- Expensive Multiobjective Optimization and Validation with a Robotics Application
Matthew Tesch, Jeff Schneider, and Howie Choset
Neural Information Processing Systems: Workshop on Bayesian Optimization & Decision Making, December, 2012.
Details
- Using Kinesthetic Input to Overcome Obstacles with Snake Robots
Matthew Tesch, Alexander ONeill, and Howie Choset
IEEE International Symposium on Safety, Security, and Rescue Robotics, November, 2012.
Details
- Virtual Chassis for Snake Robots: Definition and Applications
David Rollinson, Austin Buchan, and Howie Choset
Advanced Robotics, , October, 2012,
Details
- Coordinates Matter: Virtual Chassis and Minimum Perturbation Coordinate Representations
David Rollinson, Ross Hatton, and Howie Choset
Proceedings of the International Conference on Climbing and Walking Robots (CLAWAR), July, 2012.
Details
- Environmentally adaptive control policies for expensive systems
Matthew Tesch, Jeff Schneider, and Howie Choset
International Conference on Climbing and Walking Robots, July, 2012.
Details
- Constrained Filtering with Contact Detection Data for the Localization and Registration of Continuum Robots in Flexible Environments
Stephen T. Tully , Andrea Bajo, George A. Kantor, Howie Choset, and Nabil Simaan
Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA), May, 2012.
Details |
pdf (684KB) | Copyrighted
- Design and architecture of the unified modular snake robot
Cornell Wright III, Austin Buchan, H. Benjamin Brown, Jason Geist, Michael Schwerin, David Rollinson, Matthew Tesch, and Howie Choset
IEEE International Conference on Robotics and Automation, May, 2012.
Details
- Multi-Agent Deterministic Graph Mapping via Robot Rendezvous
Chaohui Gong, Stephen T. Tully , George A. Kantor, and Howie Choset
Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA), May, 2012.
Details |
pdf (433KB) | Copyrighted
- Multirobot Pushing --- How Many Robots are Sufficient?
Laura Lindzey, Howie Choset, Siddhartha Srinivasa, and Ross Alan Knepper
tech. report CMU-RI-TR-12-15, Robotics Institute, Carnegie Mellon University, May, 2012
Details |
pdf (398KB) | Copyrighted
- A Unified Bayesian Framework for Global Localization and SLAM in Hybrid Metric/Topological Maps
Stephen T. Tully , George A. Kantor, and Howie Choset
International Journal of Robotics Research (IJRR), Vol. 31, No. 3, March, 2012, pp. 271-288.
Details |
pdf (2MB) | Copyrighted
- Adapting Control Policies for Expensive Systems to Changing Environments
Matthew Tesch, Jeff Schneider, and Howie Choset
Neural Information Processing Systems: Workshop on Bayesian Optimization, Experimental Design, and Bandits, December, 2011.
Details
- Programming and Multi-Robot Communications
Robert Avanzato, Howie Choset, Timothy Friez, Robin Shoop, and Manuela Veloso
Robot Magazine, No. 31, December, 2011, pp. 74 - 77.
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pdf (7MB) | Copyrighted
- Adapting Control Policies for Expensive Systems to Changing Environments
Matthew Tesch, Jeff Schneider, and Howie Choset
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September, 2011.
Details
- Inequality Constrained Kalman Filtering for the Localization and Registration of a Surgical Robot
Stephen T. Tully , George A. Kantor, and Howie Choset
Proceedings of the 2011 International Conference on Intelligent Robots and Systems (IROS), September, 2011.
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pdf (2MB) | Copyrighted
- Monte Carlo Localization using 3D Texture Maps
Yu Fu, Stephen T. Tully , George A. Kantor, and Howie Choset
Proceedings of the 2011 International Conference on Intelligent Robots and Systems (IROS), September, 2011.
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pdf (2MB) | Copyrighted
- Shape Estimation for Image-Guided Surgery with a Highly Articulated Snake Robot
Stephen T. Tully , George A. Kantor, Marco A. Zenati, and Howie Choset
Proceedings of the 2011 International Conference on Intelligent Robots and Systems (IROS), September, 2011.
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pdf (1MB) | Copyrighted
- State Estimation for Snake Robots
David Rollinson, Austin Buchan, and Howie Choset
IEEE International Conference on Intelligent Robots and Systems (IROS), September, 2011.
Details
- Using Response Surfaces and Expected Improvement to Optimize Snake Robot Gait Parameters
Matthew Tesch, Jeff Schneider, and Howie Choset
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September, 2011, pp. 1069 - 1074.
Details
- Virtual Chassis for Snake Robots
David Rollinson and Howie Choset
IEEE International Conference on Intelligent Robots and Systems (IROS), September, 2011.
Details
- A Novel Architecture for Modular Snake Robots
Aaron Johnson, Cornell Wright III, Matthew Tesch, Kevin Lipkin, and Howie Choset
tech. report CMU-RI-TR-11-29, Robotics Institute, Carnegie Mellon University, August, 2011
Details |
pdf (1MB) | Copyrighted
- Incremental Construction of the Saturated-GVG for Multi-Hypothesis Topological SLAM
Tong Tao, Stephen T. Tully , George A. Kantor, and Howie Choset
Proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), May, 2011.
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pdf (620KB) | Copyrighted
- Simplified Motion Modeling for Snake Robots
Florian Enner, David Rollinson, and Howie Choset
IEEE International Conference on Robotics and Automation (ICRA), May, 2011.
Details
- Context Identification for Efficient Multiple-Model State Estimation of Systems With Cyclical Intermittent Dynamics
Sarjoun Skaff, Alfred Rizzi, Howie Choset, and Matthew Tesch
IEEE Transactions on Robotics, Vol. 27, No. 1, February, 2011, pp. 14-28.
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- A Single-Step Maximum A Posteriori Update for Bearing-Only SLAM
Stephen T. Tully , George A. Kantor, and Howie Choset
Proceedings of the 2010 Conference on Artificial Intelligence (AAAI), July, 2010.
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pdf (349KB) | Copyrighted
- DSAC – Dynamic, Single Actuated Climber. Local Stability and Bifurcations
Amir Degani, Howie Choset, and Matthew T. Mason
Proc. of the 2010 IEEE International Conference on Robotics and Automation (ICRA), May, 2010.
Details |
pdf (1MB) | Copyrighted
- Minimalistic, Dynamic, Tube Climbing Robot - Video Submission
Amir Degani, Siyuan Feng, Howie Choset, and Matthew T. Mason
IEEE International Conference on Robotics and Automation, May, 2010.
Details |
pdf (973KB) | Copyrighted
- A Multi-Hypothesis Topological SLAM Approach for Loop Closing on Edge-Ordered Graphs
Stephen T. Tully , George A. Kantor, Howie Choset, and Felix Werner
Proceedings of the 2009 International Conference on Intelligent Robots and Systems (IROS), October, 2009.
Details |
pdf (568KB) | Copyrighted
- Topological SLAM using Neighbourhood Information of Places
Felix Werner, Frederic Maire, Joaquin Sitte, Howie Choset, Stephen T. Tully , and George A. Kantor
Proceedings of the 2009 International Conference on Intelligent Robots and Systems (IROS), October, 2009.
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pdf (347KB) | Copyrighted
- Leap-Frog Path Design for Multi-Robot Cooperative Localization
Stephen T. Tully , George A. Kantor, and Howie Choset
Proceedings of the 2009 Field and Service Robotics Conference (FSR), July, 2009.
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pdf (1MB) | Copyrighted
- Parameterized and Scripted Gaits for Modular Snake Robots
Matthew Tesch, Kevin Lipkin, Isaac Brown, Ross Hatton, Aaron Peck, Justine M. Rembisz, and Howie Choset
Advanced Robotics, Vol. 23, No. 9, June, 2009, pp. 1131-1158.
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- A Highly Articulated Robotic Surgical System for Minimally Invasive Surgery
Takeyoshi Ota, Amir Degani, David Schwartzman, Brett Zubiate, Jeremy McGarvey, Howie Choset, and Marco A. Zenati
The Annals of Thoracic Surgery, Vol. 87, April, 2009, pp. 1253-1256.
Details |
pdf (660KB) | Copyrighted
- An Optimization Approach to Planning for Mobile Manipulation
Dmitry Berenson, Howie Choset, and James Kuffner
IEEE International Conference on Robotics and Automation (ICRA) 2008, May, 2008, pp. 1187-1192.
Details |
pdf (737KB) | Copyrighted
- Iterated Filters for Bearing-Only SLAM
Stephen T. Tully , Hyungpil Moon, George A. Kantor, and Howie Choset
Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA), May, 2008.
Details |
pdf (646KB) | Copyrighted
- A Dynamic Single Actuator Vertical Climbing Robot
Amir Degani, Amir Shapiro, Howie Choset, and Matthew T. Mason
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, November, 2007, pp. 2901-2906.
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pdf (421KB) | Copyrighted
- Context Identification for Efficient Multiple-Model State Estimation
Sarjoun Skaff, Howie Choset, and Alfred Rizzi
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November, 2007, pp. 2435-2440.
Details |
pdf (280KB) | Copyrighted
- Hybrid Localization using the Hierarchical Atlas
Stephen T. Tully , Hyungpil Moon, Deryck Morales, George A. Kantor, and Howie Choset
Proceedings of the 2007 International Conference on Intelligent Robots and Systems (IROS), October, 2007.
Details |
pdf (789KB) | Copyrighted
- Valet Parking Without a Valet
David C. Conner, Hadas Kress-Gazit, Howie Choset, Alfred Rizzi, and George J. Pappas
Proceedings of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), October, 2007, pp. 572-577.
Details |
pdf (187KB) | Copyrighted
- Square-Root Iterated Kalman Filter for Bearing-Only SLAM
Hyungpil Moon, Stephen T. Tully , George A. Kantor, and Howie Choset
The 4th International Conference on Ubiquitous Robots and Ambient Intelligence, 2007.
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pdf (203KB) | Copyrighted
- Epicardial Atrial Ablation Using a Novel Articulated Robotic Medical Probe Via a Percutaneous Subxiphoid Approach
Takeyoshi Ota, Amir Degani, Brett Zubiate, Alon Wolf, Howie Choset, David Schwartzman, and Marco A. Zenati
nnovations: Technology & Techniques in Cardiothoracic & Vascular Surgery, Vol. 1, No. 6, December, 2006, pp. 335-340.
Details
- Integrated Planning and Control for Convex-bodied Nonholonomic
systems using Local Feedback Control Policies
David C. Conner, Howie Choset, and Alfred Rizzi
tech. report CMU-RI-TR-06-34, Robotics Institute, Carnegie Mellon University, August, 2006
Details |
pdf (2MB) | Copyrighted
- Integrated Planning and Control for Convex-bodied Nonholonomic Systems Using Local Feedback
David C. Conner, Howie Choset, and Alfred Rizzi
Proceedings of Robotics: Science and Systems II, August, 2006, pp. 57-64.
Details |
pdf (446KB) | Copyrighted
- Motion Planning for Variable Inertia
Mechanical Systems
Elie A. Shammas, Howie Choset, and Alfred Rizzi
In Proceedings of the International Workshop on the
Algorithmic Foundations of Robotics, July, 2006.
Details
- A Unified Approach to Gait Analysis and
Generation for a General Class of Under-actuated Mechanical Systems
Elie A. Shammas, Howie Choset, and Alfred Rizzi
International Journal of Robotics Research, , May, 2006,
Details
- Geometric Gait Analysis and Generation
for Two Classes of Under-actuated Mechanical Systems
Elie A. Shammas, Howie Choset, and Alfred Rizzi
International
Journal of Robotics Research, , May, 2006,
Details
- Highly Articulated Robotic Probe for Minimally Invasive Surgery
Amir Degani, Howie Choset, Alon Wolf, and Marco A. Zenati
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, May, 2006, pp. 4167-4172.
Details |
pdf (846KB) | Copyrighted
- Towards Provable Navigation and Control of
Nonholonomically Constrained Convex-BodiedSystems
David C. Conner, Howie Choset, and Alfred Rizzi
Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006.
Details |
pdf (151KB) | Copyrighted
- Towards Automated Gait Generation for
Dynamic Systems with Non-holonomic Constraints
Elie A. Shammas, Howie Choset, and Alfred Rizzi
In Proceedings of the International Conference on Robotics and Automation (ICRA '06), April, 2006.
Details |
pdf (663KB) | Copyrighted
- Percutaneous Intrapericardial Interventions Using a Highly Articulated Robotic Probe
Amir Degani, Howie Choset, Alon Wolf, Takeyoshi Ota, and Marco A. Zenati
Proceedings of the 2006 IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, February, 2006, pp. 7 - 12.
Details |
pdf (658KB) | Copyrighted
- Uniform Coverage of Automotive Surface Patches
Prasad Atkar, Aaron L. Greenfield, David C. Conner, Howie Choset, and Alfred Rizzi
The International Journal of Robotics Research, Vol. 24, No. 11, November, 2005, pp. 883 - 898.
Details |
pdf (1MB) | Copyrighted
- Paint Deposition Modeling for Trajectory Planning
on Automotive Surfaces
David C. Conner, Aaron L. Greenfield, Prasad Atkar, Alfred Rizzi, and Howie Choset
IEEE Transactions on Automation Science and Engineering, Vol. 2, No. 4, October, 2005, pp. 381 - 392.
Details |
pdf (1MB) | Copyrighted
- Natural Gait Generation Techniques for
Principally Kinematic Systems
Elie A. Shammas, Howie Choset, and Alfred Rizzi
Proceedings of Robotics: Science and Systems, June, 2005.
Details |
pdf (962KB) | Copyrighted
- Principles of Robot Motion: Theory, Algorithms, and Implementations
Howie Choset, Kevin M. Lynch, Seth Hutchinson, George A. Kantor, Wolfram Burgard, Lydia E. Kavraki, and Sebastian Thrun
Principles of Robot Motion: Theory, Algorithms, and Implementations, MIT Press, Cambridge, MA, June, 2005
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- The hierarchical atlas
Brad Lisien, Deryck Morales, David Silver, George A. Kantor, Ioannis Rekleitis, and Howie Choset
IEEE Transactions on Robotics, Vol. 21, No. 3, June, 2005, pp. 473 - 481.
Details |
pdf (836KB) | Copyrighted
- Sensor-based Planning for a Rod-shaped Robot in Three Dimensions: Piecewise Retracts of R3 x S2
Ji Yeong Lee and Howie Choset
The International Journal of Robotics Research, Vol. 24, No. 5, May, 2005, pp. 343 - 383.
Details |
pdf (757KB) | Copyrighted
- A Context-Based State Estimation Technique for Hybrid Systems
Sarjoun Skaff, Alfred Rizzi, Howie Choset, and Pei-Chun Lin
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, April, 2005, pp. 3935-3940.
Details |
pdf (203KB) | Copyrighted
- Natural Gait Generation Techniques for
Purely Mechanical Systems
Elie A. Shammas, Karen Schmidt, and Howie Choset
In Proceedings of International Conference on
Robotics and Automation (ICRA '05), April, 2005, pp. 3664 - 3669.
Details |
pdf (888KB) | Copyrighted
- Three Degrees-of-freedom joint for spatial
hyper-redundant robots
Elie A. Shammas, Alon Wolf, and Howie Choset
Journal of Mechanism and Machine Theory, , April, 2005, pp. 170 - 190.
Details |
pdf (3MB) | Copyrighted
- Orientation Preserving Angular Swivel Joint
Elie A. Shammas and Howie Choset
US Patent Number 6,871,563, March, 2005
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pdf (1MB) | Copyrighted
- Arc carving: obtaining accurate, low latency maps from ultrasonic range sensors
David Silver, Deryck Morales, Ioannis Rekleitis, Brad Lisien, and Howie Choset
Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), May, 2004, pp. 1554 - 1561.
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pdf (612KB) | Copyrighted
- Development and deployment of a line of sight virtual sensor for heterogeneous teams
Robert Grabowski, Pradeep Khosla, and Howie Choset
Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), May, 2004, pp. 3024 - 3029.
Details |
pdf (708KB) | Copyrighted
- Bearing-only landmark initialization with unknown data association
Albert Costa, George A. Kantor, and Howie Choset
Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), April, 2004, pp. 1764 - 1770.
Details |
pdf (527KB) | Copyrighted
- Construction and Automated Deployment of Local Potential
Functions for Global Robot Control and Navigation
David C. Conner, Alfred Rizzi, and Howie Choset
tech. report CMU-RI-TR-03-22, Robotics Institute, Carnegie Mellon University, November, 2003
Details |
pdf (4MB) | Copyrighted
- A mobile hyper redundant mechanism for search and rescue tasks
Alon Wolf, H. Benjamin Brown, Randy Casciola, Albert Costa, Michael Schwerin, E. Shamas, and Howie Choset
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2003, pp. 2889 - 2895.
Details |
pdf (612KB) | Copyrighted
- An enhanced occupancy map for exploration via pose separation
Robert Grabowski, Pradeep Khosla, and Howie Choset
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'03), October, 2003, pp. 705 - 710.
Details |
pdf (62Byte) | Copyrighted
- Autonomous exploration via regions of interest
Robert Grabowski, Pradeep Khosla, and Howie Choset
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'03), October, 2003, pp. 1691 - 1696.
Details |
pdf (566KB) | Copyrighted
- Composition of local potential functions for global robot control and navigation
David C. Conner, Alfred Rizzi, and Howie Choset
Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), October, 2003, pp. 3546- 3551.
Details |
pdf (567KB) | Copyrighted
- Hierarchical simultaneous localization and mapping
Brad Lisien, Deryck Morales, David Silver, George A. Kantor, Ioannis Rekleitis, and Howie Choset
2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), October, 2003, pp. 448 - 453.
Details |
pdf (539KB) | Copyrighted
- New Joint Design for Three-dimensional Hyper Redundant Robots
Elie A. Shammas, Alon Wolf, H. Benjamin Brown, and Howie Choset
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems. (IROS '03), October, 2003, pp. 3594 - 3599.
Details |
pdf (537KB) | Copyrighted
- Towards optimal coverage of 2-dimensional surfaces embedded in IR/sup 3/: choice of start curve
Prasad Atkar, Howie Choset, and Alfred Rizzi
2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), October, 2003, pp. 3581 - 3587.
Details |
pdf (563KB) | Copyrighted
- Path Planning for Robotic Demining: Robust Sensor-Based Coverage of Unstructured Environments and Probabilistic Methods
Ercan Acar, Howie Choset, Yangang Zhang, and Mark Schervish
The International Journal of Robotics Research, Vol. 22, No. 7 - 8, July, 2003, pp. 441 - 466.
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pdf (1MB) | Copyrighted
- Experimental Verification of Deposition Models for Automotive Painting with Electrostatic Rotating Bell Atomizers
David C. Conner, Alfred Rizzi, and Howie Choset
Experimental Robotics VIII (proceedings of ISER '02), 2003, pp. 136-145.
Details |
pdf (354KB) | Copyrighted
- Deposition Modeling for Paint Application on
Surfaces Embedded in R^3
David C. Conner, Prasad Atkar, Alfred Rizzi, and Howie Choset
tech. report CMU-RI-TR-02-08, Robotics Institute, Carnegie Mellon University, October, 2002
Details |
pdf (2MB) | Copyrighted
- Probabilistic hierarchical spatial model for mine locations and its application in robotic landmine search
Yangang Zhang, Mark Schervish, and Howie Choset
Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002, pp. 681 - 689.
Details |
pdf (590KB) | Copyrighted
- Development of Deposition Models for Paint Application on Surfaces Embedded in R^3 for Use in Automated Path Planning
David C. Conner, Prasad Atkar, Alfred Rizzi, and Howie Choset
Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), September, 2002.
Details |
pdf (502KB) | Copyrighted
- Exploiting Critical Points to Reduce Positioning Error for Sensor-based Navigation
Ercan Acar and Howie Choset
Proceedings of the 2002 IEEE International Conference on Robotics & Automation (ICRA '02), May, 2002.
Details |
pdf (1MB) | Copyrighted
- Sensor-Based Exploration for Convex-Bodies: A New Roadmap for a Convex-shaped Robot
and Howie Choset
Proceedings of the 2002 IEEE International Conference on Robotics & Automation (ICRA '02), May, 2002.
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pdf (646KB) | Copyrighted
- Towards sensor based coverage with robot teams
DeWitt Talmadge Latimer, Siddhartha Srinivasa, Vincent Lee Shue, Samuel Sonne, Howie Choset, and Aaron Hurst
Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), May, 2002, pp. 961 - 967.
Details |
pdf (9MB) | Copyrighted
- Complete Sensor-based Coverage with Extended-range Detectors: A Hierarchical Decomposition in Terms of Critical Points and Voronoi Diagrams
Ercan Acar and Howie Choset
Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), October, 2001, pp. 1305 - 1311.
Details |
pdf (646KB) | Copyrighted
- Probabilistic Methods for Robotic Landmine Search
Yangang Zhang, Mark Schervish, Ercan Acar, and Howie Choset
Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), October, 2001, pp. 1525 - 1532.
Details |
pdf (1MB) | Copyrighted
- Robust Sensor-based Coverage of Unstructured Environments
Ercan Acar and Howie Choset
Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), October, 2001, pp. 61 - 68.
Details |
pdf (573KB) | Copyrighted
- Sensor-Based Construction of a Retract-Like Structure for a Planar Rod Robot
Howie Choset and Ji Yeong Lee
IEEE Transactions of Robotics and Automation, Vol. 17, No. 4, August, 2001,
Details |
pdf (389KB) | Copyrighted
- Distributed Manipulation Using Discrete Actuator Arrays
Jon Luntz, William Messner, and Howie Choset
The International Journal of Robotics Research, Vol. 20, No. 7, July, 2001, pp. 553 - 583.
Details |
pdf (2MB) | Copyrighted
- Exact Cellular Decomposition of Closed Orientable Surfaces Embedded in R^3
Prasad Atkar, Howie Choset, Alfred Rizzi, and Ercan Acar
Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA '01), May, 2001.
Details |
pdf (381KB) | Copyrighted
- Sensor Based Planning for Rod Shaped Robots in Three Dimensions: Piece-wise Retracts of R^3 x S^2
, Howie Choset, and Alfred Rizzi
Proceedings of the 2001 IEEE International Conference on Robotics & Automation (ICRA '01), May, 2001.
Details |
pdf (712KB) | Copyrighted
- Topological simultaneous localization and mapping (SLAM): toward exact localization without explicit localization
Howie Choset and K. Nagatani
IEEE Transactions on Robotics and Automation, Vol. 17, No. 2, April, 2001, pp. 125 - 137.
Details |
pdf (222KB) | Copyrighted
- Coverage for robotics - A survey of recent results
Howie Choset
Annals of Mathematics and Artificial Intelligence, Vol. 31, 2001, pp. 113 - 126.
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pdf (18MB) | Copyrighted
- Path Planning for Robotic Demining and Development of a Test Platform
Ercan Acar, Yangang Zhang, Howie Choset, Mark Schervish, Albert Costa, Renata Melamud, David Lean, and Amy Graveline
Proceedings of the 2001 International Conference on Field and Service Robotics, 2001, pp. 161 - 168.
Details |
pdf (437KB) | Copyrighted
- Designing and implementing hands-on robotics labs
Michael Rosenblatt and Howie Choset
IEEE Intelligent Systems, Vol. 15, No. 6, November, 2000, pp. 32 - 39.
Details |
pdf (524KB) | Copyrighted
- Closed-Loop Operation of Actuator Arrays
Jon Luntz, William Messner, and Howie Choset
Proceedings of IEEE International Conference on Robotics and Automation (ICRA '00), April, 2000, pp. 3666 - 3672.
Details |
pdf (180KB) | Copyrighted
- Critical Point Sensing in Unknown Environments
Ercan Acar and Howie Choset
Proceedings of IEEE International Conference on Robotics and Automation (ICRA '00), April, 2000, pp. 3803 - 3810.
Details |
pdf (359KB) | Copyrighted
- Exact Cellular Decompositions in Terms of Critical Points of Morse Functions
Howie Choset, Ercan Acar, Alfred Rizzi, and Jon Luntz
Proceedings of IEEE International Conference on Robotics and Automation (ICRA '00), April, 2000, pp. 2270 - 2277.
Details |
pdf (227KB) | Copyrighted
- Sensor-Based Exploration: Incremental Construction of the Hierarchical Generalized Voronoi Graph
Howie Choset, Sean Walker, Kunnayut Eiamsa-Ard, and Joel Burdick
The International Journal of Robotics Research, Vol. 19, No. 2, February, 2000, pp. 126 - 148.
Details |
pdf (394KB) | Copyrighted
- Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph
Howie Choset and Joel Burdick
The International Journal of Robotics Research, Vol. 19, No. 2, February, 2000, pp. 96 - 125.
Details |
pdf (592KB) | Copyrighted
- Coverage of Known Spaces: The Boustrophedon Cellupdar Decomposition
Howie Choset
Autonomous Robots, Vol. 9, 2000, pp. 247 - 253.
Details |
pdf (554KB) | Copyrighted
- Toward Robust Sensor Based Exploration by Constructing Reduced Generalized Voronoi Graph
Keiji Nagatani and Howie Choset
Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '99), October, 1999, pp. 1687 - 1692.
Details |
pdf (356KB) | Copyrighted
- Path Planning between Two Points for a Robot Experiencing Localization Error in Known and Unknown Environments
Howie Choset, Marco La Civita, and Jong Chul Park
FSR'99 Proceedings of the International Conference on Field and Service Robotics, August, 1999, pp. 98-103.
Details |
pdf (307KB) | Copyrighted
- Discrete Actuator Array Vectorfield Design for Distributed Manipulation
Jon Luntz, W. Messner, and Howie Choset
Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA '99), May, 1999, pp. 2235 - 2241.
Details |
pdf (211KB) | Copyrighted
- Open Loop Orientability of Objects on Actuator Arrays
Jon Luntz, W. Messner, and Howie Choset
Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA '99), May, 1999, pp. 2242 - 2248.
Details |
pdf (368KB) | Copyrighted
- Path planning and control for AERCam, a free-flying inspection robot in space
Howie Choset, Ross Alan Knepper, J. Flasher, S. Walker, A. Alford, D. Jackson, D. Kortenkamp, R. Burridge, and J. Fernandez
Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA '99), May, 1999, pp. 1396 - 1403.
Details |
pdf (364KB) | Copyrighted
- The Arc-Transversal Median Algorithm: an Approach to Increasing Ultrasonic Sensor Accuracy
Howie Choset, Keiji Nagatani, and Nicole Lazar
Proceedings of ICRA '99, May, 1999, pp. 644 - 651.
Details |
pdf (286KB) | Copyrighted
- Path Planning and Control for AERCam, a Free-flying Inspection Robot in Space
Howie Choset and D. Kortenkamp
ASCE Journal of Aerospace Engineering, Vol. 12, No. 2, April, 1999, pp. 74 - 81.
Details |
pdf (372KB) | Copyrighted
- A Follow-the-Leader Approach to Serpentine Robot Motion Planning
Howie Choset and W. Henning
ASCE Journal of Aerospace Engineering, 1999.
Details |
pdf (531KB) | Copyrighted
- Stick-Slip Operation of The Modular Distributed Manipulated System
Jon Luntz, W. Messner, and Howie Choset
Proceedings of the 1998 AACC American Controls Conference, June, 1998, pp. 3853 - 3857.
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pdf (389KB) | Copyrighted
- Towards Exact Localization without Explicit Localization with the Generalized Voronoi Graph
Keiji Nagatani, Howie Choset, and Sebastian Thrun
Proceedings of ICRA '99, May, 1998, pp. 342 - 348.
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pdf (185KB) | Copyrighted
- Towards Exact Location without Explicit Localization
Keiji Nagatani, Howie Choset, and Sebastian Thrun
Proceedings of the 1998 IEEE International Conference on Robotics and Automation (ICRA '98), May, 1998.
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pdf (703KB) | Copyrighted
- Motion Planning for Serpentine Robots
W. Henning, F. Hickman, and Howie Choset
Proceedings of ASCE Space and Robotics, 1998.
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pdf (245KB) | Copyrighted
- Velocity Field Design for the Modular Distributed Manipulator System
Jon Luntz, W. Messner, and Howie Choset
Proceedings of the 1998 Workshop on the Algorithmic Fundamentals of Robotics, 1998.
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pdf (581KB) | Copyrighted
- Incremental Construction of the Generalized Voronoi Diagram, the Generalized Voronoi Graph, and the Hierarchical Generalized Voronoi Graph
Howie Choset
Proceedings of the First CGC Workshop on Computational Geometry, October, 1997.
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pdf (260KB) | Copyrighted
- Mobile Robot Navigation: Implementing the GVG in the Presence of Sharp Corners
Ilhan Konukseven and Howie Choset
Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '97), September, 1997, pp. 1218 - 1223.
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pdf (191KB) | Copyrighted
- Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph
Howie Choset, Ilhan Konukseven, and Alfred Rizzi
Proceedings of ICAR '97, July, 1997, pp. 333 - 338.
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pdf (263KB) | Copyrighted
- Parcel Manipulation and Dynamics with a Distributed Actuator Array: The Virtual Vehicle
Jonathan E. Luntz, William Messner, and Howie Choset
Proceedings of the 1997 IEEE International Conference on Robotics and Automation (ICRA '97), April, 1997, pp. 1541 - 1546.
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pdf (383KB) | Copyrighted
- Sensor Based Planning for a Planar Rod Robot: Incremental Construction of the Planar Rod-HGVG
Howie Choset, Brian Mirtich, and Joel Burdick
Proceedings of the 1997 IEEE International Conference on Robotics and Automation (ICRA '97), April, 1997, pp. 3427 - 3434.
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pdf (259KB) | Copyrighted
- Coverage Path Planning: The Boustrophedon Decomposition
Howie Choset and Philippe Pignon
International Conference on Field and Service Robotics, 1997.
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pdf (144KB) | Copyrighted
- Mobile Robot Navigation: Implementing the GVG in the Presence of Sharp Corners
Ilhan Konukseven and Howie Choset
Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '97), 1997.
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pdf (185KB) | Copyrighted
- Nonsmooth Analysis, Convex Analysis, and their Applications to Motion Planning
Howie Choset
Special Issue of the International Journal of
Computational Geometry and Applications, , 1997
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pdf (249KB) | Copyrighted
- Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph
Howie Choset, Ilhan Konukseven, and Alfred Rizzi
Proceedings of ICAR '97, 1997.
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pdf (255KB) | Copyrighted
- Sensor Based Planning: Using a Honing Strategy and Local Map Method to Implement the Generalized Voronoi Graph
Howie Choset, Keiji Nagatani, and Alfred Rizzi
SPIE Mobile Robotics, 1997.
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pdf (298KB) | Copyrighted
- Virtual Vehicle: Parcel Manipulation and Dynamics with a Distributed Actuator Array
Jonathan Luntz, William Messner, and Howie Choset
Proceedings of the SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, Sensors and Controls for Advanced Manufacturing, 1997.
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pdf (452KB) | Copyrighted
- Mobile Robot Navigation: Issues in Implementation the Generalized Voronoi Graph in the Plane
Howie Choset, Ilhan Konukseven, and Joel Burdick
Proceedings of the IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent
Systems, December, 1996, pp. 241 - 248.
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pdf (338KB) | Copyrighted
- Sensor Based Planning for a Rod Robot
Howie Choset and J. Burdick
Proceedings of the 1996 IEEE International Conference on Robotics and Automation (ICRA '96), April, 1996, pp. 3584 - 3591.
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pdf (270KB) | Copyrighted
- Mobile Robot Navigation: Issues in Implementation the Generalized Voronoi Graph in the Plane
Howie Choset, Ilhan Konukseven, and Joel Burdick
Proceedings of the 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, 1996, pp. 241 - 248.
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pdf (789KB) | Copyrighted
- Sensor Based Motion Planning: The Hierarchical Generalized Voronoi Graph
Howie Choset and J. Burdick
Workshop on Algorithmic Foundations of Robotics, 1996.
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pdf (369KB) | Copyrighted
- Sensor Based Planning, Part I: The Generalized Voronoi Graph
Howie Choset and J. Burdick
Proceedings of the 1995 IEEE International Conference on Robotics and Automation (ICRA '95), May, 1995, pp. 1649 - 1655.
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pdf (226KB) | Copyrighted
- Sensor Based Planning, Part II: Incremental Construction of the Generalized Voronoi Graph
Howie Choset and J. Burdick
Proceedings of the 1995 IEEE International Conference on Robotics and Automation (ICRA '95), May, 1995, pp. 1643 - 1648.
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pdf (209KB) | Copyrighted
- Sensor Based Planning and Nonsmooth Analysis
Howie Choset and J. Burdick
Proceedings of the 1994 IEEE International Conference on Robotics and Automation (ICRA '94), May, 1994, pp. 3034 - 3041.
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pdf (271KB) | Copyrighted
- Extensibility in Local Sensor Based Planning For Hyper Redundant Manipulators (Robot Snakes)
Howie Choset and J. Burdick
Proceedings of the 1994 Conference on Intelligent Robots for Field, Factory, Service, and Space (CIRFFSS '94), 1994.
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pdf (197KB) | Copyrighted
- Experimental Results for Sensor Based Planning for Hyper-redundant Manipulators
N. Takanashi, Howie Choset, and J. Burdick
Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), October, 1993.
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pdf (214KB) | Copyrighted
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