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Advanced Mechatronics Lab (AML)
Head: Pradeep Khosla
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Location:
NSH B512
Associated center(s) / consortia:
 National Robotics Engineering Center (NREC)
Lab Homepage
This page last updated - March 2009.
Publications
  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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