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Past Projects, Grouped by Subject

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Mobile Robotics

2D Recognition - Illumination-Invariant Affine Templates for Object Recognition	3D Object Recognition - We are applying our techniques for surface representation and matching to object recognition problems; for example, we have used 3D object recognition as part of the Artisan system for interior mapping.
3D Terrain Mapping - We are developing methods for building large-scale, topographic maps of unstructured outdoor environments.	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.	Amelia - An improved Xavier
Asbestos Pipe-Insulation Removal Robot System - External pipe-crawling asbestos-removal robot	Automated Field-Container Handling System - Develop a containerized plant handling system for nursery growers
Autonomous Cargo Trailer Transport System - automated system for handling USPS mail trailers	Autonomous Land Vehicle In a Neural Network - Neural network navigation
Autonomous Loading System - Developing technologies to improve the productivity and reduce the cost of mass excavation.	Autonomous NonDestructive Inspector - Eddy current inspection of aircraft, precursor to CIMP
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.
Crown Inspection Mobile Platform - Remote enhanced stereo visual inspection of aircraft	CyberATV - We have developed two Unmanned Ground Vehicles (UGVs) (by retrofitting two Polaris all-terrain vehicles (ATVs)
Dead reckoning error compensation	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 Robotics Systems - CyberScout - Tactical surveillance collaborative robotics.	EnviroBlimp - This project is investigating the use of a solar powered, autonomous airship for extended duration environmental sampling missions.
Explanation-based Learning from Mobile Robot Perception - Learning object recognition for a mobile robot	Fast Navigation - High speed navigation of an unmanned vehicle using position based path tracking
Grid based Approach for Navigation by Evidence Storage and Histogram Analysis - Grid based navigation	Highly Mobile Multi-purpose Wheeled Vehicle - Autonomous cross-country navigation
Houdini - Reconfigurable in-tank mobile cleanup robot	I-Cubes - "ICES Cubes" are a class of modular self-reconfigurable bipartite robotic systems
In-tank inspection mobile robot system - reconfigurable robot system for in-situ visual and ultrasonic inspections	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.	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.
Medical Imaging - Analysis of sequences of microscope images for the recovery of significant events and mutations in cell development	Mercator - Cooperative Multi-Robot Mapping and Planning
Meta Level Planning - Meta-level reasoning for autonomous indoor and outdoor mobile robots.	Minerva - Minerva is an autonomous robot that daily moves through crowds at the Smithsonian's National Museum of American History.
Model Building - Surface registration is applied to a variety of problems, including object modelling and mapping of large areas.	Neptune II - Underwater Robot
Neptune Mobile Robot - three wheeled robot trike	No Hands Across America! - Vehicle drives across the United States
Operator Interface for Robotic Applications - an operator control station and interface which maximizes operator comfort and productivity	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.
Pluto - Flexible platform for computer vision	Position Estimation - We estimate the position of a robot based on the position of natural landmarks in images.
Position Estimation, Planning, and Learning with Partially Observable Markov Models - making Xavier and Amelia navigate autonomously and robustly	Pushing - A planner that finds stable pushing plans to move an object from one place to another
Ranger - We are developing a software control system for cross country autonomous vehicles called RANGER, for Real-time Autonomous Navigator with a Geometric Engine.	Rapidly Adapting Lateral Position Handler - adaptive steering
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.	Retract-like structures for Euclidian Spaces - Sensor based motion planning using hierarchical Voronoi graphs.
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 Antarctic Meteorite Search - Developing robots to search for meteorites in Antarctica, as an analog of a planetary exploration robot.	Robotics Simulation Support - NREC is collaborating with RAND Corporation to incorporate the latest in NREC's field-proven robotic mobility models and planning software into RAND's suite of high-resolution, force-on-force simulators enabling rigorous analysis of scenarios involving robotic systems.
Rosie - Robot for Decontamination and Dismantlement	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.	Sensor Friendly Highways
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.
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.
Skyworker - Skyworker is an assembly, inspection, and maintenance robot that will softly and autonomously transport and manipulate payloads of kilograms to tons over kilometer distances.	Supervised TeleRobotics using Incremental Polyhedral-Earth geometry - Teleoperating vehicles over low bandwidth links.
Tactical Mobile Robotics - As part of the DARPA Tactial Mobile Robotics program, we are developing techniques for semi-autonomous navigation of a small robot in urban environments.	Tactical Unmanned Ground Vehicle (TUGV) - We are continuing development of the US Marines' Tactical Unmanned Ground Vehicle (TUGV) - a highly mobile vehicle suitable for a variety of expeditionary missions.
Terrain Classification - Using a multispectral camera, we classify terrain into categories such as grass, dirt, trees, and rock.	Terregator - We developed the Terregator to serve as a testbed machine for a wide variety of projects.
The Minnow Robot - We are interested in building and studying teams of robots operating in dynamic and uncertain environments.	Transit Bus Collision Warning Systems - Research and integration of side and front collision warning systems for transit buses.
Unmanned Ground Combat Vehicle (UGCV) - We are leading a team to develop a next-generation unmanned ground combat vehicle.	Unmanned Ground Vehicles - Developing autonomous navigation capabilities for mobile robots driving in complex, unstructured outdoor terrain.
Uranus - mobile robot used for developing 3D mapping and sensing	Vacuum Cleaning Robots - We are developing an inexpensive vacuum cleaner robot.
Visual Position Estimator - The VIPER project aims at building a teleoperation interface which can analyze images sent by a mobile robot in space missions and estimate the position of the robot.	Wide Area Prospecting Using Supervised Autonomous Robots - We are developing teams of telesupervised autonomous prospecting robots for the planned NASA Lunar and Martian colonies.