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Matthew Zucker
PhD Student

Email address: mzucker@andrew.cmu.edu

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

Jump to: Research interests | Labs & groups | Projects | Publications

Research interests

My current research focuses on expanding the toolset of algorithms and techniques available for real-time robot motion planning, including both navigation and manipulation. In particular I am interested in exploiting modern computer architecture more fully in planning problems, and also in providing safety guarantees for novel algorithms.

I am also interested in promoting software engineering best practices in robotics to create highly modular, re-usable software.

Research interest keywords: - motion planning - mobile robots - humanoid robotics - obstacle avoidance - animation - graphics - design - human-computer interaction

Current Labs & Groups [Past labs]

Planning and Autonomy Lab - Autonomous motion planning and control of humanoid robots, quadrupeds, mobile manipulators, and UAVs.

Current Projects

Learning Locomotion - Robust planning and control of the quadruped robot "Little Dog" to traverse rough terrain (DARPA sponsored).

Publications

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

• Adaptive Workspace Biasing for Sampling Based Planners
  M. Zucker, J. Kuffner, and J. Bagnell
  Proc. IEEE Int'l Conf. on Robotics and Automation, May, 2008. [Abstract]
  Download: pdf [976 KB] copyrighted

• Multipartite RRTs for Rapid Replanning in Dynamic Environments
  M. Zucker, J. Kuffner, and M. Branicky
  Proc. IEEE Int. Conf. Robotics and Automation, April, 2007. [Abstract]
  Download: pdf [455 KB] copyrighted

• Approximating State-Space Obstacles for Non-Holonomic Motion Planning
  M. Zucker
  tech. report CMU-RI-TR-06-27, Robotics Institute, Carnegie Mellon University, May, 2006. [Abstract]
  Download: pdf [172 KB] copyrighted