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UGCV PerceptOR Integrated (UPI)
Head: John Bares and Anthony (Tony) Stentz
Contact: Anthony (Tony) Stentz
Mailing address:
National Robotics Engineering Consortium
10 40th Street
Pittsburgh, PA 15201
Project Homepage
Publications
  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • 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

  • Anytime Online Novelty Detection for Vehicle Safeguarding

    Boris Sofman, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz
    IEEE International Conference on Robotics and Automation, May, 2010.
    Details | pdf (2MB) | Copyrighted

  • Online Learning Techniques for Improving Robot Navigation in Unfamiliar Domains

    Boris Sofman
    doctoral dissertation, tech. report CMU-RI-TR-10-43, Robotics Institute, Carnegie Mellon University, December, 2010
    Details | pdf (31MB) | 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

  • Perceptual Interpretation for Autonomous Navigation through Dynamic Imitation Learning

    David Silver, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz
    International Symposium of Robotics Research, August, 2009.
    Details | pdf (1MB) | Copyrighted

  • Receding Horizon Model-Predictive Control for Mobile Robot Navigation of Intricate Paths

    Thomas Howard, Colin Green, and Alonzo Kelly
    Proceedings of the 7th International Conferences on Field and Service Robotics, July, 2009.
    Details | pdf (1MB) | 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

  • Applied Imitation Learning for Autonomous Navigation in Complex Natural Terrain

    David Silver, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz
    Field and Service Robotics, July, 2009.
    Details | pdf (4MB) | Copyrighted

  • Anytime Online Novelty Detection for Vehicle Safeguarding

    Boris Sofman, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz
    tech. report CMU-RI-TR-09-17, Robotics Institute, Carnegie Mellon University, April, 2009
    Details | pdf (2MB) | 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

  • High Performance Outdoor Navigation from Overhead Data using Imitation Learning

    David Silver, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz
    Robotics Science and Systems, June, 2008.
    Details | pdf (4MB) | 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

  • Vegetation Detection for Driving in Complex Environments

    David Bradley, Ranjith Unnikrishnan, and J. Andrew (Drew) Bagnell
    IEEE International Conference on Robotics and Automation, April, 2007.
    Details | pdf (2MB) | Copyrighted

  • Toward Optimal Sampling in the Space of Paths

    Colin Green and Alonzo Kelly
    13th International Symposium of Robotics Research, November, 2007.
    Details | pdf (3MB) | 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

  • Improving Robot Navigation Through Self-Supervised Online Learning

    Boris Sofman, Ellie Lin Ratliff, J. Andrew (Drew) Bagnell, Nicolas Vandapel, and Anthony (Tony) Stentz
    Proceedings of Robotics: Science and Systems, August, 2006.
    Details | pdf (2MB) | Copyrighted

  • Terrain Classification from Aerial Data to Support Ground Vehicle Navigation

    Boris Sofman, J. Andrew (Drew) Bagnell, Anthony (Tony) Stentz, and Nicolas Vandapel
    tech. report CMU-RI-TR-05-39, Robotics Institute, Carnegie Mellon University, January, 2006
    Details | pdf (698KB) | Copyrighted

  • Improving Robot Navigation Through Self-Supervised Online Learning

    Boris Sofman, Ellie Lin Ratliff, J. Andrew (Drew) Bagnell, John Cole, Nicolas Vandapel, and Anthony (Tony) Stentz
    Journal of Field Robotics, Vol. 23, No. 12, December, 2006,
    Details | pdf (2MB) | Copyrighted

  • A Generative Model of Terrain for Autonomous Navigation in Vegetation

    Carl Wellington, Aaron Courville, and Anthony (Tony) Stentz
    The International Journal of Robotics Research, Vol. 25, No. 12, December, 2006, pp. 1287 - 1304.
    Details | pdf (7MB) | Copyrighted

  • Optimal Sampling In the Space of Paths: Preliminary Results

    Colin Green and Alonzo Kelly
    tech. report CMU-RI-TR-06-51, Robotics Institute, Carnegie Mellon University, November, 2006
    Details | pdf (2MB) | 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