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Biorobotics
Head: Howie Choset
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Location:
NSH A403
Lab Homepage
Publications
  • Multi-Agent Deterministic Graph Mapping via Robot Rendezvous

    Chaohui Gong, Stephen T. Tully , George A. Kantor, and Howie Choset
    Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA), May, 2012.
    Details | pdf (433KB) | Copyrighted

  • A Unified Bayesian Framework for Global Localization and SLAM in Hybrid Metric/Topological Maps

    Stephen T. Tully , George A. Kantor, and Howie Choset
    International Journal of Robotics Research (IJRR), Vol. 31, No. 3, March, 2012, pp. 271-288.
    Details | pdf (2MB) | Copyrighted

  • Shape Estimation for Image-Guided Surgery with a Highly Articulated Snake Robot

    Stephen T. Tully , George A. Kantor, Marco A. Zenati, and Howie Choset
    Proceedings of the 2011 International Conference on Intelligent Robots and Systems (IROS), September, 2011.
    Details | pdf (1MB) | Copyrighted

  • Monte Carlo Localization using 3D Texture Maps

    Yu Fu, Stephen T. Tully , George A. Kantor, and Howie Choset
    Proceedings of the 2011 International Conference on Intelligent Robots and Systems (IROS), September, 2011.
    Details | pdf (2MB) | Copyrighted

  • Inequality Constrained Kalman Filtering for the Localization and Registration of a Surgical Robot

    Stephen T. Tully , George A. Kantor, and Howie Choset
    Proceedings of the 2011 International Conference on Intelligent Robots and Systems (IROS), September, 2011.
    Details | pdf (2MB) | Copyrighted

  • A Novel Architecture for Modular Snake Robots

    Aaron Johnson, Cornell Wright III, Matthew Tesch, Kevin Lipkin, and Howie Choset
    tech. report CMU-RI-TR-11-29, Robotics Institute, Carnegie Mellon University, August, 2011
    Details | pdf (1MB) | Copyrighted

  • Incremental Construction of the Saturated-GVG for Multi-Hypothesis Topological SLAM

    Tong Tao, Stephen T. Tully , George A. Kantor, and Howie Choset
    Proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), May, 2011.
    Details | pdf (620KB) | Copyrighted

  • A Single-Step Maximum A Posteriori Update for Bearing-Only SLAM

    Stephen T. Tully , George A. Kantor, and Howie Choset
    Proceedings of the 2010 Conference on Artificial Intelligence (AAAI), July, 2010.
    Details | pdf (349KB) | Copyrighted

  • Minimalistic, Dynamic, Tube Climbing Robot - Video Submission

    Amir Degani, Siyuan Feng, Howie Choset, and Matthew T. Mason
    IEEE International Conference on Robotics and Automation, May, 2010.
    Details | pdf (973KB) | Copyrighted

  • DSAC – Dynamic, Single Actuated Climber. Local Stability and Bifurcations

    Amir Degani, Howie Choset, and Matthew T. Mason
    Proc. of the 2010 IEEE International Conference on Robotics and Automation (ICRA), May, 2010.
    Details | pdf (1MB) | Copyrighted

  • Minimalistic Dynamic Climbing

    Amir Degani
    doctoral dissertation, tech. report CMU-RI-TR-10-38, Robotics Institute, Carnegie Mellon University, November, 2010
    Details | pdf (21MB) | Copyrighted

  • Leap-Frog Path Design for Multi-Robot Cooperative Localization

    Stephen T. Tully , George A. Kantor, and Howie Choset
    Proceedings of the 2009 Field and Service Robotics Conference (FSR), July, 2009.
    Details | pdf (1MB) | Copyrighted

  • A Minimalist Dynamic Climbing Robot: Modeling, Analysis and Experiments. Thesis Proposal.

    Amir Degani
    tech. report CMU-RI-TR-09-28, Robotics Institute, Carnegie Mellon University, June, 2009
    Details | pdf (3MB) | Copyrighted

  • A Highly Articulated Robotic Surgical System for Minimally Invasive Surgery

    Takeyoshi Ota, Amir Degani, David Schwartzman, Brett Zubiate, Jeremy McGarvey, Howie Choset, and Marco A. Zenati
    The Annals of Thoracic Surgery, Vol. 87, April, 2009, pp. 1253-1256.
    Details | pdf (660KB) | Copyrighted

  • Topological SLAM using Neighbourhood Information of Places

    Felix Werner, Frederic Maire, Joaquin Sitte, Howie Choset, Stephen T. Tully , and George A. Kantor
    Proceedings of the 2009 International Conference on Intelligent Robots and Systems (IROS), October, 2009.
    Details | pdf (347KB) | Copyrighted

  • A Multi-Hypothesis Topological SLAM Approach for Loop Closing on Edge-Ordered Graphs

    Stephen T. Tully , George A. Kantor, Howie Choset, and Felix Werner
    Proceedings of the 2009 International Conference on Intelligent Robots and Systems (IROS), October, 2009.
    Details | pdf (568KB) | Copyrighted

  • Iterated Filters for Bearing-Only SLAM

    Stephen T. Tully , Hyungpil Moon, George A. Kantor, and Howie Choset
    Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA), May, 2008.
    Details | pdf (646KB) | Copyrighted

  • Integrating Planning and Control for Constrained Dynamical Systems

    David C. Conner
    doctoral dissertation, tech. report CMU-RI-TR-08-01, Robotics Institute, Carnegie Mellon University, January, 2008
    Details | pdf (6MB) | Copyrighted

  • Recognizing knee pathologies by classifying instantaneous screws of the six degrees-of-freedom knee motion

    Alon Wolf and Amir Degani
    Medical and Biological Engineering and Computing, Vol. 45, No. 5, May, 2007, pp. 475-482.
    Details

  • A Dynamic Single Actuator Vertical Climbing Robot

    Amir Degani, Amir Shapiro, Howie Choset, and Matthew T. Mason
    Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, November, 2007, pp. 2901-2906.
    Details | pdf (421KB) | Copyrighted

  • Valet Parking Without a Valet

    David C. Conner, Hadas Kress-Gazit, Howie Choset, Alfred Rizzi, and George J. Pappas
    Proceedings of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), October, 2007, pp. 572-577.
    Details | pdf (187KB) | Copyrighted

  • Hybrid Localization using the Hierarchical Atlas

    Stephen T. Tully , Hyungpil Moon, Deryck Morales, George A. Kantor, and Howie Choset
    Proceedings of the 2007 International Conference on Intelligent Robots and Systems (IROS), October, 2007.
    Details | pdf (789KB) | Copyrighted

  • Square-Root Iterated Kalman Filter for Bearing-Only SLAM

    Hyungpil Moon, Stephen T. Tully , George A. Kantor, and Howie Choset
    The 4th International Conference on Ubiquitous Robots and Ambient Intelligence, 2007.
    Details | pdf (203KB) | Copyrighted

  • Integrated Planning and Control for Convex-bodied Nonholonomic Systems Using Local Feedback

    David C. Conner, Howie Choset, and Alfred Rizzi
    Proceedings of Robotics: Science and Systems II, August, 2006, pp. 57-64.
    Details | pdf (446KB) | Copyrighted

  • Integrated Planning and Control for Convex-bodied Nonholonomic systems using Local Feedback Control Policies

    David C. Conner, Howie Choset, and Alfred Rizzi
    tech. report CMU-RI-TR-06-34, Robotics Institute, Carnegie Mellon University, August, 2006
    Details | pdf (2MB) | Copyrighted

  • Motion Planning for Variable Inertia Mechanical Systems

    Elie A. Shammas, Howie Choset, and Alfred Rizzi
    In Proceedings of the International Workshop on the Algorithmic Foundations of Robotics, July, 2006.
    Details

  • Graphical Singularity Analysis of 3-DoF Planar Parallel Manipulator

    Amir Degani and Alon Wolf
    Proc. 2006 Advances in Robot Kinematics (ARK 2006), June, 2006.
    Details

  • Towards Provable Navigation and Control of Nonholonomically Constrained Convex-BodiedSystems

    David C. Conner, Howie Choset, and Alfred Rizzi
    Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006.
    Details | pdf (151KB) | Copyrighted

  • Geometric Gait Analysis and Generation for Two Classes of Under-actuated Mechanical Systems

    Elie A. Shammas, Howie Choset, and Alfred Rizzi
    International Journal of Robotics Research, , May, 2006,
    Details

  • A Unified Approach to Gait Analysis and Generation for a General Class of Under-actuated Mechanical Systems

    Elie A. Shammas, Howie Choset, and Alfred Rizzi
    International Journal of Robotics Research, , May, 2006,
    Details

  • Towards Automated Gait Generation for Dynamic Systems with Non-holonomic Constraints

    Elie A. Shammas, Howie Choset, and Alfred Rizzi
    In Proceedings of the International Conference on Robotics and Automation (ICRA '06), April, 2006.
    Details | pdf (663KB) | Copyrighted

  • Generalized Motion Planning for Underactuated Mechanical Systems

    Elie A. Shammas
    doctoral dissertation, tech. report , Mechanical Engineering, Carnegie Mellon University, March, 2006
    Details | pdf (6MB) | Copyrighted

  • Percutaneous Intrapericardial Interventions Using a Highly Articulated Robotic Probe

    Amir Degani, Howie Choset, Alon Wolf, Takeyoshi Ota, and Marco A. Zenati
    Proceedings of the 2006 IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, February, 2006, pp. 7 - 12.
    Details | pdf (658KB) | Copyrighted

  • Epicardial Atrial Ablation Using a Novel Articulated Robotic Medical Probe Via a Percutaneous Subxiphoid Approach

    Takeyoshi Ota, Amir Degani, Brett Zubiate, Alon Wolf, Howie Choset, David Schwartzman, and Marco A. Zenati
    nnovations: Technology & Techniques in Cardiothoracic & Vascular Surgery, Vol. 1, No. 6, December, 2006, pp. 335-340.
    Details

  • 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

  • Natural Gait Generation Techniques for Principally Kinematic Systems

    Elie A. Shammas, Howie Choset, and Alfred Rizzi
    Proceedings of Robotics: Science and Systems, June, 2005.
    Details | pdf (962KB) | Copyrighted

  • Sensor-based Planning for a Rod-shaped Robot in Three Dimensions: Piecewise Retracts of R3 x S2

    Ji Yeong Lee and Howie Choset
    The International Journal of Robotics Research, Vol. 24, No. 5, May, 2005, pp. 343 - 383.
    Details | pdf (757KB) | Copyrighted

  • Three Degrees-of-freedom joint for spatial hyper-redundant robots

    Elie A. Shammas, Alon Wolf, and Howie Choset
    Journal of Mechanism and Machine Theory, , April, 2005, pp. 170 - 190.
    Details | pdf (3MB) | Copyrighted

  • Natural Gait Generation Techniques for Purely Mechanical Systems

    Elie A. Shammas, Karen Schmidt, and Howie Choset
    In Proceedings of International Conference on Robotics and Automation (ICRA '05), April, 2005, pp. 3664 - 3669.
    Details | pdf (888KB) | Copyrighted

  • Orientation Preserving Angular Swivel Joint

    Elie A. Shammas and Howie Choset
    US Patent Number 6,871,563, March, 2005
    Details | pdf (1MB) | Copyrighted

  • Uniform Coverage of Automotive Surface Patches

    Prasad Atkar, Aaron L. Greenfield, David C. Conner, Howie Choset, and Alfred Rizzi
    The International Journal of Robotics Research, Vol. 24, No. 11, November, 2005, pp. 883 - 898.
    Details | pdf (1MB) | Copyrighted

  • Paint Deposition Modeling for Trajectory Planning on Automotive Surfaces

    David C. Conner, Aaron L. Greenfield, Prasad Atkar, Alfred Rizzi, and Howie Choset
    IEEE Transactions on Automation Science and Engineering, Vol. 2, No. 4, October, 2005, pp. 381 - 392.
    Details | pdf (1MB) | Copyrighted

  • Arc carving: obtaining accurate, low latency maps from ultrasonic range sensors

    David Silver, Deryck Morales, Ioannis Rekleitis, Brad Lisien, and Howie Choset
    Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), May, 2004, pp. 1554 - 1561.
    Details | pdf (612KB) | Copyrighted

  • Path Planning for Robotic Demining: Robust Sensor-Based Coverage of Unstructured Environments and Probabilistic Methods

    Ercan Acar, Howie Choset, Yangang Zhang, and Mark Schervish
    The International Journal of Robotics Research, Vol. 22, No. 7 - 8, July, 2003, pp. 441 - 466.
    Details | pdf (1MB) | Copyrighted

  • Construction and Automated Deployment of Local Potential Functions for Global Robot Control and Navigation

    David C. Conner, Alfred Rizzi, and Howie Choset
    tech. report CMU-RI-TR-03-22, Robotics Institute, Carnegie Mellon University, November, 2003
    Details | pdf (4MB) | Copyrighted

  • Towards optimal coverage of 2-dimensional surfaces embedded in IR/sup 3/: choice of start curve

    Prasad Atkar, Howie Choset, and Alfred Rizzi
    2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), October, 2003, pp. 3581 - 3587.
    Details | pdf (563KB) | Copyrighted

  • New Joint Design for Three-dimensional Hyper Redundant Robots

    Elie A. Shammas, Alon Wolf, H. Benjamin Brown, and Howie Choset
    Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems. (IROS '03), October, 2003, pp. 3594 - 3599.
    Details | pdf (537KB) | Copyrighted

  • Composition of local potential functions for global robot control and navigation

    David C. Conner, Alfred Rizzi, and Howie Choset
    Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), October, 2003, pp. 3546- 3551.
    Details | pdf (567KB) | Copyrighted

  • An enhanced occupancy map for exploration via pose separation

    Robert Grabowski, Pradeep Khosla, and Howie Choset
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'03), October, 2003, pp. 705 - 710.
    Details | pdf (62Byte) | Copyrighted

  • A mobile hyper redundant mechanism for search and rescue tasks

    Alon Wolf, H. Benjamin Brown, Randy Casciola, Albert Costa, Michael Schwerin, E. Shamas, and Howie Choset
    Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2003, pp. 2889 - 2895.
    Details | pdf (612KB) | Copyrighted

  • Experimental Verification of Deposition Models for Automotive Painting with Electrostatic Rotating Bell Atomizers

    David C. Conner, Alfred Rizzi, and Howie Choset
    Experimental Robotics VIII (proceedings of ISER '02), 2003, pp. 136-145.
    Details | pdf (354KB) | Copyrighted

  • Development of Deposition Models for Paint Application on Surfaces Embedded in R^3 for Use in Automated Path Planning

    David C. Conner, Prasad Atkar, Alfred Rizzi, and Howie Choset
    Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), September, 2002.
    Details | pdf (502KB) | Copyrighted

  • Recent Results in Extensions to Simultaneous Localization and Mapping

    Sanjiv Singh, George A. Kantor, and Dennis Strelow
    Proceedings of the International Symposium on Experimental Robotics, July, 2002.
    Details | pdf (712KB) | Copyrighted

  • Towards sensor based coverage with robot teams

    DeWitt Talmadge Latimer, Siddhartha Srinivasa, Vincent Lee Shue, Samuel Sonne, Howie Choset, and Aaron Hurst
    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), May, 2002, pp. 961 - 967.
    Details | pdf (9MB) | Copyrighted

  • Sensor-Based Exploration for Convex-Bodies: A New Roadmap for a Convex-shaped Robot

    and Howie Choset
    Proceedings of the 2002 IEEE International Conference on Robotics & Automation (ICRA '02), May, 2002.
    Details | pdf (646KB) | Copyrighted

  • Exploiting Critical Points to Reduce Positioning Error for Sensor-based Navigation

    Ercan Acar and Howie Choset
    Proceedings of the 2002 IEEE International Conference on Robotics & Automation (ICRA '02), May, 2002.
    Details | pdf (1MB) | Copyrighted

  • Probabilistic hierarchical spatial model for mine locations and its application in robotic landmine search

    Yangang Zhang, Mark Schervish, and Howie Choset
    Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002, pp. 681 - 689.
    Details | pdf (590KB) | Copyrighted

  • Deposition Modeling for Paint Application on Surfaces Embedded in R^3

    David C. Conner, Prasad Atkar, Alfred Rizzi, and Howie Choset
    tech. report CMU-RI-TR-02-08, Robotics Institute, Carnegie Mellon University, October, 2002
    Details | pdf (2MB) | Copyrighted

  • Sensor-Based Construction of a Retract-Like Structure for a Planar Rod Robot

    Howie Choset and Ji Yeong Lee
    IEEE Transactions of Robotics and Automation, Vol. 17, No. 4, August, 2001,
    Details | pdf (389KB) | Copyrighted

  • Distributed Manipulation Using Discrete Actuator Arrays

    Jon Luntz, William Messner, and Howie Choset
    The International Journal of Robotics Research, Vol. 20, No. 7, July, 2001, pp. 553 - 583.
    Details | pdf (2MB) | Copyrighted

  • Sensor Based Planning for Rod Shaped Robots in Three Dimensions: Piece-wise Retracts of R^3 x S^2

    , Howie Choset, and Alfred Rizzi
    Proceedings of the 2001 IEEE International Conference on Robotics & Automation (ICRA '01), May, 2001.
    Details | pdf (712KB) | Copyrighted

  • Exact Cellular Decomposition of Closed Orientable Surfaces Embedded in R^3

    Prasad Atkar, Howie Choset, Alfred Rizzi, and Ercan Acar
    Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA '01), May, 2001.
    Details | pdf (381KB) | Copyrighted

  • Topological simultaneous localization and mapping (SLAM): toward exact localization without explicit localization

    Howie Choset and K. Nagatani
    IEEE Transactions on Robotics and Automation, Vol. 17, No. 2, April, 2001, pp. 125 - 137.
    Details | pdf (222KB) | Copyrighted

  • Robust Sensor-based Coverage of Unstructured Environments

    Ercan Acar and Howie Choset
    Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), October, 2001, pp. 61 - 68.
    Details | pdf (573KB) | Copyrighted

  • Probabilistic Methods for Robotic Landmine Search

    Yangang Zhang, Mark Schervish, Ercan Acar, and Howie Choset
    Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), October, 2001, pp. 1525 - 1532.
    Details | pdf (1MB) | Copyrighted

  • Complete Sensor-based Coverage with Extended-range Detectors: A Hierarchical Decomposition in Terms of Critical Points and Voronoi Diagrams

    Ercan Acar and Howie Choset
    Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), October, 2001, pp. 1305 - 1311.
    Details | pdf (646KB) | Copyrighted

  • Path Planning for Robotic Demining and Development of a Test Platform

    Ercan Acar, Yangang Zhang, Howie Choset, Mark Schervish, Albert Costa, Renata Melamud, David Lean, and Amy Graveline
    Proceedings of the 2001 International Conference on Field and Service Robotics, 2001, pp. 161 - 168.
    Details | pdf (437KB) | Copyrighted

  • Coverage for robotics - A survey of recent results

    Howie Choset
    Annals of Mathematics and Artificial Intelligence, Vol. 31, 2001, pp. 113 - 126.
    Details | pdf (18MB) | Copyrighted

  • Applications of Linear Programming for Linear Systems Trajectory Generation

    Marco La Civita and William Messner
    The 7th Mechatronics Forum International Conference, September, 2000.
    Details

  • Exact Cellular Decompositions in Terms of Critical Points of Morse Functions

    Howie Choset, Ercan Acar, Alfred Rizzi, and Jon Luntz
    Proceedings of IEEE International Conference on Robotics and Automation (ICRA '00), April, 2000, pp. 2270 - 2277.
    Details | pdf (227KB) | Copyrighted

  • Critical Point Sensing in Unknown Environments

    Ercan Acar and Howie Choset
    Proceedings of IEEE International Conference on Robotics and Automation (ICRA '00), April, 2000, pp. 3803 - 3810.
    Details | pdf (359KB) | Copyrighted

  • Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph

    Howie Choset and Joel Burdick
    The International Journal of Robotics Research, Vol. 19, No. 2, February, 2000, pp. 96 - 125.
    Details | pdf (592KB) | Copyrighted

  • Sensor-Based Exploration: Incremental Construction of the Hierarchical Generalized Voronoi Graph

    Howie Choset, Sean Walker, Kunnayut Eiamsa-Ard, and Joel Burdick
    The International Journal of Robotics Research, Vol. 19, No. 2, February, 2000, pp. 126 - 148.
    Details | pdf (394KB) | Copyrighted

  • Coverage of Known Spaces: The Boustrophedon Cellupdar Decomposition

    Howie Choset
    Autonomous Robots, Vol. 9, 2000, pp. 247 - 253.
    Details | pdf (554KB) | Copyrighted

  • Path Planning between Two Points for a Robot Experiencing Localization Error in Known and Unknown Environments

    Howie Choset, Marco La Civita, and Jong Chul Park
    FSR'99 Proceedings of the International Conference on Field and Service Robotics, August, 1999, pp. 98-103.
    Details | pdf (307KB) | Copyrighted

  • The Arc-Transversal Median Algorithm: an Approach to Increasing Ultrasonic Sensor Accuracy

    Howie Choset, Keiji Nagatani, and Nicole Lazar
    Proceedings of ICRA '99, May, 1999, pp. 644 - 651.
    Details | pdf (286KB) | Copyrighted

  • Path planning and control for AERCam, a free-flying inspection robot in space

    Howie Choset, Ross Alan Knepper, J. Flasher, S. Walker, A. Alford, D. Jackson, D. Kortenkamp, R. Burridge, and J. Fernandez
    Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA '99), May, 1999, pp. 1396 - 1403.
    Details | pdf (364KB) | Copyrighted

  • Open Loop Orientability of Objects on Actuator Arrays

    Jon Luntz, W. Messner, and Howie Choset
    Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA '99), May, 1999, pp. 2242 - 2248.
    Details | pdf (368KB) | Copyrighted

  • Discrete Actuator Array Vectorfield Design for Distributed Manipulation

    Jon Luntz, W. Messner, and Howie Choset
    Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA '99), May, 1999, pp. 2235 - 2241.
    Details | pdf (211KB) | Copyrighted

  • Path Planning and Control for AERCam, a Free-flying Inspection Robot in Space

    Howie Choset and D. Kortenkamp
    ASCE Journal of Aerospace Engineering, Vol. 12, No. 2, April, 1999, pp. 74 - 81.
    Details | pdf (372KB) | Copyrighted

  • Toward Robust Sensor Based Exploration by Constructing Reduced Generalized Voronoi Graph

    Keiji Nagatani and Howie Choset
    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '99), October, 1999, pp. 1687 - 1692.
    Details | pdf (356KB) | Copyrighted

  • A Follow-the-Leader Approach to Serpentine Robot Motion Planning

    Howie Choset and W. Henning
    ASCE Journal of Aerospace Engineering, 1999.
    Details | pdf (531KB) | Copyrighted

  • Stick-Slip Operation of The Modular Distributed Manipulated System

    Jon Luntz, W. Messner, and Howie Choset
    Proceedings of the 1998 AACC American Controls Conference, June, 1998, pp. 3853 - 3857.
    Details | pdf (389KB) | Copyrighted

  • Towards Exact Location without Explicit Localization

    Keiji Nagatani, Howie Choset, and Sebastian Thrun
    Proceedings of the 1998 IEEE International Conference on Robotics and Automation (ICRA '98), May, 1998.
    Details | pdf (703KB) | Copyrighted

  • Velocity Field Design for the Modular Distributed Manipulator System

    Jon Luntz, W. Messner, and Howie Choset
    Proceedings of the 1998 Workshop on the Algorithmic Fundamentals of Robotics, 1998.
    Details | pdf (581KB) | Copyrighted

  • Sensor Based Planning for a Planar Rod Robot: Incremental Construction of the Planar Rod-HGVG

    Howie Choset, Brian Mirtich, and Joel Burdick
    Proceedings of the 1997 IEEE International Conference on Robotics and Automation (ICRA '97), April, 1997, pp. 3427 - 3434.
    Details | pdf (259KB) | Copyrighted

  • Incremental Construction of the Generalized Voronoi Diagram, the Generalized Voronoi Graph, and the Hierarchical Generalized Voronoi Graph

    Howie Choset
    Proceedings of the First CGC Workshop on Computational Geometry, October, 1997.
    Details | pdf (260KB) | Copyrighted

  • Virtual Vehicle: Parcel Manipulation and Dynamics with a Distributed Actuator Array

    Jonathan Luntz, William Messner, and Howie Choset
    Proceedings of the SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, Sensors and Controls for Advanced Manufacturing, 1997.
    Details | pdf (452KB) | Copyrighted

  • Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph

    Howie Choset, Ilhan Konukseven, and Alfred Rizzi
    Proceedings of ICAR '97, 1997.
    Details | pdf (255KB) | Copyrighted

  • Nonsmooth Analysis, Convex Analysis, and their Applications to Motion Planning

    Howie Choset
    Special Issue of the International Journal of Computational Geometry and Applications, , 1997
    Details | pdf (249KB) | Copyrighted

  • Mobile Robot Navigation: Implementing the GVG in the Presence of Sharp Corners

    Ilhan Konukseven and Howie Choset
    Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '97), 1997.
    Details | pdf (185KB) | Copyrighted

  • Coverage Path Planning: The Boustrophedon Decomposition

    Howie Choset and Philippe Pignon
    International Conference on Field and Service Robotics, 1997.
    Details | pdf (144KB) | Copyrighted

  • Sensor Based Planning for a Rod Robot

    Howie Choset and J. Burdick
    Proceedings of the 1996 IEEE International Conference on Robotics and Automation (ICRA '96), April, 1996, pp. 3584 - 3591.
    Details | pdf (270KB) | Copyrighted

  • Sensor Based Motion Planning: The Hierarchical Generalized Voronoi Graph

    Howie Choset and J. Burdick
    Workshop on Algorithmic Foundations of Robotics, 1996.
    Details | pdf (369KB) | Copyrighted

  • Mobile Robot Navigation: Issues in Implementation the Generalized Voronoi Graph in the Plane

    Howie Choset, Ilhan Konukseven, and Joel Burdick
    Proceedings of the 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, 1996, pp. 241 - 248.
    Details | pdf (789KB) | Copyrighted

  • Sensor Based Planning, Part II: Incremental Construction of the Generalized Voronoi Graph

    Howie Choset and J. Burdick
    Proceedings of the 1995 IEEE International Conference on Robotics and Automation (ICRA '95), May, 1995, pp. 1643 - 1648.
    Details | pdf (209KB) | Copyrighted

  • Sensor Based Planning, Part I: The Generalized Voronoi Graph

    Howie Choset and J. Burdick
    Proceedings of the 1995 IEEE International Conference on Robotics and Automation (ICRA '95), May, 1995, pp. 1649 - 1655.
    Details | pdf (226KB) | Copyrighted

  • Sensor Based Planning and Nonsmooth Analysis

    Howie Choset and J. Burdick
    Proceedings of the 1994 IEEE International Conference on Robotics and Automation (ICRA '94), May, 1994, pp. 3034 - 3041.
    Details | pdf (271KB) | Copyrighted

  • Extensibility in Local Sensor Based Planning For Hyper Redundant Manipulators (Robot Snakes)

    Howie Choset and J. Burdick
    Proceedings of the 1994 Conference on Intelligent Robots for Field, Factory, Service, and Space (CIRFFSS '94), 1994.
    Details | pdf (197KB) | Copyrighted

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    Details | pdf (214KB) | Copyrighted