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Past Projects, Grouped by Center Affiliation

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2D->3D Face Model Construction - We develop a linear algorithm that uniquely recovers the 3D non-rigid shapes and poses of a human face from a 2D monocular video.	3D Belly - View Synthesis from multiple micro-CCD cameras placed on the belly.
3D Vision for Autonomous Navigation - We are developing object representations built from range images that can be used in landmark recognition and object matching	A Rapid Prototyping System for Flexible Assembly
A Reactive System for Off-Road Autonomous Driving - We have developed an integrated obstacle avoidance system for on-road driving for avoiding discrete obstacles, or for off-road driving for avoiding untraversable regions of terrain.	Active Sensor Control for Neural Net Lane Tracking - Panacea enables existing, fixed-camera lane-trackers such as ALVINN, to use steerable cameras without retraining.
Activelets: Web-Based Planning and Scheduling Services - We are developing planning, scheduling and user interface components that enable real-time collaborative planning and scheduling by mobile decision agents.	Agent Aided Command and Control
Agent Transaction Language for Advertising Services - A DAML-based language for advertising and locating agents, ontologies, and other Web entities.	ALVINN-On-A-Chip - The ALVINN-on-a-chip project is developing an intelligent VLSI imaging sensor for road following
Amelia - An improved Xavier	Anatomically Correct Testbed (ACT) Hand - We are building a dynamic model of the human hand that is anatomically correct.
Anthropocentric Robotics - The goal of this project is to improve human-robot interaction by using anthropological resesarch methods to study how people think about robots.	Articulated Motion Tracking - tracks humans in video.
Assembly Plan from Observation	Assembly Planning Using Geometric Models
Atacama Desert Trek - Robotic traversal of the Atacama Desert in Northern Chile	AutoBrief - Generation of coordinated multimedia (natural language and information graphics) explanations from large and complex data sets.
Automatic 3D Modeling from Range Images - A system for generating 3D models of real-world objects without manual or mechanical aids.	Automatic Construction of Active Appearance Models - An algorithm for the automatic (unsupervised) construction of an Active Appearance Model.
AUtomotive Run-Off-Road Avoidance system - To help avoid highway accidents, we have developed a vision-based lateral position estimation system called AURORA.	Auton Project - Research into Autonomous Learning Software Systems
Autonomous Extra-vehicular Robotic Camera - Aercam is a flying soccer-ball sized spacecraft with a camera allowing remote inspection of the future space station and the Space Shuttle.	Autonomous Land Vehicle In a Neural Network - Neural network navigation
Barrier-Based Stereoscopic Image Display System - variations on time-multiplexed parallax panoramagrams	Bazaar - we are developing an adaptive, multi-issue negotiation model capable of exhibiting a rich set of negotiation behaviors for electronic commerce
Biotracking - We are developing algorithms for automatically tracking and modeling the behavior of multiagent systems.	Bookstore Project - We are developing a robot wheelchair capable of navigating Carnegie Mellon's campus, traveling from my office to the Campus Bookstore to fetch a book autonomously.
Bridge Inspection with Serpentine Robots - We are developing motion planning strategies to use serpentine robots to perform bridge inspection.	Camera Assisted Meeting Event Observer - We are developing the Camera Assisted Meeting Event Observer (CAMEO) - a sensory system designed to provide an electronic agent with physical awareness of the real world.
Car Tracking - Algorithms for tracking cars and generating "bird's eye views" of the surrounding road scene.	Carnegie Mellon CD Press - A low volume CD duplicating service being offered to the campus community by the Internet Systems Lab within the Robotics Institute.
Carnegie Mellon Digital Press - A full service document scanning and Web publishing in one easy step.	Chimera - Multiprocessor Real-Time Operating System
Control of Agent-Based Systems - Develop and demonstrate techniques to safely control, coordinate and manage large systems of autonomous software agents.	Controlled Coverage for Auto-Body Painting - Speeding up of the paint spray-gun path programming by automation, achieving uniform coverage.
Cooperative Information Agents	CORTES - CORTES is an integrated framework for production planning, scheduling and control (PSC). CORTES uses Constrained Heuristic Search to make PSC decisions.
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.	CyberATV - We have developed two Unmanned Ground Vehicles (UGVs) (by retrofitting two Polaris all-terrain vehicles (ATVs)
CyberRAVE - We are developing a framework to run and simulate multiple mobile robot systems.	Daedalus - We deveopled Daedalus, a six-legged frame-walker with efficient redundant drive systems, for extreme terrain missions as part of the Lunar Rover Initiative.
Daml-S - We are developing DAML as part of the Semantic Web initiative.	Dead reckoning error compensation
Depth From Focus and Defocus - Focus interpretation is a valuable alternative to stereo vision because it doesn't require solving correspondence for depth recovery.	DigitEyes - DigitEyes is a noninvasive, real-time tracking system for complex articulated figures like the human hand and body.
Distributed Architecture for Mobile Navigation - The Distributed Architecture for Mobile Navigation (DAMN) is a behavior-based architecture similar in spirit to the Subsumption Architecture.	Distributed Coordination of Resources - This project is investigating the issues associated with multi-agent resource coordination.
Distributed Robotics Systems - CyberScout - Tactical surveillance collaborative robotics.	Distributed Surveillance & Sensing - Hierarchical, distributed, and active perception system
Dual-use Mobile Detachable Manipulator - The Dual-use Mobile Detachable Manipulator, or (DM)2, is a robot designed for performing dual functions in a lunar-base construction scenario.	Dynamic Manipulation - By not grasping, a simple robot with few degrees-of-freedom can control an object with more degrees-of-freedom by exploiting dynamic effects, such as centrifugal and Coriolis forces.
Dynamic Visualized Information Agent - Knowledge-Based Agent for Information Extraction & Retrieval	Dynamics of Complex Engineered Societies - in this project, researchers deal with scaling of the evolutionary search
Ecommerce Institute - The function of the Institute is to serve as a focal point for Electronic Commerce activities at Carnegie Mellon, to offer degree programs and executive education and to conduct research.	Embedded Microinstruments for Space Applications
Enterprise Modeling and Management Architecture	Enterprise Regulation
Experience Based Synthesis of Electronic Mechanical Devices	Explanation-based Learning from Mobile Robot Perception - Learning object recognition for a mobile robot
Exploitation of 3-D Data - The E3D project will develop technology to detect, characterize and recognize vehicular targets in 3-D data.	Face and Facial Feature Tracking - Rigid Tracking of Faces and Non-Rigid Tracking of Facial Features
Face Databases - Miscellaneous face databases collected at CMU.	Face Model Building and Fitting - Techniques for building and fitting 2D and 3D models of human faces and heads.
Factory Automation	Fast Navigation - High speed navigation of an unmanned vehicle using position based path tracking
Federation of Intelligent Robotic Explorers Project - We are investigating and understanding fundamental issues in heterogeneous multi-robot coordination.	Feedback Distortion for Rehabilitation - We are developing a virtual environment with a robotic device to extend the strength and mobility of people recovering from strokes.
Free and Fee	Gaze Estimation - Algorithms for estimating where someone is looking
Generating Explanatory Captions for Information Graphics	Gesture - Speech Integration
Gesture Based Programming - Programming by human demonstration	Green Engineering
Grid based Approach for Navigation by Evidence Storage and Histogram Analysis - Grid based navigation	Hallucinating Faces - A super-resolution algorithm with a strong face-specifc prior.
Hand Exoskeleton - We are developing an exoskeletal hand for patients suffering from a loss of precise control in the upper limbs and hands.	High Bandwidth Visual Feedback for Robust Manipulation - Sensor-based robotic system that can robustly perform manipulation tasks in dynamically varying and imprecisely calibrated environments.
High Performance Computing for Robot-Assisted Surgery - High Performance Computing for Robot-Assisted Surgery	High Speed Laser Scanner
High Speed Stereo Range Mapping - A practical, high-speed stereo vision system.	Human Computer Interaction for Computer Assisted Surgery
Humanoid Vision - We are adding visual recognition and navigation to Honda's humanoid robots	I-Cubes - "ICES Cubes" are a class of modular self-reconfigurable bipartite robotic systems
Image Feature Access Algorithms - algorithm for handling two dimensional graphical objects in document image conversion systems	Image Understanding
Image-based Modeling and Rendering - Acquiring, manipulating, and rendering representations of real environments based on photographs.	Inspection Vision Machine
Integrated MEMS for Space Applications	Integrated Planning and Scheduling - We are investigating the development of techniques for tighter integration of planning and scheduling processes.
Integrated Vision and Sensing for Human Sensory Augmentation - The project integrates vision algorithms with sensing technologies for low-power, low-latency, compact adaptive vision systems to provide augmentation of human sensory systems and enabling sensory driven information delivery	Integrating Intelligent Assistants into Human Teams (Joccasta) - A multi-disciplinary research project designed to increase the effectiveness of team decision making in joint planning tasks.
Intelligent Combinatorial Optimization - We are developing adaptive mechanisms to speed up Simulated Annealing search.	Interactive Robot Programming - We are developing human-machine interfaces to allow non-experts to interact in a human manner with robots.
Interoperability of Future Information Systems - We are developing techniques to help users diagnose and remedy network interoperability problems.	Knowledge-Assisted Design
Life-Size Safer Haptic Environment - We are constructed large-scale haptic devices for life-size environments.	Localization with Mobile Robots
Lunar Rover Navigation - Carnegie Mellon researchers are creating the prototype for a new lunar rover that can navigate rugged terrain autonomously and under supervisory control over thousands of kilometers of terrain. As part of this Lunar Rover Initiative, the LRD Navigation Group is developing the navigation system of the rover.	Magic Eye - Computer vision based augmented reality systems
Magnetic Levitation Haptic Interfaces - Interacting with 3-dimensional physically-based virtual environments using a six-degree-of-freedom magnetic levitation haptic device.	MARS2020 - This project seeks to develop softwares needed to program autonomous mobile robots in partially known, changing, and unpredictable environments.
Massively Parallel Road Following - Autonomous roadway navigation using video images	Mechatronics - Encoding our motion planning algorithms into small hardware platforms.
Mercator - Cooperative Multi-Robot Mapping and Planning	Meta Level Planning - Meta-level reasoning for autonomous indoor and outdoor mobile robots.
Metaphor - Design for Software Evolution and Reuse	Middle Agents for the Internet
Minerva - Minerva is an autonomous robot that daily moves through crowds at the Smithsonian's National Museum of American History.	Mini Bone-Attached Robotic System - 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.	Modeling from Reality - Techniques for constructing solid models from observations of real objects
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.	MokSAF - A software environment for route planning and team coordination.
Multidisciplinary University Research Initiative	Multiresolution Modeling and Rendering - We are developing methods to represent three-dimensional geometric models at multiple levels of detail to facilitate storage, transmission, display, and simulation.
Neptune Mobile Robot - three wheeled robot trike	Neural Network-Based Face Detection - A neural network-based face detection system
Neuromuscular Hand Control - We are quantifying the development of motor synergies in the human hand.	Nlips
No Hands Across America! - Vehicle drives across the United States	Object Systems for Knowledge Representation - We have developed object systems that help us use frame-like features in our software.
Onika - Iconically programmed interface to Chimera	Palm Pilot Robot Kit - The Palm Pilot Robot Kit is a design for an easy-to-build, fully autonomous robot controlled by a Palm handheld computer.
PERSUADER - A framework for intelligent computer-supported conflict resolution through negotiation/mediation.	Physics-Based Inspection
Physics-Based Simulation and Graphics	PIE Database - A database of 41,368 images of 68 people with Pose, Illumination, and Expression variation.
Planning and Coordination in Virtual Extended Enterprises - A blackboard-based agent architecture for supporting flexible multi-level lateral and vertical planning and coordination functionalities across extended and virtual enterprises.	Planning and Scheduling
Pluto - Flexible platform for computer vision	Portable Wearable Movement Tracking System - We are developing a completely portable and wearable sensor system that accurately tracks and records human limb movements.
Position Estimation, Planning, and Learning with Partially Observable Markov Models - making Xavier and Amelia navigate autonomously and robustly	Precision Assembly Aspects of Wearable Computers
Prediction & Planning - This project analyses the safety and interaction of moving objects in complex road scenes.	Printed Chinese Character Recognition - An omnifont Chinese character classifier
Privacy Server Protocol Project - We are providing research into large-scale distributed and automated negotiations for privacy and the complementary negotiations for digital rights management.	Probabilistic Coverage - Recognition of mine patterns using statistical methods.
Pushing - A planner that finds stable pushing plans to move an object from one place to another	Rapid Prototyping by Shape Deposition Manufacturing
Rapidly Adapting Lateral Position Handler - adaptive steering	Real and Virtual Environment for Multiple Robots - General-purpose framework to run and simulate multiple mobile robot systems
Real-time Autonomous Car Chaser Operating Optimally at Night - RACCOON is a taillight-tracker that can drive an intelligent vehicle at night, when the road is not visible, by following other cars.	Reconfigurable Modular Manipulator System - Sensor-Based Manipulators
Reconfigurable Software Design for Robotic and Automation Applications - We are developing a novel software framework, based on the notion of dynamically reconfigurable real-time software	Reflectance Analysis for Computer Graphics Model Generation - New approach to obtain photometric information as well as geometric information of an object model automatically by observing a real object
Retract-like structures for Euclidian Spaces - Sensor based motion planning using hierarchical Voronoi graphs.	RETSINA Configuration Manager - We present the RETSINA Configuration Manager, RECoMa, which uses agent infrastructure to assist the multi-agent system administrator in allocating, launching, and monitoring a heterogeneous distributed agent system.
RHex Robot - We are developing a six legged robot capable of achieving a wide variety of dynamically dextrous tasks.	Risk-Sensitive Planning
Robot Improv - We are developing realistic dramatic behavior for mobile robotics.	Robotic All Terrain Lunar Exploration Rover - Ratler is a battery-powered, four-wheeled, skid-steered vehicle used as a testbed to develop the remote driving techniques needed for a lunar mission.
Robotic Performer Research Project - We are developing new mechanical actors including 'Humper', with organic movements and interactivity exploring the social strategies of streetwalking, and 'Laugh Riot', a robotic Jack-in-the-Box whose purpose is the dissemination of false hope.	Robotics Lexicon Project - The goal of this project is the computer-aided collection, recording and dissemination of robotics terminology.
Run-Off-Road - The Run Off Road Collision Countermeasures program assists drivers by monitoring the vehicle's position in the lane while a person drives.	Sage - Sage is a completely autonomous mobile multimedia exhibit built on top of the XR4000 robot base by Nomadic Technologies, Inc.
Scanserver - We are developing Scanserver to provide classroom material on the web.	Scene Flow - Methods of computing dense, non-rigid motion of 3D scenes.
Scheduling and Visualization - This project is investigating the development of next-generation environments for collaborative analysis and management of large-scale schedules.	Sensor Based Coverage of Unknown Planar Environments - Sensor based coverage of unknown environments using exact cellular decompositions.
Sensor Friendly Highways	Sensory Transfer Systems for the Sensory Impaired - We are developing a sensory transfer system to assist and enhance the manipulation abilities of the sensory impaired.
Setting Low-Level Vision Parameters - Techniques for feeding back information from high-level vision modules to low-level modules to improve the performance of the overall system.	Shape Matching
Silicon Micro-Disk Arrays for Data Storage - Silicon microdisk fabrication	Silicon/Neuron Interface - We are developing a robust, low-power microengineered interface between living neurons and silicon circuitry.
Simulated Highways for Intelligent Vehicle Algorithms - SHIVA is a microsimulation of a highway environment, designed specifically for testing intelligent vehicle tactical algorithms.	Simultaneous Localization and Mapping with Detection, Tracking, and Classification of Moving Objects - We are developing the algorithms to solve Simultaneous Localization and Mapping (SLAM) and Detection, Tracking and Classification of Moving Objects (DTCMO) problems for both indoor and outdoor applications.
Single Leg Testbed - We developed the Single Leg Testbed as a full-scale working prototype for the Ambler.	Situational Awareness Planner Implementing Effective Navigation in Traffic - SAPIENT is a distributed approach to tactical decision making for intelligent vehicles.
Skinnerbots - Trainable robots using operant conditioning.	Spatial Frequency - Our space / frequency representation has proven useful for solving the combined problem of segmentation and shape from texture.
Spatial Layout - Locate a set of objects in a housing unit	Spatio-Temporal View Interpolation - An image-based rendering algorithm for view interpolation across both space and time.
Statistical Methods For Learning Maps with Mobile Robots	Super-Resolution Optical Flow - A super-resolution algorithm for complex non-rigid scenes.
Super-Resolved Texture Tracking - Video-stream object motion estimation and tracking.	Supervised TeleRobotics using Incremental Polyhedral-Earth geometry - Teleoperating vehicles over low bandwidth links.
Supply Chain Modeling and Analysis - The development of tools and techniques that enable modeling and analysis of emerging supply chain management strategies and practices.	Surgical Robotics for Orthopaedics - Development of robotic milling techniques for precision orthopaedic surgery
Synthetic Performer Research Project - We are developing new strategies for the creation of virtual actors in the digital realm and the programming of 'actual' (robotic) synthetic equivilants through the animation of virtual actors.	System for Automated Graphics and Explanation - Mixed-initiative presentation system that supports visualization creation
Table Decomposition - Tools that will transform a printed/typed table of data back into a usable ASCII form	Tactile Displays Using MEMS Actuator Arrays - We are developing tactile dusplays using MEMS actuator arrays
Technical Drawing and Figure Decomposition - Tools that allow any component part of technical drawing and figure decomposition	Template Update - We are developing an algorithm to update template tracking that avoids the "drifting" problem of the naive update algorithm.
Terrain Classification - Using a multispectral camera, we classify terrain into categories such as grass, dirt, trees, and rock.	Terrain Mapping - We have developed an algorithm to build elevation maps from range images, accounting for the desired resolution and the current sensor orientation.
Terregator - We developed the Terregator to serve as a testbed machine for a wide variety of projects.	Thales - Satellite visibility forecaster
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.	The Historical New York Times Project - We are providing people with a glimpse into actual historical events as they were seen by the people of the day.
The Knowledge Conservancy - The Knowledge Conservancy is a non-profit organization established to communicate and carry out the vision of the universal library.	The Lifelong Learning Project
The Minnow Robot - We are interested in building and studying teams of robots operating in dynamic and uncertain environments.	The Universal Library - Our vision: access, query, and print any book, magazine, newspaper, video, data item, or reference document anytime, anywhere.
Traces - Traces is a project for networked CAVEs (immersive VR spaces)	Track Following in High Performance Magnetic Disk Drives
Transformer Winding Automation - Increase the production speed and quality of transformer winding through sensing and automation	Ultrasonic Bone Imaging
Uranus - mobile robot used for developing 3D mapping and sensing	Using Experience for Learning - architecture for planning and learning
Vacuum Cleaning Robots - We are developing an inexpensive vacuum cleaner robot.	Video Surveillance and Monitoring - cooperative multi-sensor military surveillance system
Video-rate Stereo Machine - Multiple images obtained by multiple cameras to produce different baselines in lengths and in directions	Vikia - We are developing a robot who has personality and with whom it is easy to communicate.
Virtualized RealityTM - Construct views of real events from nearly any viewpoint