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Publications 2017-03-21T14:22:33+00:00

Publications

Displaying 7965 Publications
Rotational Rectification Network: Enabling Pedestrian Detection for Mobile Vision
Xinshuo Weng, Shangxuan Wu, Fares Beainy and Kris M. Kitani

Conference Paper, IEEE Winter Conf. on Applications of Computer Vision, March, 2018
Objective assessment of spasticity with a method based on a human upper limb model
W S Ang, Hartmut Geyer and I Cheng

Journal Article, IEEE Transactions on Neural Systems and Rehabilitation Engineering (Accepted), January, 2018
Sparse Point Registration
Arun Srivatsan Rangaprasad, Prasad Vagdargi and Howie Choset

Conference Paper, The International Symposium on Robotics Research (ISRR), December, 2017
Neuromuscular models for locomotion
A Prochazka, S Gosgnach, C Capaday and Hartmut Geyer.

Book Section/Chapter, In Bioinspired Legged Locomotion: Models, Concepts, Control and Applications (Chapter 6, in press), December, 2017
Virtual Navigation for Blind People: Building Sequential Representations of the Real-World
Joao Pedro Vieira Guerreiro, Dragan Ahmetovic, Kris M. Kitani and Chieko Asakawa

Conference Paper, Carnegie Mellon University, Proceedings of the 19th international ACM SIG ACCESS Conference on Computers & Accessibility, pp. 280-289, October, 2017
In-context Q&A to Support Blind People Using Smartphones
André Rodrigues, Kyle Montague, Hugo Nicolau, Joao Pedro Vieira Guerreiro and Tiago Guerreiro

Conference Paper, Proceedings of the 19th international ACM SIGACCESS conference on Computers & accessibility, pp. 32-36, October, 2017
First-Person Activity Forecasting with Online Inverse Reinforcement Learning
Nicholas Rhinehart and Kris M. Kitani

Conference Paper, International Conference on Computer Vision, October, 2017
Learning Heuristic Search via Imitation
Mohak Bhardwaj, Sanjiban Choudhury and Sebastian Scherer

Proceedings of the 1st Annual Conference on Robot Learning, Vol. 78, pp. 271-280, October, 2017
Reducing adaptation latency for multi-concept visual perception in outdoor environments
Luis Ernesto Navarro-Serment

Conference Paper, Proc. of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2017
Dynamic Texture Mapping of 3D models for Stiffness Map Visualization
Kartik Patath, Arun Srivatsan Rangaprasad, Nico Zevallos and Howie Choset

Carnegie Mellon University, Workshop on Medical Imaging Robotics, September, 2017
Development of an Inexpensive Tri-axial Force Sensor for Minimally Invasive Surgery
Lu Li, Bocheng Yu, Chen Yang, Prasad Vagdargi, Arun Srivatsan Rangaprasad and Howie Choset

Conference Paper, Carnegie Mellon University, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), September, 2017
Looking Forward: A Semantic Mapping System for Scouting with Micro-Aerial Vehicles
Daniel Maturana, Sankalp Arora and Sebastian Scherer

Carnegie Mellon University, International Conference on Intelligent Robots and Systems (IROS), September, 2017
Real-time Semantic Mapping for Autonomous Off-Road Navigation
Daniel Maturana, Po-Wei Chou, Masashi Uenoyama and Sebastian Scherer

Conference Paper, Carnegie Mellon University, Field and Service Robotics (FSR), September, 2017
Real-Time Semantic Mapping for Autonomous Off-Road Navigation
Daniel Maturana, Po-Wei Chou, Masashi Uenoyama and Sebastian Scherer

Conference Paper, Carnegie Mellon University, Field and Service Robotics, September, 2017
Season-Invariant Semantic Segmentation with A Deep Multimodal Network
Dong-Ki Kim, Daniel Maturana, Masashi Uenoyama and Sebastian Scherer

Conference Paper, Carnegie Mellon University, Field and Service Robotics, September, 2017
A Probabilistic Planning Framework for Planar Grasping Under Uncertainty
Jiaji Zhou, Robert Paolini, Aaron M. Johnson, J. Andrew (Drew) Bagnell and Matthew T. Mason

Conference Paper, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), September, 2017
DROAN – Disparity-space Representation for Obstacle AvoidaNce
Geetesh Dubey, Sankalp Arora, Sebastian Scherer

Conference Paper, September, 2017
GravityFusion: Real-time Dense mapping without Pose Graph using Deformation and Orientation
Puneet Puri, Daoyuan Jia and Michael Kaess

Conference Paper, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, September, 2017
High-throughput Robotic Phenotyping of Energy Sorghum Crops
Srinivasan Vijayarangan, Paloma Sodhi, Prathamesh Kini, James Bourne, Simon Du, Hanqi Sun, Barnabas Poczos, Dimitrios (Dimi) Apostolopoulos and David Wettergreen

Conference Paper, Field and Service Robotics, September, 2017
In-field Segmentation and Identification of Plant Structures using 3D Imaging
Paloma Sodhi, Srinivasan Vijayarangan and David Wettergreen

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2017
Planetary Robotic Exploration Driven by Science Hypotheses for Geologic Mapping
Alberto Candela, David Thompson, Eldar Noe Dobrea and David Wettergreen

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2017
Robust Crack Detection in Concrete Structures Images using Multi-Scale Enhancement and Visual Features
Xiangzeng Liu, Yunfeng Ai and Sebastian Scherer

Conference Paper, 2017 IEEE International Conference on Image Processing (ICIP 2017), September, 2017
Science-Aware Exploration Using Entropy-Based Planning
Shivam Gautam, Bishwamoy Sinha Roy, Alberto Candela and David Wettergreen

Conference Paper, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), September, 2017
Wire Detection using Synthetic Data and Dilated Convolutional Networks for Unmanned Aerial Vehicles
Ratnesh Madaan, Daniel Maturana and Sebastian Scherer

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2017
Monte Carlo Sampling Based Imminent Collision Detection Algorithm
Peng Chang and Christoph Mertz

Conference Paper, Carnegie Mellon University, International Conference on Transportation Information and Safety, August, 2017
A Control System for Bionic Shoes
Xunjie Zhang

Master's Thesis, Tech. Report, CMU-RI-TR-17-39, Robotics Institute, Carnegie Mellon University, August, 2017
A Multi-Heuristic framework for Humanoid Planning
Karthik Vijayakumar

Master's Thesis, Tech. Report, CMU-RI-TR-17-57, Robotics Institute, Carnegie Mellon University, August, 2017
Adaptive Spectroscopic Exploration Driven by Science Hypotheses for Geologic Mapping
Alberto Candela Garza

Master's Thesis, Tech. Report, CMU-RI-TR-17-62, Robotics Institute, Carnegie Mellon University, August, 2017
An Evaluation of Wheel-Track Systems
Hannah Lyness

Master's Thesis, Tech. Report, CMU-RI-TR-17-33, Robotics Institute, Carnegie Mellon University, August, 2017
Applications of Experience Graphs in Humanoid Motion Planning
Sameer Bardapurkar

Master's Thesis, Tech. Report, CMU-RI-TR-17-59, Robotics Institute, Carnegie Mellon University, August, 2017
Deep Structures of Collaboration
Prerna Chikersal

Master's Thesis, Tech. Report, CMU-RI-TR-17-36, Robotics Institute, Carnegie Mellon University, August, 2017
Deliberative Perception
Venkatraman Narayanan

PhD Thesis, CMU-RI-TR-17-67, Robotics Institute, Carnegie Mellon University, August, 2017
Detecting and Grasping Sorghum Stalks in Outdoor Occluded Environments
Merritt Jenkins

Master's Thesis, Tech. Report, CMU-RI-TR-17-61, Robotics Institute, Carnegie Mellon University, August, 2017
Development of a Ground-Based Robot for High-Throughput Plant Phenotyping
Timothy Mueller-Sim

Master's Thesis, Tech. Report, CMU-RI-TR-17-46, Robotics Institute, Carnegie Mellon University, August, 2017
Discovering and Leveraging Visual Structure for Large-scale Recognition
Abhinav Shrivastava

PhD Thesis, CMU-RI-TR-17-63, Robotics Institute, Carnegie Mellon University, August, 2017
DROAN: Disparity space Representation for Obstacle AvoidaNce
Geetesh Dubey

Master's Thesis, Tech. Report, CMU-RI-TR-17-42, Robotics Institute, Carnegie Mellon University, August, 2017
Efficient, Multi-Fidelity Perceptual Representations via Hierarchical Gaussian Mixture Models
Shobhit Srivastava

Master's Thesis, Tech. Report, CMU-RI-TR-17-44, Robotics Institute, Carnegie Mellon University, August, 2017
Exploiting Robotic Swarm Characteristics for Adversarial Subversion in Coverage Tasks
Navyata Sanghvi

Master's Thesis, Tech. Report, CMU-RI-TR-17-60, Robotics Institute, Carnegie Mellon University, August, 2017
On Time-Optimal Behavior Scheduling of Robotic Swarms for Achieving Multiple Goals
Sasanka Nagavalli, Nilanjan Chakraborty and Katia Sycara

Conference Paper, 2017 IEEE International Conference on Automation Science and Engineering (CASE), August, 2017
Real-time Dense Mapping without Pose Graph using Deformation and Orientation
Puneet Puri

Master's Thesis, Tech. Report, CMU-RI-TR-17-35, Robotics Institute, Carnegie Mellon University, August, 2017
Reasoning About Spatial Patterns of Human Behavior During Group Conversations with Robots
Marynel Vazquez

PhD Thesis, CMU-RI-TR-17-47, Robotics Institute, Carnegie Mellon University, August, 2017
Reliable Navigation for Autonomous Vehicles in Connected Vehicle Environments by using Multi-agent Sensor Fusion
Suryansh Saxena

Master's Thesis, Tech. Report, CMU-RI-TR-17-45, Robotics Institute, Carnegie Mellon University, August, 2017
Safe and Efficient Navigation in Dynamic Environments
Anirudh Vemula

Master's Thesis, Tech. Report, CMU-RI-TR-17-40, Robotics Institute, Carnegie Mellon University, August, 2017
Shape Prior Meets Geometry in Single and Multi-view Shape Reconstruction
Rui Zhu

Master's Thesis, Tech. Report, CMU-RI-TR-17-54, Robotics Institute, Carnegie Mellon University, August, 2017
State Estimation and Localization for ROV-Based Reactor Pressure Vessel Inspection Using a Pan-Tilt-Zoom Camera
Timothy E. Lee

Master's Thesis, Tech. Report, CMU-RI-TR-17-48, Robotics Institute, Carnegie Mellon University, August, 2017
State Estimation and Vision-based Occupancy Mapping for Off-Road Driving
Wei-Hsin Chou

Master's Thesis, Tech. Report, CMU-RI-TR-17-58, Robotics Institute, Carnegie Mellon University, August, 2017
Supervised Learning of Corrective Maneuvers for Vision-Based Autonomous Flight
Dhruv Mauria Saxena

Master's Thesis, Tech. Report, CMU-RI-TR-17-55, Robotics Institute, Carnegie Mellon University, August, 2017
Verbalization of Service Robot Experience as Explanations in Language Including Vision-Based Learned Elements
Sai Prabhakar Pandi Selvaraj

Master's Thesis, Tech. Report, CMU-RI-TR-17-53, Robotics Institute, Carnegie Mellon University, August, 2017
What Is the Robot Thinking? Embedded Feedback in the Intelligent Workcell Manufacturing Environment
Harrison Billmers

Master's Thesis, Tech. Report, CMU-RI-TR-17-49, Robotics Institute, Carnegie Mellon University, August, 2017
Dynamic walking on randomly-varying discrete terrain with one-step preview
Quan Nguyen, Ayush Agrawal, Xingye Da, William Martin, Hartmut Geyer, Jessy Grizzle and Koushil Sreenath

Conference Paper, Robotics: Science and Systems XIII, July, 2017
Acting under Uncertainty for Information Gathering and Shared Autonomy
Shervin Javdani

PhD Thesis, CMU-RI-TR-17-52, Robotics Institute, Carnegie Mellon University, July, 2017
Predicting Bus Dwell Times in Dense Urban Transit Networks Using Bayesian Hierarchical Modeling
Conor Igoe and Eli Bronstein

Miscellaneous, Carnegie Mellon University, RISS Poster Session, July, 2017
A Fast Stochastic Contact Model for Planar Pushing and Grasping: Theory and Experimental Validation
Jiaji Zhou, J. Andrew (Drew) Bagnell and Matthew T. Mason

Conference Paper, Robotics: Science and Systems, July, 2017
Anytime Geometric Motion Planning on Large Dense Roadmaps
Shushman Choudhury

Master's Thesis, Tech. Report, CMU-RI-TR-17-34, Robotics Institute, Carnegie Mellon University, July, 2017
Bingham Distribution-Based Linear Filter for Online Pose Estimation
Arun Srivatsan Rangaprasad, Mengyun Xu, Nicolas Zevallos and Howie Choset

Conference Paper, Robotics: Science and Systems, 2017, July, 2017
Flying Like a Pilot in Wind: Smooth Trajectory Optimization in a Moving Reference Frame
Vishal Dugar

Master's Thesis, Tech. Report, CMU-RI-TR-17-50, Robotics Institute, Carnegie Mellon University, July, 2017
Growing a Brain: Fine-Tuning by Increasing Model Capacity
Yuxiong Wang, Deva Ramanan and Martial Hebert

Conference Paper, IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), July, 2017
In-field Plant Phenotyping using Model-free and Model-based methods
Paloma Sodhi

Master's Thesis, Tech. Report, CMU-RI-TR-17-51, Robotics Institute, Carnegie Mellon University, July, 2017
Multimodal Registration Using Stereo Imaging and Contact Sensing
Rangaprasad Arun Srivatsan, Prasad Vagdargi, Nicolas Zevallos and Howie Choset

Conference Paper, Robotics: Science and Systems, workshop on 'Revisiting Contact - Turning a Problem into a Solution', pp. 4, July, 2017
Reasoning About Spatial Patterns of Human Behavior During Group Conversations with Robots
Marynel Vazquez

Tech. Report, CMU-RI-TR-17-47, Robotics Institute, Pittsburgh PA, July, 2017
The Beta Policy for Continuous Control Reinforcement Learning
Po-Wei Chou

CMU-RI-TR-17-38, Carnegie Mellon University, June, 2017
Accomodating High Value-of-Time Drives in Market-Driven Traffic Signal Control
Isaac Isukapati and Stephen Smith

Conference Paper, 2017 IEEE Intelligent Vehicles Symposium, June, 2017
Efficient L-Shape Fitting for Vehicle Detection Using Laser Scanners
Xiao Zhang, Wenda Xu, Chiyu Dong and John M. Dolan

Conference Paper, 2017 IEEE Intelligent Vehicles Symposium, June, 2017
Heuristic Search on Graphs with Existence Priors for Expensive-to-Evaluate Edges
Venkatraman Narayanan and Maxim Likhachev

Conference Paper, International Conference on Automated Planning and Scheduling (ICAPS), June, 2017
High Dimensional Planning and Learning for Off-Road Driving
Guan-Horng Liu

Master's Thesis, Tech. Report, CMU-RI-TR-37, Robotics Institute, Carnegie Mellon University, June, 2017
Intention Estimation For Ramp Merging Control In Autonomous Driving
Chiyu Dong, John M. Dolan and Bakhtiar Litkouhi

Conference Paper, 2017 IEEE Intelligent Vehicles Symposium, June, 2017
Learning robust failure response for autonomous vision based flight
Dhruv Mauria Saxena, Vince Kurtz and Martial Hebert

Conference Paper, 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 5824-5829, June, 2017
Learning to Avoid Local Minima in Planning for Static Environments
Shivam Vats, Venkatraman Narayanan and Maxim Likhachev

Conference Paper, International Conference on Automated Planning and Scheduling (ICAPS), June, 2017
Planetary Mission Preplanning with Heading-Specific Slope and Distance from Shadow
Myles Blodnick

Master's Thesis, Tech. Report, CMU-RI-TR-17-23, Robotics Institute, Carnegie Mellon University, June, 2017
Robust Distributed 3D Mapping With Communication Constraints
Vibhav Nagaraj Ganesh

Tech. Report, CMU-RI-TR-17-32, Robotics Institute, Carnegie Mellon University, June, 2017
Soft-Matter Printed Circuit Board with UV Laser Micropatterning
Tong Lu, Eric Markvicka, Yichu Jin, and Carmel Majidi

Journal Article, ACS Applied Materials & Interfaces, June, 2017
A Fast & Efficient Mission Planner for Multi-rotor Aerial Vehicles in Large, High-resolution Maps of Cluttered Environments
David Thomas Butterworth

Master's Thesis, Tech. Report, CMU-RI-TR-17-07, Robotics Institute, Carnegie Mellon University, May, 2017
Asymptotically-optimal Motion Planning using lower bounds on cost
Oren Salzman and Dan Halperin

Conference Paper, 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 4167-4172, May, 2017
Automated Sequencing of Swarm Behaviors for Supervisory Control of Robotic Swarms
Sasanka Nagavalli, Nilanjan Chakraborty and Katia Sycara

Conference Paper, 2017 IEEE International Conference on Robotics and Automation (ICRA), May, 2017
Automatically Evaluating and Generating Clear Robot Explanations
Shen Li

Tech. Report, CMU-RI-TR-17-09, Robotics Institute, Carnegie Mellon University, May, 2017
Computational Abstractions for Interactive Design of Robotic Devices
Ruta Desai, Ye Yuan and Stelian Coros

Conference Paper, 2017 IEEE International Conference on Robotics and Automation (ICRA), May, 2017
Decentralized Coordinated Motion for a Large Team of Robots Preserving Connectivity and Avoiding Collisions
Anqi Li, Wenhao Luo, Sasanka Nagavalli and Katia Sycara

Conference Paper, 2017 IEEE International Conference on Robotics and Automation (ICRA), May, 2017
Decentralized Coordinated Motion for Robot Teams Preserving Connectivity and Avoiding Collisions
Anqi Li

Tech. Report, CMU-RI-TR-17-14, Robotics Institute, Carnegie Mellon University, May, 2017
Deep Triplet Supervised Hashing
Xiaofang Wang

Master's Thesis, Tech. Report, CMU-RI-TR-17-19, Robotics Institute, Carnegie Mellon University, May, 2017
Defect-Detection Technologies for Low-Observability Aircraft Skin Coatings
Mel Siegel and Cameron Riviere

Tech. Report, CMU-RI-TR-17-31, Robotics Institute, Carnegie Mellon University, May, 2017
Deliberative Object Pose Estimation in Clutter
Venkatraman Narayanan and Maxim Likhachev

Conference Paper, 2017 IEEE International Conference on Robotics and Automation (ICRA), May, 2017
Densification Strategies for Anytime Motion Planning over Large Dense Roadmaps
Shushman Choudhury, Oren Salzman, Sanjiban Choudhury and Siddhartha Srinivasa

Conference Paper, 2017 IEEE International Conference on Robotics and Automation (ICRA), May, 2017
Designing Convolutional Neural Networks for Urban Scene Understanding
Ye Yuan

Tech. Report, CMU-RI-TR-17-06, Robotics Institute, Carnegie Mellon University, May, 2017
Exploiting Robotic Swarm Characteristics for Adversarial Subversion in Coverage Tasks
Navyata Sanghvi, Sasanka Nagavalli and Katia Sycara

Conference Paper, International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2017), May, 2017
Human-Centered Design of Robot Explanations
Rosario Scalise

Master's Thesis, Tech. Report, CMU-RI-TR-17-12, Robotics Institute, Carnegie Mellon University, May, 2017
Keyframe-based Dense Planar SLAM
Ming Hsiao, Eric Westman, Guofeng Zhang and Michael Kaess

Conference Paper, IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2017
Learning to Gather Information via Imitation
Sanjiban Choudhury, Ashish Kapoor, Gireeja Ranade and Debadeepta Dey

Conference Paper, 2017 IEEE International Conference on Robotics and Automation (ICRA), May, 2017
Leveraging Inexpensive Supervision Signals for Visual Learning
Senthil Purushwalkam Shiva Prakash

Master's Thesis, Tech. Report, CMU-RI-TR-17-13, Robotics Institute, Carnegie Mellon University, May, 2017
Probabilistic Approaches for Pose Estimation
Arun Srivatsan Rangaprasad

Tech. Report, CMU-RI-TR-17-41, Robotics Institute, Carnegie Mellon University, May, 2017
Randomized Algorithm for Informative Path Planning with Budget Constraints
Sankalp Arora and Sebastian Scherer

Conference Paper, International Conference on Robotics and Automation (ICRA), June, 2017, May, 2017
Revisiting Visual Pattern Mining
Tanmay Batra

Tech. Report, CMU-RI-TR-17-22, Robotics Institute, Carnegie Mellon University, May, 2017
Robust Localization and Localizability Estimation with a Rotating Laser Scanner
Weikun Zhen, Sam Zeng and Sebastian Scherer

Conference Paper, IEEE International Conference on Robotics and Automation 2017, May, 2017
Robust Planar Dynamic Pivoting by Regulating Inertial and Grip Forces
Yifan Hou

Master's Thesis, Tech. Report, CMU-RI-TR-17-10, Robotics Institute, Carnegie Mellon University, May, 2017
Robust Stereo Matching with Surface Normal Prediction
Shuangli Zhang, Weijian Xie, Guofeng Zhang, Hujun Bao and Michael Kaess

Conference Paper, IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2017
Synthesizing Scenes for Instance Detection
Debidatta Dwibedi

Master's Thesis, Tech. Report, CMU-RI-TR-17-21, Robotics Institute, Carnegie Mellon University, May, 2017
The Manifold Particle Filter for State Estimation on High-dimensional Implicit Manifolds
Michael C. Koval, Matthew Klingensmith, Siddhartha S. Srinivasa, Nancy Pollard and Michael Kaess

Conference Paper, IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2017
Touch Based Localization for High-Precision Manufacturing
Shiyuan Chen

Master's Thesis, Tech. Report, CMU-RI-TR-17-29, Robotics Institute, Carnegie Mellon University, May, 2017
Toward Monocular Camera-Guided Retinal Vein Cannulation with an Actively Stabilized Handheld Robot
Shohin Mukherjee, Sungwook Yang, Robert A. MacLachlan, Louis A. Lobes, Jr., Joseph N. Martel and Cameron Riviere

Conference Paper, IEEE International Conference on Robotics and Automation 2017, May, 2017
Towards Vision Guided Retinal Vein Cannulation with an Actively Stabilized Handheld Robot
Shohin Mukherjee

Master's Thesis, Tech. Report, CMU-RI-TR-17-20, Robotics Institute, Carnegie Mellon University, May, 2017
Vision-Based Navigation and Deep-Learning Explanation for Autonomy
Sandeep Konam

Master's Thesis, Tech. Report, CMU-RI-TR-17-27, Robotics Institute, Carnegie Mellon University, May, 2017
Accessible Transportation Technologies Research Initiative (ATTRI): Assessment of Relevant Research
Joseph Andrew Giampapa, Aaron Steinfeld, Ermine Teves, M. Bernardine Dias and Zachary Rubinstein

Tech. Report, CMU-RI-TR-17-17, Robotics Institute, Carnegie Mellon University, April, 2017
Accessible Transportation Technologies Research Initiative (ATTRI): Innovation Scan
Joseph Andrew Giampapa, Aaron Steinfeld, Ermine Teves, M. Bernardine Dias and Zachary Rubinstein

Tech. Report, CMU-RI-TR-17-16, Robotics Institute, Carnegie Mellon University, April, 2017
Accessible Transportation Technologies Research Initiative (ATTRI): State of the Practice Scan
Joseph Andrew Giampapa, Aaron Steinfeld, Ermine Teves, M. Bernardine Dias and Zachary Rubinstein

Tech. Report, CMU-RI-TR-17-15, Robotics Institute, Carnegie Mellon University, April, 2017
Direct Visual Odometry in Low Light using Binary Descriptors
Hatem Alismail, Michael Kaess, Brett Browning and Simon Lucey

Journal Article, IEEE Robotics and Automation Letters, RA-L, Vol. 2, pp. 444-451, April, 2017
Gradient Boosting on Stochastic Data Streams
Hanzhang Hu, Wen Sun, Arun Venkatraman, Martial Hebert and J. Andrew (Drew) Bagnell

Conference Paper, International Conference on Artificial Intelligence and Statistics (AISTATS 2017), April, 2017
Planning and Localization Using Contacts
Bradley Saund

Master's Thesis, Tech. Report, CMU-RI-TR-17-26, Robotics Institute, Carnegie Mellon University, April, 2017
Realtime Multi-Person 2D Pose Estimation using Part Affinity Fields
Zhe Cao, Tomas Simon, Shih-En Wei and Yaser Ajmal Sheikh

Tech. Report, CMU-RI-TR-17-18, Robotics Institute, Carnegie Mellon University, April, 2017
Evaluation of a neuromechanical walking control model using disturbance experiments
Seungmoon Song and Hartmut Geyer

Journal Article, Frontiers in Computational Neuroscience, Vol. 11, March, 2017
Deeply AggreVaTeD: Differentiable Imitation Learning for Sequential Prediction
Wen Sun,, Arun Venkatraman, Geoffrey J. Gordon, Byron Boots and J. Andrew (Drew) Bagnell

Tech. Report, CMU-RI-TR-17-05, Robotics Institute, Carnegie Mellon University, March, 2017
Game-Theoretic Modeling of Human Adaptation in Human-Robot Collaboration
Stefanos Nikolaidis, Swaprava Nath, Ariel Procaccia and Siddhartha Srinivasa

Conference Paper, Human-Robot Interaction, March, 2017
Guaranteed Parameter Estimation for Discrete Energy Minimization
Mengtian Li and Daniel Huber

Conference Paper, WACV 2017, March, 2017
Human-Robot Mutual Adaptation in Shared Autonomy
Stefanos Nikolaidis, Yu Xiang Zhu, David Hsu and Siddhartha Srinivasa

Conference Paper, Human-Robot Interaction, March, 2017
Multi-Operator Gesture Control of Robotic Swarms Using Wearable Devices
Sasanka Nagavalli, Meghan Chandarana, Michael Lewis and Katia Sycara

Conference Paper, Tenth International Conference on Advances in Computer-Human Interactions (ACHI 2017), March, 2017
Smooth Trajectory Optimization in Wind: First Results on a Full-Scale Helicopter
Vishal Dugar, Sanjiban Choudhury and Sebastian Scherer

Conference Paper, AHS Forum, Vol 73, 2017, March, 2017
Towards Robot Autonomy in Group Conversations: Understanding the Effects of Body Orientation and Gaze
Marynel Vazquez, Elizabeth J. Carter, Braden McDorman, Jodi Forlizzi, Aaron Steinfeld and Scott Hudson

Conference Paper, Proc. of the 12th ACM/IEEE International Conference on Human-Robot Interaction (HRI '17), March, 2017
Gait based on the spring mass model
Hartmut Geyer and U Saranli

Book Section/Chapter, In Humanoid Robotics: A Reference (Accepted), February, 2017
Neuromuscular Model Control for Humanoid Walking
Hartmut Geyer and Andre Seyfarth

Book Section/Chapter, In Humanoid Robotics: A Reference (Accepted), February, 2017
A KITE in the Wind: Smooth Trajectory Optimization in a Moving Reference Frame
Vishal Dugar, Sanjiban Choudhury and Sebastian Scherer

Conference Paper, 2017 IEEE International Conference on Robotics and Automation (ICRA), February, 2017
Automatic Analysis of Facial Actions: Learning from Transductive, Supervised and Unsupervised Frameworks
Wen-Sheng Chu

PhD Thesis, CMU-RI-TR-17-01, Robotics Institute, Carnegie Mellon University, February, 2017
Methods for Studying Group Interactions in HRI
Marynel Vazquez, Elizabeth J. Carter, Jodi Forlizzi, Scott E. Hudson and Aaron Steinfeld

Conference Paper, Robots in Groups and Teams - A CSCW 2017 Workshop, February, 2017
Modeling Cooperative Navigation in Dense Human Crowds
Anirudh Vemula, Katharina Muelling and Jean Hyaejin Oh

Conference Paper, Proceedings of the International Conference on Robotics and Automation (ICRA) 2017, February, 2017
A Branch-and-Bound Framework for Unsupervised Common Event Discovery
Wen-Sheng Chu, Fernando De la Torre Frade, Jeffrey Cohn and Daniel Messinger

Journal Article, International Journal on Computer Vision (IJCV), January, 2017
A Real-time Method for Depth Enhanced Monocular Odometry
Ji Zhang, Michael Kaess and Sanjiv Singh

Journal Article, Autonomous Robots, AURO, Vol. 41, No. 1, pp. 31-43, January, 2017
A sample-efficient black-box optimizer to train policies for human-in-the- loop systems with user preferences
Nitish Thatte, Helei Duan and Hartmut Geyer

Journal Article, Robotics and Automation Letters, Vol. 2, No. 2, pp. 993-1000, January, 2017
ANALYSIS OF TRENDS IN TRANSIT BUS DWELL TIME DATA
Isaac Isukapati, Hana Rudova, Gregory Barlow and Stephen Smith

Conference Paper, Trasportation Research Board, January, 2017
Experimental evaluation of deadbeat running on the ATRIAS biped
William Martin, Albert Wu and Hartmut Geyer

Journal Article, Robotics and Automation Letters, Vol. 2, No. 2, pp. 1085-1092, January, 2017
Unobservable Monte Carlo Planning for Nonprehensile Rearrangement Tasks
Jennifer King, Vinitha Ranganeni and Siddhartha Srinivasa

Conference Paper, International Conference on Robotics and Automation, January, 2017
A Computational Model Based on Human Performance for Fluid Management in Critical Care
Anqi Li, Michael Lewis, Christian Lebiere, Katia Sycara, Shehzaman Salim Khatib, Yuqing Tang, Matthew Siedsma and Don Morrison

Conference Paper, The 2016 IEEE Symposium Series on Computational Intelligence (SSCI 2016), December, 2016
A Multi-Sensor Fusion MAV State Estimation from Long-Range Stereo, IMU, GPS and Barometric Sensors
Yu Song, Stephen T. Nuske and Sebastian Scherer

Journal Article, Sensors, Vol. 17, No. 11, December, 2016
Calibration and Characterization of Low-Cost Fine Particulate Monitors and their Effect on Individual Empowerment
Michael D. Taylor

PhD Thesis, CMU-RI-TR-16-61, Robotics Institute, Carnegie Mellon University, December, 2016
Configuration Lattices for Planar Contact Manipulation Under Uncertainty
Michael Koval, David Hsu, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, Workshop on the Algorithmic Foundations of Robotics, December, 2016
Learning from Small Sample Sets by Combining Unsupervised Meta-Training with CNNs
Yuxiong Wang and Martial Hebert

Conference Paper, 30th Conference on Neural Information Processing Systems (NIPS), December, 2016
Multiple Start Branch and Prune Filtering Algorithm for Nonconvex Optimization
Arun Srivatsan Rangaprasad and Howie Choset

Conference Paper, The 12th International Workshop on The Algorithmic Foundations of Robotics, December, 2016
PalmSight: an assistive technology helping the blind to locate and grasp objects
Zhixuan Yu, Samantha J. Horvath, Alexandra Delazio, Jihang Wang, Rebeka Almasi, Roberta Klatzky, John Galeotti and George D. Stetten

Tech. Report, CMU-RI-TR-16-59, Robotics Institute, Carnegie Mellon University, December, 2016
Robust Planar Dynamic Pivoting by Regulating Inertial and Grip Forces
Yifan Hou, Zhenzhong Jia, Aaron M. Johnson and Matthew T. Mason

Conference Paper, THE 12 TH INTERNATIONAL WORKSHOP ON THE ALGORITHMIC FOUNDATIONS OF ROBOTICS, December, 2016
Rover Localization in Sparsely-Featured Environments
Samuel Yim

Master's Thesis, Tech. Report, CMU-RI-TR-16-33, Robotics Institute, Carnegie Mellon University, December, 2016
Bid-based Signal Control with All Passive Players
Isaac Isukapati, George List and Mark Kamlet

Conference Paper, IEEE International Conference on Intelligent Transportation Systems, November, 2016
Comparing Actuated and Bid-based Control Strategies
Isaac Isukapati and George List

Conference Paper, IEEE ITSC, November, 2016
Deep Supervised Hashing with Triplet Labels
Xiaofang Wang, Yi Shi and Kris M. Kitani

Conference Paper, Asian Conference on Computer Vision, November, 2016
Detecting cars in aerial photographs with a hierarchy of deconvolution nets
Satyaki Chakraborty, Daniel Maturana and Sebastian Scherer

Tech. Report, CMU-RI-TR-16-60, Robotics Institute, Carnegie Mellon University, November, 2016
Semi-Supervised Learning of Sequence Models with Method of Moments
Zita Alexandra Magalhaes Marinho, Andre F. T. Martins, Shay B. Cohen and Noah A. Smit

Conference Paper, Proceedings of Empirical Methods for Natural Language Processing Conference (EMNLP), November, 2016
Synthesizing Route Travel Time Distributions Considering Spatial Dependencies
Isaac Isukapati and George List

Conference Paper, IEEE ITSC, November, 2016
Using Travel Time Reliability Measures With Individual Vehicle Data
Isaac Isukapati and George List

Conference Paper, IEEE ITSC, November, 2016
Toward Balance Recovery with Active Leg Prostheses Using Neuromuscular Model Control
Hartmut Geyer, Nitish Thatte and Helei Duan

Conference Paper, in Converging Clinical and Engineering Research on Neurorehabilitation II. Proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), pp. 649 - 652, October, 2016
A Discriminative Framework for Anomaly Detection in Large Videos
Allison Del Giorno, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, European Conference on Computer Vision (ECCV), No. 2016, October, 2016
A Discriminative Framework for Anomaly Detection in Large Videos
Allison Del Giorno, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, European Conference on Computer Vision (ECCV), October, 2016
A Nonparametric Belief Solution to the Bayes Tree
Dehann Fourie, John J. Leonard and Michael Kaess

Conference Paper, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2016
A System for Multi-Step Mobile Manipulation: Architecture, Algorithms, and Experiments
Siddhartha Srinivasa, Aaron M. Johnson, Gilwoo Lee, Michael Koval, Shushman Choudhury, Jennifer King, Christopher Dellin, Matthew Harding, David Butterworth, Prasanna Velagapudi and Allison Thackston

Conference Paper, 2016 International Symposium on Experimental Robotics, October, 2016
Approximate Continuous Belief Distributions for Precise Autonomous Inspection
Shobhit Srivastava and Nathan Michael

Conference Paper, International Symposium on Safety, Security and Rescue Robotics, October, 2016
Automated Tactical Maneuver Discovery, Reasoning and Trajectory Planning for Autonomous Driving
Tianyu Gu, John M. Dolan and Jin-Woo Lee

Conference Paper, IEEE International Conference on Intelligent Robots and Systems, pp. 5474-5480, October, 2016
Characterizing Human Perception of Emergent Swarm Behaviors
Phillip Walker, Michael Lewis and Katia Sycara

Conference Paper, IEEE SMC, October, 2016
Data-driven Classification of Screwdriving Operations
Reuben Aronson, Ankit Bhatia, Zhenzhong Jia, Mathieu Guillame-Bert, David Bourne, Artur W. Dubrawski and Matthew T. Mason

Conference Paper, International Symposium on Experimental Robotics, October, 2016
Data-Driven Statistical Modeling of a Cube Regrasp
Robert Paolini and Matthew T. Mason

Conference Paper, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2016
Development of an assessment for measuring middle school student attitudes towards robotics activities
Jennifer Cross, Emily Hamner, Lauren Zito, Illah Nourbakhsh and Debra Bernstein

Proceedings of the 2016 IEEE Frontiers in Education Conference (FIE), October, 2016
Distance Metrics and Algorithms for Task Space Path Optimization
Rachel Holladay and Siddhartha Srinivasa

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2016
Distributed Knowledge Leader Selection for Multi-Robot Environmental Sampling Under Bandwidth Constraints
Wenhao Luo, Shehzaman Salim Khatib, Sasanka Nagavalli, Nilanjan Chakraborty and Katia Sycara

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2016
Efficiently Sampling from Underlying Physical Models
Greydon Foil

PhD Thesis, CMU-RI-TR-16-57, Robotics Institute, Carnegie Mellon University, October, 2016
Electromagnetic Tracker for Active Handheld Robotic Systems
Robert A. MacLachlan, Nicholas Parody, Shohin Mukherjee, Ralph Hollis and Cameron Riviere

Conference Paper, IEEE Sensors 2016, October, 2016
Engineering and Computational Thinking talent in middle school students: A framework for defining and recognizing student affinities
Jennifer Cross, Emily Hamner, Lauren Zito and Illah Nourbakhsh

Conference Paper, Proceedings of the 2016 IEEE Frontiers in Education Conference (FIE), October, 2016
Handling State Uncertainty in Distributed Information Leader Selection for Robotic Swarms
Anqi Li, Wenhao Luo, Sasanka Nagavalli, Nilanjan Chakraborty and Katia Sycara

Conference Paper, IEEE International Conference on Systems, Man and Cybernetics 2016 (SMC 2016), October, 2016
Human-Robot Shared Workspace Collaboration via Hindsight Optimization
Stefania Pellegrinelli, Henny Admoni, Shervin Javdani and Siddhartha Srinivasa

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2016
Improved Learing of Dynamics for Control
Arun Venkatraman, Roberto Capobianco, Lerrel Pinto, Martial Hebert, Daniele Nardi and J. Andrew (Drew) Bagnell

Conference Paper, International Symposium on Experimental Robotics, October, 2016
Improved Learing of Dynamics for Control
Arun Venkatraman, Roberto Capobianco, Lerrel Pinto, Martial Hebert, Daniele Nardi and J. Andrew (Drew) Bagnell

Conference Paper, International Symposium on Experimental Robotics, October, 2016
Incremental Data Association for Acoustic Structure from Motion
Tiffany Huang and Michael Kaess

Conference Paper, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2016
Influence of cultural factors in dynamic trust in automation, Systems
Shih-Yi Chien, Michael Lewis, Katia Sycara, Jyi-Shane Liu and Asiye Kumru

Conference Paper, Man and Cybernetics, October, 2016
Integrated intelligence for human-robot teams
Jean Hyaejin Oh, Menglong Zhu, Sangdon Park, Thomas M. Howard, Matthew R. Walter, Daniel Barber, Oscar Romero, Arne Suppe, Luis Ernesto Navarro-Serment, Felix Duvallet, Abdeslam Boularias, Jerry Vinokurov, Terence Keegan, Robert Dean, Craig Lennon, Barry Bodt, Marshall Childers, Jianbo Shi, Kostas Daniilidis, Nick Roy, Christian Lebiere, Martial Hebert and Anthony (Tony) Stentz

Conference Paper, The 2016 International Symposium on Experimental Robotics (ISER 2016), October, 2016
Learning to Learn: Model Regression Networks for Easy Small Sample Learning
Yuxiong Wang and Martial Hebert

Conference Paper, European Conference on Computer Vision (ECCV), October, 2016
Learning to Learn: Model Regression Networks for Easy Small Sample Learning
Yuxiong Wang and Martial Hebert

Conference Paper, European Conference on Computer Vision (ECCV), October, 2016
Long Distance Visual Ground-Based Signaling for Unmanned Aerial Vehicles
Volker Grabe and Stephen T. Nuske

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), pp. 4976-4983, October, 2016
Long-range GPS-denied Aerial Inertial Navigation with LIDAR Localization
Garrett Hemann, Sanjiv Singh and Michael Kaess

Conference Paper, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2016
Nonholonomic motion planning in partially unknown environments using vector fields and optimal planners
Guilherme Augusto Silva Pereira, Sanjiban Choudhury and Sebastian Scherer

Conference Paper, Congresso Brasileiro de Automatica (CBA), October, 2016
Nonparametric Distribution Regression Applied to Sensor Modeling
Abhijeet Tallavajhula, Barnabas Poczos and Alonzo Kelly

Conference Paper, International Conference on Intelligent Robots and Systems (IROS), October, 2016
Pareto-Optimal Search over Configuration Space Beliefs for Anytime Motion Planning
Shushman Choudhury, Christopher Dellin and Siddhartha Srinivasa

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2016
Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments
Shichao Yang, Yu Song, Michael Kaess and Sebastian Scherer

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2016
Risk-Aware Algorithms for Adversarial Contextual Bandits
Wen Sun, Debadeepta Dey and Ashish Kapoor

Tech. Report, CMU-RI-TR-16-63, Robotics Institute, Carnegie Mellon University, arXiv, October, 2016
Robust Tracking in Low Light and Sudden Illumination Changes
Hatem Said Alismail, Brett Browning and Simon Lucey

Conference Paper, International Conference on 3D Vision, October, 2016
Shuffle and Learn: Unsupervised Learning using Temporal Order Verification
Ishan Misra, C. Lawrence Zitnick and Martial Hebert

Conference Paper, European Conference on Computer Vision (ECCV), October, 2016
Shuffle and Learn: Unsupervised Learning using Temporal Order Verification
Ishan Misra, C. Lawrence Zitnick and Martial Hebert

Conference Paper, European Conference on Computer Vision (ECCV), October, 2016
The Effect of Display Type on Operator Prediction of Future Swarm States
Phillip Walker, Michael Lewis and Katia Sycara

Conference Paper, IEEE SMC, October, 2016
Underwater Inspection using Sonar-based Volumetric Submaps
Pedro V. Teixeira, Michael Kaess, Franz S. Hover and John J. Leonard

Conference Paper, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2016
A Linear-Time Variational Integrator for Multibody Systems
Jeongseok Lee, C. Karen Liu, Frank C. Park and Siddhartha Srinivasa

Conference Paper, The 12th International Workshop on the Algorithmic Foundations of Robotics (WAFR 2016), September, 2016
Completing Manipulation Tasks Efficiently in Complex Environments
Christopher Dellin

PhD Thesis, CMU-RI-TR-16-53, Robotics Institute, Carnegie Mellon University, September, 2016
Complexity of Discrete Energy Minimization Problems
Mengtian Li, Alexander Shekhovtsov and Daniel Huber

Conference Paper, Computer Vision – ECCV 2016, September, 2016
Industrial Smoke Detection and Visualization
Yen-Chia Hsu, Paul S. Dille, Randy Sargent and Illah Nourbakhsh

Tech. Report, CMU-RI-TR-16-55, Robotics Institute, Carnegie Mellon University, September, 2016
No-Regret Replanning under Uncertainty
Wen Sun, Niteesh Sood, Debadeepta Dey, Gireeja Ranade, Siddharth Prakash and Ashish Kapoor

Tech. Report, CMU-RI-TR-16-64, Robotics Institute, Carnegie Mellon University, arXiv, September, 2016
Rapid Fabrication of Soft, Multilayered Electronics for Wearable Biomonitoring
Eric Markvicka, Michael D. Bartlett and Carmel Majidi

Journal Article, September, 2016
Relation between trust attitudes towards automation, Hofstede’s cultural dimensions and big five personality traits
Shih-Yi Chien, Michael Lewis, Katia Sycara, Jyi-Shane Liu and Asiye Kumru

Conference Paper, Human Factors and Ergonomics Society Conference, September, 2016
Robust Autonomous Flight in Constrained and Visually Degraded Shipboard Environments
Zheng Fang, Shichao Yang, Sezal Jain, Geetesh Dubey, Stephan Roth, Silvio Mano Maeta, Stephen T. Nuske, Yuzhang Wu and Sebastian Scherer

Journal Article, Carnegie Mellon University, Journal of Field Robotics, September, 2016
Robust Autonomous Flight in Constrained and Visually Degraded Shipboard Environments
Zheng Fang, Shichao Yang, Sezal Jain, Geetesh Dubey, Stephan Roth, Silvio Mano Maeta, Stephen T. Nuske, Yuzhang Wu and Sebastian Scherer

Journal Article, Journal of Field Robotics, September, 2016
Robust Manipulation via Contact Sensing
Michael Koval

PhD Thesis, CMU-RI-TR-16-54, Robotics Institute, Carnegie Mellon University, September, 2016
The Optical Coherence Tomography Microsurgical Augmented Reality System (OCT-MARS): A Novel Device for Microsurgeries
Samantha J. Horvath

PhD Thesis, CMU-RI-TR-16-56, Robotics Institute, Carnegie Mellon University, September, 2016
Walking and running with passive compliance
Christian Hubicki, Andy Abate, Patrick Clary, Siavash Rezazadeh, Mikhail Jones, Andrew Peekema, Johnathan Van Why, Ryan Domres, Albert Wu, William Martin, Hartmut Geyer and Jonathan Hurst

Journal Article, IEEE Robotics and Automation Magazine, September, 2016
A Low-Cost, Human-Inspired Perception Approach for Dense Moving Crowd Navigation
Ishani Chatterjee

Master's Thesis, Tech. Report, CMU-RI-TR-16-47, Robotics Institute, Carnegie Mellon University, August, 2016
Analysis of Angle of Attack for Efficient Slope Ascent by Rovers
Hiroaki Inotsume

Master's Thesis, Tech. Report, CMU-RI-TR-15-22, Robotics Institute, Carnegie Mellon University, August, 2016
Architecture for Industry 4.0-based Manufacturing Systems
Achal Arvind

Master's Thesis, Tech. Report, CMU-RI-TR-16-43, Robotics Institute, Carnegie Mellon University, August, 2016
Automated Assessment and Mapping of Grape Quality through Image-based Color Analysis
Zania Pothen and Stephen T. Nuske

Conference Paper, IFAC-PapersOnLine, Vol. 49, No. 16, pp. 72-78, August, 2016
Automated Measurement of Berry Size in Images
Omeed Mirbod, Luke Yoder and Stephen T. Nuske

Journal Article, IFAC-PapersOnLine, Vol. 49, No. 16, pp. 79-84, August, 2016
Autonomous Flight and Navigation in Air-Ground Systems
Benjamin Holden

Master's Thesis, Tech. Report, CMU-RI-TR-16-42, Robotics Institute, Carnegie Mellon University, August, 2016
Building and Leveraging Category Hierarchies for Large-scale Image Classification
Hao Zhang

Tech. Report, CMU-RI-TR-16-38, Robotics Institute, Carnegie Mellon University, August, 2016
Design for 3D Agility and Virtual Compliance using Proprioceptive Force Control in Dynamic Legged Robots
Simon Kalouche

Master's Thesis, Tech. Report, CMU-RI-TR-16-39, Carnegie Mellon University, August, 2016
Design, Construction, and Evaluation of a Ballbot Driven with a Spherical Induction Motor
Greg Seyfarth

Tech. Report, CMU-RI-TR-16-44, Robotics Institute, Carnegie Mellon University, August, 2016
Direct Pose Estimation and Refinement
Hatem Said Alismail

PhD Thesis, CMU-RI-TR-16-50, Robotics Institute, Carnegie Mellon University, August, 2016
Guaranteed Parameter Estimation of Discrete Energy Minimization for 3D Scene Parsing
Mengtian Li

Master's Thesis, Tech. Report, CMU-RI-TR-16-49, Robotics Institute, Carnegie Mellon University, August, 2016
Maintaining Awareness of the Focus of Attention of a Conversation: A Robot-Centric Reinforcement Learning Approach
Marynel Vazquez, Aaron Steinfeld and Scott E. Hudson

Conference Paper, International Symposium on Robot and Human Interactive Communication (RO-MAN), August, 2016
Modeling and Control of Coaxial UAV with Swashplate Controlled Lower Propeller
Richard Lee, Koushil Sreenath and Sebastian Scherer

Tech. Report, CMU-RI-TR-16-52, Robotics Institute, Carnegie Mellon University, August, 2016
Multi-task Value of Information Planning for Sequential Multi-task Bandits
Rika Antonova

Tech. Report, CMU-RI-TR-16-41, Robotics Institute, Carnegie Mellon University, August, 2016
Sample Efficient Bayesian Optimization for Policy Search: Case Studies in Robotics and Education
Rika Antonova

Master's Thesis, Tech. Report, CMU-RI-TR-16-40, Robotics Institute, Carnegie Mellon University, August, 2016
Spatial references and perspective in natural language instructions for collaborative manipulation
Shen Li, Rosario Scalise, Henny Admoni, Siddhartha Srinivasa and Stephanie Rosenthal

Conference Paper, IEEE International Symposium on Robot and Human Interactive Communication, August, 2016
Velocity-Limiting Control of an Active Handheld Micromanipulator
Shohin Mukherjee abd Robert MacLachlan and Cameron Riviere

Journal Article, Journal of Medical Devices, August, 2016
Vision-Enhanced Lidar Odometry and Mapping
Daniel Lu

Master's Thesis, Tech. Report, CMU-RI-TR-16-34, Robotics Institute, Carnegie Mellon University, August, 2016
Automatically Tracking and Calibrating Robot Arms using SLAM Techniques
Matthew Klingensmith

PhD Thesis, CMU-RI-TR-16-36, Robotics Institute, Carnegie Mellon University, July, 2016
Confidence Preserving Machine for Facial Action Unit Detection
Jiabei Zeng, Wen-Sheng Chu, Fernando De la Torre Frade, Jeffrey Cohn and Zhang Xiong

Journal Article, IEEE Transactions on Image Processing, July, 2016
Convergent Planning
Aaron M. Johnson, Jennifer King and Siddhartha Srinivasa

Journal Article, IEEE Robotics and Automation Letters, Vol. 1, No. 2, pp. 1044-1051, July, 2016
Distributed decoupling of multiagent simple temporal problems
Jayanth Krishna Mogali

Master's Thesis, Tech. Report, CMU-RI-TR-16-28, Robotics Institute, Carnegie Mellon University, July, 2016
Distributed Dynamic Priority Assignment and Motion Planning for Multiple Mobile Robots with Kinodynamic Constraints
Wenhao Luo, Nilanjan Chakraborty and Katia Sycara

Conference Paper, American Control Conference (ACC), July, 2016
Functional Gradient Motion Planning in Reproducing Kernel Hilbert Spaces
Zita Alexandra Magalhaes Marinho, Anca Dragan, Arunkumar Byravan, Byron Boots, Geoffrey Gordon and Siddhartha Srinivasa

Conference Paper, Proceedings of Robotics: Science and Systems (RSS-2016), July, 2016
Inference Machines for Nonparametric Filter Learning
Arun Venkatraman, Wen Sun, Martial Hebert, Byron Boots and J. Andrew (Drew) Bagnell

Conference Paper, 25th International Joint Conference on Artificial Intelligence (IJCAI-16), July, 2016
Inference Machines for Nonparametric Filter Learning
Arun Venkatraman, Wen Sun, Martial Hebert, Byron Boots and J. Andrew (Drew) Bagnell

25th International Joint Conference on Artificial Intelligence (IJCAI-16), July, 2016
Introspective Perception: Learning to Predict Failures in Vision Systems
Shreyansh Daftry, Sam Zeng, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), July, 2016
Introspective Perception: Learning to Predict Failures in Vision Systems
Shreyansh Daftry, Sam Zeng, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), July, 2016
Kinodynamic Motion Planning on Vector Fields using RRT*
Guilherme Augusto Silva Pereira, Sanjiban Choudhury and Sebastian Scherer

Tech. Report, CMU-RI-TR-16-35, Robotics Institute, Carnegie Mellon University, July, 2016
Path Planning in Dynamic Environments with Adaptive Dimensionality
Anirudh Vemula, Katharina Muelling and Jean Hyaejin Oh

Conference Paper, Proceedings of the Ninth International Symposium on Combinatorial Search (SoCS-2016), July, 2016
Road Detection and Semantic Segmentation without Strong Human Supervision
Ankit Laddha

Master's Thesis, Tech. Report, CMU-RI-TR-16-37, Robotics Institute, Carnegie Mellon University, July, 2016
Supersizing Self-supervision: Learning to Grasp from 50K Tries and 700 Robot Hours
Lerrel Pinto and Abhinav Gupta

Master's Thesis, Tech. Report, CMU-RI-TR-16-48, Robotics Institute, Carnegie Mellon University, July, 2016
A Framework for Optimal Repairing of Vector Field-based Motion Plans
Guilherme Augusto Silva Pereira, Sanjiban Choudhury and Sebastian Scherer

Conference Paper, Proceedings of the 2016 International Conference of Unmanned Aircraft Systems (ICUAS), pp. 261-266, June, 2016
Active Comparison Based Learning Incorporating User Uncertainty and Noise
Rachel Holladay, Shervin Javdani, Anca Dragan and Siddhartha Srinivasa

Conference Paper, Carnegie Mellon University, RSS Workshop on Model Learning for Human-Robot Communication, June, 2016
Asymptotically Near-Optimal RRT for Fast, High-Quality Motion Planning
Oren Salzman and Dan Halperin

Journal Article, IEEE Trans. Robotics, Vol. 32, No. 3, pp. 473-483, June, 2016
Cross-stitch Networks for Multi-task Learning
Ishan Misra, Abhinav Shrivastava, Abhinav Gupta and Martial Hebert

Conference Paper, IEEE Conference on Computer Vision and Pattern Recognition, June, 2016
Cross-stitch Networks for Multi-task Learning
Ishan Misra, Abhinav Shrivastava, Abhinav Gupta and Martial Hebert

Conference Paper, IEEE Conference on Computer Vision and Pattern Recognition, June, 2016
Discriminatively-guided Deliberative Perception for Pose Estimation of Multiple 3D Object Instances
Venkatraman Narayanan and Maxim Likhachev

Conference Paper, Robotics: Science and Systems, June, 2016
Estimating SE(3) elements using a dual quaternion based linear Kalman filter
Arun Srivatsan Rangaprasad, Gillian T. Rosen, Feroze Naina Mohamed Dheen Mohamed Ismail and Howie Choset

Conference Paper, Robotics: Science and Systems, June, 2016
Factoring Scenes into 3D Structure and Style
David Fouhey

PhD Thesis, CMU-RI-TR-16-45, Robotics Institute, Carnegie Mellon University, June, 2016
Finding Routes for Efficient and Successful Slope Ascent for Exploration Rovers
Hiroaki Inotsume, Colin Creager, David Wettergreen and William (Red) L. Whittaker

Conference Paper, The International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS) 2016, June, 2016
Human-like Planning of Swerve Maneuvers for Autonomous Vehicles
Tianyu Gu, John M. Dolan and Jin-Woo Lee

Conference Paper, IEEE Intelligent Vehicles Symposium, pp. 716-721, June, 2016
iSTEP 2012: Waste Monitoring and Water Monitoring and Management at Ashesi University College in Ghana
Scott Andes, Corinne Clinch, Julie Mallis, Sandeep Reddy Munnangi, Ronnell Perry, Sarah M. Belousov, Mary Beatrice Dias, Malcolm Frederick Dias, Balajee Kannan, Ermine A. Teves, Yonina Cooper and M Bernardine Dias

Tech. Report, CMU-RI-TR-16-29, Robotics Institute, Carnegie Mellon University, June, 2016
iSTEP 2013: Development and Assessment of Assistive Technology for a School for the Blind in India
Madeleine Clute, Madelyn Gioffre, Poornima Kaniarasu, Aditya Kodkany, Vivek Nair, Shree Lakshmi Rao, Aveed Sheikh, Avia Weinstein, Ermine A. Teves, Mary Beatrice Dias and M Bernardine Dias

Tech. Report, CMU-RI-TR-16-30, Robotics Institute, Carnegie Mellon University, June, 2016
iSTEP 2013: Exploring the Feasibility and Suitability of Assistive Technology at the Mathru Center for Differently-Abled
Shree Lakshmi Rao, Aveed Sheikh, Avia Weinstein, Aditya Kodkany, Madeleine Clute, Madelyn Gioffre, Poornima Kaniarasu, Vivek Nair, Ermine A. Teves, Mary Beatrice Dias and M Bernardine Dias

Tech. Report, CMU-RI-TR-16-31, Robotics Institute, Carnegie Mellon University, June, 2016
iSTEP 2015: Cross-Cultural Technology Development Toward Language Access for the Deaf and Hard of Hearing
Maya Lassiter, Amal Nanavati, Erik Pintar, Minnar Xie, Ermine A. Teves and M Bernardine Dias

Tech. Report, CMU-RI-TR-16-32, Robotics Institute, Carnegie Mellon University, June, 2016
Joint Patch and Multi-label Learning for Facial Action Unit and Holistic Expression Recognition
Kaili Zhao, Wen-Sheng Chu, Fernando De la Torre Frade, Jeffrey Cohn and Honggang Zhang

Journal Article, IEEE Transactions on Image Processing, June, 2016
Learning Action Maps of Large Environments Via First-Person Vision
Nicholas Rhinehart and Kris M. Kitani

Conference Paper, Conference on Computer Vision and Pattern Recognition (CVPR), June, 2016
Learning to Filter with Predictive State Inference Machines
Wen Sun, Arun Venkatraman, Byron Boots and J. Andrew (Drew) Bagnell

Conference Paper, International Conference on Machine Learning (ICML 2016), June, 2016
Learning to Smooth with Bidirectional Predictive State Inference Machines
Wen Sun, Roberto Capobianco, Geoffrey Gordon, J. Andrew (Drew) Bagnell and Byron Boots

Conference Paper, The Conference on Uncertainty in Artificial Intelligence (UAI 2016), June, 2016
Multiobjective Waypoint Sequencing for Planetary Rovers with Time-Dependent Energy Constraints
Christopher Cunningham, Jonathan Joo, Heather Jones and William (Red) L. Whittaker

Conference Paper, The International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), June, 2016
New perspective on sampling-based motion planning via random geometric graphs
Kiril Solovey, Oren Salzman and Dan Halperin

Robotics: Science and Systems (RSS), June, 2016
Reflections on the BodyTrack Project
Anne Wright

Tech. Report, CMU-RI-TR-16-46, Robotics Institute, Carnegie Mellon University, June, 2016
Runtime-Bounded Tunable Motion Planning for Autonomous Driving
Tianyu Gu, John M. Dolan and Jin-Woo Lee

Conference Paper, IEEE Intelligent Vehicles Symposium, pp. 1301-1306, June, 2016
Simultaneous Registration and Stiffness mapping of a Flexible Environment using Stiffness and Geometric Prior
Arun Srivatsan Rangaprasad, Long Wang, Elif Ayvali, Nabil Simaan and Howie Choset

Conference Paper, The Hamlyn Symposium on Medical Robotics, 2016, June, 2016
The Conditional Lucas-Kanade Algorithm
Chen-Hsuan Lin

Master's Thesis, Tech. Report, CMU-RI-TR-16-27, Robotics Institute, Carnegie Mellon University, June, 2016
The Multi-Mode Resource-Constrained Multi-Project Scheduling Problem: The MISTA 2013 challenge
T. Wauters, Joris Kinable, P. Smet, W. Vancroonenburg, G. Vanden Berghe and J. Verstichel

Journal Article, Journal of Scheduling, Vol. 19, No. 3, pp. 271–283, June, 2016
A Convex Polynomial Force-Motion Model for Planar Sliding: Identification and Application
Jiaji Zhou, Robert Paolini, J. Andrew (Drew) Bagnell and Matthew T. Mason

Conference Paper, International Conference on Robotics and Automation (ICRA) 2016, May, 2016
A Game-Theoretic Approach to Multi-Pedestrian Activity Forecasting
Wei-Chiu Ma

Master's Thesis, Tech. Report, CMU-RI-TR-16-16, Robotics Institute, Carnegie Mellon University, May, 2016
A Logic Based Benders Approach to the Concrete Delivery Prob- lem
Joris Kinable and M. Trick

Conference Paper, Proceedings of CPAIOR: Lecture Notes in Computer Science, Vol. 8451, pp. 176–192, May, 2016
A reservoir balancing constraint with applications to bike-sharing
Joris Kinable

Conference Paper, Lecture Notes in Computer Science, Vol. 9676, pp. 216–228, May, 2016
A*-Connect: Bounded Suboptimal Bidirectional Heuristic Search
Fahad Islam, Venkatraman Narayanan and Maxim Likhachev

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), May, 2016
Acoustic Structure from Motion
Tiffany Huang

Master's Thesis, Tech. Report, CMU-RI-TR-16-08, Robotics Institute, Carnegie Mellon University, May, 2016
Adaptive Kalman Filtering Methods for Low-Cost GPS/INS Localization for Autonomous Vehicles
Adam Werries and John M. Dolan

Tech. Report, CMU-RI-TR-16-18, Robotics Institute, Carnegie Mellon University, May, 2016
Annotation of Utterances for Conversational Nonverbal Behaviors
Allison Funkhouser

Master's Thesis, Tech. Report, CMU-RI-TR-16-25, Robotics Institute, Carnegie Mellon University, May, 2016
Complementary Model Update: A Method for Simultaneous Registration and Stiffness Mapping in Flexible Environments
Arun Srivatsan Rangaprasad, Elif Ayvali, Long Wang, Rajarshi Roy, Nabil Simaan and Howie Choset

Conference Paper, 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 924-930, May, 2016
Connecting Run-Time Metrics to Outcome Performance of Team Attack and Defense
Jason Blum

Master's Thesis, Tech. Report, CMU-RI-TR-16-24, Robotics Institute, Carnegie Mellon University, May, 2016
Constrained CHOMP using Dual Projected Newton Method
Sanjiban Choudhury and Sebastian Scherer

Tech. Report, CMU-RI-TR-16-17, Robotics Institute, Carnegie Mellon University, May, 2016
Convolutional Pose Machines: A Deep Architecture for Estimating Articulated Poses
Shih-En Wei

Master's Thesis, Tech. Report, CMU-RI-TR-16-22, Robotics Institute, Carnegie Mellon University, May, 2016
Design and Analysis of a Biped Leg to Survive High-Impact Falls
Roberto Shu

Master's Thesis, Tech. Report, CMU-RI-TR-16-21, Robotics Institute, Carnegie Mellon University, May, 2016
Design and Development of a Knee Prosthesis Emulator System
James C. Gabriel and Steve Collins

Tech. Report, CMU-RI-TR-16-26, Robotics Institute, Carnegie Mellon University, May, 2016
Distributed Knowledge Leader Selection for Multi-Robot Environmental Sampling
Wenhao Luo

Master's Thesis, Tech. Report, CMU-RI-TR-16-05, Robotics Institute, Carnegie Mellon University, May, 2016
Effective Non-Verbal Communication for Mobile Robots using Expressive Lights
Kim Baraka

Master's Thesis, Tech. Report, CMU-RI-TR-16-12, Robotics Institute, Carnegie Mellon University, May, 2016
Enhancing Direct Camera Tracking with Dense Feature Descriptors
Hatem Said Alismail, Brett Browning and Simon Lucey

Conference Paper, Asian Conference on Computer Vision (ACCV), May, 2016
Evaluation and Optimization of Dozing Operations for Small-Scale Wheeled Vehicles with Simulation and Validation Using a Reference Platform
Gregory Colvin

Master's Thesis, Tech. Report, CMU-RI-TR-16-13, Robotics Institute, Carnegie Mellon University, May, 2016
Evaluation of a Decentralized Stance-Leg Controller on a Powered Robotic Leg
Yin Zhong

Master's Thesis, Tech. Report, CMU-RI-TR-16-15, Robotics Institute, Carnegie Mellon University, May, 2016
High-Fidelity Planetary Route Determination Using Computationally Efficient Monocular Fisheye Odometry and Sun Compass
Eugene Fang

Tech. Report, CMU-RI-TR-16-14, Robotics Institute, Carnegie Mellon University, May, 2016
List Prediction Applied To Motion Planning
Abhijeet Tallavajhula, Sanjiban Choudhury, Sebastian Scherer and Alonzo Kelly

Conference Paper, 2016 IEEE International Conference on Robotics and Automation (ICRA), May, 2016
Long-range GPS-denied Aerial Inertial Navigation
Garrett Hemann

Master's Thesis, Tech. Report, CMU-RI-TR-16-11, Robotics Institute, Carnegie Mellon University, May, 2016
On Degeneracy of Optimization-based State Estimation Problems
Ji Zhang, Michael Kaess and Sanjiv Singh

Conference Paper, Carnegie Mellon University, 2016 IEEE International Conference on Robotics and Automation, May, 2016
Optimization Models for a Real-World Snow Plow Routing Problem
Joris Kinable, W. van Hoeve and Stephen Smith

Conference Paper, Proceedings 13th International Conference on Integration of Artificial Intelligence and Operations Research Techniques in Constraint Programming (CPAIOR 2016), May, 2016
PERCH: Perception via Search for Multi-Object Recognition and Localization
Venkatraman Narayanan and Maxim Likhachev

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), May, 2016
Photometric Bundle Adjustment for Vision-Based SLAM
Hatem Said Alismail, Brett Browning and Simon Lucey

Conference Paper, Asian Conference on Computer Vision (ACCV), May, 2016
Planning for Grasp Selection of Partially Occluded Objects
Sung Kyun Kim and Maxim Likhachev

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), May, 2016
Questimator: Generating Knowledge Assessments for Arbitrary Topics
Qi Guo

Master's Thesis, Tech. Report, CMU-RI-TR-16-04, Robotics Institute, Carnegie Mellon University, May, 2016
Real-time 3D Scene Layout from a Single Image Using Convolutional Neural Networks
Shichao Yang, Daniel Maturana and Sebastian Scherer

Conference Paper, International Conference on Robotics and Automation (ICRA), May, 2016
Rearrangement planning using object-centric and robot-centric action spaces
Jennifer King, Marco Cognetti and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Robotics and Automation, May, 2016
Regionally Accelerated Batch Informed Trees (RABIT*): A Framework to Integrate Local Information into Optimal Path Planning
Sanjiban Choudhury, Jonathan D. Gammell, Timothy D. Barfoot, Siddhartha Srinivasa and Sebastian Scherer

Conference Paper, 2016 IEEE International Conference on Robotics and Automation (ICRA), May, 2016
Robot Brachiation With Energy Control
Zongyi Yang

Master's Thesis, Tech. Report, CMU-RI-TR-16-19, Robotics Institute, Carnegie Mellon University, May, 2016
Stretchable, High‐k Dielectric Elastomers through Liquid‐Metal Inclusions
Michael D. Bartlett, Andrew Fassler, Navid Kazem, Eric Markvicka, Pratiti Mandal and Carmel Majidi

Journal Article, May, 2016
Symbiotic Planning for Planetary Exploration
Joseph Amato

Master's Thesis, Tech. Report, CMU-RI-TR-16-09, Robotics Institute, Carnegie Mellon University, May, 2016
Texture-based Fruit Detection via Images using the Smooth Patterns on the Fruit
Zania Pothen and Stephen T. Nuske

Conference Paper, IEEE conference on Robotics and Automation, May, 2016
Traffic Control with Connected Vehicle Routes in SURTRAC
Allen Hawkes

Master's Thesis, Tech. Report, CMU-RI-TR-16-20, Robotics Institute, Carnegie Mellon University, May, 2016
Using Planned View Trajectories to Build Good Models of Planetary Features under Transient Illumination
Heather Jones

PhD Thesis, CMU-RI-TR-16-23, Robotics Institute, Carnegie Mellon University, May, 2016
Evaluations on Multi-scale Camera Networks for Precise and Geo-accurate Reconstructions from Aerial and Terrestrial Images with User Guidance
Markus Rumpler, Alexander Tscharf, Christian Mostegel, Shreyansh Daftry, Christof Hoppe, Rudolf Prettenthaler, Friedrich Fraundorfer, Gerhard Mayer and Horst Bischof

Conference Paper, Computer Vision and Image Understanding, April, 2016
Fuel-Optimal Spacecraft Guidance for Landing in Planetary Pits
Neal S. Bhasin

Master's Thesis, Tech. Report, CMU-RI-TR-16-10, Robotics Institute, Carnegie Mellon University, April, 2016
Learning a Predictable and Generative Vector Representation for Objects
Rohit Girdhar

Master's Thesis, Tech. Report, CMU-RI-TR-16-06, Robotics Institute, Carnegie Mellon University, April, 2016
Online Bellman Residual and Temporal Difference Algorithms with Predictive Error Guarantees
Wen Sun and J. Andrew (Drew) Bagnell

Conference Paper, The 25th International Joint Conference on Artificial Intelligence - IJCAI 2016, April, 2016
Robust Monocular Flight in Cluttered Outdoor Environments
Shreyansh Daftry, Sam Zeng, Arbaaz Khan, Debadeepta Dey, Narek Melik-Barkhudarov, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, ArXiv, April, 2016
Towards Scalable Visual Navigation of Micro Aerial Vehicles
Shreyansh Daftry

Master's Thesis, Tech. Report, CMU-RI-TR-16-07, Robotics Institute, Carnegie Mellon University, April, 2016
A Unifying Formalism for Shortest Path Problems with Expensive Edge Evaluations via Lazy Best-First Search over Paths with Edge Selectors
Christopher Dellin and Siddhartha Srinivasa

Conference Paper, Proceedings of the 26th International Conference on Automated Planning and Scheduling, March, 2016
Assistive Teleoperation of Robot Arms via Automatic Time-Optimal Mode Switching
Laura Herlant, Rachel Holladay and Siddhartha Srinivasa

Conference Paper, Human-Robot Interaction, March, 2016
Blending of brain-machine interface and vision-guided autonomous robotics improves neuroprosthetic arm performance during grasping
John E. Downey, Jeffrey M. Weiss, Katharina Muelling, Arun Venkatraman, Jean-Sebastien Valois, Martial Hebert, J. Andrew (Drew) Bagnell, Andrew B. Schwartz and Jennifer L. Collinger

Journal Article, Journal of Neuro Engineering and Rehabilitation, Vol. 13, No. 1, March, 2016
Formalizing Human-Robot Mutual Adaptation via a Bounded Memory Based Model
Stefanos Nikolaidis, Anton Kuznetsov, David Hsu and Siddhartha Srinivasa

Conference Paper, Human-Robot Interaction, March, 2016
RoGuE: Robot Gesture Engine
Rachel Holladay and Siddhartha Srinivasa

Conference Paper, AAAI Spring Symposium Series, March, 2016
Selective Transfer Machine for Personalized Facial Expression Analysis
Wen-Sheng Chu, Fernando De la Torre Frade and Jeffrey Cohn

Journal Article, IEEE Transactions on Pattern Analysis and Machine Intelligence, March, 2016
Viewpoint-Based Legibility Optimization
Stefanos Nikolaidis, Anca Dragan and Siddhartha Srinivasa

Conference Paper, Human-Robot Interaction, March, 2016
Evaluation of Decentralized Reactive Swing-Leg Controllers on Powered Robotic Legs
Alexander Schepelmann

PhD Thesis, CMU-RI-TR-16-02, Robotics Institute, Carnegie Mellon University, February, 2016
Learning by Transferring from Unsupervised Universal Sources
Yuxiong Wang and Martial Hebert

Conference Paper, Thirtieth AAAI Conference on Artificial Intelligence (AAAI-16), February, 2016
Online Instrumental Variable Regression with Applications to Online Linear System Identification
Arun Venkatraman, Wen Sun, Martial Hebert, J. Andrew (Drew) Bagnell and Byron Boots

Conference Paper, Thirtieth AAAI Conference on Artificial Intelligence (AAAI-16), February, 2016
Report from Dagstuhl Seminar 15411: Multimodal Manipulation Under Uncertainty
Jan Peters, Justus Piater, Robert Platt and Siddhartha Srinivasa

Miscellaneous, Dagstuhl Reports, Vol. 5, No. 10, February, 2016
An Efficient Algorithm for Computing High-Quality Paths amid Polygonal Obstacles
Pankaj K. Agarwal, Kyle Fox and Oren Salzman

Conference Paper, Proceedings of the Twenty-Seventh Annual ACM-SIAM Symposium on Discrete Algorithms (SODA), pp. 1179-1192, January, 2016
Articulated Robot Motion for Simultaneous Localization and Mapping (ARM-SLAM)
Matthew Klingensmith, Siddhartha Srinivasa and Michael Kaess

Journal Article, IEEE Robotics and Automation - Letters, January, 2016
Direct Visual Odometry using Bit-Planes
Hatem Said Alismail, Brett Browning and Simon Lucey

Conference Paper, ArXiV, January, 2016
Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planning
Kiril Solovey, Oren Salzman and Dan Halperin

Journal Article, The International Journal of Robotics Research (IJRR), Vol. 35, No. 5, pp. 501-513, January, 2016
Information Sharing for Collective Sensemaking
Yuqing Tang, Christian Lebiere, Katia Sycara, Don Morrison, Michael Lewis and Paul Smart

Conference Paper, HICSS, January, 2016
Intelligent Decentralized Unmanned Aerial Survey of Volcanic Plumes
Corey Ippolito, Dave Pieri, Matthew Fladeland, Jason Lohn and John M. Dolan

Conference Paper, AIAA SciTech, January, 2016
Multi-Heuristic A*
Sandip Aine, Siddharth Swaminathan, Venkatraman Narayanan, Victor Hwang and Maxim Likhachev

Journal Article, International Journal of Robotics Research (IJRR), January, 2016
Organ-Mounted Robots for Minimally Invasive Beating-Heart Surgery
Nathan Wood

PhD Thesis, CMU-RI-TR-15-30, Robotics Institute, Carnegie Mellon University, January, 2016
Confidence Preserving Machine for Facial Action Unit Detection
Jiabei Zeng, Wen-Sheng Chu, Fernando De la Torre Frade, Jeffrey Cohn and Zhang Xiong

Conference Paper, Carnegie Mellon University, International Conference on Computer Vision (ICCV), December, 2015
Learning Positive Functions in a Hilbert Space
J. Andrew (Drew) Bagnell and Amir-massoud Farahmand

Conference Paper, Carnegie Mellon University, NIPS Workshop on Optimization, (OPT2015), December, 2015
Mixed-Initiative Control of a Roadable Air Vehicle for Non-Pilots
Michael C. Dorneich, Emmanuel Letsu-Dake, Sanjiv Singh, Sebastian Scherer, Lyle J. Chamberlain and Marcel Bergerman

Journal Article, Carnegie Mellon University, Journal of Human-Robot Interaction, Vol. 4, No. 3, pp. 38-61, December, 2015
Subdimensional Expansion: A Framework for Computationally Tractable Multirobot Path Planning
Glenn Wagner

PhD Thesis, CMU-RI-TR-15-33, Robotics Institute, Carnegie Mellon University, December, 2015
Unsupervised Synchrony Discovery in Human Interaction
Wen-Sheng Chu, Jiabei Zeng, Fernando De la Torre Frade, Jeffrey Cohn and Daniel S. Messinger

Conference Paper, Carnegie Mellon University, International Conference on Computer Vision (ICCV), December, 2015
Regulating Speed in a Neuromuscular Human Running Model
Seungmoon Song and Hartmut Geyer

Conference Paper, IEEE-RAS International Conference on Humanoid Robots, pp. 217-223, November, 2015
Bit-Planes: Dense Subpixel Alignment of Binary Descriptors
Hatem Said Alismail, Brett Browning and Simon Lucey

Conference Paper, Carnegie Mellon University, ArXiV, November, 2015
Improved human–robot team performance through cross-training, an approach inspired by human team training practices
Stefanos Nikolaidis, Przemyslaw Lasota, Ramya Ramakrishnan and Julie Shah

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, November, 2015
A Brief Overview of Human and Robot Motor Learning
Ruta Desai

Tech. Report, CMU-RI-TR-15-24, Robotics Institute, Carnegie Mellon University, October, 2015
A Lightweight Simulator for Autonomous Driving Motion Planning Development
Tianyu Gu and John M. Dolan

Conference Paper, Carnegie Mellon University, Proceedings of the 4th International Conference on Intelligent Systems and Applications (INTELLI 2015), pp. 94-97, October, 2015
Arts & Bots: Application and Outcomes of a Secondary School Robotics Program
Jennifer Cross, Emily Hamner, Christopher Bartley and Illah Nourbakhsh

Conference Paper, Carnegie Mellon University, In proceedings of 2015 IEEE Frontiers in Education Conference, pp. 2159-2167, October, 2015
Automated Multilateral Negotiation on Multiple Issues with Private Information
Ronghuo Zheng, Nilanjan Chakraborty, Tinglong Dai and Katia Sycara

Journal Article, Carnegie Mellon University, INFORMS Journal on Computing, October, 2015
Cross-Country Validation of a Cultural Scale in Measuring Trust in Automation
Shih-Yi Chien, Michael Lewis, Sebastian Hergeth, Zhaleh Semnani-Azad and Katia Sycara

Conference Paper, Carnegie Mellon University, Human Factors and Ergonomics Society, October, 2015
Inferring door locations from a teammate’s trajectory in stealth human-robot team operations
Jean Hyaejin Oh, Luis Ernesto Navarro-Serment, Arne Suppe, Anthony (Tony) Stentz and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2015
Learning-Based Algal Bloom Event Recognition for Oceanographic Decision Support System Using Remote Sensing Data
Weilong Song, John M. Dolan, Danelle Cline and Guangming Xiong

Journal Article, Carnegie Mellon University, Remote Sensing, Vol. 7, No. 10, pp. 13564-13585, October, 2015
List prediction for motion planning: Case studies
Abhijeet Tallavajhula and Sanjiban Choudhury

Tech. Report, CMU-RI-TR-15-25, Robotics Institute, Carnegie Mellon University, October, 2015
Low Cost Perception of Dense Moving Crowd Clusters for Appropriate Navigation
Ishani Chatterjee and Aaron Steinfeld

Conference Paper, Carnegie Mellon University, Workshop on Social Norms in Robotics and HRI, IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2015
Modularity for Maximum Mobility and Manipulation: Control of a Reconfigurable Legged Robot with Series-Elastic Actuators
Simon Kalouche, David Rollinson and Howie Choset

Conference Paper, Carnegie Mellon University, IEEE/Safety, Security, and Rescue Robotics 2015, (Awarded Best Paper), October, 2015
Multi-Scale Convolutional Architecture for Semantic Segmentation
Aman Raj, Daniel Maturana and Sebastian Scherer

Tech. Report, CMU-RI-TR-15-21, Robotics Institute, Carnegie Mellon University, pp. 14, October, 2015
Control and evaluation of series elastic actuators with nonlinear rubber springs
Jessica Austin, Alexander Schepelmann and Hartmut Geyer

Conference Paper, IEEE International Conference on Intelligent Robots and Systems, pp. 6563 - 6568, September, 2015
Evaluation of decentralized reactive swing-leg control on a powered robotic leg
Alexander Schepelmann, Jessica Austin and Hartmut Geyer

Conference Paper, IEEE International Conference on Intelligent Robots and Systems, pp. 381 - 386, September, 2015
Toward a virtual neuromuscular control for robust walking in bipedal robots
Zachary Batts, Seungmoon Song and Hartmut Geyer

Conference Paper, IEEE International Conference on Intelligent Robots and Systems, pp. 6318 - 6323, September, 2015
A Needs Assessment Study of the Educational Technology Needs of English Literacy Students and Teachers in Qatar and the U.S.
Nada Soudy, Ermine A. Teves, Mary Beatrice Dias, Silvia Pessoa and M Bernardine Dias

Tech. Report, CMU-RI-TR-15-16, Robotics Institute, Carnegie Mellon University, September, 2015
A Novel Nonlinear Compliant Link on Simple Grippers
Zhiwei Zhang, Alberto Rodriguez and Matthew T. Mason

Conference Paper, Carnegie Mellon University, 2015 IEEE/RSJ Conference on Intelligent Robots and Systems (IROS 2015), September, 2015
Bayesian Aggregation of Evidence For Detection and Characterization of Patterns in Multiple Noisy Observations
Prateek Tandon

PhD Thesis, CMU-RI-TR-15-23, Robotics Institute, Carnegie Mellon University, September, 2015
Bridging Text Spotting and SLAM with Junction Features
Hsueh-Cheng Wang, Chelsea Finn, Liam Paull, Michael Kaess, Ruth Rosenholtz, Seth Teller and John Leonard

Conference Paper, Carnegie Mellon University, In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, pp. 3701-3708, September, 2015
COLREGS-Compliant Target Following for an Unmanned Surface Vehicle in Dynamic Environments
Pranay Agrawal and John M. Dolan

Conference Paper, Carnegie Mellon University, Proceedings of the 2015 IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 1065-1070, September, 2015
Hand Parsing for Fine-Grained Recognition of Human Grasps in Monocular Images
Akanksha Saran, Damien Teney and Kris M. Kitani

Conference Paper, Carnegie Mellon University, IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2015
Multi-robot Persistent Coverage with Stochastic Task Costs
Derek Mitchell, Nilanjan Chakraborty, Katia Sycara and Nathan Michael

Conference Paper, Carnegie Mellon University, International Conference on Intelligent Robots and Systems (IROS), September, 2015
Online Safety Verification of Trajectories for Unmanned Flight with Offline Computed Robust Invariant Sets
Daniel Althoff, Matthias Althoff and Sebastian Scherer

Conference Paper, Carnegie Mellon University, IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2015
Parallel Detection of Conversational Groups of Free-Standing People and Tracking of their Lower-Body Orientation
Marynel Vazquez, Aaron Steinfeld and Scott E. Hudson

Conference Paper, Carnegie Mellon University, Proc. of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), September, 2015
Recognition of Human Group Activity for Video Analytics
Jaeyong Ju, Cheoljong Yang, Sebastian Scherer and Hanseok Ko

Conference Paper, Carnegie Mellon University, Advances in Multimedia Information Processing, pp. 735, September, 2015
Recognizing Hand-Object Interactions in Wearable Camera Videos
Tatsuya Ishihara, Kris M. Kitani, Wei-Chiu Ma, Hironobu Takagi and and Chieko Asakawa

Conference Paper, Carnegie Mellon University, IEEE International Conference on Image Processing (ICIP), September, 2015
Robust Trajectory Selection for Rearrangement Planning as a Multi-Armed Bandit Problem
Michael Koval, Jennifer King, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, Carnegie Mellon University, IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2015
SIMULATING ADAPTIVE CONTROL STRATEGIES IN LARGE URBAN NETWORKS
Isaac Isukapati, Achal Arvind, Gregory Barlow, Pranav Shah, Stephen Smith and Zack Rubinstein

Tech. Report, CMU-RI-TR-15-26, Robotics Institute, Carnegie Mellon University, September, 2015
Supervised Descent Method
Xuehan Xiong

PhD Thesis, CMU-RI-TR-15-28, Robotics Institute, Carnegie Mellon University, September, 2015
Towards Acoustic Structure from Motion for Imaging Sonar
Tiffany Huang and Michael Kaess

Conference Paper, Carnegie Mellon University, In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, pp. 758-765, September, 2015
Tunable and Stable Real-Time Trajectory Planning for Urban Autonomous Driving
Tianyu Gu, Jason Atwood, Chiyu Dong, John M. Dolan and Jin-Woo Lee

Conference Paper, Carnegie Mellon University, Proceedings of the 2015 IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 250-256, September, 2015
Using Bayesian Optimization to Guide Probing of a Flexible Environment for Simultaneous Registration and Stiffness Mapping
Elif Ayvali, Arun Srivatsan Rangaprasad, Long Wang, Rajarshi Roy, Nabil Simaan and Howie Choset

Tech. Report, arXiv preprint arXiv:1509.05830, Robotics Institute, Carnegie Mellon University, September, 2015
Using Lie algebra for shape estimation of medical snake robots
Arun Srivatsan Rangaprasad, Matthew J. Travers and Howie Choset

Conference Paper, Carnegie Mellon University, IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2015
Vision-based Robot Localization by Ground to Satellite Matching in GPS-denied Situations
Anirudh Viswanathan, Bernardo F R Esteves Pires and Daniel Huber

Conference Paper, Carnegie Mellon University, Proceedings of the International Conference on Intelligent Robots and Systems (IROS), pp. 192-198, September, 2015
Visual Utility – A Framework for Focusing Computer Vision Algorithms
Mark Desnoyer

PhD Thesis, CMU-RI-TR-15-32, Robotics Institute, Carnegie Mellon University, September, 2015
VoxNet: A 3D Convolutional Neural Network for Real-Time Object Recognition
Daniel Maturana and Sebastian Scherer

Conference Paper, Carnegie Mellon University, IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2015
Toward balance recovery with leg prostheses using neuromuscular model control
Nitish Thatte and Hartmut Geyer

Journal Article, IEEE Transactions on Biomedical Engineering, Vol. 63, No. 5, pp. 904-913, August, 2015
A Crowdfunding Model for Green Energy Investment
Ronghuo Zheng, Ying Xu, Nilanjan Chakraborty and Katia Sycara

Conference Paper, Carnegie Mellon University, International Joint Conference on AI (IJCAI), August, 2015
Asynchronous Distributed Information Leader Selection in Robotic Swarms
Wenhao Luo, Shehzaman Salim Khatib, Sasanka Nagavalli, Nilanjan Chakraborty and Katia Sycara

Conference Paper, Carnegie Mellon University, IEEE International Conference on Automation Science and Engineering, August, 2015
Benchmarking in Manipulation Research: The YCB Object and Model Setand Benchmarking Protocols
Berk Calli, Aaron Walsman, Arjun Singh, Siddhartha Srinivasa, Pieter Abbeel and Aaron Dollar

Conference Paper, Carnegie Mellon University, IEEE Robotics and Automation Magazine (IEEE RAM), August, 2015
Perceived Robot Capability
Elizabeth Cha, Anca Dragan and Siddhartha Srinivasa

Conference Paper, Carnegie Mellon University, International Symposium on Human-Robot Communication, August, 2015
Pre- and post-contact policy decomposition for planar contact manipulation under uncertainty
Michael Koval, Nancy Pollard and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, August, 2015
Predicting Sets and Lists: Theory and Practice
Debadeepta Dey

PhD Thesis, CMU-RI-TR-15-18, Robotics Institute, Carnegie Mellon University, August, 2015
State Estimation for Humanoid Robots
Ben Xinjilefu

PhD Thesis, CMU-RI-TR-15-20, Robotics Institute, Carnegie Mellon University, August, 2015
A Simple Model of Skill Acquisition in a Dynamic Balance Task
Ruta Desai and Jessica K. Hodgins

Conference Paper, Carnegie Mellon University, Dynamic Walking 2015, July, 2015
Autonomy Infused Teleoperation with Application to BCI Manipulation
Katharina Muelling, Arun Venkatraman, Jean-Sebastien Valois, John Downey, Jeffrey Weiss, Shervin Javdani, Martial Hebert, Andrew B. Schwartz, Jennifer L. Collinger and J. Andrew (Drew) Bagnell

Conference Paper, Carnegie Mellon University, Proceedings of Robotics: Science and Systems, July, 2015
Chisel: Real Time Large Scale 3D Reconstruction Onboard a Mobile Device
Matthew Klingensmith, Ivan Dryanovski, Siddhartha Srinivasa and Jizhong Xiao

Conference Paper, Carnegie Mellon University, Robotics Science and Systems 2015, July, 2015
Consistent Unscented Incremental Smoothing for Multi-robot Cooperative Target Tracking
Guoquan Huang, Michael Kaess and John J. Leonard

Journal Article, Carnegie Mellon University, Journal of Robotics and Autonomous Systems, Vol. 69, pp. 52-67, July, 2015
Deceptive Robot Motion: Synthesis, Analysis and Experiments
Anca Dragan, Rachel Holladay and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, Autonomous Robots, July, 2015
Distributed Algorithms for Multirobot Task Assignment With Task Deadline Constraints
Lingzhi Luo, Nilanjan Chakraborty and Katia Sycara

Journal Article, Carnegie Mellon University, IEEE Transactions on Automation Science and Engineering (TASE), Special Issue on Networked Cooperative Autonomous Systems, Vol. 12, No. 3, pp. 876 - 888, July, 2015
Efficient Search with an Ensemble of Heuristics
Michael Phillips, Venkatraman Narayanan, Sandip Aine and Maxim Likhachev

Conference Paper, Carnegie Mellon University, International Joint Conference on Artificial Intelligence (IJCAI), July, 2015
Nonnegative Matrix Tri-factorization with Graph Regularization for Community Detection in Social Networks
Yulong Pei, Nilanjan Chakraborty and Katia Sycara

Conference Paper, Carnegie Mellon University, International Joint Conference on AI (IJCAI), July, 2015
Numerical Nonlinear Robust Control with Applications to Humanoid Robots
Jiuguang Wang

PhD Thesis, CMU-RI-TR-15-17, Robotics Institute, Carnegie Mellon University, July, 2015
Online Bellman Residual Algorithms with Predictive Error Guarantees
Wen Sun and J. Andrew (Drew) Bagnell

Conference Paper, Carnegie Mellon University, The 31st Conference on Uncertainty in Artificial Intelligence (UAI), July, 2015
Place Recognition and Topological Map Learning in a Virtual Cognitive Robot
Paul R. Smart and Katia Sycara

Conference Paper, Carnegie Mellon University, The 2015 International Conference on Artificial Intelligence, July, 2015
Preparing Engineers for a Global Future through Guided Opportunities to Innovate for Underserved Communities
M Bernardine Dias, Ermine A. Teves and Mary Beatrice Dias

Journal Article, Carnegie Mellon University, Journal of Engineering Education Transformations, Vol. 29, No. 1, pp. 26-37, July, 2015
Shared Autonomy via Hindsight Optimization
Shervin Javdani, Siddhartha Srinivasa and J. Andrew (Drew) Bagnell

Conference Paper, Carnegie Mellon University, Proceedings of Robotics: Science and Systems, July, 2015
Situating Cognition within the Virtual World
Paul R. Smart and Katia Sycara

Conference Paper, Carnegie Mellon University, 6th International Conference on Applied Human Factors and Ergonomics (AHFE), July, 2015
The YCB Object and Model Set: Towards Common Benchmarks for Manipulation Research
Berk Calli, Arjun Singh, Aaron Walsman, Siddhartha Srinivasa, Pieter Abbeel and Aaron Dollar

Conference Paper, Carnegie Mellon University, IEEE International Conference on Advanced Robotics (ICAR), July, 2015
Theoretical Limits of Speed and Resolution for Kinodynamic Planning in a Poisson Forest
Sanjiban Choudhury, Sebastian Scherer and J. Andrew (Drew) Bagnell

Conference Paper, Carnegie Mellon University, Robotics Science and Systems, July, 2015
Visual–Inertial Combined Odometry System for Aerial Vehicles
Ji Zhang and Sanjiv Singh

Journal Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 32, No. 8, pp. 1043-1055, July, 2015
Robust Spring Mass Model Running for a Physical Bipedal Robot
William Martin, Albert Wu and Hartmut Geyer

Conference Paper, IEEE International Conference on Robotics and Automation, pp. 6307 - 6312, June, 2015
Touch-down angle control for spring-mass walking
Hamid Reza Vejdani, Albert Wu, Hartmut Geyer and Jonathan Hurst

Conference Paper, IEEE International Conference on Robotics and Automation, pp. 5101 - 5106, June, 2015
Autonomous Exploration and Motion Planning for an Unmanned Aerial Vehicle Navigating Rivers
Stephen T. Nuske, Sanjiban Choudhury, Sezal Jain, Andrew D. Chambers, Luke Yoder, Sebastian Scherer, Lyle J. Chamberlain, Hugh Cover and Sanjiv Singh

Journal Article, Carnegie Mellon University, Journal of Field Robotics, June, 2015
Autonomous Exploration for Infrastructure Modeling with a Micro Aerial Vehicle
Luke Yoder and Sebastian Scherer

Conference Paper, Carnegie Mellon University, Field and Service Robotics, June, 2015
Context-Aware Tracking of Moving Objects for Distance Keeping
Wenda Xu, Jarrod M. Snider, Junqing Wei and John M. Dolan

Conference Paper, Carnegie Mellon University, Proceedings of the 2015 IEEE Intelligent Vehicles Symposium, pp. 1380-1385, June, 2015
Energy Utilization and Energetic Estimation of Achievable Range for Wheeled Mobile Robots Operating on a Single Battery Discharge
Xuesu Xiao and William (Red) L. Whittaker

Tech. Report, CMU-RI-TR-14-15, Robotics Institute, Carnegie Mellon University, June, 2015
How Do We Use Our Hands? Discovering a Diverse Set of Common Grasps
De-An Huang, Minghuang Ma, Wei-Chiu Ma and Kris M. Kitani

Conference Paper, Carnegie Mellon University, IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2015, June, 2015
Improved Multi-Heuristic A* for Searching with Uncalibrated Heuristics
Venkatraman Narayanan, Sandip Aine and Maxim Likhachev

Conference Paper, Carnegie Mellon University, International Symposium on Combinatorial Search (SoCS), June, 2015
Joint Patch and Multi-label Learning for Facial Action Unit Detection
Kaili Zhao, Wen-Sheng Chu, Fernando De la Torre Frade, Jeffrey Cohn and Honggang Zhang

Conference Paper, Carnegie Mellon University, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June, 2015
Learning a Context-Dependent Switching Strategy for Robust Visual Odometry
Kristen Holtz, Daniel Maturana and Sebastian Scherer

Conference Paper, Carnegie Mellon University, Field and Service Robotics, June, 2015
Learning Scene-Specific Pedestrian Detectors without Real Data
Hironori Hattori, Yasodekshna Vishnu Naresh Boddeti, Kris M. Kitani and Takeo Kanade

Conference Paper, Carnegie Mellon University, CVPR, June, 2015
Legible Robot Motion Planning
Anca Dragan

PhD Thesis, CMU-RI-TR-15-15, Robotics Institute, Carnegie Mellon University, June, 2015
Model Recommendation: Generating Object Detectors From Few Samples
Yuxiong Wang and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), June, 2015
Multi-agent coordination for demand management with energy generation and storage
Ronghuo Zheng, Ying Xu, Nilanjan Chakraborty, Michael Lewis and Katia Sycara

Conference Paper, Carnegie Mellon University, Conference on Group Decision and Negotiation (GDN), June, 2015
Pose estimation for planar contact manipulation with manifold particle filters
Michael Koval, Nancy Pollard and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 34, No. 7, pp. 922-945, June, 2015
Registering Surgical Tool to a Soft Body using Mechanical Palpation
Arun Srivatsan Rangaprasad, Rajarshi Roy, Long Wang, Nabil Simaan and Howie Choset

Tech. Report, CMU-RI-TR-15-13, Robotics Institute, Carnegie Mellon University, June, 2015
Robust Autonomous Flight in Constrained and Visually Degraded Environments
Zheng Fang, Shichao Yang, Sezal Jain, Geetesh Dubey, Silvio Mano Maeta, Stephan Roth, Sebastian Scherer, Yu Zhang and Stephen T. Nuske

Conference Paper, Carnegie Mellon University, Field and Service Robotics, June, 2015
Towards technology with a global heart through compassionate engineering
M Bernardine Dias, Ermine A. Teves and Mary Beatrice Dias

Conference Paper, Carnegie Mellon University, pp. 96 - 100, June, 2015
Video Co-summarization: Video Summarization by Visual Co-occurrence
Wen-Sheng Chu, Yale Song and Alejandro Jaimes

Conference Paper, Carnegie Mellon University, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June, 2015
Vision and Learning for Deliberative Monocular Cluttered Flight
Debadeepta Dey, Kumar Shaurya Shankar, Sam Zeng, Rupesh Mehta, M. Talha Agcayazi, Christopher Eriksen, Shreyansh Daftry, Martial Hebert and J. Andrew (Drew) Bagnell

Conference Paper, Carnegie Mellon University, Field and Service Robotics (FSR), June, 2015
Watch and Learn: Semi-Supervised Learning of Object Detectors from Videos
Ishan Misra, Abhinav Shrivastava and Martial Hebert

Conference Paper, Carnegie Mellon University, Computer Vision and Pattern Recognition (CVPR), June, 2015
A General Technique for Fast Comprehensive Multi-Root Planning on Graphs by Coloring Vertices and Deferring Edges
Christopher Dellin and Siddhartha Srinivasa

Conference Paper, Carnegie Mellon University, 2015 IEEE International Conference on Robotics and Automation (ICRA), May, 2015
Active Antenna Tracking System with Directional Antennas for Enhancing Wireless Communication Capabilities of a Networked Robotic System
Byung-Cheol Min, Eric T. Matson and Jin-Woo Jung

Conference Paper, Carnegie Mellon University, Journal of Field Robotics, May, 2015
Batch Informed Trees (BIT*): Sampling-based Optimal Planning via the Heuristically Guided Search of Implicit Random Geometric Graphs
Jonathan Gammell, Siddhartha Srinivasa and Timothy Barfoot

Conference Paper, Carnegie Mellon University, 2015 IEEE International Conference on Robotics and Automation (ICRA), May, 2015
Building 3D Mosaics from an Autonomous Underwater Vehicle, Doppler Velocity Log, and 2D Imaging Sonar
Paul Ozog, Giancarlo Troni, Michael Kaess, Ryan M. Eustice and Matthew Johnson-Roberson

Journal Article, Carnegie Mellon University, In IEEE Intl. Conf. on Robotics and Automation, May, 2015
Constraint Manifold Subsearch for multirobot path planning with cooperative tasks
Glenn Wagner, Jae Il Kim, Konrad Urban and Howie Choset

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA), May, 2015
Construction and Validation of a High Fidelity Simulator for a Planar Range Sensor
Abhijeet Tallavajhula and Alonzo Kelly

Conference Paper, Carnegie Mellon University, IEEE Conference on Robotics and Automation, May, 2015
Dynamic Multi-Heuristic A*
Fahad Islam, Venkatraman Narayanan and Maxim Likhachev

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA), May, 2015
Efficient high-quality motion planning by fast all-pairs r-nearest-neighbors
Michal Kleinbort, Oren Salzman and Dan Halperin

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA), pp. 2985-2990, May, 2015
Emergency Maneuver Library – Ensuring Safe Navigation in Partially Known Environments
Sankalp Arora, Sanjiban Choudhury, Daniel Althoff and Sebastian Scherer

Conference Paper, Carnegie Mellon University, 2015 IEEE International Conference on Robotics and Automation, May, 2015
Environment Model Adaptation for Autonomous Exploration
Erik Nelson

Tech. Report, CMU-RI-TR-15-12, Robotics Institute, Carnegie Mellon University, May, 2015
Grounding Spatial Relations for Outdoor Robot Navigation
Abdeslam Boularias, Felix Duvallet, Jean Hyaejin Oh and Anthony (Tony) Stentz

Conference Paper, Carnegie Mellon University, 2015 IEEE International Conference on Robotics and Automation (ICRA), May, 2015
Handheld Micromanipulator for Robot-Assisted Microsurgery
Sungwook Yang

PhD Thesis, CMU-RI-TR-15-11, Robotics Institute, Carnegie Mellon University, May, 2015
IntraFace
Fernando De la Torre Frade, Wen-Sheng Chu, Xuehan Xiong, Francisco Vicente Carrasco, Xiaoyu Ding and Jeffrey Cohn

Conference Paper, Carnegie Mellon University, Automatic Face and Gesture Recognition, May, 2015
Kinodynamic Randomized Rearrangement Planning via Dynamic Transitions Between Statically Stable States
Joshua Haustein, Jennifer King, Siddhartha Srinivasa and Tamim Asfour

Conference Paper, Carnegie Mellon University, International Conference on Robotics and Automation, May, 2015
Mobile Manufacturing of Large Structures
David Bourne, Howie Choset, Humphrey Hu, George A. Kantor, Christopher Niessl, Zack Rubinstein, Reid Simmons and Stephen Smith

Conference Paper, Carnegie Mellon University, Proceedings 2015 IEEE International Conference on Robotics and Automation, May, 2015
Movement Primitives via Optimization
Anca Dragan, Katharina Muelling, J. Andrew (Drew) Bagnell and Siddhartha Srinivasa

Conference Paper, Carnegie Mellon University, International Conference on Robotics and Automation (ICRA), May, 2015
Multi-robot long-term persistent coverage with fuel constrained robots.
Derek Mitchell, Micah Corah, Nilanjan Chakraborty, Katia Sycara and Nathan Michael

Conference Paper, Carnegie Mellon University, Robotics and Automation (ICRA), 2015 IEEE International Conference on, pp. 1093 - 1099, May, 2015
Nonprehensile Whole Arm Rearrangement Planning on Physics Manifolds
Jennifer King, Joshua Haustein, Siddhartha Srinivasa and Tamim Asfour

Conference Paper, Carnegie Mellon University, International Conference on Robotics and Automation, May, 2015
Optimal motion planning for a tethered robot: Efficient preprocessing for fast shortest paths queries
Oren Salzman and Dan Halperin

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA), pp. 4161-4166, May, 2015
PASP: Policy Based Approach for Sensor Planning
Sankalp Arora and Sebastian Scherer

Conference Paper, Carnegie Mellon University, 2015 IEEE International Conference on Robotics and Automation, May, 2015
Real-time Onboard 6DoF Localization of an Indoor MAV in Degraded Visual Environments Using a RGB-D Camera
Zheng Fang and Sebastian Scherer

Conference Paper, Carnegie Mellon University, 2015 IEEE International Conference on Robotics and Automation, May, 2015
Robotics Community Experiences: Leveraging Informal Design and Learning Experiences to Motivate Urban Youth in STEM
Kimberley Gomez, Debra Bernstein, Jolene Zywica, Emily Hamner, Ung-Sang Lee and Jahneille Cunningham

Book Section/Chapter, Carnegie Mellon University, Handbook of Research on Advancements in Robotics and Mechatronics, pp. 929-957, May, 2015
Semi-Dense Visual Odometry for Monocular Navigation in Cluttered Environment
Shreyansh Daftry, Debadeepta Dey, Harsimrat Sandhawalia, Sam Zeng, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA) workshop on Recent Advances in Sensing and Actuation for Bioinspired Agile Flight, May, 2015
Simultaneous Localization and Mapping with Infinite Planes
Michael Kaess

Journal Article, Carnegie Mellon University, In IEEE Intl. Conf. on Robotics and Automation, May, 2015
Task-Oriented Planning for Manipulating Articulated Mechanisms Under Model Uncertainty
Venkatraman Narayanan and Maxim Likhachev

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA), May, 2015
Terrain Traversability Prediction by Imaging Thermal Transients
Christopher Cunningham, Issa Nesnas and William (Red) L. Whittaker

Conference Paper, Carnegie Mellon University, 2015 IEEE International Conference on Robotics and Automation (ICRA), May, 2015
The Dynamics Projection Filter (DPF) – Real-Time Nonlinear Trajectory Optimization Using Projection Operators
Sanjiban Choudhury and Sebastian Scherer

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation, May, 2015
The Planner Ensemble: Motion Planning by Executing Diverse Algorithms
Sanjiban Choudhury, Sankalp Arora and Sebastian Scherer

Conference Paper, Carnegie Mellon University, IEEE Conference on Robotics and Automation, May, 2015
Visual Chunking: A List Prediction Framework for Region-Based Object Detection
Nicholas Rhinehart, Jiaji Zhou, Martial Hebert and J. Andrew (Drew) Bagnell

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA), May, 2015
Visual-lidar Odometry and Mapping: Low-drift, Robust, and Fast
Ji Zhang and Sanjiv Singh

Journal Article, Carnegie Mellon University, IEEE Intl. Conf. on Robotics and Automation (ICRA), May, 2015
A neural circuitry that emphasizes spinal feedbacks generates diverse behaviors of human locomotion
Seungmoon Song and Hartmut Geyer

Journal Article, Journal of Physiology, Vol. 593, No. 16, pp. 3493-3511, April, 2015
3D Printing Pneumatic Device Controls with Variable Activation Force Capabilities
Marynel Vazquez, Eric Brockmeyer, Ruta Desai, Chris Harrison and Scott E. Hudson

Conference Paper, Carnegie Mellon University, Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems (CHI '15), pp. 1295-1304, April, 2015
Finding a Needle in an Exponential Haystack: Discrete RRT for Exploration of Implicit Roadmaps in Multi-robot Motion Planning
Kiril Solovey, Oren Salzman and Dan Halperin

Conference Paper, Carnegie Mellon University, Workshop on the Algorithmic Foundations of Robotics (WAFR), pp. 591-607, April, 2015
Manipulator design and operation of a six-degree-of-freedom handheld tremor-cancelling microsurgical instrument
Sungwook Yang, Robert MacLachlan and Cameron Riviere

Conference Paper, Carnegie Mellon University, IEEE/ASME Transactions on Mechatronics, Vol. 20, No. 2, pp. 761-772, April, 2015
Motion Compensation for Structured Light Sensors
Debjani Biswas and Christoph Mertz

Conference Paper, Carnegie Mellon University, SPIE - Defense, Security and Sensing, April, 2015
On the Power of Manifold Samples in Exploring Configuration Spaces and the Dimensionality of Narrow Passages
Oren Salzman, Michael Hemmer and Dan Halperin

Conference Paper, Carnegie Mellon University, IEEE Trans. Automation Science and Engineering (TASE), Vol. 12, No. 2, pp. 529-538, April, 2015
Real-time large scale dense RGB-D SLAM with volumetric fusion
Thomas Whelan, Michael Kaess, Hordur Johannsson, Maurice Fallon, John J. Leonard and John McDonald

Conference Paper, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 34, pp. 598-626, April, 2015
3D Convolutional Neural Networks for Landing Zone Detection from LiDAR
Daniel Maturana and Sebastian Scherer

Conference Paper, Carnegie Mellon University, International Conference on Robotics and Automation, March, 2015
A Unified View of Large-scale Zero-sum Equilibrium Computation
Kevin Waugh and J. Andrew (Drew) Bagnell

Conference Paper, Carnegie Mellon University, AAAI Workshop on Computer Poker and Imperfect Information, March, 2015
Active Area Search via Bayesian Quadrature
Yifei Ma, Roman M. Garnett and Jeff Schneider

Conference Paper, Carnegie Mellon University, Artificial Intelligence and Statistics (AISTATS), March, 2015
An Invitation to Imitation
J. Andrew (Drew) Bagnell

Tech. Report, CMU-RI-TR-15-08, Robotics Institute, Carnegie Mellon University, March, 2015
Bounds of Neglect Benevolence in Input Timing for Human Interaction with Robotic Swarms
Sasanka Nagavalli, Shih-Yi Chien, Michael Lewis, Nilanjan Chakraborty and Katia Sycara

Conference Paper, Carnegie Mellon University, ACM/IEEE International Conference on Human-Robot Interaction, March, 2015
CHIMP, the CMU Highly Intelligent Mobile Platform
Anthony (Tony) Stentz, Herman Herman, Alonzo Kelly, Eric Meyhofer, Galen Clark Haynes, David Stager, Brian Zajac, J. Andrew (Drew) Bagnell, Jordan Brindza, Christopher Dellin, Michael George, Jose Gonzalez-Mora, Sean Hyde, Morgan Jones, Michel Laverne, Maxim Likhachev, Levi Lister, Matthew D. Powers, Oscar Ramos, Justin Ray, David P. Rice, Justin Scheifflee, Raumi Sidki, Siddhartha Srinivasa, Kyle Strabala, Jean Philippe Tardif, Jean-Sebastien Valois, J Michael Vandeweghe, Michael D. Wagner and Carl Wellington

Journal Article, Carnegie Mellon University, Journal of Field Robotics (JFR), Special Issue: Special issue on DARPA Robotics Challenge (DRC), Vol. 32, No. 2, pp. 209-228, March, 2015
Connected Invariant Sets for High-Speed Motion Planning in Partially-Known Environments
Daniel Althoff and Sebastian Scherer

Conference Paper, Carnegie Mellon University, 2015 IEEE International Conference on Robotics and Automation, March, 2015
Effects of Robot Motion on Human-Robot Collaboration
Anca Dragan, Shira Bauman, Jodi Forlizzi and Siddhartha Srinivasa

Conference Paper, Carnegie Mellon University, Human-Robot Interaction, March, 2015
Efficient Model Learning from Joint-Action Demonstrations for Human-Robot Collaborative Tasks
Stefanos Nikolaidis, Ramya Ramakrishnan, Keren Gu and Julie Shah

Conference Paper, Carnegie Mellon University, Human-Robot Interaction, March, 2015
Future Directions in Indoor Navigation Technology for Blind Travelers
M Bernardine Dias, Aaron Steinfeld and Mary Beatrice Dias

Book Section/Chapter, Carnegie Mellon University, Indoor Wayfinding and Navigation, pp. 203 -226, March, 2015
Gaussian reconstruction of swarm behavior from partial data
Glenn Wagner and Howie Choset

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA), March, 2015
How Would You Describe Assistive Robots to People Who are Blind or Low Vision?
Byung-Cheol Min, Aaron Steinfeld and M Bernardine Dias

Conference Paper, Carnegie Mellon University, Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction Extended Abstracts, pp. 91-92, March, 2015
Human-robot cross-training: computational formulation, modeling and evaluation of a human team training strategy
Stefanos Nikolaidis and Julie Shah

Conference Paper, Carnegie Mellon University, Human-Robot Interaction, March, 2015
Incorporating Information from Trusted Sources to Enhance Urban Navigation for Blind Travelers
Byung-Cheol Min, Suryansh Saxena, Aaron Steinfeld and M Bernardine Dias

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA), March, 2015
Indoor Navigation Aids for Blind and Visually Impaired People
M Bernardine Dias and Satish Ravishankar

Book Section/Chapter, Carnegie Mellon University, Indoor Wayfinding and Navigation, pp. 165 -186, March, 2015
Indoor Navigation Challenges for Visually Impaired People
Mary Beatrice Dias, Ermine A. Teves, George J. Zimmerman, Hend K. Gedawy, Sarah M. Belousov and M Bernardine Dias

Book Section/Chapter, Carnegie Mellon University, Indoor Wayfinding and Navigation, pp. 141-164, March, 2015
Omnidirectional Visual Place Recognition using Rotation Invariant Sequence Matching
Peter Hansen and Brett Browning

Tech. Report, CMU-RI-TR-15-103, CMU-CS-QTR-126, Robotics Institute, Carnegie Mellon University, March, 2015
Robot Farmers: Autonomous Orchard Vehicles Help Tree Fruit Production
Marcel Bergerman, Silvio Mano Maeta, Ji Zhang, Gustavo Medeiros Freitas, Bradley Hamner, Sanjiv Singh and George A. Kantor

Journal Article, Carnegie Mellon University, IEEE Robotics and Automation Magazine, Vol. 22, No. 1, pp. 54-63, March, 2015
Robots in the Home: Qualitative and Quantitative Insights into Kitchen Organization
Elizabeth Cha, Jodi Forlizzi and Siddhartha Srinivasa

Conference Paper, Carnegie Mellon University, 2015 International Conference on Human-Robot Interaction (HRI 2015), March, 2015
Social Group Interactions in a Role-Playing Game
Marynel Vazquez, Elizabeth J. Carter, Jo Ana Vaz, Jodi Forlizzi, Aaron Steinfeld and Scott E. Hudson

Conference Paper, Carnegie Mellon University, 10th ACM/IEEE International Conference on Human-Robot Interaction Extended Abstracts, March, 2015
The NavPal Suite of Tools for Enhancing Indoor Navigation for Blind Travelers
M Bernardine Dias

Book Section/Chapter, Carnegie Mellon University, Indoor Wayfinding and Navigation, pp. 187 -202, March, 2015
A Combinatorial Benders’ decomposition for the lock scheduling problem
J. Verstichel, Joris Kinable, P. De Causmaecker and G. Vanden Berghe

Journal Article, Carnegie Mellon University, Computers & Operations Research, Vol. 54, pp. 117-128, February, 2015
A suboptimal and analytical solution to mobile robot trajectory generation amidst moving obstacles
Jun Peng, Wenhao Luo, Weirong Liu, Wentao Yu and Jing Wang

Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 39, No. 1, February, 2015
Anticipatory Action Selection for Human-Robot Table Tennis
Zhikun Wang, Abdeslam Boularias, Katharina Muelling, Scholkopf Bernhard and Jan Peters

Journal Article, Carnegie Mellon University, Artificial Intelligence, February, 2015
Building with Drones: Accurate 3D Facade Reconstruction using MAVs
Shreyansh Daftry, Christof Hoppe and Horst Bischof

Conference Paper, Carnegie Mellon University, 2015 IEEE RAS International Conference on Robotics and Automation (ICRA), February, 2015
High-precision Autonomous Flight in Constrained Shipboard Environments
Shichao Yang, Zheng Fang, Sezal Jain, Geetesh Dubey, Silvio Mano Maeta, Stephan Roth, Sebastian Scherer, Yu Zhang and Stephen T. Nuske

Tech. Report, CMU-RI-TR-15-06, Robotics Institute, Carnegie Mellon University, February, 2015
Lower and Upper Bounds for the Survival of Infinite Absorbing Markov Chains
Sanjiban Choudhury

Tech. Report, CMU-RI-TR-05-04, Robotics Institute, Carnegie Mellon University, February, 2015
Subdimensional Expansion for Multirobot Path Planning
Glenn Wagner and Howie Choset

Journal Article, Carnegie Mellon University, Artificial Intelligence, Vol. 219, February, 2015
A Brief Introduction to Bayesian Nonparametric Methods for Clustering and Time Series Analysis
Scott Niekum

Tech. Report, CMU-RI-TR-15-02, Robotics Institute, Carnegie Mellon University, January, 2015
A Unified View of Large-scale Zero-sum Equilibrium Computation
Kevin Waugh and J. Andrew (Drew) Bagnell

Conference Paper, AAAI Workshop on Computer Poker and Imperfect Information, January, 2015
Active Area Search via Bayesian Quadrature
Yifei Ma, Roman M. Garnett and Jeff Schneider

Conference Paper, Artificial Intelligence and Statistics (AISTATS), January, 2015
Analysis of the CMU Localization Algorithm under varied conditions
Aayush Bansal, Hernan Badino and Daniel Huber

Tech. Report, CMU-RI-TR-15-05, Robotics Institute, Carnegie Mellon University, January, 2015
Approximate MaxEnt Inverse Optimal Control and its Application for Mental Simulation of Human Interactions
De-An Huang, Amir-massoud Farahmand, Kris M. Kitani and J. Andrew (Drew) Bagnell

Conference Paper, Carnegie Mellon University, AAAI Conference on Artificial Intelligence, January, 2015
Cost-Effective Network Topology for Ubiquitous Bluetooth Reader Deployment in Urban Networks
Isaac Isukapati, Gregory Barlow and Stephen Smith

Conference Paper, Carnegie Mellon University, Proceedings 94th Transportation Research Board (TRB) Annual Meeting, January, 2015
Human Interaction with Robot Swarms: A Survey
Andreas Kolling, Phillip Walkery, Nilanjan Chakrabortyz, Katia Sycara and Michael Lewisy

Conference Paper, IEEE Transactions on Systems, Man and Cybernetics, January, 2015
Improving Localization of Planetary Rovers with Absolute Bearing by Continuously Tracking the Sun
Curtis Boirum

Tech. Report, CMU-RI-TR-16-01, Robotics Institute, Carnegie Mellon University, January, 2015
Improving Multi-step Prediction of Learned Time Series Models
Arun Venkatraman, Martial Hebert and J. Andrew (Drew) Bagnell

Conference Paper, Carnegie Mellon University, Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI-15), January, 2015
Learning to Manipulate Unknown Objects in Clutter by Reinforcement
Abdeslam Boularias, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Conference Paper, Carnegie Mellon University, Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI), January, 2015
Natural Language Direction Following for Robots in Unstructured Unknown Environments
Felix Duvallet

PhD Thesis, CMU-RI-TR-15-01, Robotics Institute, Carnegie Mellon University, January, 2015
Solving Games with Functional Regret Estimation
Kevin Waugh, Dustin Morrill, J. Andrew (Drew) Bagnell and Michael Bowling

Conference Paper, AAAI Conference on Artificial Intelligence, January, 2015
Spatio-spectral exploration combining in situ and remote measurements
David R. Thompson, David Wettergreen, Greydon Foil, Padraig Michael Furlong and Anatha Ravi Kiran

Conference Paper, Association for the Advancement of Artificial Intelligence, January, 2015
Submodular Surrogates for Value of Information
Yuxin Chen, Shervin Javdani, Amin Karbasi, J. Andrew (Drew) Bagnell, Siddhartha Srinivasa and Andreas Krause

Conference Paper, Carnegie Mellon University, The Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI-15), January, 2015
Toward Mobile Robots Reasoning Like Humans
Jean Hyaejin Oh, Arne Suppe, Felix Duvallet, Abdeslam Boularias, Jerry Vinokurov, Luis Ernesto Navarro-Serment, Oscar Romero, Robert Dean, Christian Lebiere, Martial Hebert and Anthony (Tony) Stentz

Conference Paper, Carnegie Mellon University, Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI), January, 2015
Enhancing the Safety of Visually Impaired Travelers in and around Transit Stations
Alekhya Jonnalagedda, Lucy Pei, Suryansh Saxena, Ming Wu, Byung-Cheol Min, Ermine A. Teves, Aaron Steinfeld and M Bernardine Dias

Tech. Report, CMU-RI-TR-14-28, Robotics Institute, Carnegie Mellon University, December, 2014
Extrinsic Calibration of 3D Sensors Using a Spherical Target
Minghao Ruan and Daniel Huber

Conference Paper, Carnegie Mellon University, Proceedings of the International Conference on 3D Vision, December, 2014
Vector Map-Based, Non-Markov Localization for Long-Term Deployment of Autonomous Mobile Robots
Joydeep Biswas

PhD Thesis, CMU-RI-TR-14-25, Robotics Institute, Carnegie Mellon University, December, 2014
Virtual Model Control for Dynamic Lateral Balance
Ruta Desai, Hartmut Geyer and Jessica Hodgins

Conference Paper, IEEE-RAS International Conference on Humanoid Robots, pp. 856 - 861, November, 2014
Efficient Optimization for Autonomous Robotic Manipulation of Natural Objects
Abdeslam Boularias, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Conference Paper, Carnegie Mellon University, Proceedings of the Twenty-Eighth AAAI Conference on Artificial Intelligence (AAAI), pp. 2520-2526, November, 2014
From Selfish Auctioning to Incentivized Marketing
L. Liu, D. A. Shell and Nathan Michael

Journal Article, Carnegie Mellon University, Auton Robots, Vol. 37, No. 4, pp. 417-430, November, 2014
Sparsification of motion-planning roadmaps by edge contraction
Oren Salzman, Doron Shaharabani, Pankaj K. Agarwal and Dan Halperin

Conference Paper, Carnegie Mellon University, The International Journal of Robotics Research (IJRR), Vol. 33, No. 14, pp. 1711-1725, November, 2014
Visual mapping for natural gas pipe inspection
Peter Hansen, Hatem Said Alismail, Peter Rander and Brett Browning

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research (IJRR), November, 2014
Building Modeling through Enclosure Reasoning
Adam Stambler and Daniel Huber

Conference Paper, Carnegie Mellon University, Proceedings of the International Conference on 3D Computer Vision, Workshop on 3D Computer Vision in the Built Environment (3DV), October, 2014
Control of Swarms with Multiple Leader Agents
Phillip Walker, Saman Amirpour Amraii, Michael Lewis, Nilanjan Chakraborty and Katia Sycara

Conference Paper, Carnegie Mellon University, International Conference on Systems, Man and Cybernetics, San Diego CA, October, 2014
Direct Disparity Space: Robust and Real-time Visual Odometry
Hatem Said Alismail and Brett Browning

Tech. Report, CMU-RI-TR-14-20, Robotics Institute, Carnegie Mellon University, October, 2014
Dynamic Model Formulation and Calibration for Wheeled Mobile Robots
Neal Seegmiller

PhD Thesis, Robotics Institute, Carnegie Mellon University, October, 2014
Optimizing Robotic Team Performance with Probabilistic Model Checking
Sagar Chaki, Joseph Andrew Giampapa, David Kyle and John P. Lehoczky

Conference Paper, Carnegie Mellon University, Proceedings of the 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2014), Vol. 8810, October, 2014
Real-Time Traffic Control for Sustainable Urban Living
Xiao-Feng Xie, Stephen Smith, Ting-Wei Chen and Gregory Barlow

Conference Paper, Carnegie Mellon University, Proceedings 17th International IEEE Conference on Intelligent Transportation Systems, October, 2014
RISE: An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation
David M. Rosen, Michael Kaess and John J. Leonard

Journal Article, Carnegie Mellon University, IEEE Trans. on Robotics, TRO, Vol. 30, No. 5, pp. 1091-1108, October, 2014
Science Autonomy for Rover Subsurface Exploration of the Atacama Desert
David Wettergreen, Greydon Foil, Padraig Michael Furlong and David R. Thompson

Journal Article, Carnegie Mellon University, AI Magazine, Vol. 35, No. 4, October, 2014
Supervisory Control for Cost-Effective Redistribution of Robotic Swarms
Ruikun Luo, Nilanjan Chakraborty and Katia Sycara

Conference Paper, Carnegie Mellon University, International Conference on Systems, Man and Cybernetics, San Diego CA, (Finalist for Best Student Paper Award), October, 2014
Highly robust running of articulated bipeds in unobserved terrain
Albert Wu and Hartmut Geyer

Conference Paper, IEEE International Conference on Intelligent Robots and Systems, pp. 2558 - 2565, September, 2014
Towards local reflexive control of a powered transfemoral prosthesis for robust amputee push and trip recovery
Nitish Thatte and Hartmut Geyer

Conference Paper, IEEE International Conference on Intelligent Robots and Systems, pp. 2069 - 2074, September, 2014
Action-Reaction: Forecasting the Dynamics of Human Interaction
De-An Huang and Kris M. Kitani

Conference Paper, Carnegie Mellon University, European Conference on Computer Vision, September, 2014