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National Robotics Engineering Center (NREC)
National Robotics Engineering Center
10 40th Street
Pittsburgh, PA 15201
Center Homepage
This page last updated - June 2010.
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.
 
  • Object Search by Manipulation

    Mehmet Dogar, Michael Koval, Abhijeet Tallavajhula, and Siddhartha Srinivasa
    IEEE International Conference on Robotics and Automation, May, 2013.
    Details | pdf (770KB) | Copyrighted

  • Interactive Segmentation, Tracking, and Kinematic Modeling of Unknown 3D Articulated Objects

    Dov Katz, Moslem Kazemi, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz
    Proceedings of IEEE International Conference on Robotics and Automation, May, 2013.
    Details | pdf (3MB) | Copyrighted

  • Exploiting Domain Knowledge for Object Discovery

    Alvaro Collet Romea, Bo Xiong, Corina Gurau, Martial Hebert, and Siddhartha Srinivasa
    IEEE International Conference on Robotics and Automation (ICRA), May, 2013.
    Details | pdf (3MB) | Copyrighted

  • Efficient Touch Based Localization through Submodularity

    Shervin Javdani, Matthew Klingensmith, J. Andrew (Drew) Bagnell, Nancy Pollard, and Siddhartha Srinivasa
    IEEE International Conference on Robotics and Automation (ICRA), May, 2013.
    Details | pdf (3MB) | Copyrighted

  • CHOMP: Covariant Hamiltonian Optimization for Motion Planning

    Matthew Zucker, Nathan Ratliff, Anca Dragan, Mihail Pivtoraiko, Matthew Klingensmith, Christopher Dellin, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa
    International Journal of Robotics Research, , May, 2013,
    Details | pdf (7MB) | Copyrighted

  • A Policy Blending Formalism for Shared Control

    Anca Dragan and Siddhartha Srinivasa
    International Journal of Robotics Research, , May, 2013,
    Details | pdf (6MB) | Copyrighted

  • Legibility and Predictability of Robot Motion

    Anca Dragan, Kenton Lee, and Siddhartha Srinivasa
    Human-Robot Interaction, March, 2013.
    Details | pdf (3MB) | Copyrighted

  • Effects of Robot Capability on User Acceptance

    Elizabeth Cha, Anca Dragan, and Siddhartha Srinivasa
    Human-Robot Interaction 2013, Late Breaking Report Proceedings, March, 2013.
    Details | pdf (251KB) | Copyrighted

  • Clearing a Pile of Unknown Objects using Interactive Perception

    Dov Katz, Moslem Kazemi, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz
    Proceedings of IEEE International Conference on Robotics and Automation, March, 2013.
    Details | pdf (3MB) | Copyrighted

  • Visual Pipe Mapping with a Fisheye Camera

    Peter Hansen, Hatem Said Alismail, Peter Rander, and Brett Browning
    tech. report CMU-RI-TR-13-02, Robotics Institute, Carnegie Mellon University, February, 2013
    Details | pdf (4MB) | Copyrighted

  • Teleoperation with Intelligent and Customizable Interfaces

    Anca Dragan, Kenton Lee, and Siddhartha Srinivasa
    Journal of Human-Robot Interaction, Special Issue on "Technical and Social Advances in HRI: An Invitational Issue of JHRI", Vol. 1, No. 3, January, 2013,
    Details | pdf (8MB) | Copyrighted

  • Towards Seamless Human-Robot Handovers

    Kyle Strabala, Min Kyung Lee, Anca Dragan, Jodi Forlizzi, Siddhartha Srinivasa, Maya Cakmak, and Vincenzo Micelli
    Journal of Human-Robot Interaction, , 2013
    Details | pdf (4MB) | Copyrighted

  • Online Customization of Teleoperation Interfaces

    Anca Dragan and Siddhartha Srinivasa
    21st IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man), September, 2012.
    Details | pdf (2MB) | Copyrighted

  • Learning the Communication of Intent Prior to Physical Collaboration

    Kyle Strabala, Min Kyung Lee, Anca Dragan, Jodi Forlizzi, and Siddhartha Srinivasa
    21st IEEE International Symposium on Robot and Human Interactive Communication, September, 2012.
    Details | pdf (2MB) | Copyrighted

  • Efficient Touch Based Localization through Submodularity

    Shervin Javdani, Matthew Klingensmith, J. Andrew (Drew) Bagnell, Nancy Pollard, and Siddhartha Srinivasa
    tech. report CMU-RI-TR-12-25, Robotics Institute, Carnegie Mellon University, August, 2012
    Details | pdf (3MB) | Copyrighted

  • Robust Object Grasping using Force Compliant Motion Primitives

    Moslem Kazemi, Jean-Sebastien Valois, J. Andrew (Drew) Bagnell, and Nancy Pollard
    Robotics: Science and Systems, July, 2012.
    Details | pdf (3MB) | Copyrighted

  • Physics-Based Grasp Planning Through Clutter

    Mehmet Dogar, Kaijen Hsiao, Matei Ciocarlie, and Siddhartha Srinivasa
    Robotics: Science and Systems VIII, July, 2012.
    Details | pdf (8MB) | Copyrighted

  • HERB 2.0: Lessons Learned from Developing a Mobile Manipulator for the Home

    Siddhartha Srinivasa, Dmitry Berenson, Maya Cakmak, Alvaro Collet Romea, Mehmet Dogar, Anca Dragan, Ross Alan Knepper, Tim D. Niemueller, Kyle Strabala, J Michael Vandeweghe, and Julius Ziegler
    Proceedings of the IEEE, Vol. 100, No. 8, July, 2012, pp. 1-19.
    Details | pdf (7MB) | Copyrighted

  • Formalizing Assistive Teleoperation

    Anca Dragan and Siddhartha Srinivasa
    Robotics: Science and Systems, July, 2012.
    Details | pdf (3MB) | Copyrighted

  • Continuous Vehicle Slip Model Identification on Changing Terrains

    Forrest Rogers-Marcovitz, Neal Seegmiller, and Alonzo Kelly
    RSS 2012 Workshop on Long-term Operation of Autonomous Robotic Systems in Changing Environments, July, 2012.
    Details | pdf (295KB) | Copyrighted

  • A Vector Algebra Formulation of Mobile Robot Velocity Kinematics

    Alonzo Kelly and Neal Seegmiller
    Field and Service Robotics, July, 2012.
    Details | pdf (1MB) | Copyrighted

  • The Roles of Badges in the Computer Science Student Network

    Ross Higashi, Samuel Abramovich, Robin Shoop, and Chris Schunn
    2012 Games+Learning+Society Conference, June, 2012.
    Details | pdf (321KB) | Copyrighted

  • Online Continuous Stereo Extrinsic Parameter Estimation

    Peter Hansen, Hatem Said Alismail, Peter Rander, and Brett Browning
    International conference on Computer Vision and Pattern Recognition, June, 2012.
    Details | pdf (4MB) | Copyrighted

  • A Planning Framework for Non-Prehensile Manipulation under Clutter and Uncertainty

    Mehmet Dogar and Siddhartha Srinivasa
    Autonomous Robots, Vol. 33, No. 3, June, 2012, pp. 217-236.
    Details | pdf (6MB) | Copyrighted

  • Online Calibration of Vehicle Powertrain and Pose Estimation Parameters using Integrated Dynamics

    Neal Seegmiller, Forrest Rogers-Marcovitz, and Alonzo Kelly
    IEEE International Conference on Robotics and Automation, May, 2012.
    Details | pdf (2MB) | Copyrighted

  • Constellation - An Algorithm for Finding Robot Configurations that Satisfy Multiple Constraints

    Peter Kaiser, Dmitry Berenson, Nikolaus Vahrenkamp, Tamim Asfour, Rudiger Dillmann, and Siddhartha Srinivasa
    IEEE International Conference on Robotics and Automation (ICRA '12), May, 2012.
    Details | pdf (673KB) | Copyrighted

  • Automatic data driven vegetation modeling for lidar simulation

    Jean-Emmanuel Deschaud, David Prasser, Malcolm Frederick Dias, Brett Browning, and Peter Rander
    IEEE International 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

  • Interactive Segmentation, Tracking, and Kinematic Modeling of Unknown Articulated Objects

    Dov Katz, Moslem Kazemi, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz
    tech. report CMU-RI-TR-12-06, Robotics Institute, Carnegie Mellon University, March, 2012
    Details | pdf (6MB) | Copyrighted

  • Assistive Teleoperation for Manipulation Tasks

    Anca Dragan and Siddhartha Srinivasa
    ACM/IEEE International Conference on Human-Robot Interaction (Late-Breaking Report), March, 2012.
    Details | pdf (774KB) | Copyrighted

  • Toward a deeper understanding of motion alternatives via an equivalence relation on local paths

    Ross Alan Knepper, Siddhartha Srinivasa, and Matthew T. Mason
    International Journal of Robotics Research, Vol. 31, No. 2, February, 2012, pp. 168-187.
    Details | pdf (4MB) | Copyrighted

  • Semi-Autonomous Manipulation of Natural Objects

    Dov Katz, Moslem Kazemi, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz
    tech. report CMU-RI-TR-12-33, Robotics Institute, Carnegie Mellon University, November, 2012
    Details | pdf (14MB) | Copyrighted

  • Policy Feedback for the Refinement of Learned Motion Control on a Mobile Robot

    Brenna Argall, Brett Browning, and Manuela Veloso
    International Journal of Social Robotics, Vol. 4, No. 4, November, 2012, pp. 383-395.
    Details

  • Learning How to Program via Robot Simulation

    Jesse Flot, Chris Schunn, Allison Lui, and Robin Shoop
    Robot Magazine, No. 37, November, 2012, pp. 68 - 70.
    Details | pdf (563KB) | Copyrighted

  • Clearing a Pile of Unknown Objects using Interactive Perception

    Dov Katz, Moslem Kazemi, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz
    tech. report CMU-RI-TR-12-34, Robotics Institute, Carnegie Mellon University, November, 2012
    Details | pdf (26MB) | Copyrighted

  • Assistive Teleoperation: A New Domain for Interactive Learning

    Anca Dragan and Siddhartha Srinivasa
    AAAI Fall Symposium on Robots Learning Interactively from Human Teachers, November, 2012.
    Details | pdf (3MB) | Copyrighted

  • Automatic Calibration of a Range Sensor and Camera System

    Hatem Said Alismail, L. Douglas Baker, and Brett Browning
    2012 Second Joint 3DIM/3DPVT Conference: 3D Imaging, Modeling, Processing, Visualization & Transmission (3DIMPVT 2012), October, 2012.
    Details | pdf (5MB) | Copyrighted

  • An Integrated System for Autonomous Robotics Manipulation

    J. Andrew (Drew) Bagnell, Felipe Cavalcanti, Lei Cui, Thomas Galluzzo, Martial Hebert, Moslem Kazemi, Matthew Klingensmith, Jacqueline Libby, Tommy Liu, Nancy Pollard, Mikhail Pivtoraiko, Jean-Sebastien Valois, and Ranqi Zhu
    IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2012, pp. 2955-2962.
    Details | pdf (3MB) | Copyrighted

  • Aiding Off-Road Inertial Navigation with High Performance Models of Wheel Slip

    Forrest Rogers-Marcovitz, Michael George, Neal Seegmiller, and Alonzo Kelly
    Intelligent Robots and Systems (IROS), October, 2012.
    Details | pdf (782KB) | Copyrighted

  • A Generic Robot Database and its Application in Fault Analysis and Performance Evaluation

    Tim D. Niemueller, Gerhard Lakemeyer, and Siddhartha Srinivasa
    IEEE International Conference on Intelligent Robots and Systems , October, 2012.
    Details | pdf (414KB) | Copyrighted

  • 3D Mapping for high-fidelity unmanned ground vehicle lidar simulation

    Brett Browning, Jean-Emmanuel Deschaud, David Prasser, and Peter Rander
    International Journal of Robotics Research, Vol. 31, No. 12, October, 2012, pp. 1349-1376 .
    Details

  • 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

  • Human Preferences for Robot-Human Hand-over Configurations

    Maya Cakmak, Siddhartha Srinivasa, Min Kyung Lee, Jodi Forlizzi, and Sara Kiesler
    IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2011.
    Details | pdf (2MB) | Copyrighted

  • A Unified Perturbative Dynamics Approach to Online Vehicle Model Identification

    Neal Seegmiller, Forrest Rogers-Marcovitz, Gregory A. Miller, and Alonzo Kelly
    International Symposium on Robotics Research, August, 2011.
    Details | pdf (2MB) | Copyrighted

  • Achievement Systems to Boost Achievement Motivation

    Samuel Abramovich, Ross Higashi, Timothy Hunkele, Chris Schunn, and Robin Shoop
    2011 Games+Learning+Society Conference, July, 2011.
    Details | pdf (50KB) | Copyrighted

  • A Framework for Push-grasping in Clutter

    Mehmet Dogar and Siddhartha Srinivasa
    Robotics: Science and Systems VII, July, 2011.
    Details | pdf (2MB) | Copyrighted

  • Perception and Control Challenges for Effective Human-Robot Handoffs

    Vincenzo Micelli, Kyle Strabala, and Siddhartha Srinivasa
    RSS 2011 RGB-D Workshop, June, 2011.
    Details | pdf (3MB) | Copyrighted

  • Learning Message-Passing Inference Machines for Structured Prediction

    Stephane Ross, Daniel Munoz, Martial Hebert, and J. Andrew (Drew) Bagnell
    IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June, 2011.
    Details | pdf (2MB) | 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

  • Monocular visual odometry for robot localization in LNG pipes

    Peter Hansen, Hatem Said Alismail, Peter Rander, and Brett Browning
    IEEE International Conference on Robotics and Automation, May, 2011.
    Details | pdf (1MB) | Copyrighted

  • Manipulation Planning with Goal Sets Using Constrained Trajectory Optimization

    Anca Dragan, Nathan Ratliff, and Siddhartha Srinivasa
    2011 IEEE International Conference on Robotics and Automation, May, 2011.
    Details | pdf (2MB) | Copyrighted

  • FIRE Unveils Robot Virtual World Games

    Robin Shoop
    Robot Magazine, No. 28, May, 2011, pp. 78 - 81.
    Details | pdf (880KB) | Copyrighted

  • Addressing Cost-Space Chasms in Manipulation Planning

    Dmitry Berenson, Thierry Simeon, and Siddhartha Srinivasa
    IEEE International Conference on Robotics and Automation (ICRA '11), May, 2011.
    Details | pdf (2MB) | Copyrighted

  • A Reduction of Imitation Learning and Structured Prediction to No-Regret Online Learning

    Stephane Ross, Geoffrey Gordon, and J. Andrew (Drew) Bagnell
    Proceedings of the 14th International Conference on Artifical Intelligence and Statistics (AISTATS), April, 2011.
    Details | pdf (448KB) | Copyrighted

  • Learning to Provide Better Examples for Our Robots

    Anca Dragan and Siddhartha Srinivasa
    Proceedings of the Human-Robot Interaction Pioneers Workshop, March, 2011
    Details | pdf (696KB) | Copyrighted

  • Programming and Multi-Robot Communications

    Robert Avanzato, Howie Choset, Timothy Friez, Robin Shoop, and Manuela Veloso
    Robot Magazine, No. 31, December, 2011, pp. 74 - 77.
    Details | pdf (7MB) | Copyrighted

  • Task Space Regions: A Framework for Pose-Constrained Manipulation Planning

    Dmitry Berenson, Siddhartha Srinivasa, and James Kuffner
    International Journal of Robotics Research (IJRR), Vol. 30, No. 12, October, 2011, pp. 1435 - 1460.
    Details | pdf (5MB) | Copyrighted

  • Stereo visual odometry for pipe mapping

    Peter Hansen, Hatem Said Alismail, Brett Browning, and Peter Rander
    IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2011.
    Details | pdf (2MB) | Copyrighted

  • The need for high fidelity robotic sensor models

    P. Durst, C. Goodin, B. Gates, C. Cummins, B. McKinley, J. Priddy, Peter Rander, and Brett Browning
    Journal of Robotics, Vol. 2011, 2011,
    Details

  • 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

  • Towards a Visual Perception System for Pipe Inspection: Monocular Visual Odometry

    Peter Hansen, Hatem Said Alismail, Peter Rander, and Brett Browning
    tech. report CMU-RI-TR-10-22, Robotics Institute, Carnegie Mellon University, July, 2010
    Details | pdf (4MB) | Copyrighted

  • Learning for Autonomous Navigation: Advances in Machine Learning for Rough Terrain Mobility

    J. Andrew (Drew) Bagnell, David Bradley, David Silver, Boris Sofman, and Anthony (Tony) Stentz
    IEEE Robotics & Automation Magazine

    Details | pdf (6MB) | Copyrighted

  • Probabilistically Complete Planning with End-Effector Pose Constraints

    Dmitry Berenson and Siddhartha Srinivasa
    IEEE International Conference on Robotics and Automation (ICRA '10), May, 2010.
    Details | pdf (876KB) | Copyrighted

  • Planning pre-grasp manipulation for transport tasks

    Lillian Y. Chang, Siddhartha Srinivasa, and Nancy Pollard
    "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)", May, 2010.
    Details | pdf (1MB) | Copyrighted

  • On-line Mobile Robotic Dynamic Modeling using Integrated Perturbative Dynamics

    Forrest Rogers-Marcovitz
    master's thesis, tech. report CMU-RI-TR-10-15, Robotics Institute, Carnegie Mellon University, May, 2010
    Details | pdf (2MB) | Copyrighted

  • MOPED: A Scalable and Low Latency Object Recognition and Pose Estimation System

    Manuel Martinez Torres, Alvaro Collet Romea, and Siddhartha Srinivasa
    Proceedings of ICRA 2010, May, 2010.
    Details | pdf (1MB) | Copyrighted

  • Interaction of Pose Estimation and Online Dynamic Modeling for a Small Inspector Spacecraft

    Mishari Alarfaj and Forrest Rogers-Marcovitz
    ESA Small Satellites Systems and Services – 4S Symposium, May, 2010.
    Details | pdf (332KB) | Copyrighted

  • Hierarchical Planning Architectures for Mobile Manipulation Tasks in Indoor Environments

    Ross Alan Knepper, Siddhartha Srinivasa, and Matthew T. Mason
    Proceedings of ICRA 2010, May, 2010.
    Details | pdf (2MB) | Copyrighted

  • Efficient Reductions for Imitation Learning

    Stephane Ross and J. Andrew (Drew) Bagnell
    Proceedings of the 13th International Conference on Artificial Intelligence and Statistics (AISTATS), May, 2010.
    Details | pdf (390KB) | Copyrighted

  • Efficient Multi-View Object Recognition and Full Pose Estimation

    Alvaro Collet Romea and Siddhartha Srinivasa
    2010 IEEE International Conference on Robotics and Automation (ICRA 2010), May, 2010.
    Details | pdf (1MB) | Copyrighted

  • Designing technology activities that teach mathematics

    Eli Silk, Ross Higashi, Robin Shoop, and Chris Schunn
    The Technology Teacher, Vol. 69, No. 4, April, 2010, pp. 21 - 27.
    Details | pdf (397KB) | Copyrighted

  • Proprioceptive Localization for Mobile Manipulators

    Mehmet Dogar, Vishal Hemrajani, Daniel Leeds, Breelyn Kane, and Siddhartha Srinivasa
    tech. report CMU-RI-TR-10-05, Robotics Institute, Carnegie Mellon University, February, 2010
    Details | pdf (3MB) | Copyrighted

  • Gracefully Mitigating Breakdowns in Robotic Services

    Min Kyung Lee, Sara Kiesler, Jodi Forlizzi, Siddhartha Srinivasa, and Paul Rybski
    Proceedings of HRI 2010, February, 2010.
    Details | pdf (3MB) | Copyrighted

  • Exploiting Passthrough Information for Multi-view Object Reconstruction with Sparse and Noisy Laser Data

    Martin Herrmann and Siddhartha Srinivasa
    tech. report CMU-RI-TR-10-07, Robotics Institute, Carnegie Mellon University, February, 2010
    Details | pdf (2MB) | Copyrighted

  • HERB: a home exploring robotic butler

    Siddhartha Srinivasa, David Ferguson, Casey Helfrich, Dmitry Berenson, Alvaro Collet Romea, Rosen Diankov, Garratt Gallagher, Geoffrey Hollinger, James Kuffner, and J Michael Vandeweghe
    Autonomous Robots, Vol. 28, No. 1, January, 2010, pp. 5-20.
    Details | pdf (1MB) | Copyrighted

  • On-line Mobile Robot Model Identification using Integrated Perturbative Dynamics

    Forrest Rogers-Marcovitz and Alonzo Kelly
    12th International Symposium on Experimental Robotics, December, 2010.
    Details | pdf (464KB) | 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

  • Carnegie Mellon Launches a Mega Million Dollar Robotics Education Initiative

    Tom Atwood and Robin Shoop
    Robot Magazine, No. 25, November, 2010, pp. 70 - 71.
    Details | pdf (692KB) | Copyrighted

  • Push-Grasping with Dexterous Hands: Mechanics and a Method

    Mehmet Dogar and Siddhartha Srinivasa
    Proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October, 2010.
    Details | pdf (2MB) | Copyrighted

  • Learning from Demonstration for Autonomous Navigation in Complex Unstructured Terrain

    David Silver, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz
    International Journal of Robotics Research, Vol. 29, No. 12, October, 2010, pp. 1565 - 1592.
    Details | pdf (9MB) | Copyrighted

  • Online Dynamic Modeling and Localization for Small-Spacecraft Proximity Operations

    Forrest Rogers-Marcovitz
    23rd AIAA/USU Conference on Small Satellites, August, 2009.
    Details | pdf (414KB) | Copyrighted

  • Synchronized robot dancing: Motivating efficiency & meaning in problem-solving with robotics

    Eli Silk, Chris Schunn, and Robin Shoop
    Robot Magazine, No. 17, July, 2009, pp. 74 - 77.
    Details | pdf (423KB) | Copyrighted

  • Learning to search: Functional gradient techniques for imitation learning

    Nathan Ratliff, David Silver, and J. Andrew (Drew) Bagnell
    Autonomous Robots, Vol. 27, No. 1, July, 2009, pp. 25-53.
    Details | pdf (6MB) | 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

  • Development and Implementation of a Team of Robotic Tractors for Autonomous Peat Moss Harvesting

    David A. Johnson, David J. Naffin, Jeffrey S. Puhalla, Julian Sanchez, and Carl Wellington
    Journal of Field Robotics, Vol. 26, No. 6-7, June, 2009, pp. 549–571.
    Details | pdf (699KB) | Copyrighted

  • Object Recognition and Full Pose Registration from a Single Image for Robotic Manipulation

    Alvaro Collet Romea, Dmitry Berenson, Siddhartha Srinivasa, and David Ferguson
    IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009.
    Details | pdf (1MB) | Copyrighted

  • Manipulation Planning with Workspace Goal Regions

    Dmitry Berenson, Siddhartha Srinivasa, David Ferguson, Alvaro Collet Romea, and James Kuffner
    IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009.
    Details | pdf (1MB) | Copyrighted

  • Manipulation Planning on Constraint Manifolds

    Dmitry Berenson, Siddhartha Srinivasa, David Ferguson, and James Kuffner
    IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009.
    Details | pdf (2MB) | Copyrighted

  • GATMO: a Generalized Approach to Tracking Movable Objects

    Garratt Gallagher, Siddhartha Srinivasa, J. Andrew (Drew) Bagnell, and David Ferguson
    IEEE International Conference on Robotics and Automation, May, 2009.
    Details | pdf (2MB) | Copyrighted

  • Combining Search and Action for Mobile Robots

    Geoffrey Hollinger, David Ferguson, Siddhartha Srinivasa, and Sanjiv Singh
    IEEE International Conference on Robotics and Automation, May, 2009.
    Details | pdf (271KB) | Copyrighted

  • CHOMP: Gradient Optimization Techniques for Efficient Motion Planning

    Nathan Ratliff, Matthew Zucker, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa
    IEEE International Conference on Robotics and Automation (ICRA), May, 2009.
    Details | pdf (2MB) | Copyrighted

  • Automated Peat Moss Harvesting – System, Interface, Coordination and Perception

    David A. Johnson, David J. Naffin, Julian Sanchez, and Carl Wellington
    IEEE International Conference on Robotics and Automation, May, 2009.
    Details

  • Addressing Pose Uncertainty in Manipulation Planning Using Task Space Regions

    Dmitry Berenson, Siddhartha Srinivasa, and James Kuffner
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '09), October, 2009.
    Details | pdf (2MB) | 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

  • Aligned Cluster Analysis for Temporal Segmentation of Human Motion

    Feng Zhou, Fernando De la Torre Frade, and Jessica K. Hodgins
    IEEE Conference on Automatic Face and Gestures Recognition, September, 2008.
    Details | pdf (779KB) | Copyrighted

  • Coordinated Control and Range Imaging for Mobile Manipulation

    Dean Anderson, Thomas Howard, David Apfelbaum, Herman Herman, and Alonzo Kelly
    Proceedings of the 11th International Symposium on Experimental Robotics 2008 (ISER '08), August, 2008.
    Details | pdf (4MB) | Copyrighted

  • The Robotic Busboy: Steps Towards Developing a Mobile Robotic Home Assistant

    Siddhartha Srinivasa, David Ferguson, J Michael Vandeweghe, Rosen Diankov, Dmitry Berenson, Casey Helfrich, and K=Hauke Strasdat
    International Conference on Intelligent Autonomous Systems, July, 2008.
    Details | pdf (5MB) | 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

  • Grasp Synthesis in Cluttered Environments for Dexterous Hands

    Dmitry Berenson and Siddhartha Srinivasa
    Robotics Science and Systems (RSS) Workshop on Robot Manipulation: Intelligence in Human Environments, June, 2008.
    Details | pdf (2MB) | Copyrighted

  • BiSpace Planning: Concurrent Multi-Space Exploration

    Rosen Diankov, Nathan Ratliff, David Ferguson, Siddhartha Srinivasa, and James Kuffner
    Robotics: Science and Systems, June, 2008.
    Details | pdf (2MB) | Copyrighted

  • FCS UGV Safe Operations

    Scott Fish, Joshua Ruedin, Mike Perschbacher, and John Bares
    SPIE Defense and Security Conference, Unmanned Systems Technology X, March 19, 2008, March, 2008.
    Details | pdf (2MB) | Copyrighted

  • Field Experiments in Rover Navigation via Model-Based Trajectory Generation and Nonholonomic Motion Planning in State Lattices

    Mikhail Pivtoraiko, Thomas Howard, Issa Nesnas, and Alonzo Kelly
    Proceedings of the 9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS '08), February, 2008.
    Details | pdf (941KB) | Copyrighted

  • Manipulation Planning with Caging Grasps

    Rosen Diankov, Siddhartha Srinivasa, David Ferguson, and James Kuffner
    2008 IEEE International Conference on Humanoid Robots, December, 2008.
    Details | pdf (4MB) | Copyrighted

  • Grasp Synthesis in Cluttered Environments for Dexterous Hands

    Dmitry Berenson and Siddhartha Srinivasa
    IEEE-RAS International Conference on Humanoid Robots (Humanoids08), December, 2008.
    Details | pdf (3MB) | Copyrighted

  • Remote Operation of the Black Knight Unmanned Ground Combat Vehicle

    Jean-Sebastien Valois, Herman Herman, John Bares, and David P. Rice
    SPIE, 2008.
    Details

  • Learning the Forward Predictive Model for an Off-Road Skid-Steer Vehicle

    Michael W. Bode
    tech. report CMU-RI-TR-07-32, Robotics Institute, Carnegie Mellon University, September, 2007
    Details | pdf (301KB) | Copyrighted

  • State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Highly Constrained Environments

    Thomas Howard, Colin Green, and Alonzo Kelly
    Proceedings of the 6th International Conferences on Field and Service Robotics, July, 2007.
    Details | pdf (2MB) | Copyrighted

  • Terrain Aware Inversion of Predictive Models for Planetary Rovers

    Alonzo Kelly and Thomas Howard
    Proceedings of the Nasa Science and Technology Conference, June, 2007.
    Details | pdf (588KB) | Copyrighted

  • Terrain Aware Inversion of Predictive Models for High Performance UGVs

    Alonzo Kelly, Thomas Howard, and Colin Green
    Proceedings of the SPIE Defense and Security Symposium, April, 2007, pp. 6561-6566.
    Details | pdf (1MB) | 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

  • Planar batting under shape, pose, and impact uncertainty

    Jiaxin Fu, Siddhartha Srinivasa, Nancy Pollard, and Bart Nabbe
    IEEE International Conference on Robotics and Automation (ICRA), April, 2007.
    Details | pdf (572KB) | Copyrighted

  • Identifying Trajectory Classes in Dynamic Tasks

    Stuart Anderson and Siddhartha Srinivasa
    International Symposium on Approximate Dynamic Programming and Reinforcement Learning, April, 2007.
    Details

  • Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots

    Thomas Howard and Alonzo Kelly
    International Journal of Robotics Research, Vol. 26, No. 2, February, 2007, pp. 141-166.
    Details | pdf (9MB) | Copyrighted

  • Imitation Learning for Locomotion and Manipulation

    Nathan Ratliff, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa
    tech. report CMU-RI-TR-07-45, Robotics Institute, Carnegie Mellon University, December, 2007
    Details | pdf (2MB) | Copyrighted

  • Randomized Path Planning for Redundant Manipulators without Inverse Kinematics

    J Michael Vandeweghe, David Ferguson, and Siddhartha Srinivasa
    IEEE-RAS International Conference on Humanoid Robots, November, 2007.
    Details | pdf (7MB) | Copyrighted

  • Imitation Learning for Locomotion and Manipulation

    Nathan Ratliff, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa
    IEEE-RAS International Conference on Humanoid Robots, November, 2007.
    Details | pdf (2MB) | Copyrighted

  • Boosting Structured Prediction for Imitation Learning

    Nathan Ratliff, David Bradley, J. Andrew (Drew) Bagnell, and Joel Chestnutt
    Advances in Neural Information Processing Systems 19, 2007.
    Details | pdf (847KB) | Copyrighted

  • An Infrastructure-Free Automated Guided Vehicle Based on Computer Vision

    Alonzo Kelly, Bryan Nagy, David Stager, and Ranjith Unnikrishnan
    IEEE Robotics and Automation Magazine, 2007
    Details

  • Physics-Based Motion Retiming

    James McCann, Nancy Pollard, and Siddhartha Srinivasa
    Eurographics/ ACM SIGGRAPH Symposium on Computer Animation, September, 2006.
    Details | pdf (5MB) | Copyrighted

  • Toward Human-Robot Interface Standards I: Use of Standardization and Intelligent Subsystems for Advancing Human-Robotic Competency in Space Exploration

    Jeffrey Ferketic, Loel Goldblatt, Edward Hodgson, Sean Murray, Robert Wichowski, Arthur Bradley, Terrence W. Fong, John Evans, Wendell Chun, Randy Stiles, Michael Goodrich, and Aaron Steinfeld
    SAE 36th International Conference on Environmental Systems, July, 2006.
    Details | pdf (592KB) | Copyrighted

  • Constrained Optimization Path Following of Wheeled Robots in Natural Terrain

    Thomas Howard, Ross Alan Knepper, and Alonzo Kelly
    Proceedings of the 10th International Symposium on Experimental Robotics 2006 (ISER '06), July, 2006.
    Details | pdf (752KB) | Copyrighted

  • Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments

    Alonzo Kelly, Anthony (Tony) Stentz, Omead Amidi, Michael W. Bode, David Bradley, Antonio Diaz-Calderon, Michael Happold, Herman Herman, Robert Mandelbaum, Thomas Pilarski, Peter Rander, Scott Thayer, Nicholas M. Vallidis, and Randon Warner
    The International Journal of Robotics Research, Vol. 25, No. 5-6, May, 2006, pp. 449-483.
    Details | pdf (848KB) | Copyrighted

  • Trajectory and Spline Generation for All-Wheel Steering Mobile Robots

    Thomas Howard and Alonzo Kelly
    Proceedings of the the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 4827 - 4832.
    Details | pdf (2MB) | Copyrighted

  • High Performance State Lattice Planning Using Heuristic Look-Up Tables

    Ross Alan Knepper and Alonzo Kelly
    2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2006, pp. 3375 - 3380.
    Details | pdf (430KB) | Copyrighted

  • Experimental Analysis of Overhead Data Processing To Support Long Range Navigation

    David Silver, Boris Sofman, Nicolas Vandapel, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz
    IEEE International Conference on Intelligent Robots and Systems (IROS), October, 2006, pp. 2443 - 2450.
    Details | pdf (1MB) | Copyrighted

  • Physics-Based Motion Retiming

    James McCann, Nancy Pollard, and Siddhartha Srinivasa
    ACM SIGGRAPH / Eurographics Symposium on Computer Animation, 2006.
    Details | pdf (5MB) | 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

  • Robust Supervised Learning

    J. Andrew (Drew) Bagnell
    Proceedings of AAAI, June, 2005.
    Details | pdf (118KB) | Copyrighted

  • Interacting Markov Random Fields for Simultaneous Terrain Modeling and Obstacle Detection

    Carl Wellington, Aaron Courville, and Anthony (Tony) Stentz
    Proceedings of Robotics: Science and Systems, June, 2005.
    Details | pdf (3MB) | Copyrighted

  • Interactive Multimodal Robot Programming

    Soshi Iba, Chris Paredis, and Pradeep Khosla
    International Journal of Robotics Research, Vol. 24, No. 1, January, 2005, pp. 83-104.
    Details

  • Learning a Terrain Model for Autonomous Navigation in Rough Terrain

    Carl Wellington
    doctoral dissertation, tech. report CMU-RI-TR-05-59, Robotics Institute, Carnegie Mellon University, December, 2005
    Details | pdf (17MB) | Copyrighted

  • Experimental Characterization of Commercial Flash Ladar Devices

    Dean Anderson, Herman Herman, and Alonzo Kelly
    International Conference of Sensing and Technology, November, 2005.
    Details | pdf (415KB) | Copyrighted

  • OnLine Stability Margin and Attitude Estimation for Dynamic Articulating Mobile Robots

    Antonio Diaz-Calderon and Alonzo Kelly
    International Journal of Robotics Research, , October, 2005,
    Details | pdf (14MB) | Copyrighted

  • Expanded Field Testing Results from Spinner, a High Mobility Hybrid UGCV

    John Bares and David Stager
    Proceedings of the AUVSI Unmanned Systems 2004 Conference, August, 2004.
    Details

  • Application of robust, high-accuracy positioning for autonomous ground vehicles

    Stephan Roth and Sanjiv Singh
    Proceedings AUVSI Unmanned Systems North America, August, 2004.
    Details | pdf (405KB) | Copyrighted

  • Interactive Multi-Modal Robot Programming

    Soshi Iba, Chris Paredis, and Pradeep Khosla
    9th International Symposium on Experimental Robotics, June, 2004.
    Details | pdf (726KB) | Copyrighted

  • Interactive Multi-Modal Robot Programming

    Soshi Iba
    doctoral dissertation, tech. report CMU-RI-TR-04-50, Robotics Institute, Carnegie Mellon University, May, 2004
    Details | pdf (3MB) | Copyrighted

  • Development and deployment of a line of sight virtual sensor for heterogeneous teams

    Robert Grabowski, Pradeep Khosla, and Howie Choset
    Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), May, 2004, pp. 3024 - 3029.
    Details | pdf (708KB) | Copyrighted

  • Optimal Sensor Placement for Cooperative Distributed Vision

    Luis Ernesto Navarro-Serment, John M. Dolan, and Pradeep Khosla
    Proceedings of the International Conference on Robotics and Automation (ICRA), April, 2004, pp. 939-944.
    Details | pdf (389KB) | Copyrighted

  • Online Adaptive Rough-Terrain Navigation in Vegetation

    Carl Wellington and Anthony (Tony) Stentz
    Proceedings of the IEEE International Conference on Robotics and Automation, April, 2004, pp. 96 - 101.
    Details | pdf (2MB) | 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

  • Vegetation Detection for Mobile Robot Navigation

    David Bradley, Scott Thayer, Anthony (Tony) Stentz, and Peter Rander
    tech. report CMU-RI-TR-04-12, Robotics Institute, Carnegie Mellon University, February, 2004
    Details | pdf (2MB) | Copyrighted

  • Linearized Error Propagation in Odometry

    Alonzo Kelly
    The International Journal of Robotics Research, Vol. 23, No. 2, February, 2004, pp. 179 - 218.
    Details | pdf (616KB) | Copyrighted

  • A Study of Polynomial Curvature Clothoid Paths for Motion Planning for Car-like Robots

    Mikhail Pivtoraiko
    tech. report CMU-RI-TR-04-68, Robotics Institute, Carnegie Mellon University, December, 2004
    Details | pdf (387KB) | Copyrighted

  • Ultra-rugged Soldier-Robot for Urban Conflict Missions

    Hagen Schempf
    Unmanned Systems 2003 Conference - AUVSI 30th Annual Symposium and Exhibition, July, 2003.
    Details | pdf (167KB) | Copyrighted

  • Real-Time, Multi-Perspective Perception for Unmanned Ground Vehicles

    Anthony (Tony) Stentz, Alonzo Kelly, Peter Rander, Herman Herman, Omead Amidi, Robert Mandelbaum, Garbis Salgian, and Jorgen Pedersen
    Proc. of AUVSI Unmanned Systems Symposium 2003, July, 2003.
    Details | pdf (302KB) | Copyrighted

  • Reactive Nonholonomic Trajectory Generation via Parametric Optimal Control

    Alonzo Kelly and Bryan Nagy
    The International Journal of Robotics Research, Vol. 22, No. 7 - 8, July, 2003, pp. 583 - 601.
    Details | pdf (476KB) | Copyrighted

  • Learning Predictions of the Load-Bearing Surface for Autonomous Rough-Terrain Navigation in Vegetation

    Carl Wellington and Anthony (Tony) Stentz
    International Conference on Field and Service Robotics, July, 2003, pp. 49-54.
    Details | pdf (3MB) | Copyrighted

  • Initial Field Testing Results from Spinner, a High Mobility Hybrid UGCV.

    John Bares, David Stager, S. McFadden, and C. Richards
    Proceedings of the AUVSI Unmanned Systems 2003 Conference, July, 2003.
    Details

  • A Semi-Autonomous Robot for Stripping Paint from Large Vessels

    William P. Ross, John Bares, and Christopher Fromme
    The International Journal of Robotics Research, Vol. 22, No. 7 - 8, July, 2003, pp. 617 - 626.
    Details | pdf (243KB) | Copyrighted

  • Explorer: Untethered Real-time Gas Main Assessment Robot System

    Hagen Schempf, E. Mutschler, Vitaly Goltsberg, George Skoptsov, Alan Gavaert, and G. Vradis
    1st International Workshop on Advances in Service Robotics, ASER’03, March, 2003.
    Details

  • Efficient Construction of Globally Consistent Ladar Maps using Pose Network Topology and Nonlinear Programming

    Alonzo Kelly and Ranjith Unnikrishnan
    Proceedings of the 11th International Symposium of Robotics Research (ISRR '03), November, 2003.
    Details | pdf (615KB) | 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

  • Intention aware interactive multi-modal robot programming

    Soshi Iba, Chris Paredis, and Pradeep Khosla
    Proceedings. 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2003, pp. 3479 - 3484.
    Details | pdf (526KB) | Copyrighted

  • Autonomous exploration via regions of interest

    Robert Grabowski, Pradeep Khosla, and Howie Choset
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'03), October, 2003, pp. 1691 - 1696.
    Details | pdf (566KB) | Copyrighted

  • A Review: Pattern Formation and Adaptation in Multi-Robot Systems

    Erkin Bahceci, Onur Soysal, and Erol Sahin
    tech. report CMU-RI-TR-03-43, Robotics Institute, Carnegie Mellon University, October, 2003
    Details | pdf (114KB) | Copyrighted

  • Belt Vision System For Monitoring Mechanical Splices

    B. Bancroft, Christopher Fromme, and Thomas Pilarski
    Longwall USA International Exhibition and Conference 2003, 2003.
    Details

  • Globally Consistent Mosaicking for Autonomous Visual Navigation

    Ranjith Unnikrishnan
    master's thesis, tech. report CMU-RI-TR-02-22, Robotics Institute, Carnegie Mellon University, September, 2002
    Details | pdf (2MB) | Copyrighted

  • Integrated Air/Ground Vehicle System for Semi-Autonomous Off-Road Navigation

    Anthony (Tony) Stentz, Alonzo Kelly, Herman Herman, Peter Rander, Omead Amidi, and Robert Mandelbaum
    Proc. of AUVSI Unmanned Systems Symposium 2002, July, 2002.
    Details | pdf (531KB) | Copyrighted

  • Evaluating Path Tracker Performance for Outdoor Mobile Robots

    Stephan A Roth and Parag Batavia
    Automation Technology for Off-Road Equipment, July, 2002.
    Details | pdf (107KB) | Copyrighted

  • Designing Crash-Survivable Unmanned Vehicles

    John Bares, S. McFadden, Anthony (Tony) Stentz, C. Richards, and S. Murray
    Proceedings of the AUVSI Unmanned Systems 2002 Conference

    Details

  • A System for Semi-Autonomous Tractor Operations

    Anthony (Tony) Stentz, Cristian Dima, Carl Wellington, Herman Herman, and David Stager
    Autonomous Robots, Vol. 13, No. 1, July, 2002, pp. 87-103.
    Details

  • Stereo perception on an off-road vehicle

    A. Rieder, B. Southall, G. Salgian, R. Mandelbaum, Herman Herman, Peter Rander, and Anthony (Tony) Stentz
    IEEE 2002 Intelligent Vehicle Symposium, June, 2002, pp. 221 - 226.
    Details | pdf (680KB) | Copyrighted

  • Obstacle Detection in Smooth High Curvature Terrain

    Parag Batavia and Sanjiv Singh
    Proceedings of the IEEE Conference on Robotics and Automation (ICRA '02), May, 2002.
    Details | pdf (255KB) | Copyrighted

  • Mosaicing Large Cyclic Environments for Visual Navigation in Autonomous Vehicles

    Ranjith Unnikrishnan and Alonzo Kelly
    IEEE International Conference on Robotics and Automation, 2002 (ICRA '02), May, 2002, pp. 4299-4306.
    Details | pdf (4MB) | Copyrighted

  • Behavioral model composition in simulation-based design

    Rajarishi Sinha, Chris Paredis, and Pradeep Khosla
    Proceedings of the 35th Annual Simulation Symposium, April, 2002, pp. 308 - 315.
    Details | pdf (341KB) | Copyrighted

  • Millibots

    Luis Ernesto Navarro-Serment, Robert Grabowski, Chris Paredis, and Pradeep Khosla
    IEEE Robotics & Automation Magazine, , December, 2002, pp. 31 - 40.
    Details | pdf (1MB) | Copyrighted

  • Millibot trains for enhanced mobility

    H. Benjamin Brown, J Michael Vandeweghe, Curt Bererton, and Pradeep Khosla
    IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 4, December, 2002, pp. 452 - 461.
    Details | pdf (1MB) | Copyrighted

  • Millibot Trains for Enhanced Mobility

    H. Benjamin Brown, J. Michael VANDE WEGHE, Curt A. BERERTON, and Pradeep K. KHOSLA
    IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 4, December, 2002, pp. 452-461.
    Details

  • Junior: a robot for outdoor container nurseries

    Hagen Schempf and Todd Graham
    Proceedings of the 2002 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002, pp. 750 - 755.
    Details | pdf (752KB) | Copyrighted

  • Distributed Surveillance and Reconnaissance Using Multiple Autonomous ATVs: CyberScout

    Mahesh Saptharishi, C. Spence Oliver, Christopher P. Diehl, Kiran Bhat, John M. Dolan, Ashitey Trebi-Ollennu, and Pradeep Khosla
    IEEE Transactions on Robotics and Automation: Special Issue on Multi-Robot Systems, Vol. 18, No. 5, October, 2002, pp. 826 - 836.
    Details | pdf (351KB) | 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

  • A Probabilistic Approach for the Adaptive Integration of Multiple Visual Cues Using an Agent Framework

    Alvaro Soto
    doctoral dissertation, tech. report CMU-RI-TR-02-30, Robotics Institute, Carnegie Mellon University, October, 2002
    Details | pdf (3MB) | Copyrighted

  • A Constrained Optimization Approach to Globally Consistent Mapping

    Ranjith Unnikrishnan and Alonzo Kelly
    2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems (IROS '02), October, 2002, pp. 564-569.
    Details | pdf (731KB) | Copyrighted

  • Obstacle Detection Using Adaptive Color Segmentation and Color Stereo Homography

    Parag Batavia and Sanjiv Singh
    Proceedings of the IEEE International Conference on Robotics and Automation, May, 2001.
    Details | pdf (424KB) | Copyrighted

  • Iterative X-ray/CT Registration Using Accelerated Volume Rendering

    David LaRose
    doctoral dissertation, tech. report CMU-RI-TR-01-10, Robotics Institute, Carnegie Mellon University, May, 2001
    Details | pdf (5MB) | Copyrighted

  • Automated container-handling system for container production nurseries

    Hagen Schempf, , Robert Fuchs, and C. Gasior
    IEEE Int. Conf. on Robotics and Automation (ICRA '01), April, 2001, pp. 755 - 760.
    Details | pdf (842KB) | Copyrighted

  • Localization Techniques for a Team of Small Robots

    Robert Grabowski and Pradeep Khosla
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'01), October, 2001, pp. 1067 - 1072.
    Details | pdf (506KB) | Copyrighted

  • Residue Detection for Real-time Removal of Paint from Metallic Surfaces

    Y. Bar-Chen, Xiaoqi Bao, and B.P. Dolgin
    SPIE - The International Society for Optical Engineering, 2001, pp. 115-120 .
    Details

  • Control of the Gyrover: a single-wheel gyroscopically stabilized robot

    Enrique Ferreira, Shu-Jen Tsai, Chris Paredis, and H. Benjamin Brown
    Advanced Robotics, Vol. 14, No. 6, June, 2000, pp. 459 - 475.
    Details

  • Methods for Cropline Following

    Michael Happold
    tech. report CMU-RI-TR-00-14, Robotics Institute, Carnegie Mellon University, May, 2000
    Details | pdf (874KB) | Copyrighted

  • Millibots: Small Distributed Robots for Surveillance and Mapping

    Curt Bererton, Luis Ernesto Navarro-Serment, Robert Grabowski, Chris Paredis, and Pradeep Khosla
    Government Microcircuit Applications Conference, March, 2000.
    Details

  • Mobile Robot Localization from Large Scale Appearance Mosaics

    Alonzo Kelly
    tech. report CMU-RI-TR-00-21, Robotics Institute, Carnegie Mellon University, December, 2000
    Details

  • Trident Sensing System: A Configuration of Sensors to Aid Alignment of an Intelligent Grasping Device Used for Field-container Handling

    M Bernardine Dias and Hagen Schempf
    tech. report CMU-RI-TR-00-26, Robotics Institute, Carnegie Mellon University, November, 2000
    Details | pdf (1MB) | Copyrighted

  • Mobile Robot Localization from Large-Scale Appearance Mosaics

    Alonzo Kelly
    The International Journal of Robotics Research, Vol. 19, No. 11, November, 2000, pp. 1104 - 1125.
    Details

  • Modularity in Small Distributed Robots

    Luis Ernesto Navarro-Serment, Robert Grabowski, Chris Paredis, and Pradeep Khosla
    Proceedings of the SPIE conference on Sensor Fusion and Decentralized Control in Robotic Systems II, September, 1999.
    Details | pdf (258KB) | Copyrighted

  • A Robotic Excavator for Autonomous Truck Loading

    Anthony (Tony) Stentz, John Bares, Sanjiv Singh, and Patrick Rowe
    Autonomous Robots, Vol. 7, No. 2, September, 1999, pp. 175-186.
    Details

  • Position Measurement for Automated Mining Machinery

    Anthony (Tony) Stentz, Mark Ollis, Steve Scheding, Herman Herman, Christopher Fromme, Jorgen Pedersen, Timothy Hegadorn, Robert McCall, John Bares, and Richard Moore
    Proceedings of the 1999 International Conference on Field and Service Robotics, August, 1999, pp. 299 - 304.
    Details | pdf (404KB) | Copyrighted

  • On-Line Planning of Flexible Assembly Systems: An Agent-Based Approach

    Cheng-Hua Wang and Chris Paredis
    Proceedings of the 15th ISPE / IEE International Conference on CAD/CAM, Robotics and Factories of the Future, August, 1999.
    Details | pdf (117KB) | 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

  • Combining Information Technology Components and Symbolic Equation Manipulation in Modeling and Simulation of Mechatronic Systems

    Antonio Diaz-Calderon, Chris Paredis, and Pradeep Khosla
    Proceedings of the 1999 IEEE International Symposium on Computer Aided Control System Design, August, 1999, pp. 144 - 150.
    Details | pdf (81KB) | Copyrighted

  • A Beacon System for the Localization of Distributed Robotic Teams

    Luis Ernesto Navarro-Serment, Chris Paredis, and Pradeep Khosla
    Proceedings of the International Conference on Field and Service Robotics (FSR '99), August, 1999.
    Details | pdf (258KB) | Copyrighted

  • Dynamic mobility with single-wheel configuration

    Yangsheng Xu, H. Benjamin Brown, and Kwok Wai Au
    International Journal of Robotics Research, July, 1999, pp. 728 - 738.
    Details | pdf (136KB) | Copyrighted

  • On the Synthesis of the System Graph for 3D Mechanics

    Antonio Diaz-Calderon, Chris Paredis, and Pradeep Khosla
    Proceedings of the 18th American Control Conference, June, 1999, pp. 3137 - 3141.
    Details | pdf (47KB) | Copyrighted

  • Agent-Based Planning and Control of a Multi-Manipulator Assembly System

    J.-C. Fraile, Chris Paredis, Cheng-Hua Wang, and Pradeep Khosla
    Proceedings of the 1999 IEEE International Conference on Robotics and Automation, May, 1999, pp. 1219 - 1225.
    Details | pdf (67KB) | Copyrighted

  • The Demeter System for Automated Harvesting

    Thomas Pilarski, Michael Happold, Henning Pangels, Mark Ollis, Kerien Fitzpatrick, and Anthony (Tony) Stentz
    Proceedings of the 8th International Topical Meeting on Robotics and Remote Systems, April, 1999.
    Details | pdf (1MB) | Copyrighted

  • Constructing Hydraulic Robot Models using Memory-based Learning

    Murali Krishna and John Bares
    ASCE Journal of Aerospace Engineering, Vol. 12, No. 2, April, 1999, pp. 34-42.
    Details | pdf (221KB) | Copyrighted

  • Collaborative Surveillance using Both Fixed and Mobile Unattended Sensor Platforms

    Diehl Chris, Saptharishi Mahesh, Hampshire John, and Khosla Pradeep
    Proceedings of SPIE's 13th Annual International Conference on Aerospace/Defense Sensing, Simulation, and Controls, April, 1999.
    Details | pdf (364KB) | Copyrighted

  • Continuous Probabilistic Mapping by Autonomous Robots

    Jesus Salido-Tercero, Chris Paredis, and Pradeep Khosla
    Proceedings of the 1999 International Symposium on Experimental Robotics, March, 1999.
    Details | pdf (220KB) | Copyrighted

  • RAVE: A Real and Virtual Environment for Multiple Mobile Robot Systems

    K. Dixon, John M. Dolan, Wesley Huang, Chris Paredis, and Pradeep Khosla
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), October, 1999, pp. 1360-1367.
    Details | pdf (181KB) | Copyrighted

  • Modeling human strategy in controlling a dynamically stabilized robot

    Yangsheng Xu, Wai-Kuen Yu, and K.W. Au
    Proceedings of the 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS '99), October, 1999, pp. 507 - 512.
    Details | pdf (419KB) | Copyrighted

  • Decoupled dynamics and stabilization of single wheel robot

    K.W. Au and Yangsheng Xu
    Proceedings of the 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS '99), October, 1999, pp. 197 - 203.
    Details | pdf (447KB) | Copyrighted

  • Control of the Gyrover: A Single-Wheel Gyroscopically Stabilized Robot

    Shu-Jen Tsai, Enrique Ferreira, and Chris Paredis
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), October, 1999, pp. 179 - 184.
    Details | pdf (265KB) | Copyrighted

  • An Architecture for Gesture Based Control of Mobile Robots

    Soshi Iba, J Michael Vandeweghe, Chris Paredis, and Pradeep Khosla
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), October, 1999, pp. 851 - 857.
    Details | pdf (366KB) | Copyrighted

  • Heterogeneous Teams of Modular Robots for Mapping and Exploration

    Luis Ernesto Navarro-Serment, Robert Grabowski, Chris Paredis, and Pradeep Khosla
    tech. report ICES 04-11-99, ICES, Carnegie Mellon University, 1999
    Details

  • Heterogeneous Teams of Modular Robots for Mapping and Exploration

    Robert Grabowski, Luis Ernesto Navarro-Serment, Chris Paredis, and Pradeep Khosla
    Autonomous Robots - Special Issue on Heterogeneous Multirobot Systems, , 1999
    Details | pdf (614KB) | Copyrighted

  • A composable simulation environment for mechatronic systems

    Antonio Diaz-Calderon, Chris Paredis, and Pradeep Khosla
    SCS 1999 European Simulation Symposium, 1999.
    Details | pdf (110KB) | Copyrighted

  • Generating 3D Spatial Layouts using A-Teams

    Sanjay Sachdev, Chris Paredis, Satyandra Gupta, and Sarosh Talukdar
    ASME Design Automation Conference, September, 1998.
    Details | pdf (250KB) | Copyrighted

  • Capturing Articulation in Assemblies from Component Geometry

    Rajarishi Sinha, Chris Paredis, and Satyandra Gupta
    ASME Design Automation Conference, September, 1998.
    Details | pdf (315KB) | Copyrighted

  • A Modular Composable Software Architecture for the Simulation of Mechatronic Systems

    Antonio Diaz-Calderon, Chris Paredis, and Pradeep Khosla
    ASME Computers in Engineering Conference, September, 1998.
    Details | pdf (316KB) | Copyrighted

  • Rough terrain Autonomous Mobility - Part 2: An Active Vision, Predictive Control

    Alonzo Kelly and Anthony (Tony) Stentz
    Autonomous Robots, No. 5, May, 1998, pp. 163 - 198.
    Details | pdf (892KB) | Copyrighted

  • Rough Terrain Autonomous Mobility - Part 1: A Theoretical Analysis of Requirements

    Alonzo Kelly and Anthony (Tony) Stentz
    Autonomous Robots, No. 5, May, 1998, pp. 129 - 161.
    Details | pdf (333KB) | 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

  • Dynamic model of a gyroscopic wheel

    G.C. Nandy and Yangsheng Xu
    Proc. 1998 IEEE Int'l Conference on Robotics and Automation (ICRA '98), May, 1998, pp. 2683 - 2688.
    Details | pdf (482KB) | Copyrighted

  • Explorations in Asynchronous Teams

    Sanjay Sachdev
    doctoral dissertation, tech. report , Electrical and Computer Engineering, Carnegie Mellon University, December, 1998
    Details | pdf (473KB) | Copyrighted

  • Obstacle detection and safeguarding for a high-speed autonomous hydraulic excavator

    Patrick (Chris) Leger, Patrick Rowe, John Bares, Scott Boehmke, and Anthony (Tony) Stentz
    Proceedings of SPIE Mobile Robots XIII, November, 1998, pp. 146-156.
    Details | pdf (153KB) | Copyrighted

  • Analysis of actuation and dynamic balancing for a single-wheel robot

    Yangsheng Xu, Kwok Wai Au, G. C. Nandy, and H. Benjamin Brown
    Intelligent Robots and Systems, October, 1998, pp. 1789 -1794.
    Details | pdf (399KB) | Copyrighted

  • Vision-Based Perception for an Autonomous Harvester

    Mark Ollis and Anthony (Tony) Stentz
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robotic Systems, September, 1997, pp. 1838 - 1844.
    Details | pdf (1MB) | Copyrighted

  • A single-wheel, gyroscopically stabilized robot

    H. Benjamin Brown and Yangsheng Xu
    IEEE Robotics and Automation Magazine, Vol. 4, No. 3, September, 1997, pp. 39-44.
    Details | pdf (1MB) | Copyrighted

  • Toward Gesture-Based Programming: Agent-Based Haptic Skill Acquisition and Interpretation

    Richard Voyles
    doctoral dissertation, tech. report CMU-RI-TR-97-36, Robotics Institute, Carnegie Mellon University, August, 1997
    Details | pdf (4MB) | Copyrighted

  • Perception Algorithms for a Harvesting Robot

    Mark Ollis
    doctoral dissertation, tech. report CMU-RI-TR-97-43, Robotics Institute, Carnegie Mellon University, August, 1997
    Details | pdf (7MB) | Copyrighted

  • Sensorimotor Primitives for Programming Robotic Assembly Skills

    James Morrow
    doctoral dissertation, tech. report CMU-RI-TR-97-23, Robotics Institute, Carnegie Mellon University, May, 1997
    Details | pdf (1MB) | Copyrighted

  • An Approach to Rough Terrain Autonomous Mobility

    Alonzo Kelly and Anthony (Tony) Stentz
    International Conference on Mobile Planetary Robots, January, 1997.
    Details | pdf (892KB) | Copyrighted

  • Increasing Productivity for Autonomous Mass Excavation

    Patrick Rowe
    tech. report , Robotics Institute, Carnegie Mellon University, 1997
    Details | pdf (270KB) | Copyrighted

  • The Chimera Methodology: Designing Dynamically Reconfigurable and Reusable Real-Time Software using Port-Based Objects

    David B. Stewart and Pradeep Khosla
    International Journal of Software Engineering and Knowledge Engineering, Vol. 6, No. 2, June, 1996, pp. 249-277.
    Details | pdf (103KB) | Copyrighted

  • TILEBOT: Mobile Robot for Automatic Installation of Floor Tiles

    Hagen Schempf, Dimitrios (Dimi) Apostolopoulos, and J. West
    IEEE Int. Conf. on Robotics and Automation (ICRA '96), April, 1996.
    Details | pdf (423KB) | Copyrighted

  • First Results in Vision-Based Crop Line Tracking

    Mark Ollis and Anthony (Tony) Stentz
    Proceedings of the IEEE International Conference on Robotics and Automation, April, 1996, pp. 951 - 956.
    Details | pdf (338KB) | Copyrighted

  • A single wheel, gyroscopically stabilized robot

    H. Benjamin Brown and Yangsheng Xu
    Proceedings of the IEEE International Conference on Robotics and Automation, April, 1996, pp. 3658-3663.
    Details | pdf (695KB) | Copyrighted

  • A rapidly deployable manipulator system

    Chris Paredis, H. Benjamin Brown, and Pradeep Khosla
    Proceedings of the 1996 IEEE International Conference on Robotics and Automation, April, 1996, pp. 1434 - 1439.
    Details | pdf (892KB) | Copyrighted

  • Carbon Dioxide/Oxygen Monitor for Cost Effective Field Use

    John G. Tabacchi, J. Hibner, J. Jarrett, M. Portnoff, P. Prusko, and T. Toth
    Sixth West Coast Conference on Contaminated Soils and Groundwater, March, 1996.
    Details

  • Electro-Mechanical Transducer for Rail Car Onboard Power

    John G. Tabacchi, M.L. Nagurka, W. Kaufman, and S. Simizu
    Proceedings of the ASME Dynamic Systems and Control Division, 1996 International Mechanical Engineering Congress & Exposition, November, 1996, pp. 133 - 140.
    Details

  • An Intelligent Predictive Control Approach to the High-Speed Cross-Country Autonomous Navigation Problem

    Alonzo Kelly
    tech. report CMU-RI-TR-95-33, Robotics Institute, Carnegie Mellon University, September, 1995
    Details | pdf (18MB) | Copyrighted

  • An Intelligent Predictive Control Approach to the High-Speed Cross-Country Autonomous Navigation Problem

    Alonzo Kelly
    doctoral dissertation, tech. report , Robotics Institute, Carnegie Mellon University, September, 1995
    Details | pdf (3MB) | Copyrighted

  • Developing a Soil Gas Survey Instrument for Cost Effective Field Use

    John G. Tabacchi, J. Hibner, J. Jarrett, M. Portnoff, P. Prusko, and T. Toth
    Fourth International Symposium on Field Screening Methods for Hazardous Wastes and Toxic Chemicals, February, 1995.
    Details

  • Vision Enhancement Research and Technology Guide

    John G. Tabacchi, Richard Grace, Louis J. Denes, A.M. Guzman, and D.A. Purta
    July, 1994.
    Details

  • Real-time vision-based detection of wire gapping on a rotating transformer core

    C.J. Taylor, E. Evans, John M. Dolan, and Pradeep Khosla
    SPIE Proceedings on Industrial Optical Sensors for Industrial Optical Sensors for Metrology and Inspection, Vol. 2349, November, 1994, pp. 235-246.
    Details

  • The Chimera Methodology: Designing Dynamically Reconfigurable Real-Time Software using Port-Based Objects

    David B. Stewart and Pradeep Khosla
    The First Workshop on Object-Oriented Real-Time Dependable Systems, October, 1994, pp. 46-53.
    Details | pdf (55KB) | Copyrighted

  • A Practical Stereo Vision System

    William P. Ross
    IEEE Conference on Computer Vision and Pattern Recognition, June, 1993, pp. 148 - 153.
    Details | pdf (681KB) | Copyrighted

  • Chimera 3.1: The Real-Time Operating System for Reconfigurable Sensor-Based Control Systems

    D. B. Stewart and Pradeep Khosla
    Advanced Manipulators Laboratory, The Robotics Institute and Department of Electrical and Computer Engineering, Carnegie Mellon University, January, 1993
    Details

  • Surface-Closure Algorithms for Filament Winding of Non-Axisymmetric Cylindrical Parts

    John M. Dolan, Pradeep Khosla, and Sarosh Talukdar
    Proceedings of the 25th International SAMPE Technical Conference, October, 1993, pp. 680-691.
    Details | pdf (5MB) | Copyrighted

  • Evaluation of a Nitric-Oxide-Compensated Carbon Monoxide Fire Sensor

    John G. Tabacchi, C.D. Litton, R.S. Conti, and Richard Grace
    Bureau of Mines Report IC-9339, October, 1993
    Details

  • Locomotive Magnetic Sweepers for Auto Transport Protection

    John G. Tabacchi, A.M. Guzman, H. Jenkins, and R.R. Newman
    Rail Transportation, Vol. 6, 1993, pp. 229 - 235.
    Details

  • The Chimera II Real-Time Operating System for Advanced Sensor-Based Control Applications

    David B. Stewart, Donald E. Schmitz, and Pradeep Khosla
    IEEE Trans. on Systems, Man, and Cybernetics, Vol. 22, No. 6, December, 1992, pp. 1282-1295.
    Details | pdf (69KB) | Copyrighted

  • Implementing Real-Time Robotic Systems Using CHIMERA II

    David B. Stewart, Donald E. Schmitz, and Pradeep Khosla
    IEEE International Conference on Systems Engineering, August, 1990, pp. 252 - 257.
    Details | pdf (631KB) | Copyrighted

  • Hot Bearing Detection with the "SMART-BOLT"

    John G. Tabacchi, R.R. Newman, R.C. Leedham, D.A. Purta, G.G. Madered, and R. Galli
    Proceedings of the 1990 ASME/IEEE Joint Railroad Conference, April, 1990, pp. 105 - 110.
    Details | pdf (670KB) | Copyrighted

  • CHIMERA II: A Real-Time UNIX-Compatible Multiprocessor Operating System for Sensor-based Control Applications

    D. B. Stewart, D. E. Schmitz, and P. K. Kousla
    tech. report CMU-RI-TR-89-24, Robotics Institute, Carnegie Mellon University, September, 1989
    Details | pdf (1MB) | Copyrighted

  • CHIMERA II: A Real-Time Multiprocessing Environment For Sensor-Based Robot Control

    David B. Stewart, Donald E. Schmitz, and Pradeep Khosla
    Proceedings of the IEEE International Symposium on Intelligent Control, September, 1989, pp. 265-271.
    Details | pdf (14KB) | Copyrighted

  • CHIMERA: a real-time programming environment for manipulator control

    D.E. Schmitz, Pradeep Khosla, R. Hoffman, and Takeo Kanade
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '89),, May, 1989, pp. 846 - 852.
    Details | pdf (567KB) | Copyrighted

  • Automatic generation of kinematics for a reconfigurable modular manipulator system

    L. Kelmar and Pradeep Khosla
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '88), April, 1988, pp. 663 - 668.
    Details | pdf (496KB) | Copyrighted

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