M.D. Wagner
  8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005. [Abstract]
  Download: pdf [945 KB] copyrighted

• Multiple-Object Detection in Natural Scenes with Multiple-View Expectation Maximization Clustering
  D.R. Thompson and D. Wettergreen
  International Conference on Intelligent Robots and Systems (IROS '05), August, 2005, pp. 448 - 453. [Abstract]
  Download: pdf [8621 KB] copyrighted

• Three Dimensional Evidence Grids for SLAM in Complex Underwater Environments
  N. Fairfield, G.A. Kantor, and D. Wettergreen
  Proceedings of the 14th International Symposium of Unmanned Untethered Submersible Technology (UUST), AUSI, Lee, New Hampshire, August, 2005. [Abstract]
  Download: pdf [808 KB], ps.gz [1892 KB] copyrighted

• First Experiments in the Robotic Investigation of Life in the Atacama Desert of Chile
  D. Wettergreen, N. Cabrol, J. Teza, P. Tompkins, C. Urmson, V. Verma, M.D. Wagner, and W.L. Whittaker
  International Conference on Robotics and Automation, IEEE, April, 2005. [Abstract]
  Download: pdf [526 KB] copyrighted

• Automatic Detection and Classification of Geological Features of Interest
  D.R. Thompson, S. Niekum, T. Smith, and D. Wettergreen
  IEEE Aerospace Conference Proceedings, Big Sky Montana, 2005, March, 2005. [Abstract]
  Download: pdf [1355 KB] copyrighted

• Concepts for Science Autonomy During Robotic Traverse and Survey
  T. Smith, S. Niekum, D.R. Thompson, and D. Wettergreen
  IEEE Aerospace Conference Proceedings, Big Sky Montana, March, 2005. [Abstract]
  Download: pdf [521 KB] copyrighted

• Fluorescence Imager for Biological Imaging in Daylight
  S. Weinstein, D. Pane, L.A. Ernst, E. Minkley, F. Lanni, D. Wettergreen, M.D. Wagner, S. Heys, J. Teza, and A. Waggoner
  Lunar and Planetary Science Conference XXXVI, March, 2005. [Abstract]
  Download: pdf [40 KB] copyrighted

• Robotic Technologies for Surveying Habitats and Seeking Evidence of Life: Results from the 2004 Field Experiments of the “Life in the Atacama” Project
  D. Wettergreen, N. Cabrol, W.L. Whittaker, G.C. Diaz, F. Calderon, S. Heys, D. Jonak, R.A. Luders, J. Moersch, D. Pane, M. Smith, K. Stubbs, J. Teza, P. Tompkins, D. Villa, C. Williams, M.D. Wagner, A. Waggoner, S. Weinstein, and M. Wyatt
  Lunar and Planetary Science Conference XXXVI, March, 2005. [Abstract]

• Searching for Life with Rovers: Exploration Methods and Science Results from the 2004 Field Campaign of the "Life in the Atacama" Project and Applications to Future Mars Missions
  N.A. Cabrol, D. Wettergreen, W.L. Whittaker, E.A. Grin, J. Moersch, G.C. Diaz, C. Cockell, P. Coppin, J.M. Dohm, G. Fisher, A.N. Hock, L. Marinangeli, E. Minkley, G.G. Ori, J. Piatek, A. Waggoner, K. Warren-Rhodes, S. Weinstein, M. Wyatt, F. Calderon, S. Heys, D. Jonak, R.A. Luders, D. Pane, T. Smith, K. Stubbs, J. Teza, P. Tompkins, D. Villa, C. Williams, M.D. Wagner, G. Thomas, and J. Glasgow
  Lunar and Planetary Science Conference XXXVI, March, 2005. [Abstract]
  Download: pdf [70 KB] copyrighted

• Spectroscopic Results from the Life in the Atacama (LITA) Project 2004 Field Season
  J.L. Piatek, J.E. Moersch, M. Wyatt, M. Rampey, N.A. Cabrol, D. Wettergreen, W.L. Whittaker, E.A. Grin, G.C. Diaz, C. Cockell, P. Coppin, J.M. Dohm, G. Fisher, A.N. Hock, L. Marinangeli, E. Minkley, G.G. Ori, A. Waggoner, K. Warren-Rhodes, S. Weinstein, D. Apostolopoulos, T. Smith, M.D. Wagner, K. Stubbs, G. Thomas, and J. Glasgow
  Lunar and Planetary Science Conference XXXVI, March, 2005. [Abstract]
  Download: pdf [137 KB] copyrighted

• Use of a Novel Rover-mounted Fluorescence Imager and Fluorescent Probes to Detect Biological Material in the Atacama Desert in Daylight
  S. Weinstein, D. Pane, K. Warren-Rhodes, C. Cockell, L.A. Ernst, E. Minkley, G. Fisher, S. Emani, D. Wettergreen, M.D. Wagner, N. Cabrol, and A. Waggoner
  Lunar and Planetary Science Conference XXXVI, March, 2005. [Abstract]
  Download: pdf [72 KB] copyrighted

• Using Near Real-time Mission Data for Education and Public Outreach: Strategies from the Life in the Atacama E/PO Report
  E. Myers, P. Coppin, M.D. Wagner, K. Fischer, D.L. Lu, R. McCloskey, D. Seneker, N. Cabrol, D. Wettergreen, and A. Waggoner
  Lunar and Planetary Science Conference XXXVI, March, 2005. [Abstract]
  Download: pdf [167 KB] copyrighted

• Sun-Synchronous Robotic Exploration: Technical Description and Field Experimentation
  D. Wettergreen, P. Tompkins, C. Urmson, M.D. Wagner, and W.L. Whittaker
  The International Journal of Robotics Research, Vol. 24, No. 1, January, 2005, pp. 3-30. [Abstract]
  Download: pdf [11573 KB] copyrighted

• Far-field terrain evaluation using geometric and toposemantic vision
  A. Avedisyan, D. Wettergreen, T.W. Fong, and C. Baur
  Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA), ESA, November, 2004. [Abstract]
  Download: pdf [2700 KB] copyrighted

• Global Path Planning for Mars Rover Exploration
  P. Tompkins, A. Stentz, and D. Wettergreen
  Proceedings of the 2004 IEEE Aerospace Conference, March, 2004. [Abstract]
  Download: pdf [1233 KB] copyrighted

• First Experiment in Sun-Synchronous Exploration
  D. Wettergreen, M.B. Dias, B. Shamah, J. Teza, P. Tompkins, C. Urmson, M.D. Wagner, and W.L. Whittaker
  International Conference on Robotics and Automation, May, 2002, pp. 3501-3507. [Abstract]
  Download: pdf [1076 KB] copyrighted

• Collection of Environmental Data From an Airship Platform
  G.A. Kantor, D. Wettergreen, J.P. Ostrowski, and S. Singh
  Proceedings of the SPIE Conference on Sensor Fusion and Decentralized Control in Robotic Systems IV, SPIE, Bellingham, WA, Vol. 4571, October, 2001, pp. 76-83. [Abstract]
  Download: pdf [727 KB], ps.gz [528 KB] copyrighted

• Steering and Control of a Passively Articulated Robot
  B. Shamah, M.D. Wagner, S. Moorehead, J. Teza, D. Wettergreen, and W.L. Whittaker
  SPIE, Sensor Fusion and Decentralized Control in Robotic Systems IV, Vol. 4571, October, 2001. [Abstract]
  Download: pdf [186 KB] copyrighted

• Robotic Planetary Exploration by Sun-Synchronous Navigation
  D. Wettergreen, B. Shamah, P. Tompkins, and W.L. Whittaker
  Proceedings of the 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS '01), Montreal, Canada, June, 2001. [Abstract]
  Download: pdf [385 KB] copyrighted

• Sun-Synchronous Planetary Exploration
  W.L. Whittaker, G.A. Kantor, B. Shamah, and D. Wettergreen
  AIAA Space 2000 Conference an Exposition, September, 2000. [Abstract]
  Download: pdf [203 KB] copyrighted

• Dante II: Technical Description, Results and Lessons Learned
  J. Bares and D. Wettergreen
  International Journal of Robotics Research, Vol. 18, No. 7, July, 1999, pp. 621-649. [Abstract]
  Download: pdf [428 KB] copyrighted

• Developing Nomad for Robotic Exploration of the Atacama Desert
  D. Wettergreen, D. Bapna, M. Maimone, and H. Thomas
  Robotics and Autonomous Systems, Vol. 26, No. 2-3, February, 1999, pp. 127-148.
  Download: pdf [14761 KB] copyrighted

• The Atacama Desert Trek: Outcomes
  D. Bapna, E. Rollins, J. Murphy, M. Maimone, W.L. Whittaker, and D. Wettergreen
  Proceedings of ICRA 1998, Vol. 1, May, 1998, pp. 597 - 604. [Abstract]
  Download: pdf [348 KB] copyrighted

• Field Experiments with the Ames Marsokhod Rover
  D.A. Christian, D. Wettergreen, M. Bualat, K. Schwehr, D. Tucker, and E. Zbinden
  Proceedings of the 1997 Field and Service Robotics Conference, December, 1997. [Abstract]
  Download: pdf [680 KB] copyrighted

• Lessons from the Development and Deployment of Dante II
  J. Bares and D. Wettergreen
  Proceedings of the 1997 Field and Service Robotics Conference, December, 1997.
  Download: pdf [589 KB] copyrighted

• Operating Nomad during the Atacama Desert Trek
  D. Wettergreen, M. Bualat, D.A. Christian, K. Schwehr, H. Thomas, D. Tucker, and E. Zbinden
  Proceedings of the 1997 Field and Service Robotics Conference, December, 1997. [Abstract]
  Download: pdf [659 KB] copyrighted

• Initial Results from Vision-based Control of the Ames Marsokhod Rover
  D. Wettergreen, H. Thomas, and M. Bualat
  International Conference on Intelligent Robots and Systems (IROS), IEEE, September, 1997. [Abstract]
  Download: pdf [351 KB] copyrighted

• Developing Planning and Reactive Control for a Hexapod Robot
  D. Wettergreen and C. Thorpe
  Proceedings of ICRA '96, Vol. 3, April, 1996, pp. 2718 - 2723. [Abstract]
  Download: pdf [292 KB] copyrighted

• Behavior-based Gait Execution for the Dante II Walking Robot
  D. Wettergreen, H. Pangels, and J. Bares
  Proceedings of IROS '95, Vol. 3, August, 1995, pp. 274 - 279. [Abstract]
  Download: pdf [161 KB] copyrighted

• Operator Interfaces and Network-Based Participation for Dante II
  T.W. Fong, H. Pangels, D. Wettergreen, E. Nygren, B. Hine, P. Hontalas, and C. Fedor
  SAE 25th International Conference on Environmental Systems, July, 1995. [Abstract]
  Download: pdf [502 KB] copyrighted

• Exploring Mount Erebus by Walking Robot
  D. Wettergreen, C. Thorpe, and W.L. Whittaker
  Robotics and Autonomous Systems, 1993.
  Download: pdf [893 KB] copyrighted

• Exploring Mount Erebus by Walking Robot
  D. Wettergreen, C. Thorpe, and W.L. Whittaker
  International Conference of Intelligent Autonomous Systems, 1993, pp. pp72-81.
  Download: pdf [893 KB] copyrighted

• Gait Generation for Legged Robots
  D. Wettergreen and C. Thorpe
  Proceedings of the IROS '92 Conference, Vol. 2, July, 1992, pp. 1413 - 1420.
  Download: pdf [515 KB] copyrighted

• Planning Strategies for the Ambler Walking Robot
  D. Wettergreen, H. Thomas, and C. Thorpe
  Proceedings of the 1990 IEEE International Conference on Systems Engineering, August, 1990, pp. 198 - 203. [Abstract]
  Download: pdf [679 KB] copyrighted

• Simulation of the Ambler Environment
  H. Thomas, D. Wettergreen, and C. Thorpe
  Proceedings of 23rd Pittsburgh Conference on Modeling and Simulation, 1990.