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CTA Robotics Head: Martial Hebert Contact: Martial Hebert (hebert@ri.cmu.edu) Mailing address: Carnegie Mellon University Robotics Institute 5000 Forbes Avenue Pittsburgh, PA 15213 Associated centers: VASC and FRC Associated lab/group: NavLab

This page last updated - January 2006.

Project Description

CMU is a core part of the CTA robotics program. CTA is the Collaborative Technology Alliance program, funded and directed by the Army Research Laboratory (ARL). The prime contractor for the Robotics CTA is General Dynamics Robot Systems (GDRS).

The overall project goals are as follows:
"The Robotics Alliance focuses on the technology required to permit inanimate systems (or sub-systems) to perform in a seemingly human fashion. It is a systems-based discipline, combining perception, knowledge, plan/behavior generation and execution in a systematic, controlled fashion to achieve a designated goal. Robotic systems may function with varying degrees of human intervention: they may operate autonomously, under supervisory control, or be teleoperated. . . . [The Alliance] will concentrate efforts on three areas of technology: advanced perception, intelligent architectures/behaviors and human interface/planning techniques."

Personnel [Past Members]

	Name	Title	Email Address
	Cristian Dima	NREC Commercialization Specialist	csd@cmu.edu
	David Duggins	Program Manager/ARL CTA Project Manager	duggins@ri.cmu.edu
	Juan Pablo Gonzalez	PhD Student, RI	jpgonzal@cmu.edu
	Martial Hebert	Professor	hebert@ri.cmu.edu
	John Kozar	Electronics Designer	jkozar@cs.cmu.edu
	Christoph Mertz	Senior Project Scientist	cmertz@andrew.cmu.edu
	Bryan Nagy	NREC Computing Manager	bnagy@rec.ri.cmu.edu
	Luis Ernesto Navarro-Serment	Project Scientist	lenscmu@cs.cmu.edu
	Aaron Steinfeld	Systems Scientist	steinfeld@cmu.edu
	Nicolas Vandapel	Project Scientist	vandapel@ri.cmu.edu

Recent publications [View all 48 publications]

• Planning with Uncertainty in Position Using High-Resolution Maps
  J.P. Gonzalez
  doctoral dissertation, tech. report CMU-RI-TR-08-02, Robotics Institute, Carnegie Mellon University, May, 2008. [Abstract]
  Download: pdf [4175 KB] copyrighted

• Replanning with Uncertainty in Position: Sensor Updates vs. Prior Map Updates
  J.P. Gonzalez and A. Stentz
  Proceedings of the IEEE Int. Conference on Robotics & Automation (ICRA), May, 2008. [Abstract]
  Download: pdf [1588 KB] copyrighted

• Segmentation of Salient Regions in Outdoor Scenes Using Imagery and 3-D Data
  G. Kim, D. Huber, and M. Hebert
  IEEE Workshop on Applications of Computer VIsion (WACV08), IEEE Computer Society, January, 2008. [Abstract]
  Download: pdf [3158 KB] copyrighted

• Denoising Manifold and Non-Manifold Point Clouds
  R. Unnikrishnan and M. Hebert
  18th British Machine Vision Conference (BMVC), September, 2007. [Abstract]
  Download: pdf [624 KB] copyrighted

• Data Structures for Efficient Dynamic Processing in 3-D
  J. Lalonde, N. Vandapel, and M. Hebert
  The International Journal of Robotics Research, Vol. 26, No. 8, August, 2007, pp. 777-796. [Abstract]
  Download: pdf [3253 KB] copyrighted

• Planning with Uncertainty in Position Using High-Resolution Maps
  J.P. Gonzalez and A. Stentz
  In Proceedings of the IEEE Int. Conference on Robotics & Automation (ICRA) 2007, April, 2007. [Abstract]
  Download: pdf [1400 KB] copyrighted

• 3D Field D: Improved Path Planning and Replanning in Three Dimensions
  J. Carsten, D. Ferguson, and A. Stentz
  Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 3381 - 3386. [Abstract]
  Download: pdf [1139 KB] copyrighted

• Anytime RRTs
  D. Ferguson and A. Stentz
  Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 5369 - 5375. [Abstract]
  Download: pdf [1108 KB] copyrighted

• Learning-enhanced Market-based Task Allocation for Disaster Response
  E. Jones, M.B. Dias, and A. Stentz
  tech. report CMU-RI-TR-06-48, Robotics Institute, Carnegie Mellon University, October, 2006. [Abstract]
  Download: pdf [242 KB] copyrighted

• Planning with Uncertainty in Position Using High-Resolution Maps - Thesis Proposal
  J.P. Gonzalez
  tech. report CMU-RI-TR-06-45, Robotics Institute, Carnegie Mellon University, October, 2006. [Abstract]
  Download: pdf [5971 KB] copyrighted