- ADAPTIVE MODEL-PREDICTIVE MOTION PLANNING FOR NAVIGATION IN
COMPLEX ENVIRONMENTS
Thomas Howard
doctoral dissertation, tech. report CMU-RI-TR-09-32, Robotics Institute, Carnegie Mellon University, August, 2009
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- Receding Horizon Model-Predictive Control for Mobile Robot Navigation of Intricate Paths
Thomas Howard, Colin Green, and Alonzo Kelly
Proceedings of the 7th International Conferences on Field and Service Robotics, July, 2009.
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- Motion Planning in Urban Environments: Part I
David Ferguson, Thomas Howard, and Maxim Likhachev
Proceedings of the IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, September, 2008.
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- Motion Planning in Urban Environments: Part II
David Ferguson, Thomas Howard, and Maxim Likhachev
Proceedings of the IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, September, 2008.
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- Coordinated Control and Range Imaging for Mobile Manipulation
Dean Anderson, Thomas Howard, David Apfelbaum, Herman Herman, and Alonzo Kelly
Proceedings of the 11th International Symposium on Experimental Robotics 2008 (ISER '08), August, 2008.
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- Autonomous driving in urban environments: Boss and the Urban Challenge
Christopher Urmson, Joshua Anhalt, Hong Bae, J. Andrew (Drew) Bagnell, Christopher R. Baker , Robert E. Bittner, Thomas Brown, M. N. Clark, Michael Darms, Daniel Demitrish, John M. Dolan, David Duggins, David Ferguson, Tugrul Galatali, Christopher M. Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Sascha Kolski, Maxim Likhachev, Bakhtiar Litkouhi, Alonzo Kelly, Matthew McNaughton, Nick Miller, Jim Nickolaou, Kevin Peterson, Brian Pilnick, Raj Rajkumar, Paul Rybski, Varsha Sadekar, Bryan Salesky, Young-Woo Seo, Sanjiv Singh, Jarrod M. Snider, Joshua C. Struble, Anthony (Tony) Stentz, Michael Taylor , William (Red) L. Whittaker, Ziv Wolkowicki, Wende Zhang, and Jason Ziglar
Journal of Field Robotics Special Issue on the 2007 DARPA Urban Challenge, Part I, Vol. 25, No. 8, June, 2008, pp. 425-466.
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- State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation in Complex Environments
Thomas Howard, Colin Green, David Ferguson, and Alonzo Kelly
Journal of Field Robotics, Vol. 25, No. 6-7, June, 2008, pp. 325-345.
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- Field Experiments in Rover Navigation via Model-Based Trajectory Generation and Nonholonomic Motion Planning in State Lattices
Mikhail Pivtoraiko, Thomas Howard, Issa Nesnas, and Alonzo Kelly
Proceedings of the 9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS '08), February, 2008.
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- State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Highly Constrained Environments
Thomas Howard, Colin Green, and Alonzo Kelly
Proceedings of the 6th International Conferences on Field and Service Robotics, July, 2007.
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- Terrain Aware Inversion of Predictive Models for Planetary Rovers
Alonzo Kelly and Thomas Howard
Proceedings of the Nasa Science and Technology Conference, June, 2007.
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- Tartan Racing: A Multi-Modal Approach to the DARPA Urban
Challenge
Christopher Urmson, Joshua Anhalt, J. Andrew (Drew) Bagnell, Christopher R. Baker , Robert E. Bittner, John M. Dolan, David Duggins, David Ferguson, Tugrul Galatali, Hartmut Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Alonzo Kelly, David Kohanbash, Maxim Likhachev, Nick Miller, Kevin Peterson, Raj Rajkumar, Paul Rybski, Bryan Salesky, Sebastian Scherer, Young-Woo Seo, Reid Simmons, Sanjiv Singh, Jarrod M. Snider, Anthony (Tony) Stentz, William (Red) L. Whittaker, and Jason Ziglar
tech. report CMU-RI-TR-, Robotics Institute, Carnegie Mellon University, April, 2007
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- Terrain Aware Inversion of Predictive Models for High Performance UGVs
Alonzo Kelly, Thomas Howard, and Colin Green
Proceedings of the SPIE Defense and Security Symposium, April, 2007, pp. 6561-6566.
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- Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots
Thomas Howard and Alonzo Kelly
International Journal of Robotics Research, Vol. 26, No. 2, February, 2007, pp. 141-166.
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- Trajectory and Spline Generation for All-Wheel Steering Mobile Robots
Thomas Howard and Alonzo Kelly
Proceedings of the the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 4827 - 4832.
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- Constrained Optimization Path Following of Wheeled Robots in Natural Terrain
Thomas Howard, Ross Alan Knepper, and Alonzo Kelly
Proceedings of the 10th International Symposium on Experimental Robotics 2006 (ISER '06), July, 2006.
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- Terrain-Adaptive Generation of Optimal Continuous Trajectories for Mobile Robots
Thomas Howard and Alonzo Kelly
Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS '05), September, 2005.
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- Trajectory Generation on Rough Terrain Considering Actuator Dynamics
Thomas Howard and Alonzo Kelly
Proceedings of the 5th International Conference on Field and Service Robotics (FSR '05), July, 2005.
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