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Field Robotics Center (FRC)
FRC
The Robotics Institute
Carnegie Mellon University
5000 Forbes Avenue
Pittsburgh PA 15213-3890
Center Homepage
This page last updated - February 2013.
Publications
Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.
 
  • Efficient Aerial Coverage Search in Road Networks

    Michael Dille and Sanjiv Singh
    AIAA Conference on Guidance, Navigation, and Control, August, 2013.
    Details | pdf (1MB) | Copyrighted

  • Slip Control During Slope Descent for a Rover with Plowing Capability

    Daniel Loret de Mola Lemus
    master's thesis, tech. report CMU-RI-TR-13-10, Robotics Institute, Carnegie Mellon University, June, 2013
    Details | pdf (3MB) | Copyrighted

  • Inference Machines: Parsing Scenes via Iterated Predictions

    Daniel Munoz
    doctoral dissertation, tech. report CMU-RI-TR-13-15, Robotics Institute, Carnegie Mellon University, June, 2013
    Details

  • Sparse Tangential Network (SPARTAN): Motion Planning for Micro Aerial Vehicles

    Hugh Cover, Sanjiban Choudhury, Sebastian Scherer, and Sanjiv Singh
    International Conference on Robotics and Automation, May, 2013.
    Details | pdf (2MB) | Copyrighted

  • RRT*-AR: Sampling-Based Alternate Routes Planning with Applications to Autonomous Emergency Landing of a Helicopter

    Sanjiban Choudhury, Sebastian Scherer, and Sanjiv Singh
    International Conference on Robotics and Automation, May, 2013.
    Details | pdf (3MB) | Copyrighted

  • Infrastructure-free Shipdeck Tracking for Autonomous Landing

    Sankalp Arora, Sezal Jain, Sebastian Scherer, Stephen T. Nuske, Lyle J. Chamberlain, and Sanjiv Singh
    International Conference on Robotics and Automation, May, 2013.
    Details | pdf (3MB) | Copyrighted

  • Imitation Learning for Natural Language Direction Following through Unknown Environments

    Felix Duvallet, Thomas Kollar, and Anthony (Tony) Stentz
    May, 2013.
    Details | pdf (1MB) | Copyrighted

  • Efficient Temporal Consistency for Streaming Video Scene Analysis

    Ondrej Miksik, Daniel Munoz, J. Andrew (Drew) Bagnell, and Martial Hebert
    IEEE International Conference on Robotics and Automation (ICRA), May, 2013.
    Details | pdf (1MB) | Copyrighted

  • Efficient 3-D Scene Analysis from Streaming Data

    Hanzhang Hu, Daniel Munoz, J. Andrew (Drew) Bagnell, and Martial Hebert
    IEEE International Conference on Robotics and Automation (ICRA), May, 2013.
    Details | pdf (1MB) | Copyrighted

  • Autonomous Emergency Landing of a Helicopter: Motion Planning with Hard Time-Constraints

    Sanjiban Choudhury, Sebastian Scherer, and Sanjiv Singh
    AHS Forum 69, May, 2013.
    Details | pdf (7MB) | Copyrighted

  • An Architecture for Online Semantic Labeling on UGVs

    Arne Suppe, Luis Ernesto Navarro-Serment, Daniel Munoz, Drew Bagnell, Arne Suppe, Luis Ernesto Navarro-Serment, Daniel Munoz, J. Andrew (Drew) Bagnell, and Martial Hebert
    Proc. SPIE 8741, Unmanned Systems Technology XV, April, 2013.
    Details | pdf (3MB) | Copyrighted

  • Wireless Sensor Network Design for Monitoring and Irrigation

    David Kohanbash, George A. Kantor, Todd Martin, and Lauren Crawford
    Hort Technology, , December, 2013, pp. 725-734.
    Details | pdf (2MB) | Copyrighted

  • Probabilistic Surface Classification for Rover Instrument Targeting

    Greydon Foil, David R. Thompson, William Abbey, and David Wettergreen
    IEEE/RSJ International Conference on Intelligent Robots and Systems, November, 2013.
    Details | pdf (2MB) | Copyrighted

  • Position Estimation by Registration to Planetary Terrain

    Aashish Sheshadri, Kevin Peterson, Heather Jones, and William (Red) L. Whittaker
    International Conference on Multisensor Fusion and Information Integration (MFI), September, 2012.
    Details | pdf (2MB) | Copyrighted

  • Ortho-Image Analysis for Producing Lane-Level Highway Maps

    Young-Woo Seo, Christopher Urmson, and David Wettergreen
    tech. report CMU-RI-TR-12-26, Robotics Institute, Carnegie Mellon University, September, 2012
    Details | pdf (3MB) | Copyrighted

  • Market-based Coordination of Recharging Robots

    Victor Marmol, Balajee Kannan, and M Bernardine Dias
    tech. report CMU-RI-TR-12-28, Robotics Institute, Carnegie Mellon University, September, 2012
    Details | pdf (3MB) | Copyrighted

  • Developing a Framework for Reliable Autonomous Surface Mobility

    David Wettergreen and Michael D. Wagner
    September, 2012.
    Details | pdf (10MB) | Copyrighted

  • Robust Indoor Localization on a Commercial Smart Phone

    Nisarg Kothari, Balajee Kannan, Evan Donald Glasgow, and M Bernardine Dias
    Procedia Computer Science, August, 2012, pp. 1114-1120.
    Details | pdf (618KB) | Copyrighted

  • Plowing for Rover Control on Extreme Slopes

    David Kohanbash, Scott Jared Moreland, and David Wettergreen
    Field and Service Robotics, July, 2012.
    Details | pdf (4MB) | Copyrighted

  • Motion Analysis System for Robot Traction Device Evaluation and Design

    Scott Jared Moreland, Krzysztof Skonieczny, and David Wettergreen
    International Conference on Field and Service Robotics, July, 2012.
    Details | pdf (2MB) | Copyrighted

  • Modeling and Calibration Visual Yield Estimates in Vineyards

    Stephen T. Nuske, Kamal Gupta, Srinivasa G. Narasimhan, and Sanjiv Singh
    International Conference on Field and Service Robotics, July, 2012.
    Details | pdf (3MB) | Copyrighted

  • Irrigation Control Methods for Wireless Sensor Network

    David Kohanbash, Abhinav Valada, and George A. Kantor
    American Society of Agricultural and Biological Engineers (ASABE) Annual Meeting, July, 2012.
    Details | pdf (503KB) | Copyrighted

  • Base Station Design and Architecture for Wireless Sensor Networks

    David Kohanbash, Abhinav Valada, and George A. Kantor
    International Conference of Agricultural Engineering (CIGR), July, 2012.
    Details | pdf (413KB) | Copyrighted

  • Automation of Hydroponic Installations using a Robot with Position Based Visual Feedback

    Niels Tanke, Guoming Alex Long, Dhruv Agrawal, Abhinav Valada, and George A. Kantor
    Proceedings of the International Conference of Agricultural Engineering CIGR-Ageng 2012, July, 2012.
    Details | pdf (3MB) | Copyrighted

  • Automated Crop Yield Estimation for Apple Orchards

    Qi Wang, Stephen T. Nuske, Marcel Bergerman, and Sanjiv Singh
    13th Internation Symposium on Experimental Robotics (ISER 2012), July, 2012.
    Details | pdf (2MB) | Copyrighted

  • A Safety Architecture for Autonomous Agricultural Vehicles

    David Kohanbash, Marcel Bergerman, Karen M. Lewis, and Stewart J. Moorehead
    American Society of Agricultural and Biological Engineers Annual Meeting, July, 2012.
    Details | pdf (599KB) | Copyrighted

  • Real-World Testing of a Multi-Robot Team

    Paul Scerri, Prasanna Velagapudi, Balajee Kannan, Abhinav Valada, Christopher Tomaszewski, John M. Dolan, Adrian Scerri, Kumar Shaurya Shankar, Luis Lorenzo Bill-Clark, and George A. Kantor
    Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2012), June, 2012.
    Details | pdf (1MB) | Copyrighted

  • Learning Autonomous Driving Styles and Maneuvers from Expert Demonstration

    David Silver, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz
    International Symposium on Experimental Robotics, June, 2012.
    Details | pdf (445KB) | Copyrighted

  • Autonomous Robot for Small Scale NFT Systems

    Dhruv Agrawal, Guoming Alex Long, Niels Tanke, David Kohanbash, and George A. Kantor
    American Society of Agricultural and Biological Engineers (ASABE) Annual Meeting, June, 2012.
    Details | pdf (699KB) | Copyrighted

  • xBots: An Approach to Generating and Executing Optimal Multi-Robot Plans with Cross-Schedule Dependencies

    G. Ayorkor Korsah, Balajee Kannan, Brett Browning, Anthony (Tony) Stentz, and M Bernardine Dias
    Proceedings of International Conference for Robotics and Automation (ICRA)-2012, May, 2012.
    Details | pdf (463KB) | Copyrighted

  • Results with Autonomous Vehicles Operating in Specialty Crops

    Marcel Bergerman, Sanjiv Singh, and Bradley Hamner
    2012 IEEE International Conference on Robotics and Automation, May, 2012.
    Details | pdf (847KB) | Copyrighted

  • Orientation Only Loop-closing with Closed-form Trajectory Bending

    Gijs Dubbelman, Peter Hansen, Brett Browning, and M Bernardine Dias
    IEEE International Conference on Robotics and Automation (ICRA), May, 2012.
    Details | pdf (908KB) | Copyrighted

  • Global pose estimation with limited gps and long range visual odometry

    Joern Rehder, Kamal Gupta, Stephen T. Nuske, and Sanjiv Singh
    IEEE Conference on Robotics and Automation, May, 2012.
    Details | pdf (2MB) | Copyrighted

  • Active Learning from Demonstration for Robust Autonomous Navigation

    David Silver, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz
    IEEE Conference on Robotics and Automation, May, 2012.
    Details | pdf (1MB) | Copyrighted

  • Rover mobility on granular soil: Marrying multi-scale modeling and high fidelity experiments to infer soil stresses under the moving wheel

    Ivan Vlahinic, Jose Andrade, Krzysztof Skonieczny, Scott Jared Moreland, and David Wettergreen
    Earth and Space Conference, April, 2012.
    Details | pdf (610KB) | Copyrighted

  • Novel Experimental Technique for Visualizing and Analyzing Robot-Soil Interactions

    Krzysztof Skonieczny, Scott Jared Moreland, Colin Creager, and David Wettergreen
    Earth and Space Conference, April, 2012.
    Details | pdf (655KB) | Copyrighted

  • Benefit of "Push-pull" Locomotion for Planetary Rover Mobility

    Colin Creager, Scott Jared Moreland, Krzysztof Skonieczny, Kyle Johnson, Vivake Asnani, and Ryan Gilligan
    Earth and Space Conference, April, 2012.
    Details | pdf (807KB) | Copyrighted

  • Soil Behavior of Wheels with Grousers for Planetary Rovers

    Scott Jared Moreland, Krzysztof Skonieczny, Hiroaki Inotsume, and David Wettergreen
    IEEE Aerospace, March, 2012.
    Details | pdf (877KB) | Copyrighted

  • iSTEP 2011 Uruguay

    Sarah M. Belousov, Yonina Cooper, M Bernardine Dias, Malcolm Frederick Dias, Afnan Fahim, Elise Gonzales, Asma Hamid, Meghan Nahass, Roberto Ponce Lopez, Ermine A. Teves, Hanae Timoulali, and Vanessa Vázquez
    tech. report CMU-RI-TR-11-26, Robotics Institute, Carnegie Mellon University, January, 2012
    Details | pdf (10MB) | Copyrighted

  • Target tracking without line of sight using range from radio

    Geoffrey Hollinger, Joseph Djugash, and Sanjiv Singh
    Autonomous Robots, Vol. 32, No. 1, January, 2012, pp. 1 - 14.
    Details | pdf (928KB) | Copyrighted

  • Realtime Alternate Routes Planning:The RRT*-AR Algorithm

    Sanjiban Choudhury, Sebastian Scherer, and Sanjiv Singh
    tech. report CMU-RI-TR-12-27, Robotics Institute, Carnegie Mellon University, December, 2012
    Details | pdf (1MB) | Copyrighted

  • Robust Monocular Visual Odometry for a Ground Vehicle in Undulating Terrain

    Ji Zhang, Sanjiv Singh, and George A. Kantor
    The 8th International Conference on Field and Service Robots (FSR 2012), November, 2012.
    Details | pdf (2MB) | Copyrighted

  • Ortho-Image Analysis for Producing Lane-Level Highway Maps

    Young-Woo Seo, Christopher Urmson, and David Wettergreen
    International Conference on Advances in Geographic Information Systems (ACM SIGSPATIAL GIS 2012), November, 2012, pp. 506-509.
    Details | pdf (849KB) | Copyrighted

  • Next-Generation Monitoring and Control Hardware Development

    George A. Kantor, David Kohanbash, and Todd Martin
    Irrigation Association, November, 2012.
    Details | pdf (398KB) | Copyrighted

  • Irrigation Scheduling Software Development

    David Kohanbash and George A. Kantor
    Irrigation Association, November, 2012.
    Details | pdf (327KB) | Copyrighted

  • Exploiting Publicly Available Cartographic Resources for Aerial Image Analysis

    Young-Woo Seo, Christopher Urmson, and David Wettergreen
    Proceedings of International Conference on Advances in Geographic Information Systems (ACM SIGSPATIAL GIS 2012), November, 2012, pp. 109-118.
    Details | pdf (4MB) | Copyrighted

  • Recognizing Temporary Changes on Highways for Reliable Autonomous Driving

    Young-Woo Seo, David Wettergreen, and Wende Zhang
    Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics , October, 2012, pp. 3021-3026.
    Details | pdf (306KB) | Copyrighted

  • Monocular Visual Navigation of an Autonomous Vehicle in Natural Scene Corridor-like Environments

    Ji Zhang, George A. Kantor, Marcel Bergerman, and Sanjiv Singh
    2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2012.
    Details | pdf (627KB) | Copyrighted

  • A Practical Obstacle Detection System for Autonomous Orchard Vehicles

    Gustavo Medeiros Freitas, Bradley Hamner, Marcel Bergerman, and Sanjiv Singh
    2012 IEEE/RSJ International Conference on Intelligent Robots and Systems , October, 2012.
    Details | pdf (578KB) | Copyrighted

  • A Grouser Spacing Equation for Determining Appropriate Geometry of Planetary Rover Wheels

    Krzysztof Skonieczny, Scott Jared Moreland, and David Wettergreen
    Intelligent Robots and Systems (IROS), October, 2012.
    Details | pdf (538KB) | Copyrighted

  • Yield Estimation in Vineyards by Visual Grape Detection

    Stephen T. Nuske, Supreeth Achar, Terry Bates, Srinivasa G. Narasimhan, and Sanjiv Singh
    Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), September, 2011.
    Details | pdf (3MB) | Copyrighted

  • Soil Motion Analysis System for Examining Wheel-Soil Shearing

    Scott Jared Moreland, Krzysztof Skonieczny, David Wettergreen, Colin Creager, and Vivake Asnani
    International Conference of the International Society for Terrain-Vehicle Systems, September, 2011.
    Details | pdf (677KB) | Copyrighted

  • Perception for a River Mapping Robot

    Andrew D. Chambers, Supreeth Achar, Stephen T. Nuske, Joern Rehder, Bernd Manfred Kitt, Lyle J. Chamberlain, Justin Haines, Sebastian Scherer, and Sanjiv Singh
    Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), September, 2011.
    Details | pdf (2MB) | Copyrighted

  • Optical Flow Odometry with Robustness to Self-shadowing

    Neal Seegmiller and David Wettergreen
    IEEE International Conference on Intelligent Robots and Systems, September, 2011.
    Details | pdf (2MB) | Copyrighted

  • Monte Carlo Localization and Registration to Prior Data for Outdoor Navigation

    David Silver and Anthony (Tony) Stentz
    IEEE International Conference on Intelligent Robots and Systems (IROS), September, 2011.
    Details | pdf (1MB) | Copyrighted

  • Efficient Target Geolocation by Highly Uncertain Small Air Vehicles

    Benjamin P. Grocholsky, Michael Dille , and Stephen T. Nuske
    Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), September, 2011.
    Details | pdf (1MB) | Copyrighted

  • Control of a passively steered rover using 3-D kinematics

    Neal Seegmiller and David Wettergreen
    IEEE International Conference on Intelligent Robots and Systems, September, 2011.
    Details | pdf (2MB) | Copyrighted

  • Advantageous bucket-wheel configuration for lightweight planetary excavators

    Krzysztof Skonieczny, Scott Jared Moreland, David Wettergreen, and William (Red) L. Whittaker
    September, 2011.
    Details | pdf (1MB) | Copyrighted

  • Wireless Sensor Networks and Actionable Modeling for Intelligent Irrigation

    David Kohanbash, Abhinav Valada, and George A. Kantor
    2011 ASABE Annual International Meeting, August, 2011.
    Details | pdf (423KB) | Copyrighted

  • Autonomous Orchard Vehicles for Specialty Crops Production

    Bradley Hamner, Marcel Bergerman, and Sanjiv Singh
    2011 ASABE Annual International Meeting, July, 2011.
    Details | pdf (887KB) | Copyrighted

  • Autonomous Mechanical Thinning Using Scanning LIDAR

    Matthew Aasted, Reuben J. Dise, Tara Auxt Baugher, James R Schupp, Paul H Heinemann, and Sanjiv Singh
    2011 ASABE Annual International Meeting, July, 2011.
    Details | pdf (459KB) | Copyrighted

  • iSTEP 2010 Bangladesh

    Sarah M. Belousov, Yonina Cooper, M Bernardine Dias, Malcolm Frederick Dias, Jen Horwitz, Brian Manalastas, Jonathan Muller, Aysha Siddique, Anthony Velazquez, and Ermine A. Teves
    tech. report CMU-RI-TR-35, Robotics Institute, Carnegie Mellon University, May, 2011
    Details | pdf (9MB) | Copyrighted

  • Segmentation-Based Online Change Detection for Mobile Robots

    Bradford Neuman, Boris Sofman, Anthony (Tony) Stentz, and J. Andrew (Drew) Bagnell
    International Conference on Robotics and Automation, May, 2011.
    Details | pdf (2MB) | Copyrighted

  • Low-Altitude Operation of Unmanned Rotorcraft

    Sebastian Scherer
    doctoral dissertation, tech. report CMU-RI-TR-11-03, Robotics Institute, Carnegie Mellon University, May, 2011
    Details | pdf (9MB) | Copyrighted

  • Generalized Boosting Algorithms for Convex Optimization

    Alexander Grubb and J. Andrew (Drew) Bagnell
    Proceedings of the 28th International Conference on Machine Learning, May, 2011.
    Details | pdf (836KB) | Copyrighted

  • Deployment of a Point and Line Feature Localization System for an Outdoor Agriculture Vehicle

    Jacqueline Libby and George A. Kantor
    2011 IEEE International Conference on Robotics & Automation (ICRA 2011), May, 2011.
    Details | pdf (921KB) | Copyrighted

  • A Long-Duration Propulsive Lunar Landing Testbed

    Krishna Shankar, Kevin Peterson, Heather Jones, Justin Moidel, and William (Red) L. Whittaker
    Proceedings of the International Conference on Robotics and Automation, May, 2011.
    Details | pdf (2MB) | Copyrighted

  • 3-D Scene Analysis via Sequenced Predictions over Points and Regions

    Xuehan Xiong, Daniel Munoz, J. Andrew (Drew) Bagnell, and Martial Hebert
    IEEE International Conference on Robotics and Automation (ICRA), May, 2011.
    Details | pdf (2MB) | Copyrighted

  • Self-Aware Helicopters: Full-Scale Automated Landing and Obstacle Avoidance in Unmapped Environments

    Lyle J. Chamberlain, Sebastian Scherer, and Sanjiv Singh
    AHS Forum 67, March, 2011.
    Details | pdf (21MB) | Copyrighted

  • Inching Locomotion for Planetary Rover Mobility

    Scott Jared Moreland, Krzysztof Skonieczny, and David Wettergreen
    IEEE Aerospace, March, 2011.
    Details | pdf (861KB) | Copyrighted

  • FAHR: Focused A* Heuristic Recomputation

    Matthew McNaughton and Christopher Urmson
    Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, March, 2011, pp. 4893 -4898.
    Details | pdf (460KB) | Copyrighted

  • The PREval (Pilot Research Evaluation) Framework: Evaluating Pilot Projects in Information Communication Technology for Development (ICTD)

    Mary Beatrice Dias , M Bernardine Dias, David Dausey, and Elizabeth Casman
    tech. report CMU-RI-TR-11-02, Robotics Institute, Carnegie Mellon University, February, 2011
    Details | pdf (490KB) | Copyrighted

  • DSRP: Distributed SensorWeb Routing Protocol

    Abhinav Valada, David Kohanbash, and George A. Kantor
    21st International Conference on Electronics, Communications and Computers (CONIELECOMP 2011), February, 2011.
    Details | pdf (3MB) | Copyrighted

  • Understanding and Recreating Visual Appearance Under Natural Illumination

    Jean-Francois Lalonde
    doctoral dissertation, tech. report CMU-RI-TR-11-01, Robotics Institute, Carnegie Mellon University, January, 2011
    Details

  • Enabling Long-Duration Lunar Equatorial Operations With Thermal Wadi Infrastructure

    Heather Jones, John P. Thornton, Ramaswamy Balasubramaniam, Suleyman A. Gokoglu, Kurt R. Sacksteder, and William (Red) L. Whittaker
    49th AIAA Aerospace Sciences Meeting, January, 2011
    Details | pdf (3MB) | Copyrighted

  • Visual yield estimation in vineyards: Experiments with different varietals and calibration procedures

    Stephen T. Nuske, Supreeth Achar, Kamal Gupta, Srinivasa G. Narasimhan, and Sanjiv Singh
    tech. report CMU-RI-TR-11-39, Robotics Institute, Carnegie Mellon University, December, 2011
    Details | pdf (5MB) | Copyrighted

  • Proactive Indoor Navigation on Mobile Devices

    Felipe Meneguzzi, Balajee Kannan, Katia Sycara, Chet Gnegy, Evan Donald Glasgow, and Piotr Yordanov
    tech. report CMU-RI-TR-11-37, Robotics Institute, Carnegie Mellon University, December, 2011
    Details | pdf (1MB) | Copyrighted

  • Plowing for Rover Control on Extreme Slopes

    David Kohanbash
    master's thesis, tech. report CMU-RI-TR-11-35, Robotics Institute, Carnegie Mellon University, December, 2011
    Details | pdf (7MB) | Copyrighted

  • Segmentation-Based Online Change Detection for Mobile Robots

    Bradford Neuman
    tech. report CMU-RI-TR-10-30, Robotics Institute, Carnegie Mellon University, August, 2010
    Details | pdf (6MB) | Copyrighted

  • Representing Substantial Heading Uncertainty for Accurate Geolocation by Small UAVs

    Stephen T. Nuske, Michael Dille , Benjamin P. Grocholsky, and Sanjiv Singh
    AIAA Guidance, Navigation, and Control Conference, August, 2010.
    Details | pdf (855KB) | Copyrighted

  • Enhancing Market-Based Task Allocation with Optimal Initial Schedules

    G. Ayorkor Korsah, Balajee Kannan, Imran Aslam Fanaswala, and M Bernardine Dias
    Intelligent Autonomous Systems 11 - IAS-11, August, 2010, pp. 249 - 258.
    Details | pdf (84KB) | Copyrighted

  • Assembly Planning in Constrained Environments: Building Structures with Multiple Mobile Robots

    Frederik Heger
    doctoral dissertation, tech. report CMU-RI-TR-10-34, Robotics Institute, Carnegie Mellon University, August, 2010
    Details

  • Aesthetic Image Classification for Autonomous Agents

    Mark Desnoyer and David Wettergreen
    August, 2010, pp. 3452 - 3455.
    Details | pdf (976KB) | Copyrighted

  • Search in the Physical World

    Geoffrey Hollinger
    doctoral dissertation, tech. report CMU-RI-TR-10-20, Robotics Institute, Carnegie Mellon University, July, 2010
    Details | pdf (3MB) | Copyrighted

  • Improving the Efficiency of Clearing with Multi-agent Teams

    Geoffrey Hollinger, Sanjiv Singh, and Athanasios Kehagias
    International Journal of Robotics Research, Vol. 29, No. 8, July, 2010, pp. 1088-1105.
    Details | pdf (873KB) | Copyrighted

  • Visual Classification of Coarse Vehicle Orientation using Histogram of Oriented Gradients Features

    Paul Rybski, Daniel Huber, Daniel D. Morris, and Regis Hoffman
    2010 IEEE Intelligent Vehicles Symposium, June, 2010.
    Details | pdf (2MB) | Copyrighted

  • Improving Child Literacy in Africa: Experiments with an Automated Reading Tutor

    G. Ayorkor Korsah, Jack Mostow, M Bernardine Dias, Tracy Morrison Sweet, Sarah M. Belousov, Malcolm Frederick Dias, and Haijun Gong
    Information Technologies & International Development, Vol. 6, No. 2, June, 2010, pp. 1-19.
    Details | pdf (2MB) | Copyrighted

  • Design and Development of a Wireless Sensor Network System for Precision Agriculture

    Abhinav Valada, David Kohanbash, and George A. Kantor
    tech. report CMU-RI-TR-10-21, Robotics Institute, Carnegie Mellon University, June, 2010
    Details | pdf (15MB) | Copyrighted

  • Accurate GPS-free Positioning of Utility Vehicles for Specialty Agriculture

    Jacqueline Libby and George A. Kantor
    2010 ASABE Annual International Meeting, June, 2010.
    Details | pdf (7MB) | Copyrighted

  • Optimal Vehicle Routing and Scheduling with Precedence Constraints and Location Choice

    G. Ayorkor Korsah, Anthony (Tony) Stentz, M Bernardine Dias, and Imran Aslam Fanaswala
    IEEE International Conference on Robotics and Automation (ICRA) 2010 Workshop on Intelligent Autonomous Systems, May, 2010.
    Details | pdf (281KB) | Copyrighted

  • Multi-Robot Coordination with Periodic Connectivity

    Geoffrey Hollinger and Sanjiv Singh
    IEEE International Conference on Robotics and Automation, May, 2010.
    Details | pdf (390KB) | Copyrighted

  • Anytime Online Novelty Detection for Vehicle Safeguarding

    Boris Sofman, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz
    IEEE International Conference on Robotics and Automation, May, 2010.
    Details | pdf (2MB) | Copyrighted

  • Parameters governing regolith site work by small robots

    Krzysztof Skonieczny, David Wettergreen, and William (Red) L. Whittaker
    ASCE Earth & Space 2010, March, 2010.
    Details | pdf (241KB) | Copyrighted

  • Segmented SLAM in Three-Dimensional Environments

    Nathaniel Fairfield, George A. Kantor, and David Wettergreen
    Journal of Field Robotics, Vol. 27, No. 1, February, 2010, pp. 85-103.
    Details | pdf (675KB) | Copyrighted

  • An autonomous mobile manipulator for assembly tasks

    Bradley Hamner, Seth C. Koterba, Jane Shi, Reid Simmons, and Sanjiv Singh
    Autonomous Robots, Vol. 28, No. 1, January, 2010, pp. 131 - 149.
    Details | pdf (1MB) | Copyrighted

  • Using Mobile Phones and Open Source Tools to Empower Social Workers in Tanzania

    Mary Beatrice Dias , Daniel Nuffer, Anthony Velazquez, Ermine A. Teves, Hatem Said Alismail, Sarah M. Belousov, Malcolm Frederick Dias, Rotimi Abimbola, Bradley Hall, and M Bernardine Dias
    International Conference on Information and Communication Technologies and Development (ICTD2010), December, 2010.
    Details | pdf (311KB) | Copyrighted

  • Online Learning Techniques for Improving Robot Navigation in Unfamiliar Domains

    Boris Sofman
    doctoral dissertation, tech. report CMU-RI-TR-10-43, Robotics Institute, Carnegie Mellon University, December, 2010
    Details | pdf (31MB) | Copyrighted

  • Learning Preference Models for Autonomous Mobile Robots in Complex Domains

    David Silver
    doctoral dissertation, tech. report CMU-RI-TR-10-41, Robotics Institute, Carnegie Mellon University, December, 2010
    Details | pdf (20MB) | Copyrighted

  • Experiences with Lower-Cost Access to Tactile Graphics in India

    M Bernardine Dias, Mohammed Kaleemur Rahman, Saurabh Sanghvi, and Kentaro Toyama
    First Annual Symposium on Computing for Development (ACM DEV 2010), December, 2010.
    Details | pdf (748KB) | Copyrighted

  • Combining Web Technology and Mobile Phones to Enhance English Literacy in Underserved Communities

    Hatem Said Alismail, Aysha Siddique, Malcolm Frederick Dias, Anthony Velazquez, Mary Beatrice Dias , Sarah M. Belousov, Ermine A. Teves, Rotimi Abimbola, Daniel Nuffer, Bradley Hall, M Bernardine Dias, and M Bernardine Dias
    First Annual Symposium on Computing for Development (ACM DEV 2010), December, 2010.
    Details | pdf (243KB) | Copyrighted

  • Pedestrian Detection and Tracking Using Three-dimensional LADAR Data

    Luis Ernesto Navarro-Serment, Christoph Mertz, and Martial Hebert
    The International Journal of Robotics Research, Special Issue on the Seventh International Conference on Field and Service Robots, Vol. 29, No. 12, October, 2010, pp. 1516 - 1528.
    Details

  • Imitation Learning for Task Allocation.

    Felix Duvallet and Anthony (Tony) Stentz
    2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October, 2010.
    Details | pdf (159KB) | Copyrighted

  • Design and field experimentation of a prototype Lunar prospector

    David Wettergreen, Scott Jared Moreland, Krzysztof Skonieczny, Dominic Jonak, David Kohanbash, and James Teza
    International Journal of Robotics Research, Vol. 29, No. 12, October, 2010, pp. 1550 - 1564.
    Details | pdf (2MB) | Copyrighted

  • Building lane-graphs for autonomous parking

    Young-Woo Seo, Christopher Urmson, David Wettergreen, and Jin-Woo Lee
    Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-10), October, 2010, pp. 6052-6057.
    Details | pdf (2MB) | Copyrighted

  • Adapting to Intra-Class Variations using Incremental Retraining with Exploratory Sampling

    Young-Woo Seo, Christopher Urmson, David Wettergreen, and Rahul Sukthankar
    tech. report CMU-RI-TR-10-36, Robotics Institute, Carnegie Mellon University, October, 2010
    Details | pdf (507KB) | Copyrighted

  • Obstacle Detection and Tracking for the Urban Challenge

    Michael Darms, Paul Rybski, Christopher R. Baker , and Christopher Urmson
    IEEE Transactions on Intelligent Transportation Systems, Vol. 10, No. 3, September, 2009, pp. 475-485.
    Details | pdf (378KB) | Copyrighted

  • Navigating with ranging radios: Five data sets with ground truth

    Joseph Djugash, Bradley Hamner, and Stephan Roth
    Journal of Field Robotics, Vol. 26, No. 9, September, 2009, pp. 689-695.
    Details | pdf (1MB) | Copyrighted

  • Automation for Specialty Crops: A Comprehensive Strategy, Current Results, and Future Goals

    Sanjiv Singh, Tara Baugher, Marcel Bergerman, Katie Ellis, Benjamin P. Grocholsky, Bradley Hamner, Jay Harper, Gwen-Alyn Hoheisel, Larry Hull, Vincent Jones, George A. Kantor, Brian Kliethermes, Harvey Koselka, Karen Lewis, Jacqueline Libby, William Messner, Henry Ngugi, James Owen, Johnny Park, Clark Seavert, Wenfan Shi, and James Teza
    The 4th IFAC International Workshop on Bio-Robotics, Information Technology and Intelligent Control for Bioproduction Systems (2009 IFAC Bio-Robotics IV Workshop), September, 2009.
    Details | pdf (690KB) | Copyrighted

  • iSTEP Tanzania 2009: Inaugural Experience

    Rotimi Abimbola, Hatem Alismail, Sarah M. Belousov, Beatrice Dias, Malcolm Frederick Dias, M Bernardine Dias, Imran Fanaswala, Bradley Hall, Daniel Nuffer, Ermine A. Teves, Jessica Thurston, and Anthony Velázquez
    tech. report CMU-RI-TR-09-33, Robotics Institute, Carnegie Mellon University, August, 2009
    Details | pdf (4MB) | Copyrighted

  • Time-extended Multi-robot Coordination for Domains with Intra-path constraints

    Edward Jones, M Bernardine Dias, and Anthony (Tony) Stentz
    Robotics: Science and Systems (RSS), July, 2009.
    Details | pdf (170KB) | Copyrighted

  • Self-supervised aerial image analysis for extracting parking lot structure

    Young-Woo Seo, Nathan Ratliff, and Christopher Urmson
    Proceedings of International Joint Conference on Artificial Intelligence (IJCAI-09), July, 2009.
    Details

  • Pedestrian Detection and Tracking Using Three-Dimensional LADAR Data

    Luis Ernesto Navarro-Serment, Christoph Mertz, and Martial Hebert
    Proc. of The 7th Int. Conf. on Field and Service Robotics, July, 2009.
    Details | pdf (391KB) | Copyrighted

  • Passive, long-range detection of Aircraft: Towards a field deployable Sense and Avoid System

    Debadeepta Dey, Christopher M. Geyer, Sanjiv Singh, and Matthew E. DiGioia
    Proceedings Field & Service Robotics (FSR '09), July, 2009.
    Details | pdf (659KB) | Copyrighted

  • Outdoor Downward-facing Optical Flow Odometry with Commodity Sensors

    Michael Dille , Benjamin P. Grocholsky, and Sanjiv Singh
    Proceedings Field & Service Robotics (FSR '09), July, 2009.
    Details | pdf (2MB) | Copyrighted

  • Field Experiments in Mobility and Navigation with a Lunar Rover Prototype

    David Wettergreen, Dominic Jonak, David Kohanbash, Scott Jared Moreland, Spencer Spiker, and James Teza
    Field and Service Robotics, July, 2009.
    Details | pdf (361KB) | Copyrighted

  • Enhanced Formalization, Fun-Factor, and Field Testing for a Low-Cost Braille Writing Tutor

    M Bernardine Dias, Malcolm Frederick Dias, Sarah M. Belousov, Mohammed Kaleemur Rahman, Saurabh Sanghvi, and Noura El-Moughny
    tech. report CMU-RI-TR-09-30, Robotics Institute, Carnegie Mellon University, July, 2009
    Details | pdf (177KB) | Copyrighted

  • Efficient, Guaranteed Search with Multi-Agent Teams

    Geoffrey Hollinger, Athanasios Kehagias, and Sanjiv Singh
    Robotics: Science and Systems, July, 2009.
    Details | pdf (435KB) | Copyrighted

  • Bandit-Based Online Candidate Selection for Adjustable Autonomy

    Boris Sofman, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz
    7th International Conferences on Field and Service Robotics, July, 2009.
    Details | pdf (961KB) | Copyrighted

  • Convex Coding

    David Bradley and J. Andrew (Drew) Bagnell
    Uncertainty in Artificial Intelligence (UAI), June, 2009.
    Details | pdf (742KB) | Copyrighted

  • Contextual Classification with Functional Max-Margin Markov Networks

    Daniel Munoz, J. Andrew (Drew) Bagnell, Nicolas Vandapel, and Martial Hebert
    IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), June, 2009.
    Details | pdf (3MB) | Copyrighted

  • Autonomous Driving in Traffic: Boss and the Urban Challenge

    Christopher Urmson, Christopher R. Baker , John M. Dolan, Paul Rybski, Bryan Salesky, William (Red) L. Whittaker, David Ferguson , and Michael Darms
    AI Magazine, Vol. 30, No. 2, June, 2009, pp. 17-29.
    Details | pdf (6MB) | Copyrighted

  • Prototype Sense-andAvoid System for UAVs

    Christopher M. Geyer, Debadeepta Dey, and Sanjiv Singh
    tech. report CMU-RI-TR-09-09, Robotics Institute, Carnegie Mellon University, May, 2009
    Details | pdf (12MB) | Copyrighted

  • Onboard Contextual Classification of 3-D Point Clouds with Learned High-order Markov Random Fields

    Daniel Munoz, Nicolas Vandapel, and Martial Hebert
    IEEE International Conference on Robotics and Automation, May, 2009.
    Details | pdf (2MB) | Copyrighted

  • Efficient C-Space and Cost Function Updates in 3D for Unmanned Aerial Vehicles

    Sebastian Scherer, David Ferguson , and Sanjiv Singh
    Proceedings International Conference on Robotics and Automation, May, 2009.
    Details | pdf (311KB) | Copyrighted

  • Convex Coding

    David Bradley and J. Andrew (Drew) Bagnell
    tech. report CMU-RI-TR-09-22, Robotics Institute, Carnegie Mellon University, May, 2009
    Details | pdf (4MB) | Copyrighted

  • Integrated long-range UAV/UGV collaborative target tracking

    Mark B. Mosely, Benjamin P. Grocholsky, Carol Cheung, and Sanjiv Singh
    Proc. SPIE, Unmanned Systems Technology XI Conference, April, 2009.
    Details

  • Improving Child Literacy in Africa: Experiments with an Automated Reading Tutor

    G. Ayorkor Korsah, Jack Mostow, M Bernardine Dias, Tracy Morrison Sweet, Sarah M. Belousov, Malcolm Frederick Dias, and Haijun Gong
    3rd IEEE/ACM International Conference on Information and Communication Technologies and Development (ICTD2009), April, 2009.
    Details | pdf (256KB) | Copyrighted

  • Conjoined Lander-Rovers for Planetary Exploration

    Steven Huber
    master's thesis, tech. report CMU-RI-TR-09-11, Robotics Institute, Carnegie Mellon University, April, 2009
    Details | pdf (3MB) | Copyrighted

  • Anytime Online Novelty Detection for Vehicle Safeguarding

    Boris Sofman, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz
    tech. report CMU-RI-TR-09-17, Robotics Institute, Carnegie Mellon University, April, 2009
    Details | pdf (2MB) | Copyrighted

  • Configuring innovative regolith moving techniques for lunar outposts

    Krzysztof Skonieczny, Matthew E. DiGioia, Raymond L Barsa, David Wettergreen, and William (Red) L. Whittaker
    IEEE Aerospace, March, 2009.
    Details | pdf (909KB) | Copyrighted

  • Efficient Multi-Robot Search for a Moving Target

    Geoffrey Hollinger, Sanjiv Singh, Joseph Djugash, and Athanasios Kehagias
    The International Journal of Robotics Research, Vol. 28, No. 2, February, 2009, pp. 201-219.
    Details | pdf (560KB) | Copyrighted

  • Design and Experimentation of a Rover Concept for Lunar Crater Resource Survey

    David Wettergreen, Dominic Jonak, David Kohanbash, Scott Jared Moreland, Spencer Spiker, James Teza, and William (Red) L. Whittaker
    47th AIAA Aerospace Sciences Meeting Including The New Horizons Forum and Aerospace Exposition, January, 2009.
    Details | pdf (759KB) | Copyrighted

  • A Hierarchical Image Analysis for Extracting Parking Lot Structures from Aerial Images

    Young-Woo Seo and Christopher Urmson
    tech. report CMU-RI-TR-09-03, Robotics Institute, Carnegie Mellon University, January, 2009
    Details | pdf (2MB) | Copyrighted

  • Augmenting cartographic resources for autonomous driving

    Young-Woo Seo, Christopher Urmson, David Wettergreen, and Jin-Woo Lee
    Proceedings of ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems (GIS-2009), November, 2009, pp. 13-22.
    Details | pdf (736KB) | Copyrighted

  • A graph search algorithm for indoor pursuit/evasion

    Athanasios Kehagias, Geoffrey Hollinger, and Sanjiv Singh
    Mathematical and Computer Modelling, Vol. 50, No. 9-10, November, 2009, pp. 1305-1317.
    Details | pdf (964KB) | Copyrighted

  • Utilizing prior information to enhance self-supervised aerial image analysis for extracting parking lot structures

    Young-Woo Seo and Christopher Urmson
    Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2009, pp. 339-344.
    Details | pdf (753KB) | Copyrighted

  • Modeling Mobile Robot Motion with Polar Representations

    Joseph Djugash, Sanjiv Singh, and Benjamin P. Grocholsky
    Proceedings of IROS 2009, October, 2009.
    Details | pdf (375KB) | Copyrighted

  • Mobile Robotic Dynamic Tracking for Assembly Tasks

    Bradley Hamner, Seth C. Koterba, Jane Shi, Reid Simmons, and Sanjiv Singh
    Proceedings of IROS 2009, October, 2009.
    Details | pdf (339KB) | Copyrighted

  • Enhancing an Automated Braille Writing Tutor

    M Bernardine Dias, Malcolm Frederick Dias, Sarah M. Belousov, Mohammed Kaleemur Rahman, Saurabh Sanghvi, and Noura El-Moughn
    2009 IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS 2009) proceedings, October, 2009.
    Details | pdf (550KB) | Copyrighted

  • Traffic Interaction in the Urban Challenge: Putting Boss on its Best Behavior

    Christopher R. Baker and John M. Dolan
    International Conference on Intelligent Robots and Systems (IROS 2008), September, 2008, pp. 1752-1758.
    Details | pdf (382KB) | Copyrighted

  • Overcoming Sensor Noise for Low-Tolerance Autonomous Assembly

    Brennan Peter Sellner, Frederik Heger, Laura Hiatt, Nicholas Melchior, Stephen Roderick, David Akin, Reid Simmons, and Sanjiv Singh
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2008), September, 2008, pp. 4017-4023.
    Details | pdf (758KB) | Copyrighted

  • Motion Planning in Urban Environments: Part II

    David Ferguson , Thomas Howard, and Maxim Likhachev
    Proceedings of the IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, September, 2008.
    Details | pdf (903KB) | Copyrighted

  • Motion Planning in Urban Environments: Part I

    David Ferguson , Thomas Howard, and Maxim Likhachev
    Proceedings of the IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, September, 2008.
    Details | pdf (2MB) | Copyrighted

  • Fast Feature Detection and Stochastic Parameter Estimation of Road Shape using Multiple LIDAR

    Kevin Peterson, Jason Ziglar, and Paul Rybski
    IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, September, 2008.
    Details | pdf (2MB) | Copyrighted

  • A perception mechanism for supporting autonomous intersection handling in urban driving

    Young-Woo Seo and Christopher Urmson
    Proceedings of IEEE International Conference Intelligent Robots and Systems, September, 2008.
    Details | pdf (458KB) | Copyrighted

  • A Multisensor Multiobject Tracking System for an Autonomous Vehicle Driving in an Urban Environment

    Michael Darms, Paul Rybski, and Christopher Urmson
    AVEC 2008 - 9th International Symposium on Advanced Vehicle Control, September, 2008.
    Details | pdf (2MB) | Copyrighted

  • Intelligent Mapping for Autonomous Robotic Survey

    David R. Thompson
    doctoral dissertation, tech. report CMU-RI-TR-08-33, Robotics Institute, Carnegie Mellon University, August, 2008
    Details | pdf (17MB) | Copyrighted

  • Anytime Guaranteed Search using Spanning Trees

    Geoffrey Hollinger, Athanasios Kehagias, Sanjiv Singh, David Ferguson , and Siddhartha Srinivasa
    tech. report CMU-RI-TR-08-36, Robotics Institute, Carnegie Mellon University, August, 2008
    Details | pdf (425KB) | Copyrighted

  • A Graph Search Algorithm for Indoor Pursuit / Evasion

    Athanasios Kehagias, Geoffrey Hollinger, and Sanjiv Singh
    tech. report CMU-RI-TR-08-38, Robotics Institute, Carnegie Mellon University, August, 2008
    Details | pdf (964KB) | Copyrighted

  • Sliding Autonomy for Peer-To-Peer Human-Robot Teams

    M Bernardine Dias, Balajee Kannan, Brett Browning, Edward Jones, Brenna Argall, Malcolm Frederick Dias, Marc B. Zinck, Manuela Veloso, and Anthony (Tony) Stentz
    10th International Conference on Intelligent Autonomous Systems 2008, July, 2008.
    Details | pdf (255KB) | Copyrighted

  • Robust Mission Execution for Autonomous Urban Driving

    Christopher R. Baker , David Ferguson , and John M. Dolan
    10th International Conference on Intelligent Autonomous Systems (IAS 2008), July, 2008, pp. 155-163.
    Details | pdf (236KB) | Copyrighted

  • DEPTHX Autonomy Software: Design and Field Results

    Nathaniel Fairfield, George A. Kantor, Dominic Jonak, and David Wettergreen
    tech. report CMU-RI-TR-08-09, Robotics Institute, Carnegie Mellon University, July, 2008
    Details | pdf (22MB) | Copyrighted

  • A Robust Method of Localization and Mapping Using Only Range

    Joseph Djugash and Sanjiv Singh
    International Symposium on Experimental Robotics, July, 2008.
    Details | pdf (2MB) | Copyrighted

  • State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation in Complex Environments

    Thomas Howard, Colin Green, David Ferguson , and Alonzo Kelly
    Journal of Field Robotics, Vol. 25, No. 6-7, June, 2008, pp. 325-345.
    Details | pdf (922KB) | Copyrighted

  • Proofs and Experiments in Scalable, Near-Optimal Search by Multiple Robots

    Geoffrey Hollinger and Sanjiv Singh
    Robotics: Science and Systems, June, 2008.
    Details | pdf (414KB) | Copyrighted

  • Multi-Scale Interest Regions from Unorganized Point Clouds

    Ranjith Unnikrishnan and Martial Hebert
    Workshop on Search in 3D (S3D), IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June, 2008.
    Details | pdf (3MB) | Copyrighted

  • Directional Associative Markov Network for 3-D Point Cloud Classification

    Daniel Munoz, Nicolas Vandapel, and Martial Hebert
    International Symposium on 3D Data Processing, Visualization and Transmission (3DPVT), June, 2008.
    Details | pdf (7MB) | Copyrighted

  • Detection, Prediction, and Avoidance of Dynamic Obstacles in Urban Environments

    David Ferguson , Michael Darms, Christopher Urmson, and Sascha Kolski
    Proceedings of the 2008 IEEE Intelligent Vehicles Symposium, June, 2008, pp. 1149-1154.
    Details | pdf (1MB) | Copyrighted

  • Classification and tracking of dynamic objects with multiple sensors for autonomous driving in urban environments.

    Michael Darms, Paul Rybski, and Christopher Urmson
    Proceedings of the 2008 IEEE Intelligent Vehicles Symposium, June, 2008, pp. 1197-1202.
    Details | pdf (530KB) | Copyrighted

  • Autonomous driving in urban environments: Boss and the Urban Challenge

    Christopher Urmson, Joshua Anhalt, Hong Bae, J. Andrew (Drew) Bagnell, Christopher R. Baker , Robert E. Bittner, Thomas Brown, M. N. Clark, Michael Darms, Daniel Demitrish, John M. Dolan, David Duggins, David Ferguson , Tugrul Galatali, Christopher M. Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Sascha Kolski, Maxim Likhachev, Bakhtiar Litkouhi, Alonzo Kelly, Matthew McNaughton, Nick Miller, Jim Nickolaou, Kevin Peterson, Brian Pilnick, Raj Rajkumar, Paul Rybski, Varsha Sadekar, Bryan Salesky, Young-Woo Seo, Sanjiv Singh, Jarrod M. Snider, Joshua C. Struble, Anthony (Tony) Stentz, Michael Taylor , William (Red) L. Whittaker, Ziv Wolkowicki, Wende Zhang, and Jason Ziglar
    Journal of Field Robotics Special Issue on the 2007 DARPA Urban Challenge, Part I, Vol. 25, No. 8, June, 2008, pp. 425-466.
    Details | pdf (1MB) | Copyrighted

  • A Reasoning Framework for Autonomous Urban Driving

    David Ferguson , Christopher R. Baker , Maxim Likhachev, and John M. Dolan
    Proceedings of the IEEE Intelligent Vehicles Symposium (IV 2008), June, 2008, pp. 775-780.
    Details | pdf (1MB) | Copyrighted

  • Tracking a Moving Target in Cluttered Environments with Ranging Radios

    Geoffrey Hollinger, Joseph Djugash, and Sanjiv Singh
    IEEE International Conference on Robotics and Automation, May, 2008.
    Details | pdf (350KB) | Copyrighted

  • Replanning with Uncertainty in Position: Sensor Updates vs. Prior Map Updates

    Juan Pablo Gonzalez and Anthony (Tony) Stentz
    Proceedings of the IEEE Int. Conference on Robotics & Automation (ICRA), May, 2008.
    Details | pdf (2MB) | Copyrighted

  • Pose Estimation Using Starfield Occlusion

    John Kua
    master's thesis, tech. report CMU-RI-TR-08-21, Robotics Institute, Carnegie Mellon University, May, 2008
    Details | pdf (5MB) | Copyrighted

  • Planning with Uncertainty in Position Using High-Resolution Maps

    Juan Pablo Gonzalez
    doctoral dissertation, tech. report CMU-RI-TR-08-02, Robotics Institute, Carnegie Mellon University, May, 2008
    Details | pdf (4MB) | Copyrighted

  • Learning to Detect Aircraft at Low Resolutions

    Stavros Petridis, Christopher M. Geyer, and Sanjiv Singh
    Computer Vision Systems, Lecture Notes in Computer Science, Vol. 5008, May, 2008, pp. 474 - 483.
    Details | pdf (702KB) | Copyrighted

  • Information-Optimal Selective Data Return for Autonomous Rover Traverse Science and Survey

    David R. Thompson, Trey Smith, and David Wettergreen
    IEEE Conference on Robotics and Automation, May, 2008.
    Details | pdf (470KB) | Copyrighted

  • Flying Fast and Low Among Obstacles: Methodology and Experiments

    Sebastian Scherer, Sanjiv Singh, Lyle J. Chamberlain, and Mike Elgersma
    The International Journal of Robotics Research, Vol. 27, No. 5, May, 2008, pp. 549-574.
    Details | pdf (1MB) | Copyrighted

  • Decentralized Mapping of Robot-Aided Sensor Networks

    Joseph Djugash, Sanjiv Singh, and Benjamin P. Grocholsky
    IEEE International Conference on Robotics and Automation, May, 2008.
    Details | pdf (280KB) | Copyrighted

  • Self-Driving Cars and the Urban Challenge

    Christopher Urmson and William (Red) L. Whittaker
    IEEE Intelligent Systems, Vol. 23, No. 2, April, 2008, pp. 66-68.
    Details

  • Avoiding Collisions Between Aircraft: State of the Art and Requirements for UAVs operating in Civilian Airspace

    Christopher M. Geyer, Sanjiv Singh, and Lyle J. Chamberlain
    tech. report CMU-RI-TR-08-03, Robotics Institute, Carnegie Mellon University, March, 2008
    Details | pdf (386KB) | Copyrighted

  • Tracking a Moving Target in Cluttered Environments with Ranging Radios: Extended Results

    Geoffrey Hollinger, Joseph Djugash, and Sanjiv Singh
    tech. report CMU-RI-TR-08-07, Robotics Institute, Carnegie Mellon University, February, 2008
    Details | pdf (633KB) | Copyrighted

  • Robotic Site Survey at Haughton Crater

    Terrence W. Fong, Mark Allan, Xavier Bouyssounouse, Maria G. Bualat, Matthew Deans, Laurence Edwards, Lorenzo Fl?kiger, Leslie Keely, Susan Y. Lee, David Lees, Vinh To, and Hans Utz
    9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space, February, 2008.
    Details | pdf (2MB) | Copyrighted

  • Plowing for Controlled Steep Crater Descents

    Jason Ziglar, David Kohanbash, David Wettergreen, and William (Red) L. Whittaker
    International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), February, 2008.
    Details | pdf (6MB) | Copyrighted

  • Long-Distance Autonomous Survey and Mapping in the Robotic Investigation of Life in the Atacama Desert

    David Wettergreen, Michael D. Wagner, Dominic Jonak, Vijayakumar Baskaran, Matthew Deans, Stuart Heys, David Pane, Trey Smith, James Teza, David R. Thompson, Paul Tompkins, and Chris Williams
    International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), February, 2008.
    Details | pdf (5MB) | Copyrighted

  • Intelligent Maps for Autonomous Kilometer-Scale Science Survey

    David R. Thompson and David Wettergreen
    International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), February, 2008.
    Details | pdf (758KB) | Copyrighted

  • Human Supervision of Robotic Site Survey

    Debra Schreckenghost, Terrence W. Fong, and Tod Milam
    6th Conference on Human/Robotic Technology and the Vision for Space Exploration, February, 2008.
    Details | pdf (502KB) | Copyrighted

  • Design of the Scarab Rover for Mobility and Drilling in the Lunar Cold Traps

    Paul Bartlett, David Wettergreen, and William (Red) L. Whittaker
    International Symposium on Artificial Intelligence, Robotics and Automation in Space, February, 2008.
    Details | pdf (787KB) | Copyrighted

  • Autonomous Rover Reflectance Spectroscopy with Dozens of Targets

    Francisco Calderon, David R. Thompson, and David Wettergreen
    International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), February, 2008.
    Details | pdf (514KB) | Copyrighted

  • An adaptive model switching approach for a multisensor tracking system used for autonomous driving in an urban environment

    Michael Darms, Paul Rybski, and Christopher Urmson
    AUTOREG 2008, Steuerung und Regelung von Fahrzeugen und Motoren: 4. Fachtagung, February, 2008, pp. 521-530.
    Details | pdf (2MB) | Copyrighted

  • Segmentation of Salient Regions in Outdoor Scenes Using Imagery and 3-D Data

    Gunhee Kim, Daniel Huber, and Martial Hebert
    IEEE Workshop on Applications of Computer VIsion (WACV08), January, 2008.
    Details | pdf (3MB) | Copyrighted

  • Software Infrastructure for an Autonomous Ground Vehicle

    Matthew McNaughton, Christopher R. Baker , Tugrul Galatali, Bryan Salesky, Christopher Urmson, and Jason Ziglar
    Journal of Aerospace Computing, Information, and Communication, Vol. 5, No. 12, December, 2008, pp. 491 - 505.
    Details | pdf (899KB) | Copyrighted

  • The Conditionalizing Identity Management Bayesian Filter (CIMBal)

    Qirong Ho and Christopher M. Geyer
    tech. report CMU-RI-TR-08-47, Robotics Institute, Carnegie Mellon University, October, 2008
    Details | pdf (883KB) | Copyrighted

  • Vehicle detection and tracking for the Urban Challenge

    Michael Darms, Christopher R. Baker , Paul Rybski, and Christopher Urmson
    5. Workshop Fahrerassistenzsysteme, M. Maurer & C. Stiller, ed., Freundeskreis Mess- und Regelungstechnik Karlsruhe e.V. (FMRT), 2008, pp. 57-67.
    Details | pdf (142KB) | Copyrighted

  • Cost-based Registration using A Priori Data for Mobile Robot Localization

    Ling Xu and Anthony (Tony) Stentz
    tech. report CMU-RI-TR-08-05, Robotics Institute, Carnegie Mellon University, 2008
    Details | pdf (2MB) | Copyrighted

  • Active Localization on the Ocean Floor With Multibeam Sonar

    Nathaniel Fairfield and David Wettergreen
    Proceedings of MTS/IEEE OCEANS, 2008.
    Details | pdf (4MB) | Copyrighted

  • 3D Mapping and Characterization of Sistema Zacatón from DEPTHX (DEep Phreatic THermal eXplorer)

    Marcus Gary, Nathaniel Fairfield, William C. Stone, David Wettergreen, George A. Kantor, and John M. Sharp~Jr.
    Proceedings of KARST08: 11th Sinkhole Conference ASCE, 2008.
    Details | pdf (498KB) | Copyrighted

  • Denoising Manifold and Non-Manifold Point Clouds

    Ranjith Unnikrishnan and Martial Hebert
    18th British Machine Vision Conference (BMVC), September, 2007.
    Details | pdf (625KB) | Copyrighted

  • Data Structures for Efficient Dynamic Processing in 3-D

    Jean-Francois Lalonde, Nicolas Vandapel, and Martial Hebert
    The International Journal of Robotics Research, Vol. 26, No. 8, August, 2007, pp. 777-796.
    Details | pdf (3MB) | Copyrighted

  • Analysis of High-Efficiency Solar Cells in Mobile Robot Applications

    Francisco Calderon, Rolf Allan Luders, David Wettergreen, James Teza, and Andres Guesalaga
    Journal of Solar Energy Engineering, Vol. 129, No. 3, August, 2007, pp. 343-346.
    Details | pdf (297KB) | Copyrighted

  • Coordinated Search in Cluttered Environments Using Range from Multiple Robots

    Geoffrey Hollinger, Joseph Djugash, and Sanjiv Singh
    Sixth International Conference on Field and Service Robotics, July, 2007.
    Details | pdf (402KB) | Copyrighted

  • Multi-scale Features for Detection and Segmentation of Rocks in Mars Images

    Heather Dunlop, David R. Thompson, and David Wettergreen
    IEEE Conference on Computer Vision and Pattern Recognition, June, 2007.
    Details | pdf (1MB) | Copyrighted

  • Particle RRT for Path Planning in Very Rough Terrain

    Nicholas Melchior, Jun-young Kwak, and Reid Simmons
    Proceedings of the NASA Science Technology Conference 2007 (NSTC-07), May, 2007.
    Details | pdf (1MB) | Copyrighted

  • Human-Robot Teams for Large-Scale Assembly

    Reid Simmons, Sanjiv Singh, Frederik Heger, Laura M. Hiatt, Seth C. Koterba, Nicholas Melchior, and Brennan Peter Sellner
    Proceedings of the NASA Science Technology Conference 2007 (NSTC-07), May, 2007.
    Details | pdf (411KB) | Copyrighted

  • Autonomous Reflectance Spectroscopy by a Mobile Robot for Mineralogical Characterization

    Francisco Calderon
    tech. report CMU-RI-TR-07-46, Robotics Institute, Carnegie Mellon University, May, 2007
    Details | pdf (13MB) | Copyrighted

  • 2D Localization of Outdoor Mobile Robots Using 3D Laser Range Data

    Takeshi Takahashi
    master's thesis, tech. report CMU-RI-07-11, Robotics Institute, Carnegie Mellon University, May, 2007
    Details | pdf (4MB) | Copyrighted

  • Undergraduate Robotics Education in Technologically Underserved Communities

    M Bernardine Dias, Brett Browning, G. Ayorkor Korsah, Nathan Amanquah, and Noura El-Moughny
    2007 IEEE International Conference on Robotics and Automation, April, 2007, pp. 1387-1392.
    Details | pdf (385KB) | Copyrighted

  • Technologies Toward Lunar Crater Exploration

    Jason Ziglar, David Kohanbash, David Wettergreen, and William (Red) L. Whittaker
    tech. report CMU-RI-TR-07-40, Robotics Institute, Carnegie Mellon University, April, 2007
    Details | pdf (7MB) | Copyrighted

  • Tartan Racing: A Multi-Modal Approach to the DARPA Urban Challenge

    Christopher Urmson, Joshua Anhalt, J. Andrew (Drew) Bagnell, Christopher R. Baker , Robert E. Bittner, John M. Dolan, David Duggins, David Ferguson , Tugrul Galatali, Hartmut Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Alonzo Kelly, David Kohanbash, Maxim Likhachev, Nick Miller, Kevin Peterson, Raj Rajkumar, Paul Rybski, Bryan Salesky, Sebastian Scherer, Young-Woo Seo, Reid Simmons, Sanjiv Singh, Jarrod M. Snider, Anthony (Tony) Stentz, William (Red) L. Whittaker, and Jason Ziglar
    tech. report CMU-RI-TR-, Robotics Institute, Carnegie Mellon University, April, 2007
    Details | pdf (4MB) | Copyrighted

  • Probabilistic Strategies for Pursuit in Cluttered Environments with Multiple Robots

    Geoffrey Hollinger, Athanasios Kehagias, and Sanjiv Singh
    IEEE International Conference on Robotics and Automation, April, 2007.
    Details | pdf (264KB) | Copyrighted

  • Planning with Uncertainty in Position Using High-Resolution Maps

    Juan Pablo Gonzalez and Anthony (Tony) Stentz
    In Proceedings of the IEEE Int. Conference on Robotics & Automation (ICRA) 2007, April, 2007.
    Details | pdf (1MB) | Copyrighted

  • Particle RRT for Path Planning with Uncertainty

    Nicholas Melchior and Reid Simmons
    2007 IEEE International Conference on Robotics and Automation, April, 2007, pp. 1617-1624.
    Details | pdf (867KB) | Copyrighted

  • Flying Fast and Low Among Obstacles

    Sebastian Scherer, Sanjiv Singh, Lyle J. Chamberlain, and Srikanth Saripalli
    Proceedings International Conference on Robotics and Automation, April, 2007.
    Details | pdf (686KB) | Copyrighted

  • Spatial Point Process Models for the Clustering Behavior of Northern Plains Boulders

    David R. Thompson and David Wettergreen
    Lunar and Planetary Science Conference, March, 2007.
    Details | pdf (1MB) | Copyrighted

  • Parrots: A Range Measuring Sensor Network

    Wei Zhang, Joseph Djugash, and Sanjiv Singh
    tech. report CMU-RI-TR-06-05, Robotics Institute, Carnegie Mellon University, March, 2007
    Details | pdf (372KB) | Copyrighted

  • Autonomous Underwater Vehicle Navigation and Proximity Operations for Deep Phreatic Thermal Explorer (DEPTHX)

    William Stone, Nathaniel Fairfield, and George A. Kantor
    Masterclass in AUV Technology for Polar Science: Proceedings of an International Masterclass Held at the National Oceanography Centre, Southampton, UK, 28-39 March 2006, March, 2007.
    Details

  • Teaching technical creativity through Robotics: A case study in Ghana

    G. Ayorkor Korsah, M Bernardine Dias, Brett Browning, and Nathan Amanquah
    Workshop on AI in ICT for Development (ICTD) at the Twentieth International Joint Conference on Artificial Intelligence (IJCAI 2007), January, 2007.
    Details | pdf (393KB) | Copyrighted

  • Creating Low-Cost Soil Maps for Tropical Agriculture using Gaussian Processes

    Juan Pablo Gonzalez, Simon Cook, Thomas Oberthur, Andrew Jarvis, J. Andrew (Drew) Bagnell, and M Bernardine Dias
    Workshop on AI in ICT for Development (ICTD) at the Twentieth International Joint Conference on Artificial Intelligence (IJCAI 2007), January, 2007.
    Details | pdf (856KB) | Copyrighted

  • A Braille Writing Tutor to Combat Illiteracy in Developing Communities

    Nidhi Kalra, Tom Lauwers, and M Bernardine Dias
    AI in ICT for Development Workshop, International Joint Conference on Artificial Intelligence, January, 2007.
    Details | pdf (1MB) | Copyrighted

  • Rover Configuration for Exploring Lunar Craters

    Jason Ziglar
    tech. report CMU-RI-TR-07-42, Robotics Institute, Carnegie Mellon University, December, 2007
    Details | pdf (6MB) | Copyrighted

  • Iterative Design of A Braille Writing Tutor to Combat Illiteracy

    Nidhi Kalra, Tom Lauwers, Daniel Dewey, Thomas Stepleton, and M Bernardine Dias
    Proceedings of the 2nd IEEE/ACM International Conference on Information and Communication Technologies and Development, December, 2007.
    Details | pdf (2MB) | Copyrighted

  • Learning-enhanced market-based task allocation for oversubscribed domains

    Edward Jones, M Bernardine Dias, and Anthony (Tony) Stentz
    International Conference on Intelligent Robots and Systems, 2007. IROS 2007., November, 2007.
    Details | pdf (270KB) | Copyrighted

  • Potential Negative Obstacle Detection by Occlusion Labeling

    Nicholas Heckman, Jean-Francois Lalonde, Nicolas Vandapel, and Martial Hebert
    IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2007.
    Details | pdf (2MB) | Copyrighted

  • Learning-enhanced Market-based Task Allocation for Oversubscribed Domains

    Edward Jones, M. Bernardine Dias, Anthony (Tony) Stentz, Edward Jones, M Bernardine Dias, and Anthony (Tony) Stentz
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2007.
    Details | pdf (272KB) | Copyrighted

  • Real-Time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels

    Nathaniel Fairfield, George A. Kantor, and David Wettergreen
    Journal of Field Robotics, , 2007
    Details | pdf (2MB) | Copyrighted

  • Field Results of the Control, Navigation, and Mapping Systems of a Hovering AUV

    Nathaniel Fairfield, Dominic Jonak, George A. Kantor, and David Wettergreen
    Intl. Symp. on Unmanned Untethered Submersible Technology, 2007.
    Details | pdf (2MB) | Copyrighted

  • Experiments in Navigation and Mapping with a Hovering AUV

    George A. Kantor, Nathaniel Fairfield, Dominic Jonak, and David Wettergreen
    Intl. Conf. on Field and Service Robotics, 2007.
    Details | pdf (1MB) | Copyrighted

  • Tracking of Moving Objects from a Moving Vehicle Using a Scanning Laser Rangefinder

    Robert MacLachlan and Christoph Mertz
    Intelligent Transportation Systems 2006, September, 2006, pp. 301-306.
    Details | pdf (432KB) | Copyrighted

  • Cooperative air and ground surveillance

    Benjamin P. Grocholsky, J. Keller, V. Kumar, and G. Pappas
    IEEE Robotics & Automation Magazine, Vol. 13, No. 3, September, 2006, pp. 16 - 25.
    Details | pdf (2MB) | Copyrighted

  • Sliding Autonomy for Complex Coordinated Multi-Robot Tasks: Analysis & Experiments

    Frederik Heger and Sanjiv Singh
    In Proceedings, Robotics: Systems and Science, August, 2006.
    Details | pdf (1MB) | Copyrighted

  • Planning with Uncertainty in Position Using High-Resolution Maps

    Juan Pablo Gonzalez and Anthony (Tony) Stentz
    tech. report CMU-RI-TR-06-33, Robotics Institute, Carnegie Mellon University, August, 2006
    Details | pdf (1MB) | Copyrighted

  • A Robust Approach to High-Speed Navigation for Unrehearsed Desert Terrain

    Christopher Urmson, Joshua Anhalt, Daniel Bartz, Michael Clark, Tugrul Galatali, Alexander Gutierrez, Sam Harbaugh, Joshua Johnston, Hiroki Kato, Phillip L. Koon, William Messner, Nick Miller, Aaron Mosher, Kevin Peterson, Charlie Ragusa, David Ray, Bryon K. Smith, Jarrod M. Snider, Spencer Spiker, Joshua C. Struble, Jason Ziglar, and William (Red) L. Whittaker
    Journal of Field Robotics, Vol. 23, No. 8, August, 2006, pp. 467-508.
    Details | pdf (3MB) | Copyrighted

  • Market-based multirobot coordination: a survey and analysis

    M Bernardine Dias, Robert Michael Zlot, Nidhi Kalra, and Anthony (Tony) Stentz
    Proceedings of the IEEE, Vol. 94, No. 7, July, 2006, pp. 1257 - 1270.
    Details | pdf (568KB) | Copyrighted

  • Long-term motion estimation from images

    Dennis Strelow and Sanjiv Singh
    In Proceedings, International Symposium on Experimental Robotics, July, 2006.
    Details | pdf (1MB) | Copyrighted

  • Coordinated Multi-Agent Teams and Sliding Autonomy for Large-Scale Assembly

    Brennan Peter Sellner, Frederik Heger, Laura Hiatt, Reid Simmons, and Sanjiv Singh
    Proceedings of the IEEE - Special Issue on Multi-Robot Systems, Vol. 94, No. 7, July, 2006, pp. 1425 - 1444.
    Details | pdf (1MB) | Copyrighted

  • Challenges to Grounding in Human-Robot Collaboration: Errors and Miscommunications in Remote Exploration Robotics

    Kristen Stubbs, Pamela Hinds, and David Wettergreen
    tech. report CMU-RI-TR-06-32, Robotics Institute, Carnegie Mellon University, July, 2006
    Details | pdf (3MB) | Copyrighted

  • Automatic Three-Dimensional Point Cloud Processing for Forest Inventory

    Jean-Francois Lalonde, Nicolas Vandapel, and Martial Hebert
    tech. report CMU-RI-TR-06-21, Robotics Institute, Carnegie Mellon University, July, 2006
    Details | pdf (3MB) | Copyrighted

  • Preliminary Results in Tracking Mobile Targets Using Range Sensors from Multiple Robots

    Elizabeth Liao, Geoffrey Hollinger, Joseph Djugash, and Sanjiv Singh
    The 8th International Symposium on Distributed Autonomous Robotic Systems, June, 2006, pp. 125-134.
    Details | pdf (223KB) | Copyrighted

  • Towards Particle Filter SLAM with Three Dimensional Evidence Grids in a Flooded Subterranean Environment

    Nathaniel Fairfield, George A. Kantor, and David Wettergreen
    Proceedings of ICRA 2006, May, 2006, pp. 3575 - 3580.
    Details | pdf (1MB) | Copyrighted

  • Replanning with RRTs

    David Ferguson , Nidhi Kalra, and Anthony (Tony) Stentz
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2006, pp. 1243 - 1248.
    Details | pdf (352KB) | Copyrighted

  • Range-only SLAM with Interpolated Range Data

    Athanasios Kehagias, Joseph Djugash, and Sanjiv Singh
    tech. report CMU-RI-TR-06-26, Robotics Institute, Carnegie Mellon University, May, 2006
    Details | pdf (496KB) | Copyrighted

  • Range-Only SLAM for Robots Operating Cooperatively with Sensor Networks

    Joseph Djugash, Sanjiv Singh, George A. Kantor, and Wei Zhang
    IEEE International Conference on Robotics and Automation, May, 2006, pp. 2078 - 2084.
    Details | pdf (272KB) | Copyrighted

  • Data Structure for Efficient Dynamic Processing in 3-D

    Jean-Francois Lalonde
    master's thesis, tech. report CMU-RI-TR-06-22, Robotics Institute, Carnegie Mellon University, May, 2006
    Details | pdf (998KB) | Copyrighted

  • Constrained Exploration for Studies in Multirobot Coordination

    Nidhi Kalra, David Ferguson , and Anthony (Tony) Stentz
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2006.
    Details | pdf (271KB) | Copyrighted

  • Multi-resolution Field D*

    David Ferguson and Anthony (Tony) Stentz
    Proceedings of the International Conference on Intelligent Autonomous Systems (IAS), March, 2006.
    Details | pdf (5MB) | Copyrighted

  • Incremental Reconstruction of Generalized Voronoi Diagrams on Grids

    Nidhi Kalra, David Ferguson , and Anthony (Tony) Stentz
    Proceedings of the International Conference on Intelligent Autonomous Systems (IAS), March, 2006.
    Details | pdf (5MB) | Copyrighted

  • Evaluation of Autonomous Ground Vehicle Skills

    Phillip L. Koon
    master's thesis, tech. report CMU-RI-TR-06-13, Robotics Institute, Carnegie Mellon University, March, 2006
    Details | pdf (360KB) | Copyrighted

  • Autonomous Rover Detection and Response Applied to the Search for Life Via Chlorophyll Fluorescence in the Atacama Desert

    Trey Smith, David R. Thompson, S. Weinstein, and David Wettergreen
    Proc. of the Lunar and Planetary Science Conference, March, 2006.
    Details | pdf (388KB) | Copyrighted

  • Autonomous Detection of Novel Biologic and Geologic Features in Atacama Desert Rover Imagery

    David R. Thompson, Trey Smith, and David Wettergreen
    Proc. of the Lunar and Planetary Science Conference, March, 2006.
    Details | pdf (57KB) | Copyrighted

  • Attaining Situational Awareness for Sliding Autonomy

    Brennan Peter Sellner, Laura M. Hiatt, Reid Simmons, and Sanjiv Singh
    Proceedings of HRI 2006, March, 2006.
    Details | pdf (523KB) | Copyrighted

  • Using Interpolation to Improve Path Planning: The Field D* Algorithm

    David Ferguson and Anthony (Tony) Stentz
    Journal of Field Robotics, Vol. 23, No. 2, February, 2006, pp. 79-101.
    Details | pdf (1MB) | Copyrighted

  • The Geometric Path Planner for Navigating Unmanned Vehicles in Dynamic Environments

    Juan Pablo Gonzalez, Bryan Nagy, and Anthony (Tony) Stentz
    Proceedings ANS 1st Joint Emergency Preparedness and Response and Robotic and Remote Systems, February, 2006.
    Details | pdf (974KB) | Copyrighted

  • Mission-level path planning and re-planning for rover exploration

    Paul Tompkins, Anthony (Tony) Stentz, and David Wettergreen
    Robotics and Autonomous Systems, Intelligent Autonomous Systems, Vol. 54, No. 2, February, 2006, pp. 174 - 183.
    Details | pdf (2MB) | Copyrighted

  • A Formalism for Utilization of Sensor Systems and Integrated Project Models for Active Construction Quality Control

    Burcu Akinci, Frank Boukamp, Chris Gordon, Daniel Huber, Catherine Lyons, and Kuhn Park
    Automation in Construction, Vol. 15, No. 2, February, 2006, pp. 124--138.
    Details | pdf (2MB) | Copyrighted

  • Recent Developments in Subterranean Robotics

    Aaron Christopher Morris, David Ferguson , Zachary Omohundro, David Bradley, David Silver, Christopher R. Baker , Scott Thayer, Chuck Whittaker, and William (Red) L. Whittaker
    Journal of Field Robotics, Vol. 23, No. 1, January, 2006, pp. 35-57.
    Details | pdf (2MB) | Copyrighted

  • Market-based Multirobot Coordination for Complex Tasks

    Robert Michael Zlot and Anthony (Tony) Stentz
    International Journal of Robotics Research, Special Issue on the 4th International Conference on Field and Service Robotics, Vol. 25, No. 1, January, 2006, pp. 73-101.
    Details | pdf (2MB) | Copyrighted

  • Learning Obstacle Avoidance Parameters from Operator Behavior

    Bradley Hamner, Sanjiv Singh, and Sebastian Scherer
    Special Issue on Machine Learning Based Robotics in Unstructured Environments, Journal of Field Robotics, Vol. 23, No. 11/12, December, 2006, pp. 1037-1058.
    Details | pdf (2MB) | Copyrighted

  • Towards Proactive Replanning for Multi-Robot Teams

    Brennan Peter Sellner and Reid Simmons
    Proceedings of the 5th International Workshop on Planning and Scheduling in Space 2006, October, 2006.
    Details | pdf (450KB) | Copyrighted

  • Teaching technical creativity through Robotics: A case study in Ghana

    G. Ayorkor Korsah, M Bernardine Dias, Brett Browning, and Nathan Amanquah
    tech. report CMU-RI-TR-06-46, Robotics Institute, Carnegie Mellon University, October, 2006
    Details | pdf (156KB) | Copyrighted

  • Planning with Uncertainty in Position Using High-Resolution Maps - Thesis Proposal

    Juan Pablo Gonzalez
    tech. report CMU-RI-TR-06-45, Robotics Institute, Carnegie Mellon University, October, 2006
    Details | pdf (6MB) | Copyrighted

  • Learning-enhanced Market-based Task Allocation for Disaster Response

    Edward Jones, M Bernardine Dias, and Anthony (Tony) Stentz
    tech. report CMU-RI-TR-06-48, Robotics Institute, Carnegie Mellon University, October, 2006
    Details | pdf (242KB) | Copyrighted

  • Learning to Drive Among Obstacles

    Bradley Hamner, Sebastian Scherer, and Sanjiv Singh
    2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2006, pp. 2663 - 2669.
    Details | pdf (319KB) | Copyrighted

  • Anytime RRTs

    David Ferguson and Anthony (Tony) Stentz
    Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 5369 - 5375.
    Details | pdf (1MB) | Copyrighted

  • 3D Field D: Improved Path Planning and Replanning in Three Dimensions

    Joseph Carsten, David Ferguson , and Anthony (Tony) Stentz
    Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 3381 - 3386.
    Details | pdf (1MB) | Copyrighted

  • Second Experiments in the Robotic Investigation of Life in the Atacama Desert of Chile

    David Wettergreen, Nathalie Cabrol, Vijayakumar Baskaran, Francisco Calderon, Stuart Heys, Dominic Jonak, Rolf Allan Luders, David Pane, Trey Smith, James Teza, Paul Tompkins, Daniel Villa, Chris Williams, and Michael D. Wagner
    8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005.
    Details | pdf (946KB) | Copyrighted

  • Rover Design for Polar Astrobiological Exploration

    Liam Pedersen, David Wettergreen, Dimitrios (Dimi) Apostolopoulos, Chris McKay, Matthew E. DiGioia, Dominic Jonak, Stuart Heys, James Teza, and Michael D. Wagner
    8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005.
    Details | pdf (368KB) | Copyrighted

  • Results in Sliding Autonomy for Multi-robot Spatial Assembly

    Frederik Heger, Laura Hiatt, Brennan Peter Sellner, Reid Simmons, and Sanjiv Singh
    Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005.
    Details | pdf (2MB) | Copyrighted

  • Model Checking of Robotic Control Systems

    Sebastian Scherer, Flavio Lerda, and Edmund M. Clarke
    Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), September, 2005.
    Details | pdf (2MB) | Copyrighted

  • Experimental Characterization of a Robotic Inflatable Wheel

    Dimitrios (Dimi) Apostolopoulos, Michael D. Wagner, Chris Leger, and Jack Jones
    8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005.
    Details | pdf (941KB) | Copyrighted

  • Design and Control of a Passively Steered, Dual Axle Vehicle

    Michael D. Wagner, Stuart Heys, David Wettergreen, James Teza, Dimitrios (Dimi) Apostolopoulos, George A. Kantor, and William (Red) L. Whittaker
    8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005.
    Details | pdf (4MB) | Copyrighted

  • Data Mining During Rover Traverse: From Images to Geologic Signatures

    David R. Thompson, Trey Smith, and David Wettergreen
    8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005.
    Details | pdf (3MB) | Copyrighted

  • An Analysis of the Human Odometer

    Uland Wong, Catherine Lyons, and Scott Thayer
    tech. report CMU-RI-TR-05-47, Robotics Institute, Carnegie Mellon University, September, 2005
    Details | pdf (559KB) | Copyrighted

  • A Sun Tracker for Planetary Analog Rovers

    Matthew C. Deans, David Wettergreen, and Daniel Villa
    8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005.
    Details | pdf (718KB) | Copyrighted

  • Three Dimensional Evidence Grids for SLAM in Complex Underwater Environments

    Nathaniel Fairfield, George A. Kantor, and David Wettergreen
    Proceedings of the 14th International Symposium of Unmanned Untethered Submersible Technology (UUST), August, 2005.
    Details | pdf (809KB) | Copyrighted

  • Planning with Uncertainty in Position: An Optimal and Efficient Planner

    Juan Pablo Gonzalez and Anthony (Tony) Stentz
    Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '05), August, 2005, pp. 2435 - 2442.
    Details | pdf (478KB) | Copyrighted

  • Multiple-Object Detection in Natural Scenes with Multiple-View Expectation Maximization Clustering

    David R. Thompson and David Wettergreen
    International Conference on Intelligent Robots and Systems (IROS '05), August, 2005, pp. 448 - 453.
    Details | pdf (9MB) | Copyrighted

  • Improving cost estimation in market-based coordination of a distributed sensing task

    M Bernardine Dias, B. Ghanem, and Anthony (Tony) Stentz
    2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, August, 2005, pp. 3972 - 3977.
    Details | pdf (360KB) | Copyrighted

  • Results in Combined Route Traversal and Collision Avoidance

    Stephan Roth, Bradley Hamner, Sanjiv Singh, and Myung Hwangbo
    International Conference on Field & Service Robotics (FSR '05), July, 2005.
    Details | pdf (385KB) | Copyrighted

  • Further Results with Localization and Mapping using Range from Radio

    Joseph Djugash, Sanjiv Singh, and Peter Ian Corke
    International Conference on Field & Service Robotics (FSR '05), July, 2005.
    Details | pdf (500KB) | Copyrighted

  • Assessment of visualization software for support of construction site inspection tasks using data collected from reality capture technologies

    Chris Gordon, Burcu Akinci, Frank Boukamp, and Daniel Huber
    Proceedings of the 2005 International Conference on Computing in Civil Engineering, July, 2005.
    Details | pdf (86KB) | Copyrighted

  • 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

  • The TechBridgeWorld Initiative: Broadening Perspectives in Computing Technology, Education and Research

    M Bernardine Dias, G. Ayorkor Korsah, and Joseph Mertz
    CWIT '05: Proceedings of the international symposium on Women and ICT: Creating Global Transformation, June, 2005.
    Details | pdf (234KB) | Copyrighted

  • The Field D* Algorithm for Improved Path Planning and Replanning in Uniform and Non-Uniform Cost Environments

    David Ferguson and Anthony (Tony) Stentz
    tech. report CMU-RI-TR-05-19, Robotics Institute, Carnegie Mellon University, June, 2005
    Details | pdf (2MB) | Copyrighted

  • Scale Selection for Classification of Point-sampled 3-D Surfaces

    Jean-Francois Lalonde, Ranjith Unnikrishnan, Nicolas Vandapel, and Martial Hebert
    Fifth International Conference on 3-D Digital Imaging and Modeling (3DIM 2005), June, 2005, pp. 285 - 292.
    Details | pdf (951KB) | Copyrighted

  • Data Structure for Efficient Processing in 3-D

    Jean-Francois Lalonde, Nicolas Vandapel, and Martial Hebert
    Robotics: Science and Systems 1, June, 2005.
    Details | pdf (425KB) | Copyrighted

  • A Guide to Heuristic-based Path Planning

    David Ferguson , Maxim Likhachev, and Anthony (Tony) Stentz
    Proceedings of the International Workshop on Planning under Uncertainty for Autonomous Systems, International Conference on Automated Planning and Scheduling (ICAPS), June, 2005.
    Details | pdf (2MB) | Copyrighted

  • Navigation Regimes for Off-Road Autonomy

    Christopher Urmson
    doctoral dissertation, tech. report CMU-RI-TR-05-23, Robotics Institute, Carnegie Mellon University, May, 2005
    Details | pdf (11MB) | Copyrighted

  • Mission-Directed Path Planning for Planetary Rover Exploration

    Paul Tompkins
    doctoral dissertation, tech. report CMU-RI-TR-05-20, Robotics Institute, Carnegie Mellon University, May, 2005
    Details | pdf (6MB) | Copyrighted

  • Robotics, Education, and Sustainable Development

    M Bernardine Dias, G. Ayorkor Korsah, and Thrishantha Nanayakkara
    2005 IEEE International Conference on Robotics and Automation, April, 2005, pp. 4248 - 4253.
    Details | pdf (289KB) | Copyrighted

  • Planning 3-D Path Networks in Unstructured Environments

    Nicolas Vandapel, James Kuffner, and Omead Amidi
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), April, 2005, pp. 4624 - 4629.
    Details | pdf (470KB) | Copyrighted

  • Market-Based Multirobot Coordination: A Survey and Analysis

    M Bernardine Dias, Robert Michael Zlot, Nidhi Kalra, and Anthony (Tony) Stentz
    tech. report CMU-RI-TR-05-13, Robotics Institute, Carnegie Mellon University, April, 2005
    Details | pdf (72KB) | Copyrighted

  • Hoplites: A Market-Based Framework for Planned Tight Coordination in Multirobot Teams

    Nidhi Kalra, David Ferguson , and Anthony (Tony) Stentz
    Proceedings of the International Conference on Robotics and Automation, April, 2005, pp. 1170 - 1177.
    Details | pdf (238KB) | Copyrighted

  • First Experiments in the Robotic Investigation of Life in the Atacama Desert of Chile

    David Wettergreen, Nathalie Cabrol, James Teza, Paul Tompkins, Christopher Urmson, Vandi Verma, Michael D. Wagner, and William (Red) L. Whittaker
    International Conference on Robotics and Automation, April, 2005.
    Details | pdf (526KB) | Copyrighted

  • Complex Task Allocation For Multiple Robots

    Robert Michael Zlot and Anthony (Tony) Stentz
    Proceedings of the International Conference on Robotics and Automation, April, 2005, pp. 1515 - 1522.
    Details | pdf (551KB) | Copyrighted

  • Analysis and Removal of Artifacts in 3-D LADAR Data

    John Tuley, Nicolas Vandapel, and Martial Hebert
    IEEE International Conference on Robotics and Automation, April, 2005, pp. 2203 - 2210.
    Details | pdf (537KB) | Copyrighted

  • Using Near Real-time Mission Data for Education and Public Outreach: Strategies from the Life in the Atacama E/PO Report

    Eben Myers, Peter Coppin, Michael D. Wagner, Karl Fischer, Dan Luisa Lu, Ron McCloskey, David Seneker, Nathalie Cabrol, David Wettergreen, and Alan Waggoner
    Lunar and Planetary Science Conference XXXVI, March, 2005.
    Details | pdf (168KB) | Copyrighted

  • Use of a Novel Rover-mounted Fluorescence Imager and Fluorescent Probes to Detect Biological Material in the Atacama Desert in Daylight

    Shmuel Weinstein, David Pane, Kim Warren-Rhodes, Charles Cockell, Lauren A. Ernst, Edwin Minkley, Gregory Fisher, Sujata Emani, David Wettergreen, Michael D. Wagner, Nathalie Cabrol, and Alan Waggoner
    Lunar and Planetary Science Conference XXXVI, March, 2005.
    Details | pdf (73KB) | Copyrighted

  • Spectroscopic Results from the Life in the Atacama (LITA) Project 2004 Field Season

    Jennifer L. Piatek, Jeffrey E. Moersch, Michael Wyatt, Michael Rampey, Nathalie A. Cabrol, David Wettergreen, William (Red) L. Whittaker, Edmond A. Grin, Guillermo Chong Diaz, Charles Cockell, Peter Coppin, James M. Dohm, Gregory Fisher, Andrew N. Hock, Lucia Marinangeli, Edwin Minkley, G. G. Ori, Alan Waggoner, Kim Warren-Rhodes, Shmuel Weinstein, Dimitrios (Dimi) Apostolopoulos, Trey Smith, Michael D. Wagner, Kristen Stubbs, Geb Thomas, and Justin Glasgow
    Lunar and Planetary Science Conference XXXVI, March, 2005.
    Details | pdf (138KB) | Copyrighted

  • Searching for Life with Rovers: Exploration Methods and Science Results from the 2004 Field Campaign of the "Life in the Atacama" Project and Applications to Future Mars Missions

    Nathalie A. Cabrol, David Wettergreen, William (Red) L. Whittaker, Edmond A. Grin, Jeffrey Moersch, Guillermo Chong Diaz, Charles Cockell, Peter Coppin, James M. Dohm, Gregory Fisher, Andrew N. Hock, Lucia Marinangeli, Edwin Minkley, G. G. Ori, Jennifer Piatek, Alan Waggoner, Kim Warren-Rhodes, Shmuel Weinstein, Michael Wyatt, Francisco Calderon, Stuart Heys, Dominic Jonak, Rolf Allan Luders, David Pane, Trey Smith, Kristen Stubbs, James Teza, Paul Tompkins, Daniel Villa, Chris Williams, Michael D. Wagner, Geb Thomas, and Justin Glasgow
    Lunar and Planetary Science Conference XXXVI, March, 2005.
    Details | pdf (70KB) | Copyrighted

  • Robotic Technologies for Surveying Habitats and Seeking Evidence of Life: Results from the 2004 Field Experiments of the ?ife in the Atacama?Project

    David Wettergreen, Nathalie Cabrol, William (Red) L. Whittaker, Guillermo Chong Diaz, Francisco Calderon, Stuart Heys, Dominic Jonak, Rolf Allan Luders, Jeffrey Moersch, David Pane, Marion Smith, Kristen Stubbs, James Teza, Paul Tompkins, Daniel Villa, Chris Williams, Michael D. Wagner, Alan Waggoner, Shmuel Weinstein, and Michael Wyatt
    Lunar and Planetary Science Conference XXXVI, March, 2005.
    Details

  • Life in the Atacama ?Year 2: Geologic Reconnaissance Through Long-Range Roving and Implications on the Search for Life

    James M. Dohm, Nathalie A. Cabrol, Edmond A. Grin, Jeffrey Moersch, Guillermo Chong Diaz, Charles Cockell, Peter Coppin, Gregory Fisher, Andrew N. Hock, Lucia Marinangeli, Edwin Minkley, G. G. Ori, Jennifer L. Piatek, Kim Warren-Rhodes, Shmuel Weinstein, Michael Wyatt, Trey Smith, Michael D. Wagner, Kristen Stubbs, Geb Thomas, and Justin Glasgow
    Lunar and Planetary Science Conference XXXVI, March, 2005.
    Details | pdf (106KB) | Copyrighted

  • Fluorescence Imager for Biological Imaging in Daylight

    Shmuel Weinstein, David Pane, Lauren A. Ernst, Edwin Minkley, Fred Lanni, David Wettergreen, Michael D. Wagner, Stuart Heys, James Teza, and Alan Waggoner
    Lunar and Planetary Science Conference XXXVI, March, 2005.
    Details | pdf (41KB) | Copyrighted

  • Concepts for Science Autonomy During Robotic Traverse and Survey

    Trey Smith, Scott Niekum, David R. Thompson, and David Wettergreen
    IEEE Aerospace Conference Proceedings, Big Sky Montana, March, 2005.
    Details | pdf (521KB) | Copyrighted

  • Automatic Detection and Classification of Geological Features of Interest

    David R. Thompson, Scott Niekum, Trey Smith, and David Wettergreen
    IEEE Aerospace Conference Proceedings, Big Sky Montana, 2005, March, 2005.
    Details | pdf (1MB) | Copyrighted

  • Sun-Synchronous Robotic Exploration: Technical Description and Field Experimentation

    David Wettergreen, Paul Tompkins, Christopher Urmson, Michael D. Wagner, and William (Red) L. Whittaker
    The International Journal of Robotics Research, Vol. 24, No. 1, January, 2005, pp. 3-30.
    Details | pdf (12MB) | Copyrighted

  • Bearings based robot homing with robust landmark matching and limited horizon view

    Ivan Kirigin and Sanjiv Singh
    tech. report CMU-RI-TR-05-02, Robotics Institute, Carnegie Mellon University, January, 2005
    Details | pdf (377KB) | Copyrighted

  • Preplanning for high performance autonomous traverse of desert terrain exploiting a priori knowledge to optimize speeds and to detail paths

    Alexander Gutierrez, Tugrul Galatali, Juan Pablo Gonzalez, Christopher Urmson, and William (Red) L. Whittaker
    tech. report CMU-RI-TR-05-54, Robotics Institute, Carnegie Mellon University, December, 2005
    Details | pdf (19MB) | Copyrighted

  • Market-Based Multirobot Coordination: A Comprehensive Survey and Analysis

    Nidhi Kalra, M Bernardine Dias, Robert Michael Zlot, and Anthony (Tony) Stentz
    tech. report CMU-RI-TR-05-16, Robotics Institute, Carnegie Mellon University, December, 2005
    Details | pdf (499KB) | Copyrighted

  • Field D*: An Interpolation-based Path Planner and Replanner

    David Ferguson and Anthony (Tony) Stentz
    Proceedings of the International Symposium on Robotics Research (ISRR), October, 2005.
    Details | pdf (2MB) | Copyrighted

  • User Modelling for Principled Sliding Autonomy in Human-Robot Teams

    Brennan Peter Sellner, Reid Simmons, and Sanjiv Singh
    Proceedings of the NRL Multirobot Workshop 2005, 2005.
    Details | pdf (764KB) | Copyrighted

  • Finding Organized Structures in 3-D Ladar Data

    Nicolas Vandapel and Martial Hebert
    IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2004, pp. 786 - 791.
    Details | pdf (3MB) | Copyrighted

  • Delayed D*: The Proofs

    David Ferguson and Anthony (Tony) Stentz
    tech. report CMU-RI-TR-04-51, Robotics Institute, Carnegie Mellon University, September, 2004
    Details | pdf (84KB) | Copyrighted

  • Analysis and removal of artifacts in 3-D LADAR data

    John Tuley, Nicolas Vandapel, and Martial Hebert
    tech. report CMU-RI-TR-04-44, Robotics Institute, Carnegie Mellon University, August, 2004
    Details | pdf (917KB) | Copyrighted

  • High Speed Navigation of Unrehearsed Terrain: Red Team Technology for Grand Challenge 2004

    Christopher Urmson, Joshua Anhalt, Michael Clark, Tugrul Galatali, Juan Pablo Gonzalez, Jay Gowdy, Alexander Gutierrez, Sam Harbaugh, Matthew Johnson-Roberson, Hiroki Kato, Phillip L. Koon, Kevin Peterson, Bryon K. Smith, Spencer Spiker, Erick Tryzelaar, and William (Red) L. Whittaker
    tech. report CMU-RI-TR-04-37, Robotics Institute, Carnegie Mellon University, June, 2004
    Details | pdf (5MB) | Copyrighted

  • Enhancing Multi-Robot Coordinated Teams with Sliding Autonomy

    Jonathan Brookshire
    master's thesis, tech. report CMU-RI-TR-04-40, Robotics Institute, Carnegie Mellon University, May, 2004
    Details | pdf (1MB) | Copyrighted

  • Robust Multirobot Coordination in Dynamic Environments

    M Bernardine Dias, Marc B. Zinck, Robert Michael Zlot, and Anthony (Tony) Stentz
    IEEE International Conference on Robotics and Automation, April, 2004, pp. 3435 - 3442.
    Details | pdf (114KB) | Copyrighted

  • PAO* for Planning with Hidden State

    David Ferguson , Anthony (Tony) Stentz, and Sebastian Thrun
    Proceedings of the 2004 IEEE International Conference on Robotics and Automation, April, 2004, pp. 2840 - 2847.
    Details | pdf (369KB) | Copyrighted

  • Natural Terrain Classification using 3-D Ladar Data

    Nicolas Vandapel, Daniel Huber, Anuj Kapuria, and Martial Hebert
    IEEE International Conference on Robotics and Automation, April, 2004, pp. 5117 - 5122.
    Details | pdf (1MB) | Copyrighted

  • Enabling Learning From Large Datasets: Applying Active Learning to Mobile Robotics

    Cristian Dima, Martial Hebert, and Anthony (Tony) Stentz
    International Conference on Robotics and Automation, April, 2004, pp. 108 - 114.
    Details | pdf (1MB) | Copyrighted

  • Classifier Fusion for Outdoor Obstacle Detection

    Cristian Dima, Nicolas Vandapel, and Martial Hebert
    International Conference on Robotics and Automation, April, 2004, pp. 665 - 671.
    Details | pdf (561KB) | Copyrighted

  • Preliminary Results in Sliding Autonomy for Coordinated Teams

    Jonathan Brookshire, Sanjiv Singh, and Reid Simmons
    Proceedings of The 2004 Spring Symposium Series, March, 2004.
    Details | pdf (415KB) | Copyrighted

  • Market-Based Approaches for Coordination of Multi-Robot Teams at Different Granularities of Interaction

    Anthony (Tony) Stentz, M Bernardine Dias, Robert Michael Zlot, and Nidhi Kalra
    Proceedings of the ANS 10th International Conference on Robotics and Remote Systems for Hazardous Environments, March, 2004.
    Details | pdf (394KB) | Copyrighted

  • Scan Matching for Flooded Subterranean Voids

    David Silver, David Bradley, and Scott Thayer
    IEEE conference on Robotics Automation and Mechatronics (RAM), December, 2004, pp. 422 - 427.
    Details | pdf (342KB) | Copyrighted

  • A regional point descriptor for global localization in subterranean environments

    David Bradley, David Silver, and Scott Thayer
    IEEE conference on Robotics Automation and Mechatronics (RAM 2005), December, 2004, pp. 440 - 445.
    Details | pdf (167KB) | Copyrighted

  • Planning with Uncertainty in Position: an Optimal Planner

    Juan Pablo Gonzalez and Anthony (Tony) Stentz
    tech. report CMU-RI-TR-04-63, Robotics Institute, Carnegie Mellon University, November, 2004
    Details | pdf (945KB) | Copyrighted

  • Focussed processing of MDPs for path planning

    David Ferguson and Anthony (Tony) Stentz
    Proceedings of the 16th IEEE International Conference on Tools with Artificial Intelligence (ICTAI '04), November, 2004, pp. 310 - 317.
    Details | pdf (173KB) | Copyrighted

  • Finding Organized Structures in 3-D LADAR Data

    Nicolas Vandapel and Martial Hebert
    Army Science Conference, November, 2004.
    Details | pdf (3MB) | Copyrighted

  • Robot and Sensor Networks for First Responders

    Vijay Kumar, Daniela Rus, and Sanjiv Singh
    PERVASIVE computing, , October, 2004, pp. 24 - 33.
    Details | pdf (2MB) | Copyrighted

  • Path Planning with Hallucinated Worlds

    Bart Nabbe, Sanjiv Kumar, and Martial Hebert
    Proceedings: IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2004, pp. 3123 - 3130.
    Details | pdf (640KB) | Copyrighted

  • Framework for robust mobile robot systems

    Nicholas Melchior and William D. Smart
    Proceedings of the SPIE: Mobile Robots XVII, October, 2004, pp. 145-154.
    Details | pdf (137KB) | Copyrighted

  • EventScope: Bringing Remote Experience of Mars to the Public through Telepresence

    E. Myers, Peter Coppin, Michael D. Wagner, Karl Fischer, Dan Luisa Lu, W.R. McCloskey, and David Seneker
    2004 IEEE Symposium on Information Visualization, October, 2004, pp. 16 - 17.
    Details | pdf (198KB) | Copyrighted

  • Preliminary Results in Sliding Autonomy for Assembly by Coordinated Teams

    Jonathan Brookshire, Sanjiv Singh, and Reid Simmons
    2004.
    Details | pdf (410KB) | Copyrighted

  • Omnidirectional Visual Odometry for a Planetary Rover

    Peter Ian Corke, Dennis Strelow, and Sanjiv Singh
    Proceedings of IROS 2004, 2004.
    Details | pdf (338KB) | Copyrighted

  • Variable Resolution Particle Filter

    Vandi Verma, Sebastian Thrun, and Reid Simmons
    In Proceedings of International Joint Conference on Artificial Intelligence, August, 2003.
    Details | pdf (227KB) | Copyrighted

  • Market-based Multirobot Coordination Using Task Abstraction

    Robert Michael Zlot and Anthony (Tony) Stentz
    International Conference on Field and Service Robotics, July, 2003.
    Details | pdf (490KB) | Copyrighted

  • FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem with Unknown Data Association

    Michael Montemerlo
    doctoral dissertation, tech. report CMU-RI-TR-03-28, Robotics Institute, Carnegie Mellon University, July, 2003
    Details | pdf (2MB) | Copyrighted

  • Distributed Search and Rescue with Robot and Sensor Teams

    George A. Kantor, Sanjiv Singh, R. Peterson, Daniela Rus, A. Das, V. Kumar, G. Pereira, and J. Spletzer
    The 4th International Conference on Field and Service Robotics, July, 2003.
    Details | pdf (912KB) | Copyrighted

  • Case Studies of a Borehole Deployable Robot for Limestone Mine Profiling and Mapping

    Aaron Christopher Morris, Derek Kurth, Daniel Huber, Chuck Whittaker, and Scott Thayer
    International Conference on Field and Service Robotics (FSR), July, 2003.
    Details | pdf (1MB) | Copyrighted

  • Results of the Inflatable Robotic Rover Testbed

    Dimitrios (Dimi) Apostolopoulos, Michael D. Wagner, Stuart Heys, and James Teza
    tech. report CMU-RI-TR-03-18, Robotics Institute, Carnegie Mellon University, June, 2003
    Details | pdf (6MB) | Copyrighted

  • Reckless motion estimation from omnidirectional image and inertial measurements

    Dennis Strelow and Sanjiv Singh
    IEEE Workshop on Omnidirectional Vision and Camera Networks (OMNIVIS 2003), June, 2003.
    Details | pdf (180KB) | Copyrighted

  • Optimal Motion Estimation from Visual and Inertial Measurements

    Dennis Strelow and Sanjiv Singh
    Proceedings of the Workshop on Integration of Vision and Inertial Sensors (INERVIS 2003), June, 2003.
    Details | pdf (275KB) | Copyrighted

  • Multiple Sensor Fusion for Detecting Location of Curbs, Walls, and Barriers

    Romuald Aufrere, Christoph Mertz, and Chuck Thorpe
    Proceedings of the IEEE Intelligent Vehicles Symposium (IV2003), June, 2003.
    Details | pdf (2MB) | Copyrighted

  • terrain classification techniques from ladar data for autonomous navigation

    Martial Hebert and Nicolas Vandapel
    Collaborative Technology Alliances conference, May, 2003.
    Details | pdf (342KB) | Copyrighted

  • Efficient Monitoring for Planetary Rovers

    Vandi Verma, Geoffrey Gordon, and Reid Simmons
    International Symposium on Artificial Intelligenceand Robotics in Space, May, 2003.
    Details | pdf (210KB) | Copyrighted

  • A Generic Framework for Robotic Navigation

    Christopher Urmson, Reid Simmons, and Issa Nesnas
    IEEE Aerospace Conference 2003, March, 2003.
    Details | pdf (749KB) | Copyrighted

  • Perception for collision avoidance and autonomous driving

    Romuald Aufrere, Jay Gowdy, Christoph Mertz, Chuck Thorpe, Chieh-Chih Wang, and Teruko Yata
    Mechatronics, Vol. 13, No. 10, December, 2003, pp. 1149-1161.
    Details | pdf (1MB) | Copyrighted

  • Where and When to Look

    Bart Nabbe and Martial Hebert
    IROS 2003, October, 2003, pp. 920 - 927.
    Details | pdf (594KB) | Copyrighted

  • Sensor and Classifier Fusion for Outdoor Obstacle Detection: an Application of Data Fusion To Autonomous Off-Road Navigation

    Cristian Dima, Nicolas Vandapel, and Martial Hebert
    The 32nd Applied Imagery Recognition Workshop (AIPR2003), October, 2003, pp. 255 - 262.
    Details | pdf (235KB) | Copyrighted

  • Safe Robot Driving in Cluttered Environments

    Chuck Thorpe, Justin David Carlson, David Duggins, Jay Gowdy, Robert MacLachlan, Christoph Mertz, Arne Suppe, and Chieh-Chih Wang
    Proceedings of the 11th International Symposium of Robotics Research, October, 2003.
    Details | pdf (349KB) | Copyrighted

  • Motion Planning for a Mobile Manipulator with Imprecise Locomotion

    Dong Hun Shin, Bradley Hamner, Sanjiv Singh, and Myung Hwangbo
    2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), October, 2003.
    Details | pdf (453KB) | 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

  • Experimental results in range-only localization with radio

    Derek Kurth, George A. Kantor, and Sanjiv Singh
    2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), October, 2003, pp. 974 - 979.
    Details | pdf (494KB) | Copyrighted

  • Combining Reality Capture Technologies for Construction Defect Detection: A Case Study

    C. Gordon, F. Boukamp, Daniel Huber, Edward Latimer, K. Park, and B. Akinci
    EIA9: E-Activities and Intelligent Support in Design and the Built Environment, 9th EuropIA International Conference, October, 2003, pp. 99-108.
    Details | pdf (115KB) | Copyrighted

  • A comparative study between centralized, market-based, and behavioral multirobot coordination approaches

    M Bernardine Dias and Anthony (Tony) Stentz
    Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), October, 2003, pp. 2279 - 2284.
    Details | pdf (391KB) | Copyrighted

  • Science Autonomy in the Atacama

    Trey Smith
    Proc. of ICML 2003 Workshop on Machine Learning Technologies for Autonomous Space Applications, 2003.
    Details | pdf (255KB) | Copyrighted

  • Stereo Vision Based Navigation for Sun-Synchronous Exploration

    Christopher Urmson, M Bernardine Dias, and Reid Simmons
    Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), September, 2002, pp. 805 - 810.
    Details | pdf (1MB) | Copyrighted

  • Safe Robot Driving

    Chuck Thorpe, Romuald Aufrere, Justin David Carlson, David Duggins, Terrence W. Fong, Jay Gowdy, John Kozar, Robert MacLachlan, Colin McCabe, Christoph Mertz, Arne Suppe, Chieh-Chih Wang, and Teruko Yata
    Proceedings of the International Conference on Machine Automation (ICMA 2002), September, 2002.
    Details | pdf (4MB) | Copyrighted

  • Opportunistic Optimization for Market-Based Multirobot Control

    M Bernardine Dias and Anthony (Tony) Stentz
    Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), September, 2002, pp. 2714 - 2720.
    Details | pdf (121KB) | Copyrighted

  • Enhanced Negotiation and Opportunistic Optimization for Market-Based Multirobot Coordination

    M Bernardine Dias and Anthony (Tony) Stentz
    tech. report CMU-RI -TR-02-18, Robotics Institute, Carnegie Mellon University, August, 2002
    Details | pdf (138KB) | Copyrighted

  • Toward Practical Cooperative Stereo for Robotic Colonies

    Bart Nabbe and Martial Hebert
    2002 IEEE International Conference on Robotics and Automation, May, 2002, pp. 3328-3335.
    Details | pdf (1MB) | Copyrighted

  • Preliminary Results in Range-only Localization and Mapping

    George A. Kantor and Sanjiv Singh
    Proceedings of the IEEE Conference on Robotics and Automation (ICRA '02), May, 2002, pp. 1818 - 1823.
    Details | pdf (485KB) | Copyrighted

  • Multi-Robot Exploration Controlled By A Market Economy

    Robert Michael Zlot, Anthony (Tony) Stentz, M Bernardine Dias, and Scott Thayer
    IEEE International Conference on Robotics and Automation, May, 2002, pp. 3016 - 3023.
    Details | pdf (816KB) | Copyrighted

  • Mission Planning for the Sun-Synchronous Navigation Field Experiment

    Paul Tompkins, Anthony (Tony) Stentz, and William (Red) L. Whittaker
    Proceedings of the 2002 IEEE International Conference on Robotics and Automation, May, 2002.
    Details | pdf (218KB) | Copyrighted

  • First Experiment in Sun-Synchronous Exploration

    David Wettergreen, M Bernardine Dias, Benjamin Shamah, James Teza, Paul Tompkins, Christopher Urmson, Michael D. Wagner, and William (Red) L. Whittaker
    International Conference on Robotics and Automation, May, 2002, pp. 3501-3507.
    Details | pdf (1MB) | Copyrighted

  • EventScope: A Telescience Interface for Internet-Based Education

    Peter Coppin, Michael D. Wagner, and The EventScope Team
    Presented at the Workshop on Telepresence for Education, International Conference on Robotics and Automation, May, 2002
    Details | pdf (715KB) | Copyrighted

  • A Foundation for Kilorobotic Exploration

    Surya Singh and Scott Thayer
    Proceedings of the Congress on Evolutionary Computation at the 2002 IEEE World Congress on Computational Intelligence, May, 2002.
    Details | pdf (975KB) | Copyrighted

  • Driving in Traffic: Short-Range Sensing for Urban Collision Avoidance

    Chuck Thorpe, David Duggins, Jay Gowdy, Robert MacLachlan, Christoph Mertz, Mel Siegel, Arne Suppe, Chieh-Chih Wang, and Teruko Yata
    Proceedings of SPIE: Unmanned Ground Vehicle Technology IV, April, 2002.
    Details | pdf (58KB) | Copyrighted

  • Scene Modeling from Motion-Free Radar Sensing

    Alex Foessel
    doctoral dissertation, tech. report CMU-RI-TR-02-03, Robotics Institute, Carnegie Mellon University, January, 2002
    Details | pdf (4MB) | Copyrighted

  • Principles of Computer System Design for Stereo Perception

    Michael D. Wagner, David O'Hallaron, Dimitrios (Dimi) Apostolopoulos, and Christopher Urmson
    tech. report CMU-RI-TR-02-01, Robotics Institute, Carnegie Mellon University, January, 2002
    Details | pdf (987KB) | Copyrighted

  • Market-Driven Multi-Robot Exploration

    Robert Michael Zlot, Anthony (Tony) Stentz, M Bernardine Dias, and Scott Thayer
    tech. report CMU-RI-TR-02-02, Robotics Institute, Carnegie Mellon University, January, 2002
    Details | pdf (257KB) | Copyrighted

  • Optimal Motion Estimation from Visual and Inertial Measurements

    Dennis Strelow and Sanjiv Singh
    Proceedings of the Workshop on Applications of Computer Vision, December, 2002.
    Details | pdf (111KB) | Copyrighted

  • Evaluation and Comparison of Terrain Classification Techniques from LADAR Data for Autonomous Navigation

    Martial Hebert, Nicolas Vandapel, Stefan Keller, and Raghavendra Rao Donamukkala
    23rd Army Science Conference, December, 2002.
    Details

  • State of the Art in Automation of Earthmoving, 2002

    Sanjiv Singh
    Proceedings of the Workshop on Advanced Geomechatronics, October, 2002.
    Details | pdf (508KB) | Copyrighted

  • Autonomous Coverage Operations in Semi-Structured Outdoor Environments

    Parag Batavia, , and Sanjiv Singh
    2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002.
    Details | pdf (269KB) | Copyrighted

  • An empirical comparison of methods for image-base motion estimation

    Henele Adams, Sanjiv Singh, and Dennis Strelow
    2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002.
    Details | pdf (168KB) | Copyrighted

  • A Sensor Arm for Robotic Antarctic Meteorite Search

    Christopher Urmson, Benjamin Shamah, James Teza, Michael D. Wagner, Dimitrios (Dimi) Apostolopoulos, and William (Red) L. Whittaker
    Proceedings of the 3rd International Conference on Field and Service Robotics, July, 2001.
    Details | pdf (384KB) | Copyrighted

  • Three-Dimensional Map Building with MMW Radar

    Alex Foessel, John Bares, and William (Red) L. Whittaker
    Proceedings of the 3rd International Conference on Field and Service Robotics, June, 2001.
    Details | pdf (219KB) | Copyrighted

  • Robotic Planetary Exploration by Sun-Synchronous Navigation

    David Wettergreen, Benjamin Shamah, Paul Tompkins, and William (Red) L. Whittaker
    Proceedings of the 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS '01), June, 2001.
    Details | pdf (386KB) | Copyrighted

  • Non-Parametric Fault Identification for Space Rovers

    Vandi Verma, John Langford, and Reid Simmons
    International Symposium on Artificial Intelligence and Robotics in Space (iSAIRAS), June, 2001.
    Details | pdf (112KB) | Copyrighted

  • MMW-Scanning Radar for Descent Guidance and Landing Safeguard

    Alex Foessel and William (Red) L. Whittaker
    Proceedings 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space, June, 2001.
    Details | pdf (217KB) | Copyrighted

  • Automated Surface Mission Planning Considering Terrain, Shadows, Resources and Time

    Paul Tompkins, Anthony (Tony) Stentz, and William (Red) L. Whittaker
    Proceedings of the 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS '01), Montreal, Canada., June, 2001.
    Details | pdf (362KB) | Copyrighted

  • A Multiple Information Source Planner for Autonomous Planetary Exploration

    Stewart Moorehead, Reid Simmons, and William (Red) L. Whittaker
    International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), June, 2001.
    Details | pdf (342KB) | Copyrighted

  • The Science Autonomy System of the Nomad Robot

    Michael D. Wagner, Dimitrios (Dimi) Apostolopoulos, Kimberly Shillcutt, Benjamin Shamah, Reid Simmons, and William (Red) L. Whittaker
    2001 IEEE International Conference on Robotics and Automation, May, 2001, pp. 1742-1749.
    Details | pdf (279KB) | Copyrighted

  • Solar Navigational Planning for Robotic Explorers

    Kimberly Shillcutt and William (Red) L. Whittaker
    2001 IEEE International Conference on Robotics and Automation, May, 2001, pp. 1421 - 1426.
    Details | pdf (184KB) | Copyrighted

  • Skyworker: a robot for assembly, inspection and maintenance of large scale orbital facilities

    Peter Staritz, Sarjoun Skaff, Christopher Urmson, and William (Red) L. Whittaker
    Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA '01), May, 2001, pp. 4180 - 4185.
    Details | pdf (465KB) | Copyrighted

  • Robotic Antarctic Meteorite Search: Outcomes

    Dimitrios (Dimi) Apostolopoulos, Liam Pedersen, Benjamin Shamah, Kimberly Shillcutt, Michael D. Wagner, and William (Red) L. Whittaker
    2001 IEEE International Conference on Robotics and Automation, May, 2001, pp. 4174-4179.
    Details | pdf (2MB) | Copyrighted

  • Future Directions in Multi-Robot Autonomy and Planetary Surface Construction

    Trey Smith, Reid Simmons, Sanjiv Singh, and David Hershberger
    Proceedings of the 2001 Space Studies Institute Conference, May, 2001.
    Details | pdf (145KB) | Copyrighted

  • Autonomous characterization of unknown environments

    Liam Pedersen
    2001 IEEE International Conference on Robotics and Automation, May, 2001, pp. 277 - 284.
    Details | pdf (625KB) | Copyrighted

  • Autonomous Robotic Meteorite Identification in Antarctica

    Liam Pedersen, Michael D. Wagner, Dimitrios (Dimi) Apostolopoulos, and William (Red) L. Whittaker
    2001 IEEE International Conference on Robotics and Automation, May, 2001, pp. 4158-4165.
    Details | pdf (471KB) | Copyrighted

  • A Data-Rate Aware Telemetry Scheduler

    Punitha Manavalan and Michael D. Wagner
    tech. report CMU-RI-TR-01-12, Robotics Institute, Carnegie Mellon University, May, 2001
    Details | pdf (299KB) | Copyrighted

  • Analytical Configuration of Wheeled Robotic Locomotion

    Dimitrios (Dimi) Apostolopoulos
    doctoral dissertation, tech. report CMU-RI-TR-01-08, Robotics Institute, Carnegie Mellon University, April, 2001
    Details | pdf (2MB) | Copyrighted

  • Reality Browsing: Using Information Interaction and Robotic Autonomy for Planetary Exploration

    Peter Coppin, Michael D. Wagner, and Scott Thayer
    Space Technology and Applications International Forum 2001 (STAIF 2001), February, 2001, pp. 64-69.
    Details | pdf (72KB) | Copyrighted

  • Eye-safe Laser Line Striper for Outside Use

    Christoph Mertz, John Kozar, James Ryan Miller , and Chuck Thorpe
    IV 2002, IEEE Intelligent Vehicle Symposium, June, 2002., December, 2001.
    Details | pdf (1MB) | Copyrighted

  • Steering and Control of a Passively Articulated Robot

    Benjamin Shamah, Michael D. Wagner, Stewart Moorehead, James Teza, David Wettergreen, and William (Red) L. Whittaker
    SPIE, Sensor Fusion and Decentralized Control in Robotic Systems IV, October, 2001.
    Details | pdf (187KB) | Copyrighted

  • Collection of Environmental Data From an Airship Platform

    George A. Kantor, David Wettergreen, James P. Ostrowski, and Sanjiv Singh
    Proceedings of the SPIE Conference on Sensor Fusion and Decentralized Control in Robotic Systems IV, October, 2001, pp. 76-83.
    Details | pdf (727KB) | Copyrighted

  • Skyworker: Robotics for Space Assembly, Inspection and Maintenance

    Sarjoun Skaff, Peter Staritz, and William (Red) L. Whittaker
    Space Studies Institute Conference, 2001.
    Details | pdf (216KB) | Copyrighted

  • Extending Shape from Motion to Non-Central Omnidirectional Cameras

    Dennis Strelow, Jeffrey S. Mishler, Sanjiv Singh, and Herman Herman
    Proceedings of IROS 2001, 2001.
    Details | pdf (716KB) | Copyrighted

  • Sun-Synchronous Planetary Exploration

    William (Red) L. Whittaker, George A. Kantor, Benjamin Shamah, and David Wettergreen
    AIAA Space 2000 Conference an Exposition, September, 2000.
    Details | pdf (204KB) | Copyrighted

  • Robotics for Assembly, Inspection, and Maintenance of Space Macrofacilities

    William (Red) L. Whittaker, Christopher Urmson, Peter Staritz, Brett Kennedy, and Rob Ambrose
    AIAA Space 2000 Conference and Exposition, September, 2000.
    Details | pdf (331KB) | Copyrighted

  • EventScope: Amplifying Human Knowledge and Experience via Intelligent Robotic Systems and Information Interaction

    Peter Coppin, Richard Pell, Michael D. Wagner, John R. Hayes, Junlei Li, Liza Hall, Karl Fischer, David Hirschfield, and William (Red) L. Whittaker
    IEEE International Workshop on Robot-Human Interaction, Osaka, Japan, September 2000, September, 2000.
    Details | pdf (35KB) | Copyrighted

  • A Free Market Architecture for Distributed Control of a Multirobot System

    M Bernardine Dias and Anthony (Tony) Stentz
    6th International Conference on Intelligent Autonomous Systems (IAS-6), July, 2000, pp. 115-122.
    Details | pdf (191KB) | Copyrighted

  • Experimenter's Notebook: Robotic Search for Antarctic Meteorites 2000 Expedition

    Michael D. Wagner
    tech. report CMU-RI-TR-00-13, Robotics Institute, Carnegie Mellon University, June, 2000
    Details | pdf (3MB) | Copyrighted

  • Recent Progress in Local and Global Traversability for Planetary Rovers

    Sanjiv Singh, Reid Simmons, Trey Smith, Anthony (Tony) Stentz, Vandi Verma, Alex Yahja, and Kurt Schwehr
    Proceedings of the IEEE International Conference on Robotics and Automation, 2000, April, 2000.
    Details | pdf (493KB) | Copyrighted

  • Technology and Field Demonstration of Robotic Search for Antarctic Meteorites

    Dimitrios (Dimi) Apostolopoulos, Michael D. Wagner, Benjamin Shamah, Liam Pedersen, Kimberly Shillcutt, and William (Red) L. Whittaker
    International Journal of Robotics Research, , December, 2000,
    Details | pdf (963KB) | Copyrighted

  • Radar Sensor Model for Three-Dimensional Map Building

    Alex Foessel
    Proc. SPIE, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, November, 2000.
    Details | pdf (273KB) | Copyrighted

  • Distributed Robotic Mapping of Extreme Environments

    Scott Thayer, Bruce Digney, M Bernardine Dias, Anthony (Tony) Stentz, Bart Nabbe, and Martial Hebert
    Proceedings of SPIE: Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, November, 2000.
    Details | pdf (3MB) | Copyrighted

  • Solar Based Navigation for Robotic Explorers

    Kimberly Shillcutt
    doctoral dissertation, tech. report CMU-RI-TR-00-25, Robotics Institute, Carnegie Mellon University, October, 2000
    Details | pdf (1MB) | Copyrighted

  • Evaluation of Computer Vision Algorithms for Autonomous Navigation in Polar Terrains

    Nicolas Vandapel, Raja Chatila, Stewart Moorehead, Simon Lacroix, Dimitrios (Dimi) Apostolopoulos, and William (Red) L. Whittaker
    International Conference on Intelligent Autonomous Systems, 2000.
    Details

  • Technology and Field Demonstration Results in the Robotic Search for Antarctic Meteorites

    Dimitrios (Dimi) Apostolopoulos, Michael D. Wagner, and William (Red) L. Whittaker
    Proceedings of the International Conference on Field and Service Robotics, August, 1999, pp. 185-190.
    Details | pdf (193KB) | Copyrighted

  • Technology and Field Demonstration Results in the Robotic Search for Antarctic Meteorites

    Dimitrios (Dimi) Apostolopoulos, Michael Wagner, and William (Red) L. Whittaker
    Proceedings of the International Conference on Field and Service Robotics, August, 1999, pp. 185-190.
    Details | pdf (193KB) | Copyrighted

  • Solar Blade Nanosatellite Development: Heliogyro Deployment, Dynamics,and Control

    Richard Blomquist
    Proceedings of the 13th USU / AIAA Small Satellite Conference, August, 1999.
    Details | pdf (247KB) | Copyrighted

  • Short-Range Millimeter-Wave Radar Perception in a Polar Environment

    Alex Foessel, , and Dimitrios (Dimi) Apostolopoulos
    Proceedings of the Field and Service Robotics Conference, August, 1999.
    Details | pdf (399KB) | Copyrighted

  • Effect of Tire Design and Steering Mode on Robotic Mobility in Barren Terrain

    Benjamin Shamah, Dimitrios (Dimi) Apostolopoulos, Michael D. Wagner, and William (Red) L. Whittaker
    Proceeding of the International Conference on Field and Service Robots, August, 1999, pp. 287-292.
    Details | pdf (146KB) | Copyrighted

  • Constructing fast hydraulic robot models for optimal motion planning

    Murali Krishna and John Bares
    1999 Field and Service Robotics Conference (FSR '99), August, 1999.
    Details | pdf (105KB) | Copyrighted

  • Dante II: Technical Description, Results and Lessons Learned

    John Bares and David Wettergreen
    International Journal of Robotics Research, Vol. 18, No. 7, July, 1999, pp. 621-649.
    Details | pdf (428KB) | Copyrighted

  • Solar Power Expert for Remote Robotic Explorers

    Kimberly Shillcutt and William (Red) L. Whittaker
    International Symposium on Artificial Intelligence, Robotics and Automation in Space, June, 1999.
    Details | pdf (91KB) | Copyrighted

  • Autonomous Navigation Field Results of a Planetary Analog Robot in Antarctica

    Stewart Moorehead, Reid Simmons, Dimitrios (Dimi) Apostolopoulos, and William (Red) L. Whittaker
    International Symposium on Artificial Intelligence, Robotics and Automation in Space, June, 1999.
    Details | pdf (115KB) | Copyrighted

  • Icebreaker: An Exploration of the Lunar South Pole

    Paul Tompkins and Ashley Stroupe
    Proceedings of the 14th SSI Conference on Space Manufacturing, May, 1999.
    Details | pdf (222KB) | Copyrighted

  • Big Signal: Information Interaction for Public Telerobotic Exploration

    Peter Coppin, Alexi Morrissey, Michael D. Wagner, Matthew Vincent, and Geb Thomas
    Presented at the Workshop on Current Challenges in Internet Robotics, International Conference on Robotics and Automation, May, 1999.
    Details | pdf (474KB) | Copyrighted

  • ARTISAN: An Integrated Scene Mapping and Object Recognition System

    , Owen Carmichael, Scott Thayer, James Osborn, and Martial Hebert
    American Nuclear Society 8th Intl. Topical Meeting on Robotics and Remote Systems, April, 1999.
    Details | pdf (814KB) | Copyrighted

  • Preliminary Results on the use of Stereo, Color Cameras and Laser Sensors in Antarctica

    Nicolas Vandapel, Stewart Moorehead, William (Red) L. Whittaker, Raja Chatila, and Raphael Murrieta-Cid
    International Symposium on Experimental Robotics, March, 1999.
    Details | pdf (744KB) | Copyrighted

  • Virtual Reality Mapping System for Chernobyl Accident Site Assessment

    Theodore T. Blackmon, Scott Thayer, James Teza, , James Osborn, Martial Hebert, and et. al
    Proceedings of the SPIE, February, 1999, pp. 338-345.
    Details

  • Radar sensor for an autonomous Antarctic explorer

    Alex Foessel, Dimitrios (Dimi) Apostolopoulos, and William (Red) L. Whittaker
    Proc. SPIE , Mobile Robots XIII and Intelligent Transportation Systems, Vol. 3525, January, 1999, pp. 117-124.
    Details | pdf (524KB) | Copyrighted

  • Search for Meteorites at Martin Hills and Pirrit Hills, Antarctica

    P. Lee, W. A. Cassidy, Dimitrios (Dimi) Apostolopoulos, D. Bassi, L. Bravo, H. Cifuentes, Matthew Deans, Alex Foessel, Stewart Moorehead, Michael Parris, C. Puebla, Liam Pedersen, Mark Sibenac, F. Vald?, Nicolas Vandapel, and William (Red) L. Whittaker
    Lunar and Planetary Science Conference XXX, 1999.
    Details | pdf (202KB) | Copyrighted

  • Robotic Rock Classification Using Visible Light Reflectance Spectroscopy: Preliminary results from the Robotic Antarctic Meteorite Search program

    Liam Pedersen, Dimitrios (Dimi) Apostolopoulos, William (Red) L. Whittaker, W. Cassidy, P. Lee, and T. Roush
    Lunar and Planetary Science Conference XXX, 1999.
    Details

  • Autonomous Science Decisions for Mars Sample Return

    T.L. Roush, V. Gulick, R. Morris, P. Gazis, G. Benedix, C. Glymour, J. Ramsey, Liam Pedersen, M. Ruzon, W. Buntine, and J. Oliver
    Lunar and Planetary Science Conference XXX, 1999.
    Details

  • Recent Results in Path Planning for Mobile Robots Operating in Vast Outdoor Environments

    Alex Yahja, Sanjiv Singh, and Anthony (Tony) Stentz
    Proc, 1998 Symposium on Image, Speech, Signal Processing and Robotics, September, 1998.
    Details | pdf (199KB) | Copyrighted

  • A Robotic Pipe-Asbestos Insulation Removal System

    Hagen Schempf, E. Mutschler, Brian Chemel, Scott Boehmke, Colin Piepgras, and W. Crowley
    Industrial Robot: An International Journal, Vol. 25, No. 3, June, 1998, pp. 196 - 204.
    Details | pdf (364KB) | Copyrighted

  • Robust Communications for High Bandwidth Real-Time Systems

    Jorgen Pedersen
    master's thesis, tech. report CMU-RI-TR-98-13, Robotics Institute, Carnegie Mellon University, May, 1998
    Details | pdf (219KB) | Copyrighted

  • Robotic Deployment of Electro-Magnetic Sensors for Meteorite Search

    Liam Pedersen
    Proceedings of the 1998 International Conference on Robotics and Automation (ICRA '98), May, 1998, pp. 618 - 623.
    Details | pdf (637KB) | Copyrighted

  • Framed-Quadtree Path Planning for Mobile Robots Operating in Sparse Environments

    Alex Yahja, Anthony (Tony) Stentz, Sanjiv Singh, and Barry Brummit
    In Proceedings, IEEE Conference on Robotics and Automation, (ICRA), May, 1998.
    Details | pdf (170KB) | Copyrighted

  • A High Speed 3D Radar Scanner for Automation

    Scott Boehmke, John Bares, Edward Mutschler, and Keith Lay
    Proceedings of ICRA '98, May, 1998, pp. 2777-2782.
    Details | pdf (661KB) | Copyrighted

  • Ground Pressure Measurement System Paper

    D. Griffiths and James Osborn
    12th Annual International Symposium on Aerospace/Defense Sensing, Simulation, and Controls, Detection and Remediation Technologies for Mines and Minelike Targets III, April, 1998.
    Details | pdf (629KB) | Copyrighted

  • Field Validation of Nomad's Robotic Locomotion

    Benjamin Shamah, Dimitrios (Dimi) Apostolopoulos, Eric Rollins, and William (Red) L. Whittaker
    Proceedings of SPIE - The International Society of Photo-Optical Engineering, November, 1998, pp. 214-222.
    Details | pdf (562KB) | Copyrighted

  • A Task Description Language for Robot Control

    Reid Simmons and D. Apfelbaum
    Proceedings Conference on Intelligent Robotics and Systems, October, 1998.
    Details | pdf (56KB) | Copyrighted

  • Learning Hierarchical Control Structure for Multiple Tasks and Changing Environments

    Bruce Digney
    Proceedings of the Fifth Conference on the Simulation of Adaptive Behavior: SAB 98, 1998.
    Details | pdf (235KB) | Copyrighted

  • Initial Results from Vision-based Control of the Ames Marsokhod Rover

    David Wettergreen, Hans Thomas, and Maria Bualat
    International Conference on Intelligent Robots and Systems (IROS), September, 1997.
    Details | pdf (351KB) | Copyrighted

  • Visualization Tools for Validating Software of Autonomous Spacecraft

    Reid Simmons and Gregory Whelan
    International Symposium on Artificial Intelligence, Robotics, and Automation in Space, July, 1997.
    Details | pdf (80KB) | Copyrighted

  • Mechanics of Tensegrity Prisms

    Irving Oppenheim and William Williams
    14th International Symposium on Automation & Robotics in Construction, June, 1997.
    Details | pdf (20KB) | Copyrighted

  • Synergy: A Language and Framework for Robot Design

    Lalitesh Katragadda
    doctoral dissertation, tech. report CMU-RI-TR-98-16, Robotics Institute, Carnegie Mellon University, December, 1997
    Details | pdf (3MB) | Copyrighted

  • Field Experiments with the Ames Marsokhod Rover

    Daniel A. Christian, David Wettergreen, Maria Bualat, Kurt Schwehr, Deanne Tucker, and Eric Zbinden
    Proceedings of the 1997 Field and Service Robotics Conference, 1997
    Details | pdf (681KB) | Copyrighted

  • Perception, Planning, and Control for Autonomous Walking with the Ambler Planetary Rover

    Eric Krotkov and Reid Simmons
    Intl. Journal of Robotics Research, Vol. 15, No. 2, April, 1996, pp. 155-180.
    Details

  • Developing Planning and Reactive Control for a Hexapod Robot

    David Wettergreen and Chuck Thorpe
    Proceedings of ICRA '96, April, 1996, pp. 2718 - 2723.
    Details | pdf (293KB) | Copyrighted

  • Tessellator Robot Design Document

    Kevin Dowling
    tech. report CMU-RI-TR-95-43, Robotics Institute, Carnegie Mellon University, January, 1996
    Details | pdf (1MB) | Copyrighted

  • BOA II: Pipe-Asbestos Insulation Removal Robot System

    Hagen Schempf, , Scott Boehmke, Brian Chemel, and Colin Piepgras
    Proceedings of the 1996 Environmental Technology Development Through Industry Partnership Conference, October, 1996.
    Details

  • Designing Stereo Heads Using Task Domain Constraints

    Scott Thayer and Christopher S. Gourley
    Proceedings of ICPR, 1996, pp. 820-824.
    Details

  • The Focussed D* Algorithm for Real-Time Replanning

    Anthony (Tony) Stentz
    Proceedings of the International Joint Conference on Artificial Intelligence, August, 1995.
    Details | pdf (83KB) | Copyrighted

  • Locomotion configuration of a robust rappelling robot

    Dimitrios (Dimi) Apostolopoulos and John Bares
    Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, Human Robot Interaction and Cooperative Robots (IROS '95), August, 1995, pp. 280 - 284.
    Details | pdf (813KB) | Copyrighted

  • Behavior-based Gait Execution for the Dante II Walking Robot

    David Wettergreen, Henning Pangels, and John Bares
    Proceedings of IROS '95, August, 1995, pp. 274 - 279.
    Details | pdf (162KB) | Copyrighted

  • A Complete Navigation System for Goal Acquisition in Unknown Environments

    Anthony (Tony) Stentz and Martial Hebert
    Proceedings 1995 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '95), August, 1995, pp. 425 - 432.
    Details | pdf (504KB) | Copyrighted

  • Operator Interfaces and Network-Based Participation for Dante II

    Terrence W. Fong, Henning Pangels, David Wettergreen, E. Nygren, B. Hine, P. Hontalas, and C. Fedor
    SAE 25th International Conference on Environmental Systems, July, 1995.
    Details | pdf (502KB) | Copyrighted

  • ROBOLEG: A Robotic Soccer-Ball Kicking Leg

    Hagen Schempf, C. Kraeuter, and Mike Blackwell
    Proceedings of ICRA '95, May, 1995, pp. 1314 - 1318.
    Details | pdf (259KB) | Copyrighted

  • HOUDINI: Site and Locomotion Analysis-driven Design of an In-Tank Mobile Cleanup Robot

    Hagen Schempf
    American Nuclear Society Winter Meeting Transactions, October, 1995.
    Details | pdf (1MB) | Copyrighted

  • Ambler: Performance of a Six-Legged Planetary Rover

    Eric Krotkov, Reid Simmons, and William (Red) L. Whittaker
    Acta Astonautica, Vol. 35, No. 1, 1995, pp. 75-81.
    Details | pdf (179KB) | Copyrighted

  • Optimal and Efficient Path Planning for Partially-Known Environments

    Anthony (Tony) Stentz
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '94), May, 1994, pp. 3310 - 3317.
    Details | pdf (195KB) | Copyrighted

  • Three Mobile Robots For Space Context

    William (Red) L. Whittaker, John Bares, Kevin Dowling, and L. Kattragadda
    AIAA/NASA Conference on Intelligent Robots in Field, Factory, Service and Space (CIRFFSS '94) Conference, March, 1994.
    Details | pdf (34KB) | Copyrighted

  • Drivetrain Design, Incorporating Redundancy, for an Autonomous Walking Robot

    G. Roston and Kevin Dowling
    Space94: 4th International Conference and Exposition on Engineering, Construction, and Operations in Space, February, 1994.
    Details | pdf (27KB) | Copyrighted

  • The Mt. Erebus Explorer Control System

    Daniel A. Christian
    tech. report CMU-RI-TR-93-19, Robotics Institute, Carnegie Mellon University, June, 1993
    Details | pdf (1MB) | Copyrighted

  • Design of Space Shuttle Tile Servicing Robot: An Application of Task Based Kinematic Design

    Jin-Oh Kim and Pradeep Khosla
    IEEE International Conference on Robotics and Automation (ICRA '93), May, 1993, pp. 867 - 874.
    Details | pdf (723KB) | Copyrighted

  • Autonomous Walking in Natural Terrain: A Retrospective on the Performance of the Ambler

    Eric Krotkov and Reid Simmons
    3rd International Symposium of Experimental Robotics III, October, 1993.
    Details | pdf (608KB) | Copyrighted

  • Exploring Mount Erebus by Walking Robot

    David Wettergreen, Chuck Thorpe, and William (Red) L. Whittaker
    Robotics and Autonomous Systems, , 1993
    Details | pdf (893KB) | Copyrighted

  • Autonomous Walking Results with the Ambler Hexapod Planetary Rover

    Eric Krotkov, Reid Simmons, and William (Red) L. Whittaker
    International Conference of Intelligent Autonomous Systems, 1993, pp. 46 - 53.
    Details | pdf (302KB) | Copyrighted

  • Terrain Mapping For Long-duration Autonomous Walking

    R. Hoffman and Eric Krotkov
    Proceedings of the 1992 IEEE/RSJ International Workshop on Intelligent Robots and Systems (IROS '92), July, 1992, pp. 563 - 568.
    Details | pdf (678KB) | Copyrighted

  • Performance of a six-legged planetary rover: power, positioning, and autonomous walking

    Eric Krotkov and Reid Simmons
    IEEE International Conference on Robotics and Automation, May, 1992, pp. 169 - 174.
    Details | pdf (603KB) | Copyrighted

  • 1991 Year End Report Autonomous Planetary Rover

    Eric Krotkov, Reid Simmons, and William (Red) L. Whittaker
    tech. report CMU-RI-TR-92-02, Robotics Institute, Carnegie Mellon University, February, 1992
    Details | pdf (3MB) | Copyrighted

  • Autonomous Cargo Transport System

    Kerien Fitzpatrick, Martial Hebert, Dean Pomerleau, and Hagen Schempf
    Proceedings of the United States Postal Service 5th Advanced Technology Conference, December, 1992.
    Details | pdf (701KB) | Copyrighted

  • Mobile Robot System for Ground Servicing Operations on the Space Shuttle

    Hagen Schempf, Kevin Dowling, and Mike Blackwell
    SPIE OE/Technology `92 Conference, November, 1992.
    Details | pdf (101KB) | Copyrighted

  • A Mobile Robot for Ground Servicing Operations on the Space Shuttle

    Kevin Dowling, R. Bennett, Mike Blackwell, Todd Graham, S. Gatrall, R. O, and Hagen Schempf
    OE / Technology 1992 Cooperative Intelligent Robots in Space, November, 1992.
    Details | pdf (101KB) | Copyrighted

  • Serpentine Manipulator Planning and Control for NASA Space-Shuttle Payload Servicing

    Herman Herman and Hagen Schempf
    tech. report CMU-RI-TR-92-10, Robotics Institute, Carnegie Mellon University, October, 1992
    Details | pdf (593KB) | Copyrighted

  • Explicit Path Tracking by Autonomous Vehicles

    Dong Hun Shin and Sanjiv Singh
    Robotica, Vol. 10, 1992, pp. 539 - 554.
    Details | pdf (1MB) | Copyrighted

  • A Partitioned Control Scheme for Mobile Robot Navigation

    Dong Hun Shin and Sanjiv Singh
    Proc. IEEE International Conference on Systems Engineering, August, 1991, pp. 338 - 342.
    Details | pdf (395KB) | Copyrighted

  • Leveling of the AMBLER Walking Machine: A Comparison of Methods

    Pablo Gonzalez de Santos, Peter V. Nagy, and William (Red) L. Whittaker
    tech. report CMU-RI-TR-91-13, Robotics Institute, Carnegie Mellon University, July, 1991
    Details | pdf (1MB) | Copyrighted

  • Three Dimensional Migration and Forward Modelling of Ground Penetrating Radar Data

    Robert Beck and James Osborn
    tech. report CMU-RI-TR-91-12, Robotics Institute, Carnegie Mellon University, June, 1991
    Details | pdf (702KB) | Copyrighted

  • Ambler: a six-legged planetary rover

    Eric Krotkov, John Bares, Takeo Kanade, Tom Mitchell, Reid Simmons, and William (Red) L. Whittaker
    Fifth International Conference on Advanced Robotics, 1991, Robots in Unstructured Environments (ICAR '91), June, 1991, pp. 717 - 722.
    Details | pdf (553KB) | Copyrighted

  • Laser rangefinder calibration for a walking robot

    Eric Krotkov
    IEEE International Conference on Robotics and Automation, April, 1991, pp. 2568 - 2573.
    Details | pdf (614KB) | Copyrighted

  • An integrated walking system for the Ambler planetary rover

    Reid Simmons and Eric Krotkov
    IEEE International Conference on Robotics and Automation, April, 1991, pp. 2086 - 2091.
    Details | pdf (731KB) | Copyrighted

  • A Three-Finger Gripper for Manipulation in Unstructured Environments

    C. Francois, Katsushi Ikeuchi, and Martial Hebert
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '91), April, 1991, pp. 2261 - 2265.
    Details | pdf (424KB) | Copyrighted

  • Perception of rugged terrain for a walking robot: true confessions and new directions

    R. Hoffman and Eric Krotkov
    Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, Intelligence for Mechanical Systems, November, 1991, pp. 1505 - 1510.
    Details | pdf (506KB) | Copyrighted

  • Dead Reckoning Navigation for Walking Robots

    G. P. Roston and Eric Krotkov
    tech. report CMU-RI-TR-91-27, Robotics Institute, Carnegie Mellon University, November, 1991
    Details | pdf (1MB) | Copyrighted

  • Planning Strategies for the Ambler Walking Robot

    David Wettergreen, H. Thomas, and Chuck Thorpe
    Proceedings of the 1990 IEEE International Conference on Systems Engineering, August, 1990, pp. 198 - 203.
    Details | pdf (680KB) | Copyrighted

  • Assessment of joint driving configurations for body propulsion of an orthogonal legged walker

    D.J. Manko and William (Red) L. Whittaker
    IEEE International Conference on Systems Engineering, August, 1990, pp. 204 - 207.
    Details | pdf (313KB) | Copyrighted

  • Walking robot with a circulating gait

    John Bares and William (Red) L. Whittaker
    Proceedings of the 1990 IEEE/RSJ International Conference on Intelligent Robots and Systems, Towards a New Frontier of Applications (IROS '90), July, 1990, pp. 809 - 816.
    Details | pdf (637KB) | Copyrighted

  • 1989 Year End Report: Autonomous Planetary Rover at Carnegie Mellon

    William (Red) L. Whittaker, Takeo Kanade, and Tom Mitchell
    tech. report CMU-RI-TR-90-04, Robotics Institute, Carnegie Mellon University, February, 1990
    Details | pdf (2MB) | Copyrighted

  • Path Generation for Robot Vehicles Using Composite Clothoid Segments

    Dong Hun Shin and Sanjiv Singh
    tech. report CMU-RI-TR-90-31, Robotics Institute, Carnegie Mellon University, December, 1990
    Details | pdf (1MB) | Copyrighted

  • Laser Rangefinder Calibration for a Walking Robot

    Eric Krotkov
    tech. report CMU-RI-TR-90-30, Robotics Institute, Carnegie Mellon University, December, 1990
    Details | pdf (1MB) | Copyrighted

  • Simulation of the Ambler Environment

    H. Thomas, David Wettergreen, and Chuck Thorpe
    Proceedings of 23rd Pittsburgh Conference on Modeling and Simulation, 1990.
    Details

  • A perception and manipulation system for collecting rock samples

    T. Choi, H. Delingette, M. DeLuise, Y. Hsin, Martial Hebert, and Katsushi Ikeuchi
    1990.
    Details | pdf (781KB) | Copyrighted

  • Position Based Path Tracking for Wheeled Mobile Robots

    Sanjiv Singh and Dong Hun Shin
    Proc. IEEE Conference on Intelligent Robot Systems, September, 1989, pp. 386 - 391.
    Details | pdf (431KB) | Copyrighted

  • Motion control for a novel legged robot

    Peter V. Nagy and William (Red) L. Whittaker
    Proceedings of the 1989 IEEE International Symposium on Intelligent Control, September, 1989, pp. 2 - 7.
    Details | pdf (546KB) | Copyrighted

  • Ambler: An Autonomous Rover for Planetary Exploration

    John Bares, Martial Hebert, Takeo Kanade, Eric Krotkov, Tom Mitchell, Reid Simmons, and William (Red) L. Whittaker
    IEEE Computer, Vol. 22, No. 6, June, 1989, pp. 18-26.
    Details | pdf (1MB) | Copyrighted

  • Terrain Mapping for a Roving Planetary Explorer

    Martial Hebert, C. Caillas, Eric Krotkov, In So Kweon, and Takeo Kanade
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '89), May, 1989, pp. 997-1002.
    Details | pdf (511KB) | Copyrighted

  • A Perception System for a Planetary Explorer

    Martial Hebert, Eric Krotkov, and Takeo Kanade
    Proc. of the 28th IEEE Conference on Decision and Control, December, 1989, pp. 1151-1156.
    Details | pdf (607KB) | Copyrighted