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Publications, George A Kantor

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

• DEPTHX Autonomy Software: Design and Field Results
  N. Fairfield, G.A. Kantor, D. Jonak, and D. Wettergreen
  tech. report CMU-RI-TR-08-09, Robotics Institute, Carnegie Mellon University, July, 2008. [Abstract]
  Download: pdf [22460 KB] copyrighted

• Autonomous Underwater Vehicle Navigation and Proximity Operations for Deep Phreatic Thermal Explorer (DEPTHX)
  W. Stone, N. Fairfield, and G.A. Kantor
  Masterclass in AUV Technology for Polar Science: Proceedings of an International Masterclass Held at the National Oceanography Centre, Southampton, UK, 28-39 March 2006, Society for Underwater Technology, London, March, 2007. [Abstract]

• 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

• 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

• A Dynamically Stable Single-Wheeled Mobile Robot with Inverse Mouse-Ball Drive
  T. Lauwers, G.A. Kantor, and R. Hollis
  Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006, pp. 2884 - 2889. [Abstract]
  Download: pdf [931 KB] copyrighted

• Range-Only SLAM for Robots Operating Cooperatively with Sensor Networks
  J. Djugash, S. Singh, G.A. Kantor, and W. Zhang
  IEEE International Conference on Robotics and Automation, May, 2006, pp. 2078 - 2084. [Abstract]
  Download: pdf [272 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

• One is Enough!
  T. Lauwers, G.A. Kantor, and R. Hollis
  Proc. Int'l. Symp. for Robotics Research, October, 2005. [Abstract]
  Download: pdf [487 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

• 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

• 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

• 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

• Sequential Composition for Control of Underactuated Systems
  G.A. Kantor and A. Rizzi
  tech. report CMU-RI-TR-03-23, Robotics Institute, Carnegie Mellon University, December, 2003. [Abstract]
  Download: pdf [381 KB], ps.gz [853 KB] copyrighted

• Experimental results in range-only localization with radio
  D. Kurth, G.A. Kantor, and S. Singh
  2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), Vol. 1, October, 2003, pp. 974 - 979.
  Download: pdf [493 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

• Inertial navigation and visual line following for a dynamical hexapod robot
  S. Skaff, G.A. Kantor, D. Maiwand, and A. Rizzi
  2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vol. 2, October, 2003, pp. 1808-1813. [Abstract]
  Download: pdf [478 KB] copyrighted

• Distributed Search and Rescue with Robot and Sensor Teams
  G.A. Kantor, S. Singh, R. Peterson, D. Rus, A. Das, V. Kumar, G. Pereira, and J. Spletzer
  The 4th International Conference on Field and Service Robotics, July, 2003. [Abstract]
  Download: pdf [912 KB] copyrighted

• Recent Results in Extensions to Simultaneous Localization and Mapping
  S. Singh, G.A. Kantor, and D. Strelow
  Proceedings of the International Symposium on Experimental Robotics, July, 2002. [Abstract]
  Download: pdf [711 KB] copyrighted

• Preliminary Results in Range-only Localization and Mapping
  G.A. Kantor and S. Singh
  Proceedings of the IEEE Conference on Robotics and Automation (ICRA '02), Vol. 2, May, 2002, pp. 1818 - 1823. [Abstract]
  Download: pdf [485 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

• An application of Lie groups in distributed control networks
  G.A. Kantor and P.S. Krishnaprasad
  Systems and Control Letters, Vol. 43, June, 2001, pp. 43-52. [Abstract]
  Download: pdf [291 KB] copyrighted

• Automatic railway classification using surface and subsurface measurements
  G.A. Kantor, H. Herman, S. Singh, J.G. Tabacchi, and W. Kaufman
  Proceeding of the 3rd International Conference on Field and Service Robotics (FSR 2001), Yleisjalljennos, Helsinki, Finland, 2001, pp. 43-48. [Abstract]
  Download: pdf [322 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