Carnegie Mellon University
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Howie Choset
Professor, RI
Office: NSH 3205
Phone: (412) 268-2495
Fax: (412) 268-7350
  Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Administrative Assistant: Peggy A. Martin
Affiliated Center(s):
 Medical Robotics Technology Center (MRTC)
 Center for the Foundations of Robotics (CFR)
Personal Homepage

Past Projects [Current Projects]
Autonomous Extra-vehicular Robotic Camera (AERCam)
Aercam is a flying soccer-ball sized spacecraft with a camera allowing remote inspection of the future space station and the Space Shuttle.
Backbone Fitting
Bridge Inspection with Serpentine Robots
We are developing motion planning strategies to use serpentine robots to perform bridge inspection.
Constrained Controlled Coverage
Coverage of two dimensional surfaces embedded in three dimensions with emphasis on uniform coverage.
Coverage Path Planning in the Plane: Exact Cellular Decompositions
Incremental construction of exact cellular decompositions that are formulated in terms of critical points of Morse functions.
Geometric Mechanics of Locomotion
Highly-Articulated Robotic Probe (HARP)
We developed and tested a prototype based on an innovative approach of a highly articulated robotic probe.
Localization with Mobile Robots
LSTAT/Snake Robot
We are working with the US Army's TATRC department (Telemedicine & Advanced Technology Research Center) to integrate a snake robot into the LSTAT system.
Encoding our motion planning algorithms into small hardware platforms.
Mini Bone-Attached Robotic System (MBARS)
This research seeks to develop a novel computer-assisted and robotic tool that will enable fewer and minimally invasive surgical techniques for orthopaedic surgery.
Mobile Robot Platform Design
Mechanical design of a differential drive mechanism for outdoor coverage.
Modular Distributed Manipulator System
An array of cells, each of which can induce a vectored force to an object resting on the cell. The cells collectively transport and manipulate objects resting on the array.
Motion Planning for Snake Robots
Creating algorithims for computer control of hyper-redundant manipulators existing in high dimension configuration spaces.
Probabilistic Coverage
Recognition of mine patterns using statistical methods.
Retract-like structures for Euclidian Spaces
Sensor based motion planning using hierarchical Voronoi graphs.
Retract-like structures for SE(2) and SE(3)
Motion planning algorithm for thr rod-shaped robots, based on distance measurements.
Robotic Demining
We are developing an autonomous robot to find landmines.
Search and Rescue
Giving Urban Search and Rescue workers more technological tools to help find and save victims of natural disasters.
Sensor Based Coverage of Unknown Planar Environments
Sensor based coverage of unknown environments using exact cellular decompositions.
Shape Stable Body Frames
Simultaneous Localization and Mapping
We are developing a geometric mapping strategy that directs a mobile robot to explore an unknown environment while taking into consideration sensor and encoder uncertainty.
The Arc Transversal Median
Improving the azimuth resolution of conventional Polaroid ultrasonic sensors by using intersection arcs, filtering the intersections, and then taking the median results in a 10-fold improvement in azimuth resolution.
Vacuum Cleaning Robots
We are developing an inexpensive vacuum cleaner robot.
Visual Localization
The visual localization system is being developed to give a mobile robot the ability to locate its own position. The system exploits a CCD camera with colored landmarks and yields a robust and accurate localization performance.