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3D Head Motion Recovery in Real Time - A cylindrical model-based algorithm recovers the full motion (3D rotations and 3D translations) of the head in real time.	3D Mine Mapping - We are developing robotic systems for automated 3D mine mapping.
A-Match - A-Match, the interface to the RETSINA Matchmaker, provides a web interface for users to advertise their agents, customize agents, find other agents, and query them.	AAM Fitting Algorithms - Many varieties of algorithms for fitting Cootes and Taylor's "Active Appearance Models" are developed.
AAMs with Occlusion - We are developing algorithms to construct AAMs from occluded training images and to efficiently fit AAMs to faces containing occlusion.	Accurate Camera Calibration from Planar Patterns - A novel camera calibration method can increases not only an accuracy of intrinsic camera parameters but also an accuracy of stereo camera calibration by utilizing a single framework for square, circle, and ring planar calibration patterns.
Actuator with Mechanically Adjustable Series Compliance - We are developing actuation methods for highly dynamic legged locomotion.	Adaptive Interoperability of Multiple Heterogeneous Agents - To enable requester agents to find provider agents in environments with heterogeneous and dynamic information services, we have developed middle agents which serve to increase agent interoperability.
Advanced Sensor Based Defect Management at Construction Sites - This research project builds on, combines and extends the advances in generating 3D environments using laser scanners.	AFOSR PRET: Information Fusion for Command and Control: The Translation of Raw Data To Actionable Knowledge and Decision - We are conducting a multidisciplinary research effort to develop the next generation of information fusion systems.
Agent Storm - Agent Storm is a scenario where agents autonomously coordinate their team-oriented roles and actions while executing a mission.	Agent-based Composition of Behavioral Models - This project focuses on accurately modeling human physical behaviors; these models are used 1) to create computer generated forces (CGFs) that exhibit human-like behavior and 2) to recognize physical behaviors performed by trainees in a MOUT (Military Operations in Urban Terrain) team training simulation.
Aircraft Maintenance - A wearable software system that uses RETSINA agents to assist in the process of documenting and making repairs to aircraft.	Amaranth - Real-Time System for Adaptive Optimization of End-to-End Quality of Service
AMC Barrelmaster Scheduling - Integrated management of airlift and tanker missions at the USAF Air Mobility Command.	Application Specific Integrated MEMS Process Service - Creating the design, fabrication and characterization support for enabling integration of MEMS and CMOS to span from low cost prototyping to high volume production.
Architecture for Agile Assembly - Reduction of time to market in agile manufacturing	Asynchronous Teams of Autonomous Agents - An asynchronous team is a way of organizing large numbers of very different types of agents-from the simplest of microelectromechanical devices through intelligent robots to expert humans.
Automated Material Transport System	Autonomous Helicopter - Develop a vision-guided robot helicopter
Autonomous Navigation System - The NREC is leading the development of perception and path planning within the Autonomous Navigation System program for the Future Combat System.	BeatBots - We are developing robots that can participate in coordinated rhythmic social interactions with people.
Behavior Planning for Character Animation - We are exploring a behavior planning approach to automatically generate realistic motions for animated characters.	Bow Leg Hopper - A novel, single-leg, dynamically stabilized planar robot that efficiently traverses rugged terrains under computer control.
BowGo - We have developed BOWGO (patent pending) - a new kind of pogo stick that bounces higher, farther and more efficiently than conventional devices.	Cell Tracking - We are developing fully-automated computer vision-based cell tracking algorithms and a system that automatically determines the spatiotemporal history of dense populations of cells over extended period of time.
Circuit Extraction from MEMS Layout - We are developing a MEMS extraction module which reads in the geometric description of the layout structure and reconstructs the corresponding schematic.	COALA - We are developing a model of inter-organizational electronic commerce.
Cohn-Kanade AU-Coded Facial Expression Database - An AU-coded database of over 2000 video sequences of over 200 subjects displaying various facial expressions.	Collaborative Agents - Cooperative robotics
Composable Simulation - Software environment which facilitates creating simulations of mechatronic systems	Computer Assisted Medical Instrument Navigation - We are developing a system to help clinicians to precisely navigate various catheters inside human hearts.
Constrained Controlled Coverage - Coverage of two dimensional surfaces embedded in three dimensions with emphasis on uniform coverage.	Cooperative Attack Munition Real Time Assessment - We are developing the algorithms required to achieve cohesive, flexible and robust coordination of large teams of autonomous Wide Area Search Munitions (WASMs) that can be controlled by a small number of human operators.
Coordinators - The DARPA COORDINATORS program defines a challenging multi-agent application, with agents operating in a highly dynamic environment, where no agent has a complete view of the problem.	Cyberinfrastructure for Human-Robot Interaction Research - We seek to provide the field of Human-Robot Interaction (HRI) with collaborative mechanisms and methods for evaluation and exploratory analysis.
Daml-S (Semantic) Matchmaker - We have developed our Semantic Matchmaker, an entity that will allow web services to locate other services, using DAML-S, a DAML-based language for describing service capabilities.	Deception Detection - Learning facial indicators of deception
Depression Assessment - This project aims to compute quantitative behavioral measures related to depression severity from facial expression, body gestures, and vocal prosody in clinical interviews.	Desktop Robotics - Is it possible to build robots which take the desktop as their task domain?
Dexterous Haptic Interface for Interaction with Remote/Virtual Environments - Convey finger touch and force information to a human operator	Discovery - We are developing an autoconfiguration mechanism for agents and infrastructures.
Dismount Control Project - We are deveopling Dismount, a system used to track position of an individual and programming a robot to follow it.	Distributed Design System - CODES - Providing people, tools, and information for integrated robotics design
Dynamic Biped - We are developing a new series of bipedal walking robots that use passive-dynamic principles.	Dynamically-Stable Mobile Robots in Human Environments - We are developing novel dynamically-stable rolling machine and walking machine research platforms to study interactions with people and operating in normal home and workplace environments.
Educational Robotics - We are developing both physical robots and curriculum that will make educational robotics viable at the middle school and high school levels.	Electronic Commerce
Evaluation of MSP Extraction Algorithms - The aim of this project is to evaluate different state-of-art algorithms for automatic extraction of the mid-sagital plane in brain images.	Event Detection in Videos - Our event detection method can detect a wide range of actions in video by correlating spatio-temporal shapes to over-segmented videos without background subtraction.
Expeditionary Target Identification and Exchange System - we are developing ETIES, a modular software system that provides for target identification, handoff, and engagement.	Explosive Ordnance Disposal Robot - Very Low Cost - We are deveopling a suite of highly capable mobile robots for Explosive Ordnance Disposal and First Responders which are very low in total ownership costs.
EyeVision	Face Detection - We are developing computer methods to automatically locate human faces in photos and video.
Face Detection Databases - A collection of databases for training and testing face detectors.	Face Recognition - Recognizing people from images and videos.
Face Recognition Across Illumination - Recognizing people from faces: video and still iamges.	Face Recognition Across Pose - Recognizing people from different poses.
Face Video Hallucination - A learning-based approach to super-resolve human face videos.	Facial Asymmetry as a Biometric - We are investigating the effect of facial asymmetry measurement statistics as a biometric under expression variations.
Facial Expression Analysis - Automatic facial expression encoding, extraction and recognition, and expression intensity estimation for the applications of MPEG4 application: teleconferencing, human-computer interaction/interface.	Facial Feature Detection - Detecting facial features in images.
Feature-based 3D Head Tracking - A feature-based head tracking algorithm can handle occlusions and fast motion of face.	FingersightTM - We are developing videotactile fingertip sensors which will enable people to interact with the visible world via their fingertips.
Formal Verification of Autonomous Systems - We are developing tools and techniques to support formal verification of autonomous systems.	Foundation for MEMS Synthesis - shorten MEMS development cycle
Free-Roaming Planar Motors - We are developing autonomous planar motors for precision positioning.	Frontal Face Alignment - This face alignment method detects generic frontal faces with large appearance variations and 2D pose changes and identifies detailed facial structures in images.
Generic Active Appearance Models - We are pursuing techniques for non-rigid face alignment based on Constrained Local Models (CLMs) that exhibit superior generic performance over conventional AAMs.	Geometrically Coherent Image Interpretation - Understanding a 3D scene from a single image
Global Connection Project - The Global Connection Project develops software tools and technologies to increase the power of images to connect, inform, and inspire people to become engaged and responsible global citizens.	Grace - The Grace project is a collaboration among several schools and research labs to design a robot capable of fully performing the AAAI Grand Challenge.
Hand Tracking and 3-D Pose Estimation - A 2-D and 3-D model-based tracking method can track a human hand rapidly moving and deformed on complicated backgrounds and recover its 3-D pose parameters.	HeartLander - A miniature mobile robot for minimally invasive therapy on the beating heart through a single percutaneous incision.
High-Aspect-Ratio CMOS Micromachining Process - We have developed an integrated CMOS- MEMS process in which electrostatically actuated microstructures with high-aspect-ratio composite-beam suspensions are fabricated using conventional CMOS processing.	Highly-Articulated Robotic Probe - We developed and tested a prototype based on an innovative approach of a highly articulated robotic probe.
Human Kinematic Modeling and Motion Capture - We are developing a system for building 3D kinematic models of humans and then using the models to track the person in new video sequences.	Human Motion Transfer - We are developing a system for capturing the motion of one person and rendering a different person performing the same motion.
Human Odometer - We are developing the Human Odometer - a system designed for situational awareness for firefighter tracking.	Human-Robot Interaction - The human-robot interaction project explores aspects of social interaction between people and robots, in particular how robots should be designed to provide people with appropriate interactions.
IBM ITA: Human-Agent Teamwork Models - We are developing models of human-agent teamwork for implementation in software agent systems.	Image Enhancement for Faces - Video enhancement techniques, specifically tailored for human faces.
Integrated MEMS Inertial Measurement Unit - Developing a monolithic inertial measurement unit that exploits integrated-microdevice CAD tools to achieve superior system performance over individual microdevices.	Intelligent Assembly Modelling and Simulation - Facilitating assemblability checking in a virtual, simulated environment
Inter-Process Communication Package - We are developing a high-level support package for connecting and sending data among processes using TCP / IP sockets.	Knee Surgery Simulation - Haptic interface for simulated knee surgery and interaction with volumetric data.
Language for Advertisement and Request for Knowledge Sharing - A common agent capability description language (ACDL) for matching service-requesting software agents with service-providing software agents.	Legless Locomotion - A novel locomotion technique for legged robots when their legs don't touch the ground!
Lego Educational Robotics - Self-paced robotics education labs	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.
Magnetic Levitation Haptic Consortium - Low-cost, high-fidelity haptic magnetic levitation haptic interface systems for use by a consortium of haptics researchers in the United States	Matchmaker - A middle agent that facilitates conections among agents that provide services and agents that request services.
MIGSOCK - We are developing MIGSOCK, a Linux kernel module that re-implements TCP to make socket migration possible.	MINTEC - Supply chain management
Mobile Autonomous Robot Software - Develop complete, effective and scalable software for autonomous robot teams. Demonstrate robot teams with integrated action, perception, reasoning, communication and cooperative strategies that solve complex multiagent tasks.	Mobile Communications amongst Heterogeneous Agents - We are developing a multi-agent system for "Anyware" communications and display.
Modeling by Videotape - Factorization method of solving the structure-from-motion problem	MORSE - The MORSE project is a simulated range operation, designed to evaluate effectiveness of the cognitive models and agents, in order to improve individual and team performance.
Motion Planning for Snake Robots - Creating algorithims for computer control of hyper-redundant manipulators existing in high dimension configuration spaces.	Multi-People Tracking - Our multi-people tracking method can automatically initialize and terminate paths of people and follow multiple and changeable number of people on cluttered scenes over long time intervals.
Multi-view Car Detection and Registration - This method can detect cars with occlusions and varying viewpoints from a single still images by using multi-class boosting algorithm.	Multimodal Data Collection - A multimodal database of subjects performing the tasks involved in cooking, captured with several sensors (audio, video, motion capture, accelerometer/gyroscope).
Needle Steering for Brain Surgery - We are developing high accuracy proportional steering of flexible needles for minimally invasive navigation in the brain.	Object Recognition Using Statistical Modeling - Automobile and human face detection via statistical modeling.
Pleiades - A project aimed at developing methods for automating negotiation among agents and implementing effective machine learning techniques.	Precision Freehand Sculpting - We are developing a handheld tool to accurately cut bone for joint replacement surgery.
Precomputed Search Trees: Planning for Interactive Goal-Driven Animation - We present a novel approach for interactively synthesizing motions for characters navigating in complex environments.	Product Decomposition - a method of decomposing sheet-metal products into a few, easily manufactured parts
Profile-Based Scheduling Procedures - We are investigating approaches to constraint-posting scheduling.	Project LISTEN's Reading Tutor - Project LISTEN's Reading Tutor listens to children read aloud.
Psychophysics of Haptic Interaction - Quantitative comparisons of human subjects performing peg-in-hole experiments with real, virtual, and real-remote haptic environments	Quality of Life Technology Center - QoLT is a unique partnership between Carnegie Mellon and the University of Pittsburgh that brings together a cross-disciplinary team of technologists, clinicians, industry partners, end users, and other stakeholders to create revolutionary technologies that will improve and sustain the quality of life for all people.
Rapid Design Through Virtual and Physical Prototyping - Rapid design and generation of parts and assemblies	Real-time Face Detection - A face detection system has an accurate detection rate and real time performance by using an ensemble of weak classifiers.
Reconfigurable Vision Machine - Developing new hardware and software for high performance computer vision.	Reflectance Perception - We have developed Reflectance Perception - an image processing software that intelligently compensates for illumination problems in digital pictures.
Reflective Agents with Distributed Adaptive Reasoning - The focus of the RADAR project is to build a cognitive assistant that embodies machine learning technology that is able to function without requiring expert tuning or specially trained users.	Remoted Bulldozer for Training and Human Factors Evaluation - A Teleoperated Bulldozer
Resonator Synthesis - We have developed a resonator synthesis module; the first in a series of synthesis modules to overcome the lack of MEMS Cell Libraries.	Retract-like structures for SE(2) and SE(3) - Motion planning algorithm for thr rod-shaped robots, based on distance measurements.
RETSINA Semantic Web Calendar Agent - We are Retsina Semantic Web Calendar Agent to assist in organizing and scheduling meetings between several individuals, and coordinating these meetings based on existing schedules maintained by MS Outlook.	Reusable Environment for Task Structured Intelligent Network Agents - An architecture for developing distributed intelligent software agents that cooperate asynchronously to perform goal-directed information retrieval and information integration in support of a varie
Roboceptionist - In collaboration with the Drama Department, we are developing technology for long-term social interaction.	Robotic Demining - We are developing an autonomous robot to find landmines.
Robotic Origami Folding - Origami, the human art of paper sculpture, is a fresh challenge for the field of robotic manipulation, and provides a concrete example for many difficult and general manipulation problems.	Robotic Soccer - The RoboSoccer project develops collaboration among multiple autonomous agents.
Robots in Scansorial Environments - We are developing a bioinspired climbing robot with the unique ability to walk on land and climb on vertical surfaces.	Schematic Design for MEMS - We have developed nodal simulation software to enable a structured representation for MEMS design using a hierarchical set of MEM components.
Search and Rescue - Giving Urban Search and Rescue workers more technological tools to help find and save victims of natural disasters.	Secure Agent Name Server - We are developing a secure agent name server which requires preregistration for deployment.
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.	Snake Robot Design - Analyzing the factors that are of importance in designing a snake robot, and implementing new designs.
Social Robots - We are developing robots with personality.	Sonic FlashlightTM - We are developing a method of medical visualization that merges real time ultrasound images with direct human vision.
Spatio-Temporal Facial Expression Segmentation - A two-step approach temporally segment facial gestures from video sequences. It can register the rigid and non-rigid motion of the face.	Teleoperation with a 12-DOF Coarse-Fine Manipulator - High-fidelity manipulation of remote environments using a 6-DOF robot equipped with a 6-DOF magnetic levitation fine-motion wrist.
Telepresence Robot Kit - To design, create, and disseminate robotics curricula and technologies that motivate young women and men to actively explore science and technology.	Telesupervised Adaptive Ocean Sensor Fleet - We are developing a HAB Investigation Telesupervised Adaptive Sensor System (HABITASS) to address the limitations of existing systems.
Temporal Segmentation of Human Motion - Temporal segmentation of human motion	Temporal Shape-From-Silhouette - We are developing algorithms for the computation of 3D shape from multiple silhouette images captured across time.
Text Miner - We are developing Text Miner, a system that automatically classifies news reports on a company's financial outlook.	Texture Replacement in Real Images - We are developing methods to replace some specified texture patterns in an image while preserving lighting effects, shadows and occlusions.
The CMUcam Vision Sensor - We have developed CMUcam - a new low-cost, low-power sensor for mobile robots.	The Electric Cable Differential (ECD) Leg - We are designing a bipedal robot to be capable of running, walking, jumping, hopping, and generally behaving in a highly dynamic manner.
The Personal Rover Project - We have developed the Personal Rover - a 18"x12"x24" highly autonomous, programmable robot.	Time-optimal Vehicle Trajectories - What's the fastest way to drive a mobile robot?
Toy Robots Initiative - The Toy Robots Initiative aims to commercialize robotics technologies in the educational, toy and entertainment fields.	Transitional Unmanned Ground Vehicle - Cross Country Navigation
Treasure Hunt: Pickup Teams - We are developing a single heterogeneous human-robot team capable of effectively locating objects of interest (treasure) spread over a complex, previously unknown environment.	Ultra-High-Density Data Cache for Low-Power Communications - Demonstrating technology for a 10 GB/cm2 rewritable data storage system using MEMS-based actuators and magnetic recording.
Urban Search and Rescue - We are developing Hybrid Teams of Autonomous Agents: Cyber Agents, Robots and People (CARPs) to address the challenges of urban search and rescue.	WARREN - The WARREN system is a multi-agent application that is designed to help users monitor and manage their financial portfolio.
WebMate - A personal agent for World-Wide Web browsing that enhances searches and learns user interests.	Xavier - Perceptual, reasoning and learning abilities in autonomous mobile robots