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Trey Smith
PhD Student

No longer a member of RI.

For more information, see my personal homepage.

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Research interests

My research interests include robotic navigation and science autonomy (with space applications), multi-robot systems, and probabilistic planning.

Past Labs & Groups

Reliable Autonomous Systems Lab - We are developing reliable, highly autonomous systems (especially mobile robots) that operate in rich, uncertain environments.

Past Projects

Distributed Robot Architectures - The primary objective of this project is to develop fundamental capabilities that enable multiple, distributed, heterogeneous robots to coordinate tasks that cannot be accomplished by the robots individually.	Federation of Intelligent Robotic Explorers Project - We are investigating and understanding fundamental issues in heterogeneous multi-robot coordination.
Grace - The Grace project is a collaboration among several schools and research labs to design a robot capable of fully performing the AAAI Grand Challenge.	Life in the Atacama - Robotic field investigation will bring new scientific understanding of the Atacama as a habitat for life with distinct analogies to Mars.
Lunar Ice Discovery Initiative - Icebreaker is a proposed mission to explore the south pole of the Moon.	Mars Autonomy - Long-distance marsrover navigation with minimal human intervention.
Reusable Environment for Task Structured Intelligent Network Agents - An architecture for developing distributed intelligent software agents that cooperate asynchronously to perform goal-directed information retrieval and information integration in support of a varie	Science Autonomy - The Science Autonomy project seeks to improve the accuracy and effectiveness of robotic planetary investigations by enabling automatic detection of relevant science features, classification of feature properties, and exploration planning that responds on-the-fly.

Recent publications [View all 21 publications]

• Probabilistic Planning for Robotic Exploration
  T. Smith
  doctoral dissertation, tech. report CMU-RI-TR-07-26, Robotics Institute, Carnegie Mellon University, July, 2007. [Abstract]
  Download: pdf [6217 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

• 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

• 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

• 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

• Point-based POMDP Algorithms: Improved Analysis and Implementation
  T. Smith and R. Simmons
  Proc. of the Conference on Uncertainty in Artificial Intelligence, July, 2005. [Abstract]
  Download: pdf [355 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

• Life in the Atacama — Year 2: Geologic Reconnaissance Through Long-Range Roving and Implications on the Search for Life
  J.M. Dohm, N.A. Cabrol, E.A. Grin, J. Moersch, G.C. Diaz, C. Cockell, P. Coppin, G. Fisher, A.N. Hock, L. Marinangeli, E. Minkley, G.G. Ori, J.L. Piatek, K. Warren-Rhodes, S. Weinstein, M. Wyatt, T. Smith, M.D. Wagner, K. Stubbs, G. Thomas, and J. Glasgow
  Lunar and Planetary Science Conference XXXVI, March, 2005. [Abstract]
  Download: pdf [106 KB] copyrighted