- Aiding Off-Road Inertial Navigation with High Performance Models of Wheel Slip
Forrest Rogers-Marcovitz, Michael George, Neal Seegmiller, and Alonzo Kelly
Intelligent Robots and Systems (IROS), October, 2012.
Details |
pdf (782KB) | Copyrighted
- A Vector Algebra Formulation of Mobile Robot Velocity Kinematics
Alonzo Kelly and Neal Seegmiller
Field and Service Robotics, July, 2012.
Details |
pdf (1MB) | Copyrighted
- Continuous Vehicle Slip Model Identification on Changing Terrains
Forrest Rogers-Marcovitz, Neal Seegmiller, and Alonzo Kelly
RSS 2012 Workshop on Long-term Operation of Autonomous Robotic Systems in Changing Environments, July, 2012.
Details |
pdf (295KB) | Copyrighted
- Online Calibration of Vehicle Powertrain and Pose Estimation
Parameters using Integrated Dynamics
Neal Seegmiller, Forrest Rogers-Marcovitz, and Alonzo Kelly
IEEE International Conference on Robotics and Automation, May, 2012.
Details |
pdf (2MB) | Copyrighted
- A Unified Perturbative Dynamics Approach to Online Vehicle Model Identification
Neal Seegmiller, Forrest Rogers-Marcovitz, Gregory A. Miller, and Alonzo Kelly
International Symposium on Robotics Research, August, 2011.
Details |
pdf (2MB) | Copyrighted
- On-line Mobile Robot Model Identification using Integrated Perturbative Dynamics
Forrest Rogers-Marcovitz and Alonzo Kelly
12th International Symposium on Experimental Robotics, December, 2010.
Details |
pdf (464KB) | Copyrighted
- A Vector Algebra Formulation of Kinematics of Wheeled Mobile Robots
Alonzo Kelly
tech. report CMU-RI-TR-10-33, Robotics Institute, Carnegie Mellon University, August, 2010
Details |
pdf (184KB) | Copyrighted
- Error Propagation in Aided Discrete 2D Accelerometry
Alonzo Kelly
tech. report CMU-RI-TR-10-32, Robotics Institute, Carnegie Mellon University, August, 2010
Details |
pdf (172KB) | Copyrighted
- Real-time Photo-realistic Visualization of 3D Environments for Enhanced Tele-operation of Vehicles
Daniel Huber, Herman Herman, Alonzo Kelly, Peter Rander, and Jason Ziglar
Proceedings of the International Conference on 3-D Digital Imaging and Modeling (3DIM), October, 2009.
Details |
pdf (2MB) | Copyrighted
- 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.
Details |
pdf (1MB) | Copyrighted
- Fast and Feasible Deliberative Motion Planner for Dynamic Environments
Mikhail Pivtoraiko and Alonzo Kelly
International Conference on Robotics and Automation, May, 2009.
Details |
pdf (3MB) | Copyrighted
- Autonomous Robot Navigation using Advanced Motion Primitives
Mikhail Pivtoraiko, Alonzo Kelly, and Issa Nesnas
IEEE Aerospace, March, 2009, pp. 1-7.
Details |
pdf (382KB) | Copyrighted
- Differentially constrained mobile robot motion planning in state lattices
Mikhail Pivtoraiko, Ross Alan Knepper, and Alonzo Kelly
Journal of Field Robotics, Vol. 26, No. 3, March, 2009, pp. 308-333.
Details |
pdf (676KB) | Copyrighted
- Differentially Constrained Motion Replanning Using State Lattices with Graduated Fidelity
Mikhail Pivtoraiko and Alonzo Kelly
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '08), September, 2008, pp. 2611-2616.
Details |
pdf (1MB) | Copyrighted
- 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.
Details |
pdf (4MB) | Copyrighted
- 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.
Details |
pdf (1MB) | Copyrighted
- 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.
Details |
pdf (922KB) | Copyrighted
- 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.
Details |
pdf (941KB) | Copyrighted
- Toward Optimal Sampling in the Space of Paths
Colin Green and Alonzo Kelly
13th International Symposium of Robotics Research, November, 2007.
Details |
pdf (3MB) | Copyrighted
- 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.
Details |
pdf (2MB) | Copyrighted
- Terrain Aware Inversion of Predictive Models for Planetary Rovers
Alonzo Kelly and Thomas Howard
Proceedings of the Nasa Science and Technology Conference, June, 2007.
Details |
pdf (588KB) | Copyrighted
- Optimal, Smooth, Nonholonomic Mobile Robot Motion Planning in State Lattices
Mikhail Pivtoraiko, Ross Alan Knepper, and Alonzo Kelly
tech. report CMU-RI-TR-07-15, Robotics Institute, Carnegie Mellon University, May, 2007
Details |
pdf (3MB) | Copyrighted
- 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
Details |
pdf (4MB) | Copyrighted
- 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.
Details |
pdf (1MB) | Copyrighted
- 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.
Details |
pdf (9MB) | Copyrighted
- An Infrastructure-Free Automated Guided Vehicle Based on Computer Vision
Alonzo Kelly, Bryan Nagy, David Stager, and Ranjith Unnikrishnan
IEEE Robotics and Automation Magazine, 2007
Details
- Optimal Sampling In the Space of Paths: Preliminary Results
Colin Green and Alonzo Kelly
tech. report CMU-RI-TR-06-51, Robotics Institute, Carnegie Mellon University, November, 2006
Details |
pdf (2MB) | Copyrighted
- High Performance State Lattice Planning Using Heuristic Look-Up Tables
Ross Alan Knepper and Alonzo Kelly
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2006, pp. 3375 - 3380.
Details |
pdf (430KB) | Copyrighted
- 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.
Details |
pdf (2MB) | Copyrighted
- Constrained Motion Planning in Discrete State Spaces
Mikhail Pivtoraiko and Alonzo Kelly
Field and Service Robotics, July, 2006, pp. 269-280.
Details |
pdf (862Byte) | Copyrighted
- 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.
Details |
pdf (752KB) | Copyrighted
- Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments
Alonzo Kelly, Anthony (Tony) Stentz, Omead Amidi, Michael W. Bode, David Bradley, Antonio Diaz-Calderon, Michael Happold, Herman Herman, Robert Mandelbaum, Thomas Pilarski, Peter Rander, Scott Thayer, Nicholas M. Vallidis, and Randon Warner
The International Journal of Robotics Research, Vol. 25, No. 5-6, May, 2006, pp. 449-483.
Details |
pdf (848KB) | Copyrighted
- Experimental Characterization of Commercial Flash
Ladar Devices
Dean Anderson, Herman Herman, and Alonzo Kelly
International Conference of Sensing and Technology, November, 2005.
Details |
pdf (415KB) | Copyrighted
- OnLine Stability Margin and Attitude Estimation for Dynamic Articulating Mobile Robots
Antonio Diaz-Calderon and Alonzo Kelly
International Journal of Robotics Research, , October, 2005,
Details |
pdf (14MB) | Copyrighted
- Efficient constrained path planning via search in state lattices
Mikhail Pivtoraiko and Alonzo Kelly
The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005.
Details |
pdf (677KB) | Copyrighted
- 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.
Details |
pdf (380KB) | Copyrighted
- Generating near minimal spanning control sets for constrained motion planning in discrete state spaces
Mikhail Pivtoraiko and Alonzo Kelly
Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '05), August, 2005, pp. 3231 - 3237.
Details |
pdf (564KB) | Copyrighted
- 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.
Details |
pdf (260KB) | Copyrighted
- Linearized Error Propagation in Odometry
Alonzo Kelly
The International Journal of Robotics Research, Vol. 23, No. 2, February, 2004, pp. 179 - 218.
Details |
pdf (616KB) | Copyrighted
- Efficient Construction of Globally Consistent Ladar Maps using Pose Network Topology and Nonlinear Programming
Alonzo Kelly and Ranjith Unnikrishnan
Proceedings of the 11th International Symposium of Robotics Research (ISRR '03), November, 2003.
Details |
pdf (615KB) | Copyrighted
- Reactive Nonholonomic Trajectory Generation via Parametric Optimal Control
Alonzo Kelly and Bryan Nagy
The International Journal of Robotics Research, Vol. 22, No. 7 - 8, July, 2003, pp. 583 - 601.
Details |
pdf (476KB) | Copyrighted
- Real-Time, Multi-Perspective Perception for Unmanned Ground Vehicles
Anthony (Tony) Stentz, Alonzo Kelly, Peter Rander, Herman Herman, Omead Amidi, Robert Mandelbaum, Garbis Salgian, and Jorgen Pedersen
Proc. of AUVSI Unmanned Systems Symposium 2003, July, 2003.
Details |
pdf (302KB) | Copyrighted
- A Constrained Optimization Approach to Globally Consistent Mapping
Ranjith Unnikrishnan and Alonzo Kelly
2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems (IROS '02), October, 2002, pp. 564-569.
Details |
pdf (731KB) | Copyrighted
- Integrated Air/Ground Vehicle System for Semi-Autonomous Off-Road Navigation
Anthony (Tony) Stentz, Alonzo Kelly, Herman Herman, Peter Rander, Omead Amidi, and Robert Mandelbaum
Proc. of AUVSI Unmanned Systems Symposium 2002, July, 2002.
Details |
pdf (531KB) | Copyrighted
- Mosaicing Large Cyclic Environments for Visual Navigation in Autonomous Vehicles
Ranjith Unnikrishnan and Alonzo Kelly
IEEE International Conference on Robotics and Automation, 2002 (ICRA '02), May, 2002, pp. 4299-4306.
Details |
pdf (4MB) | Copyrighted
- Mobile Robot Localization from Large Scale Appearance Mosaics
Alonzo Kelly
tech. report CMU-RI-TR-00-21, Robotics Institute, Carnegie Mellon University, December, 2000
Details |
- Some Useful Results for Closed-Form Propagation of Error in Vehicle Odometry
Alonzo Kelly
tech. report CMU-RI-TR-00-20, Robotics Institute, Carnegie Mellon University, December, 2000
Details |
pdf (2MB) | Copyrighted
- Mobile Robot Localization from Large-Scale Appearance Mosaics
Alonzo Kelly
The International Journal of Robotics Research, Vol. 19, No. 11, November, 2000, pp. 1104 - 1125.
Details |
- Pose Determination and Tracking in Image Mosaic-Based Vehicle Position Estimation
Alonzo Kelly
International Conference on Intelligent Robots and Systems (IROS00), October, 2000.
Details |
pdf (531KB) | Copyrighted
- Map Construction for Mosaic-Based Vehicle Position Estimation
Patrick Rowe and Alonzo Kelly
International Conference on Intelligent Autonomous Systems (IAS6), July, 2000.
Details |
pdf (113KB) | Copyrighted
- Contemporary Feasibility of Image Mosaic Based Vehicle Position Estimation
Alonzo Kelly
Proceedings of
International Conference on Robotics and Applications (IASTED99), October, 1999.
Details |
pdf (1MB) | Copyrighted
- Rough Terrain Autonomous Mobility - Part 1: A Theoretical Analysis of Requirements
Alonzo Kelly and Anthony (Tony) Stentz
Autonomous Robots, No. 5, May, 1998, pp. 129 - 161.
Details |
pdf (333KB) | Copyrighted
- Rough terrain Autonomous Mobility - Part 2: An Active Vision, Predictive Control
Alonzo Kelly and Anthony (Tony) Stentz
Autonomous Robots, No. 5, May, 1998, pp. 163 - 198.
Details |
pdf (892KB) | Copyrighted
- Stereo Vision Enhancements for Low-Cost Outdoor Autonomous Vehicles
Alonzo Kelly and Anthony (Tony) Stentz
International Conference on Robotics and Automation, Workshop WS-7, Navigation of Outdoor
Autonomous Vehicles, (ICRA '98), May, 1998.
Details |
pdf (214KB) | Copyrighted
- An Approach to Rough Terrain Autonomous Mobility
Alonzo Kelly and Anthony (Tony) Stentz
Autonomous Robots, , April, 1998,
Details
- An Analysis of Requirements for Rough Terrain Autonomous Mobility
Alonzo Kelly and Anthony (Tony) Stentz
Autonomous Robots, Vol. 4, No. 4, December, 1997,
Details
- Minimum Throughput Adaptive Perception for High Speed Mobility
Alonzo Kelly and Anthony (Tony) Stentz
Proceedings of the IEEE/RJS International Conference on Intelligent Robotic Systems, September, 1997, pp. 215 - 223.
Details |
pdf (466KB) | Copyrighted
- Analysis of Requirements for High Speed Rough Terrain Autonomous Mobility: I - Throughput and Response
Alonzo Kelly and Anthony (Tony) Stentz
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '97), April, 1997, pp. 3318 - 3325.
Details |
pdf (102KB) | Copyrighted
- Analysis of Requirements for High Speed Rough Terrain Autonomous Mobility: II - Resolution and Accuracy
Alonzo Kelly and Anthony (Tony) Stentz
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '97), April, 1997, pp. 3326 - 3333.
Details |
pdf (116KB) | Copyrighted
- Computational Complexity of Terrain Mapping Perception in Autonomous Mobility
Alonzo Kelly and Anthony (Tony) Stentz
Proceedings of the IEEE International Conference on Robotics and Automation, April, 1997, pp. 1047 - 1052.
Details |
pdf (87KB) | Copyrighted
- An Approach to Rough Terrain Autonomous Mobility
Alonzo Kelly and Anthony (Tony) Stentz
International Conference on Mobile Planetary Robots, January, 1997.
Details |
pdf (892KB) | Copyrighted
- Chapter 7
Alonzo Kelly
Intelligent Unmanned Ground Vehicles: Autonomous Navigation Research at Carnegie Mellon, M. Hebert, C. Thorpe, and A Stentz, ed., Kluwer Academic Publishers, 1997
Details
- Robot Planning in the Space of Feasible Actions: Two Examples
Sanjiv Singh and Alonzo Kelly
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '96), April, 1996, pp. 3309 - 3316.
Details |
pdf (383KB) | Copyrighted
- Obstacle Detection for Unmanned Ground Vehicles: A Progress Report
L. Matthies, Alonzo Kelly, T. Litwin, and G. Tharp
7th International Symposium on Robotics Research, October, 1995.
Details
- An Intelligent Predictive Control Approach to the High-Speed Cross-Country Autonomous Navigation Problem
Alonzo Kelly
tech. report CMU-RI-TR-95-33, Robotics Institute, Carnegie Mellon University, September, 1995
Details |
pdf (18MB) | Copyrighted
- An Intelligent Predictive Control Approach to the High-Speed Cross-Country Autonomous Navigation Problem
Alonzo Kelly
doctoral dissertation, tech. report , Robotics Institute, Carnegie Mellon University, September, 1995
Details |
pdf (3MB) | Copyrighted
- Obstacle detection for unmanned ground vehicles: a progress report
L. Matthies, Alonzo Kelly, T. Litwin, and G. Tharp
Proceedings of IEEE Intelligent Vehicles `95 Conference, September, 1995, pp. 66 - 71.
Details |
pdf (855KB) | Copyrighted
- Terrain Typing for Real Robots
Ian Davis, Alonzo Kelly, Anthony (Tony) Stentz, and L. Matthies
Proceedings of IEEE Intelligent Vehicles `95 Conference, September, 1995, pp. 400 - 405.
Details |
pdf (517KB) | Copyrighted
- Demonstration of an Autonomous Convoying Concept
B. Motazed, D. Patukas, Alonzo Kelly, Dean Pomerleau, and Todd Jochem
Proceedings of the Fifth Annual Meeting of IVHS America, March, 1995.
Details
- A 3D Space Formulation of a Navigation Kalman Filter for Autonomous Vehicles
Alonzo Kelly
tech. report CMU-RI-TR-94-19, Robotics Institute, Carnegie Mellon University, May, 1994
Details |
pdf (297KB) | Copyrighted
- A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles
Alonzo Kelly
tech. report CMU-RI-TR-94-17, Robotics Institute, Carnegie Mellon University, May, 1994
Details |
pdf (142KB) | Copyrighted
- A Partial Analysis of the High Speed Autonomous Navigation
Alonzo Kelly
tech. report CMU-RI-TR-94-16, Robotics Institute, Carnegie Mellon University, May, 1994
Details |
pdf (709KB) | Copyrighted
- Adaptive Perception for Autonomous Vehicles
Alonzo Kelly
tech. report CMU-RI-TR-94-18, Robotics Institute, Carnegie Mellon University, May, 1994
Details |
pdf (77KB) | Copyrighted
- An Intelligent Predictive Controller for Autonomous Vehicles
Alonzo Kelly
tech. report CMU-RI-TR-94-20, Robotics Institute, Carnegie Mellon University, May, 1994
Details |
pdf (111KB) | Copyrighted
- Concept Design of a Scanning Laser Rangefinder for Autonomous Vehicles
Alonzo Kelly
tech. report CMU-RI-TR-94-21, Robotics Institute, Carnegie Mellon University, May, 1994
Details |
pdf (431KB) | Copyrighted
- Essential Kinematics for Autonomous Vehicles
Alonzo Kelly
tech. report CMU-RI-TR-94-14, Robotics Institute, Carnegie Mellon University, May, 1994
Details |
pdf (127KB) | Copyrighted
- Modern Inertial and Satellite Navigation Systems
Alonzo Kelly
tech. report CMU-RI-TR-94-15, Robotics Institute, Carnegie Mellon University, May, 1994
Details |
pdf (290KB) | Copyrighted
- A System for Autonomous Cross Country Navigation
Barry Brummit, R. Craig Coulter, Alonzo Kelly, and Anthony (Tony) Stentz
IFAC Symposium on Intelligent Components and Instruments for Control Applications, May, 1992.
Details |
pdf (70KB) | Copyrighted
- An Autonomous System for Cross-Country Navigation
Anthony (Tony) Stentz, Barry Brummit, R. Craig Coulter, and Alonzo Kelly
Proceedings of SPIE Symposium on Mobile Robots, 1992.
Details
- Terrain Map Building for Fast Navigation on Rugged Outdoor Terrain
Alonzo Kelly, Anthony (Tony) Stentz, and Martial Hebert
Proceedings of SPIE Symposium on Mobile Robots, 1992.
Details
|
