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Mikhail Pivtoraiko
PhD Student

Email address: mpivtora@andrew.cmu.edu

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

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I am interested in improving the performance and reliability of off-road mobile robots. I research the system aspects of creating a high mobility autonomous vehicle, especially the perception, planning, and control software. In this work, I hope to advance the state of the art in off-road motion planning and system integration to make autonomous navigation in unknown terrain feasible for vehicles with limited computation features and stringent power requirements. Among various applications of this research, I am very interested in planetary exploration.

field robotics, intelligent transportation, machine learning, mobile robots, motion planning, multirobot systems, and obstacle avoidance

• PerceptOR (NREC) - We have developed a novel semi-autonomous unmanned ground vehicle (UGV) that includes a dedicated unmanned air vehicle - a "Flying Eye" - that flies ahead of the UGV to detect hazards before the onboard UGV sensors would.
• Very Rough Terrain Nonholonomic Trajectory Generation and Motion Planning for Rovers - We are developing rough terrain trajectory generation algorithms for local path planning and optimal regional motion planning methods using a constrained search space.

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

• Combining Cost and Reliability for Rough Terrain Navigation
  J. Kwak, M. Pivtoraiko, and R. Simmons
  9th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS'08), February, 2008. [Abstract]
  Download: pdf [377 KB] copyrighted

• Field Experiments in Rover Navigation via Model-Based Trajectory Generation and Nonholonomic Motion Planning in State Lattices
  M. Pivtoraiko, T. Howard, I. Nesnas, and A. Kelly
  Proceedings of the 9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS '08), February, 2008. [Abstract]
  Download: pdf [941 KB] copyrighted

• Optimal, Smooth, Nonholonomic Mobile Robot Motion Planning in State Lattices
  M. Pivtoraiko, R.A. Knepper, and A. Kelly
  tech. report CMU-RI-TR-07-15, Robotics Institute, Carnegie Mellon University, May, 2007. [Abstract]
  Download: pdf [2505 KB] copyrighted

• Constrained Motion Planning in Discrete State Spaces
  M. Pivtoraiko and A. Kelly
  Field and Service Robotics, Springer, Berlin / Heidelberg, Vol. 25, July, 2006, pp. 269-280. [Abstract]
  Download: pdf [0 KB] copyrighted

• Generating near minimal spanning control sets for constrained motion planning in discrete state spaces
  M. Pivtoraiko and A. Kelly
  Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '05), August, 2005, pp. 3231 - 3237. [Abstract]
  Download: pdf [564 KB] copyrighted

• A Study of Polynomial Curvature Clothoid Paths for Motion Planning for Car-like Robots
  M. Pivtoraiko
  tech. report CMU-RI-TR-04-68, Robotics Institute, Carnegie Mellon University, December, 2004. [Abstract]
  Download: pdf [387 KB] copyrighted