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David Silver
Graduate Student

Email address: dsilver@andrew.cmu.edu

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

Jump to: Labs & Groups | Projects | Publications

• Biorobotics - Conducting motion planning research for snake robots, mobile robots, and actuator arrays, mainly geared for scenarios where the robot does not have a priori knowledge of the world.

• 3D Mine Mapping - We are developing robotic systems for automated 3D mine mapping.
• UGCV PerceptOR Integrated - The UPI (UGCV PerceptOR Integrated) program integrates and enhances the results from UGCV and PerceptOR to increase the speed and autonomy of unmanned ground vehicles operating in complex terrain. By combining the inherent mobility of Spinner with advanced perception techniques including the use of learning and prior terrain data, the UPI program stresses system design across vehicle, sensors and software so that the strengths of one component compensate for the weaknesses of another.

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

• Experimental Analysis of Overhead Data Processing To Support Long Range Navigation
  D. Silver, B. Sofman, N. Vandapel, J. Bagnell, and A. Stentz
  IEEE International Conference on Intelligent Robots and Systems (IROS), October, 2006, pp. 2443 - 2450. [Abstract]
  Download: pdf [1196 KB] copyrighted

• Topological Exploration of Subterranean Environments
  D. Silver, D. Ferguson, A.C. Morris, and S. Thayer
  Journal of Field Robotics, Vol. 23, No. 6, July, 2006, pp. 395-415.

• Recent Developments in Subterranean Robotics
  A.C. Morris, D. Ferguson, Z. Omohundro, D. Bradley, D. Silver, C. Baker, S. Thayer, W. Whittaker, and W.L. Whittaker
  Journal of Field Robotics, Vol. 23, No. 1, January, 2006, pp. 35-57. [Abstract]
  Download: pdf [2405 KB] copyrighted

• 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

• Towards Topological Exploration of Abandoned Mines
  A.C. Morris, D. Silver, D. Ferguson, and S. Thayer
  Proceedings of the IEEE International Conference on Robotics and Automation, April, 2005, pp. 2117 - 2123. [Abstract]
  Download: pdf [510 KB] copyrighted

• A regional point descriptor for global localization in subterranean environments
  D. Bradley, D. Silver, and S. Thayer
  IEEE conference on Robotics Automation and Mechatronics (RAM 2005), Vol. 1, December, 2004, pp. 440 - 445. [Abstract]
  Download: pdf [167 KB] copyrighted

• Scan Matching for Flooded Subterranean Voids
  D. Silver, D. Bradley, and S. Thayer
  IEEE conference on Robotics Automation and Mechatronics (RAM), Vol. 1, December, 2004, pp. 422 - 427. [Abstract]
  Download: pdf [341 KB] copyrighted

• Feature Extraction for Topological Mine Maps
  D. Silver, D. Ferguson, A.C. Morris, and S. Thayer
  Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Vol. 1, September, 2004, pp. 773 - 779. [Abstract]
  Download: pdf [363 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

• 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