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Planning and Autonomy Lab
This lab is no longer active.
Head: James Kuffner
Contact: James Kuffner
Associated center(s) / consortia:
 Center for the Foundations of Robotics (CFR)
Lab Homepage
Publications
  • Constrained Manipulation Planning

    Dmitry Berenson
    doctoral dissertation, tech. report CMU-RI-TR-11-08, Robotics Institute, Carnegie Mellon University, May, 2011
    Details | pdf (16MB) | Copyrighted

  • An Optimization Approach to Rough Terrain Locomotion

    Matthew Zucker, J. Andrew (Drew) Bagnell, Chris Atkeson, and James Kuffner
    IEEE Conference on Robotics and Automation, May, 2010.
    Details | pdf (2MB) | Copyrighted

  • Reinforcement Planning: RL for Optimal Planners

    Matthew Zucker and J. Andrew (Drew) Bagnell
    tech. report CMU-RI-TR-10-14, Robotics Institute, Carnegie Mellon University, April, 2010
    Details | pdf (3MB) | 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, September, 2009, pp. 973-978.
    Details | pdf (223KB) | 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

  • A Data-Driven Approach to High Level Planning

    Matthew Zucker
    tech. report CMU-RI-TR-09-42, Robotics Institute, Carnegie Mellon University, January, 2009
    Details | pdf (5MB) | Copyrighted

  • Pose-Constrained Whole-Body Planning using Task Space Region Chains

    Dmitry Berenson, Joel Chestnutt, Siddhartha Srinivasa, James Kuffner, and Satoshi Kagami
    IEEE-RAS International Conference on Humanoid Robots (Humanoids09), December, 2009.
    Details | pdf (2MB) | Copyrighted

  • Humanoid Motion Planning for Dual-Arm Manipulation and Re-Grasping Tasks

    Nikolaus Vahrenkamp, Dmitry Berenson, Tamim Asfour, James Kuffner, and Rudiger Dillmann
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '09), October, 2009.
    Details | pdf (812KB) | Copyrighted

  • 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

  • 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

  • OpenRAVE: A Planning Architecture for Autonomous Robotics

    Rosen Diankov and James Kuffner
    tech. report CMU-RI-TR-08-34, Robotics Institute, Carnegie Mellon University, July, 2008
    Details | pdf (3MB) | Copyrighted

  • Integrating Perception and Planning for Humanoid Autonomy

    Philipp Michel
    doctoral dissertation, tech. report CMU-RI-TR-08-35, Robotics Institute, Carnegie Mellon University, July, 2008
    Details | pdf (28MB) | Copyrighted

  • Improved Motion Planning Speed and Safety using Regions of Inevitable Collision

    Nicholas Chan, James Kuffner, and Matthew Zucker
    17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (RoManSy'08), July, 2008.
    Details | pdf (574KB) | 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

  • GPU-accelerated Real-Time 3D Tracking for Humanoid Autonomy

    Philipp Michel, Joel Chestnutt, Satoshi Kagami, Koichi Nishiwaki, James Kuffner, and Takeo Kanade
    Proceedings of the JSME Robotics and Mechatronics Conference (ROBOMEC'08), June, 2008.
    Details | pdf (1MB) | 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

  • Path and Trajectory Diversity: Theory and Algorithms

    Michael S. Branicky, Ross Alan Knepper, and James Kuffner
    International Conference on Robotics and Automation, May, 2008.
    Details | pdf (628KB) | Copyrighted

  • Finding and Transferring Policies Using Stored Behaviors

    Martin Stolle
    doctoral dissertation, tech. report CMU-RI-TR-08-27, Robotics Institute, Carnegie Mellon University, May, 2008
    Details | pdf (10MB) | Copyrighted

  • An Optimization Approach to Planning for Mobile Manipulation

    Dmitry Berenson, Howie Choset, and James Kuffner
    IEEE International Conference on Robotics and Automation (ICRA) 2008, May, 2008, pp. 1187-1192.
    Details | pdf (737KB) | Copyrighted

  • Adaptive Workspace Biasing for Sampling Based Planners

    Matthew Zucker, James Kuffner, and J. Andrew (Drew) Bagnell
    Proc. IEEE Int'l Conf. on Robotics and Automation, May, 2008.
    Details | pdf (977KB) | 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

  • (Online) Subgradient Methods for Structured Prediction

    Nathan Ratliff, J. Andrew (Drew) Bagnell, and Martin Zinkevich
    Eleventh International Conference on Artificial Intelligence and Statistics (AIStats), March, 2007.
    Details | pdf (375KB) | Copyrighted

  • Kernel Conjugate Gradient for Fast Kernel Machines

    Nathan Ratliff and J. Andrew (Drew) Bagnell
    International Joint Conference on Artificial Intelligence, January, 2007.
    Details | pdf (7MB) | 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

  • Grasp Planning in Complex Scenes

    Dmitry Berenson, Rosen Diankov, Koichi Nishiwaki, Satoshi Kagami, and James Kuffner
    IEEE-RAS International Conference on Humanoid Robots (Humanoids07), December, 2007.
    Details | pdf (4MB) | 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

  • Planning for Robust Execution of Humanoid Motions using Future Perceptive Capability

    Philipp Michel, Christian Scheurer, James Kuffner, Nikolaus Vahrenkamp, and R?iger Dillmann
    Proceedings of the IEEE/RSJ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), October, 2007, pp. 3223-3228.
    Details | pdf (2MB) | Copyrighted

  • Navigation Among Movable Obstacles

    Michael Stilman
    doctoral dissertation, tech. report CMU-RI-TR-07-37, Robotics Institute, Carnegie Mellon University, October, 2007
    Details | pdf (11MB) | Copyrighted

  • GPU-accelerated Real-Time 3D Tracking for Humanoid Locomotion and Stair Climbing

    Philipp Michel, Joel Chestnutt, Satoshi Kagami, Koichi Nishiwaki, James Kuffner, and Takeo Kanade
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), October, 2007, pp. 463-469.
    Details | pdf (1MB) | Copyrighted

  • Transfer of policies based on trajectory libraries

    Martin Stolle, Hanns Tappeiner, Joel Chestnutt, and Chris Atkeson
    Proceedings of the International Conference on Intelligent Robots and Systems, 2007.
    Details | pdf (2MB) | Copyrighted

  • Knowledge transfer using local features

    Martin Stolle and Chris Atkeson
    Proceedings of the IEEE Symposium on Approximate Dynamic Programming and Reinforcement Learning, 2007.
    Details | pdf (1MB) | 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

  • Planning Among Movable Obstacles with Artificial Constraints

    Michael Stilman and James Kuffner
    Workshop on the Algorithmic Foundations of Robotics, July, 2006.
    Details | pdf (2MB) | Copyrighted

  • Maximum Margin Planning

    Nathan Ratliff, J. Andrew (Drew) Bagnell, and Martin Zinkevich
    International Conference on Machine Learning, July, 2006.
    Details | pdf (2MB) | Copyrighted

  • Online Environment Reconstruction for Biped Navigation

    Philipp Michel, Joel Chestnutt, Satoshi Kagami, Koichi Nishiwaki, James Kuffner, and Takeo Kanade
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'06), May, 2006, pp. 3089 - 3094.
    Details | pdf (2MB) | Copyrighted

  • An Intelligent Joystick for Biped Control

    Joel Chestnutt, Philipp Michel, Koichi Nishiwaki, James Kuffner, and Satoshi Kagami
    Proceedings of the IEEE International Conference on Robotics and Automation, May, 2006, pp. 860 - 865.
    Details | pdf (2MB) | Copyrighted

  • Planning and Executing Navigation Among Movable Obstacles

    Michael Stilman, Koichi Nishiwaki, Satoshi Kagami, and James Kuffner
    IEEE/RSJ Int. Conf. On Intelligent Robots and Systems (IROS 06), October, 2006, pp. 820 - 826.
    Details | pdf (2MB) | Copyrighted

  • Precomputed Search Trees: Planning for Interactive Goal-Driven Animation

    Manfred Lau and James Kuffner
    ACM SIGGRAPH / Eurographics Symposium on Computer Animation, 2006.
    Details | pdf (2MB) | Copyrighted

  • Behavior Planning for Character Animation

    Manfred Lau and James Kuffner
    In Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation, August, 2005.
    Details | pdf (4MB) | Copyrighted

  • Kernel Conjugate Gradient

    Nathan Ratliff and J. Andrew (Drew) Bagnell
    tech. report CMU-RI-TR-05-30, Robotics Institute, Carnegie Mellon University, June, 2005
    Details | pdf (103KB) | Copyrighted

  • Footstep Planning for the Honda ASIMO Humanoid

    Joel Chestnutt, Manfred Lau, Kong Man Cheung, James Kuffner, Jessica K Hodgins, and Takeo Kanade
    Proceedings of the IEEE International Conference on Robotics and Automation, April, 2005.
    Details | pdf (270KB) | Copyrighted

  • Vision-Guided Humanoid Footstep Planning for Dynamic Environments

    Philipp Michel, Joel Chestnutt, James Kuffner, and Takeo Kanade
    Proceedings of the IEEE-RAS Conference on Humanoid Robots (Humanoids'05), December, 2005, pp. 13 - 18.
    Details | pdf (2MB) | Copyrighted

  • Navigation Among Movable Obstacles: Real-Time Reasoning in Complex Environments

    Michael Stilman and James Kuffner
    International Journal of Humanoid Robotics, Vol. 2, No. 4, December, 2005, pp. 479-504.
    Details | pdf (3MB) | Copyrighted

  • Augmented Reality for Robot Development and Experimentation

    Michael Stilman, Philipp Michel, Joel Chestnutt, Koichi Nishiwaki, Satoshi Kagami, and James Kuffner
    tech. report CMU-RI-TR-05-55, Robotics Institute, Carnegie Mellon University, November, 2005
    Details | pdf (7MB) | Copyrighted

  • Navigation Among Movable Obstacles: Real-time Reasoning in Complex Environments

    Michael Stilman and James Kuffner
    Proceedings of the 2004 IEEE International Conference on Humanoid Robotics (Humanoids'04), December, 2004, pp. 322 - 341.
    Details | pdf (2MB) | Copyrighted

  • A Tiered Planning Strategy for Biped Navigation

    Joel Chestnutt and James Kuffner
    Proceedings of the IEEE - RAS / RSJ Conference on Humanoid Robots, November, 2004.
    Details | pdf (2MB) | Copyrighted

  • Online Footstep Planning for Humanoid Robots

    James Kuffner, K. Nishiwaki, Satoshi Kagami, Y. Kuniyoshi, M. Inaba, and H. Inoue
    IEEE Int'l Conf. on Robotics and Automation (ICRA'2003), September, 2003.
    Details | pdf (3MB) | Copyrighted

  • Planning Biped Navigation Strategies in Complex Environments

    Joel Chestnutt, James Kuffner, Koichi Nishiwaki, and Satoshi Kagami
    Proceedings of the 2003 International Conference on Humanoid Robots, October, 2003.
    Details | pdf (2MB) | Copyrighted