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Reliable Autonomous Systems Lab (RASL)
Head: Reid Simmons
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Lab Location: NSH A513
Lab Phone: (412) 268 5924
Lab Homepage
Publications
  • Background Subtraction and Accessibility Analysis in Evidence Grids

    Peter Anderson-Sprecher, Reid Simmons, and Daniel Huber
    Proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA 2011), May, 2011.
    Details | pdf (2MB) | Copyrighted

  • Interactional disparities in English and Arabic native speakers with bi-lingual robot receptionist

    Imran Aslam Fanaswala, Brett Browning, and Majd Sakr
    International conference on Human Robot Interaction (HRI). Late breaking track., March, 2011.
    Details

  • Social Robot Navigation

    Rachel Kirby
    doctoral dissertation, tech. report CMU-RI-TR-10-13, Robotics Institute, Carnegie Mellon University, May, 2010
    Details | pdf (25MB) | Copyrighted

  • Dialogue Patterns of an Arabic Robot Receptionist

    Maxim Makatchev, Imran Aslam Fanaswala, Ameer Ayman Abdulsalam, Brett Browning, Wael Mahmoud Ghazzawi, Majd Sakr, and Reid Simmons
    Proceeding of the 5th ACM/IEEE international conference on Human-robot interaction, March, 2010.
    Details | pdf (598KB) | Copyrighted

  • Affective Social Robots

    Rachel Kirby, Jodi Forlizzi, and Reid Simmons
    Robotics and Autonomous Systems, Vol. 58, March, 2010, pp. 322.
    Details | pdf (4MB) | Copyrighted

  • Do You Really Want to Know? Display Questions in Human-Robot Dialogues

    Maxim Makatchev and Reid Simmons
    Proc. of AAAI Fall Symposium on Dialog with Robots, December, 2010.
    Details | pdf (91KB) | Copyrighted

  • Incorporating a User Model to Improve Detection of Unhelpful Robot Answers

    Maxim Makatchev and Reid Simmons
    International Symposium on Robot and Human Interactive Communication, RO-MAN'2009, October, 2009, pp. 973-978.
    Details | pdf (223KB) | Copyrighted

  • How do people talk with a robot?: an analysis of human-robot dialogues in the real world

    Min Kyung Lee and Maxim Makatchev
    Proceedings of the 27th international conference extended abstracts on Human factors in computing systems (CHI'2009), May, 2009.
    Details | pdf (2MB) | Copyrighted

  • Relating initial turns of human-robot dialogues to discourse

    Maxim Makatchev, Min Kyung Lee, and Reid Simmons
    International Conference on Human-Robot Interaction, March, 2009.
    Details | pdf (97KB) | Copyrighted

  • Learning Sequential Composition Plans Using Reduced-Dimensionality Examples

    Nicholas Melchior and Reid Simmons
    tech. report (AAAI) SS-09-01, Robotics Institute, Carnegie Mellon University, March, 2009
    Details | pdf (733KB) | Copyrighted

  • Socially Distributed Perception: GRACE plays Social Tag at AAAI 2005

    Marek Piotr Michalowski, Selma Sabanovic, Carl Francis DiSalvo, Didac Busquets Font, Laura M. Hiatt, Nicholas Melchior, and Reid Simmons
    Autonomous Robots, Vol. 22, No. 4, May, 2007, pp. 385-397.
    Details | pdf (743KB) | Copyrighted

  • Natural Person-Following Behavior for Social Robots

    Rachel Kirby, Jodi Forlizzi, and Reid Simmons
    Proceedings of Human-Robot Interaction, March, 2007, pp. 17-24.
    Details | pdf (379KB) | Copyrighted

  • Making Friends: Building Social Robots through Interdisciplinary Collaboration

    Selma Sabanovic, Marek Piotr Michalowski, and Linnda R. Caporael
    Multidisciplinary Collaboration for Socially Assistive Robotics: Papers from the 2007 AAAI Spring Symposium, Technical Report SS-07-07, March, 2007, pp. 71-77.
    Details | pdf (1MB) | Copyrighted

  • Modeling Affect in Socially Interactive Robots

    Rachel Kirby, Reid Simmons, and Jodi Forlizzi
    Proceedings of the 15th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN06), October, 2006, pp. 558-563.
    Details | pdf (289KB) | Copyrighted

  • Socially Distributed Perception

    Marek Piotr Michalowski, Carl Francis DiSalvo, Selma Sabanovic, Didac Busquets Font, Laura M. Hiatt, Nicholas Melchior, and Reid Simmons
    Proceedings of the 1st Annual Conference on Human-Robot Interaction (HRI 2006), March, 2006, pp. 349-350.
    Details | pdf (137KB) | Copyrighted

  • Robots in the wild: observing human-robot social interaction outside the lab

    S. Sabanovic, Marek Piotr Michalowski, and Reid Simmons
    Proceedings of the 9th International Workshop on Advanced Motion Control (AMC 2006), March, 2006, pp. 596 - 601.
    Details | pdf (156KB) | Copyrighted

  • Multimodal person tracking and attention classification

    Marek Piotr Michalowski and Reid Simmons
    Proceedings of the 1st Annual Conference on Human-Robot Interaction (HRI 2006), March, 2006, pp. 347-348.
    Details | pdf (134KB) | Copyrighted

  • Interactions with a Moody Robot

    Rachel Kirby, Jodi Forlizzi, and Reid Simmons
    Proceedings of Human-Robot Interaction, Salt Lake City, Utah, March, 2006, pp. 186-193.
    Details | pdf (459KB) | Copyrighted

  • A spatial model of engagement for a social robot

    Marek Piotr Michalowski, S. Sabanovic, and Reid Simmons
    Proceedings of the 9th International Workshop on Advanced Motion Control (AMC 2006), March, 2006, pp. 762 - 767.
    Details | pdf (199KB) | Copyrighted

  • What to Communicate? Execution-time Decision in Multi-agent POMDPs

    Maayan Roth, Reid Simmons, and Manuela Veloso
    The 8th International Symposium on Distributed Autonomous Robotic Systems (DARS), 2006.
    Details

  • Designing Robots for Long-Term Social Interaction

    Rachel Kirby, Frank Broz, Jodi Forlizzi, Marek Piotr Michalowski, Anne Mundell, Stephanie Rosenthal, Brennan Peter Sellner, Reid Simmons, Kevin Snipes, Alan Schultz, and Jue Wang
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), August, 2005, pp. 2199 - 2204.
    Details | pdf (593KB) | Copyrighted

  • Social Tag: Finding the Person with the Pink Hat

    Carl Francis DiSalvo, Didac Busquets Font, Laura Hiatt, Nicholas Melchior, Marek Piotr Michalowski, and Reid Simmons
    Proceedings of the Twentieth National Conference on Artificial Intelligence (AAAI 2005), July, 2005, pp. 1726-1727.
    Details | pdf (109KB) | Copyrighted

  • Tractable Particle Filters for Robot Fault Diagnosis

    Vandi Verma
    doctoral dissertation, tech. report , Robotics Institute, Carnegie Mellon University, May, 2005
    Details | pdf (1MB) | Copyrighted

  • Social Tag: Finding the Person with the Pink Hat

    Marek Piotr Michalowski, Didac Busquets Font, Carl Francis DiSalvo, Laura Hiatt, Nicholas Melchior, Reid Simmons, and Selma Sabanovic
    AAAI Mobile Robot Competition and Exhibition: Papers from the 2005 AAAI Workshop, Technical Report WS-05-11, 2005, pp. 40-44.
    Details | pdf (536KB) | Copyrighted

  • Reasoning About Joint Beliefs for Execution-Time Communication Decisions

    Maayan Roth, Reid Simmons, and Manuela Veloso
    The Fourth International Joint Conference on Autonomous Agents and Multi Agent Systems (AAMAS), 2005.
    Details

  • Decentralized Communication Strategies for Coordinated Multi-Agent Policies

    Maayan Roth, Reid Simmons, and Manuela Veloso
    Multi-Robot Systems. From Swarms to Intelligent Automata, Lynne E. Parker, Frank E. Schneider, Alan C. Shultz, ed., Springer, 2005, pp. 93-106.
    Details

  • Real-time fault diagnosis [robot fault diagnosis]

    Vandi Verma, Geoffrey Gordon, Reid Simmons, and Sebastian Thrun
    Robotics & Automation Magazine, Vol. 11, No. 2, July, 2004, pp. 56 - 66.
    Details | pdf (611KB) | Copyrighted

  • Preliminary Results in Sliding Autonomy for Coordinated Teams

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

  • Decision-theoretic Monte Carlo smoothing for scaling tracking in hybrid dynamic systems

    Vandi Verma and Reid Simmons
    , Vol. 3, March, 2004, pp. 1986 - 1992.
    Details | pdf (500KB) | Copyrighted

  • Variable Resolution Particle Filter

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

  • Boosting Stochastic Problem Solvers Through Online Self-Analysis of Performance

    Vincent Cicirello
    doctoral dissertation, tech. report CMU-RI-TR-03-27, Robotics Institute, Carnegie Mellon University, July, 2003
    Details | pdf (2MB) | Copyrighted

  • Efficient Monitoring for Planetary Rovers

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

  • A Generic Framework for Robotic Navigation

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

  • Policy Search in Reproducing Kernel Hilbert Space

    J. Andrew (Drew) Bagnell and Jeff Schneider
    tech. report CMU-RI-TR-03-45, Robotics Institute, Carnegie Mellon University, December, 2003
    Details | pdf (351KB) | Copyrighted

  • Market-Based Multi-Robot Planning in a Distributed Layered Architecture

    Dani Goldberg, Vincent Cicirello, M Bernardine Dias, Reid Simmons, Stephen Smith, and Anthony (Tony) Stentz
    Multi-Robot Systems: From Swarms to Intelligent Automata: Proceedings from the 2003 International Workshop on Multi-Robot Systems, 2003, pp. 27-38.
    Details

  • Amplification of Search Performance through Randomization of Heuristics

    Vincent Cicirello and Stephen Smith
    Principles and Practice of Constraint Programming: 8th International Conference, Proceedings, October, 2002, pp. 124-138.
    Details | pdf (280KB) | Copyrighted

  • The Role of Expressiveness and Attention in Human-Robot Interaction

    Frank Broz, Illah Nourbakhsh, and Reid Simmons
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA' 02), May, 2002.
    Details | pdf (183KB) | Copyrighted

  • A Social Robot that Stands in Line

    Yasushi Nakauchi and Reid Simmons
    Autonomous Robots, Vol. 12, No. 3, May, 2002, pp. 313 - 324.
    Details

  • A Layered Architecture for Coordination of Mobile Robots

    Reid Simmons, Trey Smith, M Bernardine Dias, Dani Goldberg, David Hershberger, Anthony (Tony) Stentz, and Robert Michael Zlot
    Multi-Robot Systems: From Swarms to Intelligent Automata, Proceedings from the 2002 NRL Workshop on Multi-Robot Systems, May, 2002.
    Details

  • Distributed Coordination of Resources via Wasp-like Agents

    Vincent Cicirello and Stephen Smith
    First NASA GSFC/JPL Workshop on Radical Agent Concepts (WRAC), January, 2002.
    Details | pdf (159KB) | Copyrighted

  • A Distributed Layered Architecture for Mobile Robot Coordination: Application to Space Exploration

    Dani Goldberg, Vincent Cicirello, M Bernardine Dias, Reid Simmons, Stephen Smith, Trey Smith, and Anthony (Tony) Stentz
    Proceedings of the 3rd International NASA Workshop on Planning and Scheduling for Space, 2002.
    Details

  • A Game-Theoretic Analysis of Multi-Agent Systems for Shop Floor Routing

    Vincent Cicirello
    tech. report CMU-RI-TR-01-28, Robotics Institute, Carnegie Mellon University, October, 2001
    Details | pdf (179KB) | Copyrighted

  • Solving Uncertain Markov Decision Problems

    J. Andrew (Drew) Bagnell, Andrew Y. Ng, and Jeff Schneider
    tech. report CMU-RI-TR-01-25, Robotics Institute, Carnegie Mellon University, August, 2001
    Details | pdf (970KB) | Copyrighted

  • Insect Societies and Manufacturing

    Vincent Cicirello and Stephen Smith
    The IJCAI-01 Workshop on Artificial Intelligence and Manufacturing: New AI Paradigms for Manufacturing, August, 2001.
    Details | pdf (152KB) | Copyrighted

  • Improved Routing Wasps for Distributed Factory Control

    Vincent Cicirello and Stephen Smith
    The IJCAI-01 Workshop on Artificial Intelligence and Manufacturing: New AI Paradigms for Manufacturing, August, 2001.
    Details | pdf (149KB) | Copyrighted

  • A Market Approach to Multirobot Coordination

    M Bernardine Dias and Anthony (Tony) Stentz
    tech. report CMU-RI -TR-01-26, Robotics Institute, Carnegie Mellon University, August, 2001
    Details | pdf (342KB) | Copyrighted

  • Wasp Nests for Self-Configurable Factories

    Vincent Cicirello and Stephen Smith
    Agents '01, Proceedings of the Fifth International Conference on Autonomous Agents, May, 2001.
    Details | pdf (418KB) | Copyrighted

  • Autonomous Helicopter Control using Reinforcement Learning Policy Search Methods

    J. Andrew (Drew) Bagnell and Jeff Schneider
    Proceedings of the International Conference on Robotics and Automation 2001, May, 2001.
    Details | pdf (224KB) | Copyrighted

  • Ant Colony Control for Autonomous Decentralized Shop Floor Routing

    Vincent Cicirello and Stephen Smith
    ISADS-2001: Fifth International Symposium on Autonomous Decentralized Systems, March, 2001, pp. 383 - 390.
    Details | pdf (79KB) | Copyrighted

  • Randomizing Dispatch Scheduling Policies

    Vincent Cicirello and Stephen Smith
    The 2001 AAAI Fall Symposium: Using Uncertainty Within Computation, December, 2001.
    Details | pdf (96KB) | Copyrighted

  • The Role of Expressiveness and Attention in Human-Robot Interaction

    Frank Broz, Illah Nourbakhsh, and Reid Simmons
    Proceedings, 2001 AAAI Fall Symposium, 2001.
    Details | pdf (45KB) | Copyrighted

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

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

  • Q2: memory-based active learning for optimizing noisy continuous functions

    Andrew Moore, Jeff Schneider, Justin Boyan, and M.S. Lee
    IEEE International Conference on Robotics and Automation (ICRA '00), May, 2000, pp. 4095 - 4102.
    Details | pdf (651KB) | Copyrighted

  • Distributed Robotic Mapping of Extreme Environments

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

  • A Social Robot that Stands in Line

    Yasushi Nakauchi and Reid Simmons
    Proceedings of the Conference on Intelligent Robots and Systems (IROS '00), October, 2000.
    Details | pdf (5MB) | Copyrighted

  • Lessons Learned from Xavier

    Reid Simmons, Joaquin Lopez Fernandez, Richard Goodwin, Sven Koenig, and Joseph O'Sullivan
    Robotics and Automation Magazine, , 2000 pp. 733 - 39.
    Details | pdf (783KB) | Copyrighted

  • Handling Sensing Failures in Autonomous Mobile Robots

    Robin Murphy and David Hershberger
    The International Journal of Robotics Research, Vol. 18, No. 4, May, 1999, pp. 382 - 400.
    Details | pdf (323KB) | Copyrighted

  • A Free Market Architecture for Coordinating Multiple Robots

    Anthony (Tony) Stentz and M Bernardine Dias
    tech. report CMU-RI-TR-99-42, Robotics Institute, Carnegie Mellon University, December, 1999
    Details | pdf (106KB) | Copyrighted

  • Social Behavioral Robot that Stands in Line

    Yasushi Nakauchi and Reid Simmons
    Proceedings of SMC '99, October, 1999.
    Details | pdf (488KB) | Copyrighted

  • Xavier: An Autonomous Mobile Robot on the Web

    Reid Simmons, J. Fernandez, R. Goodwin, S. Koenig, and Joseph O'Sullivan
    Robotics and Automation Magazine, , 1999
    Details | pdf (783KB) | Copyrighted

  • Distributed Value Functions

    Jeff Schneider, Weng-Keen Wong, Andrew Moore, and Martin Riedmiller
    International Conference on Machine Learning, 1999.
    Details | pdf (150KB) | Copyrighted

  • Q2: Memory-based active learning for optimizing noisy continuous functions

    Andrew Moore, Jeff Schneider, Justin Boyan, and Mary Lee
    International Conference of Machine Learning, July, 1998.
    Details | pdf (721KB) | Copyrighted

  • Value Function Based Production Scheduling

    Jeff Schneider, Justin Boyan, and Andrew Moore
    Machine Learning: Proceedings of the Fifteenth International Conference (ICML '98), March, 1998.
    Details | pdf (144KB) | Copyrighted

  • Xavier: A Robot Navigation Architecture Based on Partially Observable Markov Decision Process Models

    Sven Koenig and Reid Simmons
    Artificial Intelligence Based Mobile Robotics: Case Studies of Successful Robot Systems, D. Kortenkamp, R. Bonasso and R. Murphy, ed., MIT Press, 1998, pp. 91 - 122.
    Details

  • Solving Robot Navigation Problems with Initial Pose Uncertainty Using Real-Time Heuristic Search

    Sven Koenig and Reid Simmons
    Proceedings of the International Conference on Artificial Intelligence Planning Systems, 1998, pp. 144 - 153.
    Details | pdf (100KB) | Copyrighted

  • A Layered Architecture for Office Delivery Robots

    Reid Simmons, R. Goodwin, K. Haigh, S. Koenig, and J. Sullivan
    First International Conference on Autonomous Agents, March, 1997, pp. 235 - 242.
    Details | pdf (230KB) | Copyrighted

  • Xavier: Experience with a Layered Robot Architecture

    Reid Simmons, R. Goodwin, K. Haigh, S. Koenig, Joseph O'Sullivan, and Manuela Veloso
    Agents '97, 1997.
    Details | pdf (578KB) | Copyrighted

  • Sensor-Based Planning with the Freespace Assumption

    Sven Koenig and Y. Smirnov
    Proceedings of the International Conference on Robotics and Automation (ICRA '97), 1997.
    Details | pdf (212KB) | Copyrighted

  • The Curvature-Velocity Method for Local Obstacle Avoidance

    Reid Simmons
    International Conference on Robotics and Automation, May, 1996.
    Details | pdf (64KB) | Copyrighted

  • Passive Distance Learning for Robot Navigation

    Sven Koenig and Reid Simmons
    Proceedings ofthe Thirteenth International Conference on Machine Learning (ICML), 1996, pp. 266 - 274.
    Details | pdf (68KB) | Copyrighted

  • Exploiting Model Uncertainty Estimates for Safe Dynamic Control Learning

    Jeff Schneider
    Neural Information Processing Systems 9, 1996.
    Details | pdf (160KB) | Copyrighted

  • Active Learning on Non-Stationary Functions

    Jeff Schneider
    Working Notes of the AAAI Fall Symposium on Active Learning, 1996.
    Details | pdf (160KB) | Copyrighted

  • Probabilistic Robot Navigation in Partially Observable Environments

    Reid Simmons and Sven Koenig
    Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI '95), July, 1995, pp. 1080 - 1087.
    Details | pdf (61KB) | Copyrighted

  • Robot Navigation with Markov Models: A Framework for Path Planning and Learning with Limited Computational Resources

    Sven Koenig, Richard Goodwin, and Reid Simmons
    Proceedings of the International Workshop on Reasoning with Uncertainty in Robotics, December, 1995.
    Details | pdf (76KB) | Copyrighted

  • Memory-based Stochastic Optimization

    Andrew Moore and Jeff Schneider
    Neural Information Processing Systems 8, 1995.
    Details | pdf (269KB) | Copyrighted