/CTA Robotics

CTA Robotics

Portrait of CTA Robotics
Head: Martial Hebert
Contact: Martial Hebert
Last Project Publication Year: 2013

CMU is a core part of the CTA robotics program. CTA is the Collaborative Technology Alliance program, funded and directed by the Army Research Laboratory (ARL). The prime contractor for the Robotics CTA is General Dynamics Robot Systems (GDRS).

The overall project goals are as follows:

“The Robotics Alliance focuses on the technology required to permit inanimate systems (or sub-systems) to perform in a seemingly human fashion. It is a systems-based discipline, combining perception, knowledge, plan/behavior generation and execution in a systematic, controlled fashion to achieve a designated goal. Robotic systems may function with varying degrees of human intervention: they may operate autonomously, under supervisory control, or be teleoperated. . . . [The Alliance] will concentrate efforts on three areas of technology: advanced perception, intelligent architectures/behaviors and human interface/planning techniques.”

Displaying 69 Publications
Inference Machines: Parsing Scenes via Iterated Predictions
Daniel Munoz

PhD Thesis, Tech. Report, CMU-RI-TR-13-15, Robotics Institute, Carnegie Mellon University, June, 2013
Efficient 3-D Scene Analysis from Streaming Data
Hanzhang Hu, Daniel Munoz, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation (ICRA), May, 2013
Efficient Temporal Consistency for Streaming Video Scene Analysis
Ondrej Miksik, Daniel Munoz, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation (ICRA), May, 2013
3-D Scene Analysis via Sequenced Predictions over Points and Regions
Xuehan Xiong, Daniel Munoz, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation (ICRA), May, 2011
Generalized Boosting Algorithms for Convex Optimization
Alexander Grubb and J. Andrew (Drew) Bagnell

Conference Paper, Proceedings of the 28th International Conference on Machine Learning, May, 2011
Understanding and Recreating Visual Appearance Under Natural Illumination
Jean-Francois Lalonde

PhD Thesis, Tech. Report, CMU-RI-TR-11-01, Robotics Institute, Carnegie Mellon University, January, 2011
Online Learning Techniques for Improving Robot Navigation in Unfamiliar Domains
Boris Sofman

PhD Thesis, Tech. Report, CMU-RI-TR-10-43, Robotics Institute, Carnegie Mellon University, December, 2010
Pedestrian Detection and Tracking Using Three-dimensional LADAR Data
Luis Ernesto Navarro-Serment, Christoph Mertz and Martial Hebert

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Special Issue on the Seventh International Conference on Field and Service Robots, Vol. 29, No. 12, pp. 1516 - 1528, October, 2010
Anytime Online Novelty Detection for Vehicle Safeguarding
Boris Sofman, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation, May, 2010
Bandit-Based Online Candidate Selection for Adjustable Autonomy
Boris Sofman, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Conference Paper, Proceedings of 7th International Conferences on Field and Service Robotics, July, 2009
Pedestrian Detection and Tracking Using Three-Dimensional LADAR Data
Luis Ernesto Navarro-Serment, Christoph Mertz and Martial Hebert

Conference Paper, Proceedings of Proc. of The 7th Int. Conf. on Field and Service Robotics, July, 2009
Time-extended Multi-robot Coordination for Domains with Intra-path constraints
Edward Jones, M Bernardine Dias and Anthony (Tony) Stentz

Conference Paper, Proceedings of Robotics: Science and Systems (RSS), July, 2009
Contextual Classification with Functional Max-Margin Markov Networks
Daniel Munoz, J. Andrew (Drew) Bagnell, Nicolas Vandapel and Martial Hebert

Conference Paper, Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), June, 2009
Convex Coding
David Bradley and J. Andrew (Drew) Bagnell

Conference Paper, Proceedings of Uncertainty in Artificial Intelligence (UAI), June, 2009
Convex Coding
David Bradley and J. Andrew (Drew) Bagnell

Tech. Report, CMU-RI-TR-09-22, Robotics Institute, Carnegie Mellon University, May, 2009
Onboard Contextual Classification of 3-D Point Clouds with Learned High-order Markov Random Fields
Daniel Munoz, Nicolas Vandapel and Martial Hebert

Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation, May, 2009
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
Directional Associative Markov Network for 3-D Point Cloud Classification
Daniel Munoz, Nicolas Vandapel and Martial Hebert

Conference Paper, Proceedings of International Symposium on 3D Data Processing, Visualization and Transmission (3DPVT), June, 2008
Multi-Scale Interest Regions from Unorganized Point Clouds
Ranjith Unnikrishnan and Martial Hebert

Workshop Paper, Workshop on Search in 3D (S3D), IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June, 2008
Planning with Uncertainty in Position Using High-Resolution Maps
Juan Pablo Gonzalez

PhD Thesis, Tech. Report, CMU-RI-TR-08-02, Robotics Institute, Carnegie Mellon University, May, 2008
Replanning with Uncertainty in Position: Sensor Updates vs. Prior Map Updates
Juan Pablo Gonzalez and Anthony (Tony) Stentz

Conference Paper, Proceedings of the IEEE Int. Conference on Robotics & Automation (ICRA), May, 2008
Segmentation of Salient Regions in Outdoor Scenes Using Imagery and 3-D Data
Gunhee Kim, Daniel Huber and Martial Hebert

Workshop Paper, IEEE Workshop on Applications of Computer VIsion (WACV08), January, 2008
Learning-enhanced market-based task allocation for oversubscribed domains
Edward Jones, M Bernardine Dias and Anthony (Tony) Stentz

Conference Paper, Proceedings of International Conference on Intelligent Robots and Systems, 2007. IROS 2007., November, 2007
Learning-enhanced Market-based Task Allocation for Oversubscribed Domains
Edward Jones, M. Bernardine Dias and Anthony (Tony) Stentz

Conference Paper, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2007
Potential Negative Obstacle Detection by Occlusion Labeling
Nicholas Heckman, Jean-Francois Lalonde, Nicolas Vandapel and Martial Hebert

Conference Paper, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2007
Denoising Manifold and Non-Manifold Point Clouds
Ranjith Unnikrishnan and Martial Hebert

Conference Paper, Proceedings of 18th British Machine Vision Conference (BMVC), September, 2007
Data Structures for Efficient Dynamic Processing in 3-D
Jean-Francois Lalonde, Nicolas Vandapel and Martial Hebert

Journal Article, The International Journal of Robotics Research, Vol. 26, No. 8, pp. 777-796, August, 2007
Planning with Uncertainty in Position Using High-Resolution Maps
Juan Pablo Gonzalez and Anthony (Tony) Stentz

Conference Paper, In Proceedings of the IEEE Int. Conference on Robotics & Automation (ICRA) 2007, April, 2007
3D Field D: Improved Path Planning and Replanning in Three Dimensions
Joseph Carsten, David Ferguson and Anthony (Tony) Stentz

Conference Paper, Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), pp. 3381 - 3386, October, 2006
Anytime RRTs
David Ferguson and Anthony (Tony) Stentz

Conference Paper, Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), pp. 5369 - 5375, October, 2006
Learning-enhanced Market-based Task Allocation for Disaster Response
Edward Jones, M Bernardine Dias and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-06-48, Robotics Institute, Carnegie Mellon University, October, 2006
Planning with Uncertainty in Position Using High-Resolution Maps – Thesis Proposal
Juan Pablo Gonzalez

Tech. Report, CMU-RI-TR-06-45, Robotics Institute, Carnegie Mellon University, October, 2006
Planning with Uncertainty in Position Using High-Resolution Maps
Juan Pablo Gonzalez and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-06-33, Robotics Institute, Carnegie Mellon University, August, 2006
Automatic Three-Dimensional Point Cloud Processing for Forest Inventory
Jean-Francois Lalonde, Nicolas Vandapel and Martial Hebert

Tech. Report, CMU-RI-TR-06-21, Robotics Institute, Carnegie Mellon University, July, 2006
Constrained Exploration for Studies in Multirobot Coordination
Nidhi Kalra, David Ferguson and Anthony (Tony) Stentz

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2006
Data Structure for Efficient Dynamic Processing in 3-D
Jean-Francois Lalonde

Master's Thesis, Tech. Report, CMU-RI-TR-06-22, Robotics Institute, Carnegie Mellon University, May, 2006
Replanning with RRTs
David Ferguson, Nidhi Kalra and Anthony (Tony) Stentz

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 1243 - 1248, May, 2006
Incremental Reconstruction of Generalized Voronoi Diagrams on Grids
Nidhi Kalra, David Ferguson and Anthony (Tony) Stentz

Conference Paper, Proceedings of the International Conference on Intelligent Autonomous Systems (IAS), March, 2006
Multi-resolution Field D*
David Ferguson and Anthony (Tony) Stentz

Conference Paper, Proceedings of the International Conference on Intelligent Autonomous Systems (IAS), March, 2006
The Geometric Path Planner for Navigating Unmanned Vehicles in Dynamic Environments
Juan Pablo Gonzalez, Bryan Nagy and Anthony (Tony) Stentz

Conference Paper, Proceedings ANS 1st Joint Emergency Preparedness and Response and Robotic and Remote Systems, February, 2006
Using Interpolation to Improve Path Planning: The Field D* Algorithm
David Ferguson and Anthony (Tony) Stentz

Journal Article, Journal of Field Robotics, Vol. 23, No. 2, pp. 79-101, February, 2006
Field D*: An Interpolation-based Path Planner and Replanner
David Ferguson and Anthony (Tony) Stentz

Conference Paper, Proceedings of the International Symposium on Robotics Research (ISRR), October, 2005
Planning with Uncertainty in Position: An Optimal and Efficient Planner
Juan Pablo Gonzalez and Anthony (Tony) Stentz

Conference Paper, Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '05), pp. 2435 - 2442, August, 2005
A Guide to Heuristic-based Path Planning
David Ferguson, Maxim Likhachev and Anthony (Tony) Stentz

Conference Paper, Proceedings of the International Workshop on Planning under Uncertainty for Autonomous Systems, International Conference on Automated Planning and Scheduling (ICAPS), June, 2005
Data Structure for Efficient Processing in 3-D
Jean-Francois Lalonde, Nicolas Vandapel and Martial Hebert

Conference Paper, Proceedings of Robotics: Science and Systems 1, June, 2005
Scale Selection for Classification of Point-sampled 3-D Surfaces
Jean-Francois Lalonde, Ranjith Unnikrishnan, Nicolas Vandapel and Martial Hebert

Conference Paper, Proceedings of Fifth International Conference on 3-D Digital Imaging and Modeling (3DIM 2005), pp. 285 - 292, June, 2005
The Field D* Algorithm for Improved Path Planning and Replanning in Uniform and Non-Uniform Cost Environments
David Ferguson and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-05-19, Robotics Institute, Carnegie Mellon University, June, 2005
Analysis and Removal of Artifacts in 3-D LADAR Data
John Tuley, Nicolas Vandapel and Martial Hebert

Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation, pp. 2203 - 2210, April, 2005
Planning 3-D Path Networks in Unstructured Environments
Nicolas Vandapel, James Kuffner and Omead Amidi

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 4624 - 4629, April, 2005
Scale Selection for Classification of Point-sampled 3-D Surfaces
Jean-Francois Lalonde, Ranjith Unnikrishnan, Nicolas Vandapel and Martial Hebert

Tech. Report, CMU-RI-TR-05-01, Robotics Institute, Carnegie Mellon University, January, 2005
Finding Organized Structures in 3-D LADAR Data
Nicolas Vandapel and Martial Hebert

Conference Paper, Proceedings of Army Science Conference, November, 2004
Path Planning with Hallucinated Worlds
Bart Nabbe, Sanjiv Kumar and Martial Hebert

Conference Paper, Proceedings: IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 4, pp. 3123 - 3130, October, 2004
Delayed D*: The Proofs
David Ferguson and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-04-51, Robotics Institute, Carnegie Mellon University, September, 2004
Finding Organized Structures in 3-D Ladar Data
Nicolas Vandapel and Martial Hebert

Conference Paper, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 786 - 791, September, 2004
Analysis and removal of artifacts in 3-D LADAR data
John Tuley, Nicolas Vandapel and Martial Hebert

Tech. Report, CMU-RI-TR-04-44, Robotics Institute, Carnegie Mellon University, August, 2004
Classifier Fusion for Outdoor Obstacle Detection
Cristian Dima, Nicolas Vandapel and Martial Hebert

Conference Paper, Proceedings of International Conference on Robotics and Automation, Vol. 1, pp. 665 - 671, April, 2004
Enabling Learning From Large Datasets: Applying Active Learning to Mobile Robotics
Cristian Dima, Martial Hebert and Anthony (Tony) Stentz

Conference Paper, Proceedings of International Conference on Robotics and Automation, Vol. 1, pp. 108 - 114, April, 2004
Natural Terrain Classification using 3-D Ladar Data
Nicolas Vandapel, Daniel Huber, Anuj Kapuria and Martial Hebert

Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation, Vol. 5, pp. 5117 - 5122, April, 2004
Perception for collision avoidance and autonomous driving
Romuald Aufrere, Jay Gowdy, Christoph Mertz, Chuck Thorpe, Chieh-Chih Wang and Teruko Yata

Journal Article, Mechatronics, Vol. 13, No. 10, pp. 1149-1161, December, 2003
Safe Robot Driving in Cluttered Environments
Chuck Thorpe, Justin David Carlson, David Duggins, Jay Gowdy, Robert MacLachlan, Christoph Mertz, Arne Suppe and Chieh-Chih Wang

Conference Paper, Proceedings of the 11th International Symposium of Robotics Research, October, 2003
Sensor and Classifier Fusion for Outdoor Obstacle Detection: an Application of Data Fusion To Autonomous Off-Road Navigation
Cristian Dima, Nicolas Vandapel and Martial Hebert

Workshop Paper, The 32nd Applied Imagery Recognition Workshop (AIPR2003), pp. 255 - 262, October, 2003
Where and When to Look
Bart Nabbe and Martial Hebert

Conference Paper, Proceedings of IROS 2003, Vol. 1, pp. 920 - 927, October, 2003
Multiple Sensor Fusion for Detecting Location of Curbs, Walls, and Barriers
Romuald Aufrere, Christoph Mertz and Chuck Thorpe

Conference Paper, Proceedings of the IEEE Intelligent Vehicles Symposium (IV2003), June, 2003
terrain classification techniques from ladar data for autonomous navigation
Martial Hebert and Nicolas Vandapel

Conference Paper, Proceedings of Collaborative Technology Alliances conference, May, 2003
Evaluation and Comparison of Terrain Classification Techniques from LADAR Data for Autonomous Navigation
Martial Hebert, Nicolas Vandapel, Stefan Keller and Raghavendra Rao Donamukkala

Conference Paper, Proceedings of 23rd Army Science Conference, December, 2002
Safe Robot Driving
Chuck Thorpe, Romuald Aufrere, Justin David Carlson, David Duggins, Terrence W. Fong, Jay Gowdy, John Kozar, Robert MacLachlan, Colin McCabe, Christoph Mertz, Arne Suppe, Chieh-Chih Wang and Teruko Yata

Conference Paper, Proceedings of the International Conference on Machine Automation (ICMA 2002), September, 2002
Toward Practical Cooperative Stereo for Robotic Colonies
Bart Nabbe and Martial Hebert

Conference Paper, Proceedings of 2002 IEEE International Conference on Robotics and Automation, Vol. 4, No. 2002, pp. 3328-3335, May, 2002
Driving in Traffic: Short-Range Sensing for Urban Collision Avoidance
Chuck Thorpe, David Duggins, Jay Gowdy, Robert MacLachlan, Christoph Mertz, Mel Siegel, Arne Suppe, Chieh-Chih Wang and Teruko Yata

Conference Paper, Proceedings of SPIE: Unmanned Ground Vehicle Technology IV, Vol. 4715, April, 2002
Eye-safe Laser Line Striper for Outside Use
Christoph Mertz, John Kozar, James Ryan Miller and Chuck Thorpe

Conference Paper, Proceedings of IV 2002, IEEE Intelligent Vehicle Symposium, June, 2002., December, 2001
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