Publications




Advising busy users on how to cut corners
Pradeep R. Varakantham and Stephen Smith
Tech. Report, CMU-RI-TR-08-17, Robotics Institute, Carnegie Mellon University, May, 2008
BlindAid: An Electronic Travel Aid for the Blind
Sandra Mau, Nicholas Melchior, Maxim Makatchev, and Aaron Steinfeld
Tech. Report, CMU-RI-TR-07-39, Robotics Institute, Carnegie Mellon University, May, 2008
Inference for Distributions over the Permutation Group
Jonathan Huang, Carlos Ernesto Guestrin, and Leonidas Guibas
Tech. Report, CMU-ML-08-108, Machine Learning Department, Carnegie Mellon University, May, 2008
Robot Diaries Interim Project Report: Development of a Technology Program for Middle School Girls
Emily Hamner, Tom Lauwers, Debra Bernstein, Kristen Stubbs, Kevin Crowley, and Illah Nourbakhsh
Tech. Report, CMU-RI-TR-08-25, Robotics Institute, Carnegie Mellon University, May, 2008
Guide to the Carnegie Mellon University Multimodal Activity (CMU-MMAC) Database
Fernando De la Torre Frade, Jessica K. Hodgins, Adam W. Bargteil, Xavier Martin Artal, Justin C. Macey, Alexandre Collado I Castells, and Josep Beltran
Tech. Report, CMU-RI-TR-08-22, Robotics Institute, Carnegie Mellon University, April, 2008
On preparatory object rotation to adjust handle orientation for grasping
Lillian Y. Chang and Nancy Pollard
Tech. Report, CMU-RI-TR-08-10, Robotics Institute, Carnegie Mellon University, April, 2008
Sliding Autonomy for Peer-To-Peer Human-Robot Teams
M. Bernardine Dias, Balajee Kannan, Brett Browning, Edward Jones, Brenna Argall, Malcolm Frederick Dias, Marc B. Zinck, Manuela Veloso, and Anthony (Tony) Stentz
Tech. Report, CMU-RI-TR-08-16, Robotics Institute, Carnegie Mellon University, April, 2008
Avoiding Collisions Between Aircraft: State of the Art and Requirements for UAVs operating in Civilian Airspace
Christopher M. Geyer, Sanjiv Singh, and Lyle J. Chamberlain
Tech. Report, CMU-RI-TR-08-03, Robotics Institute, Carnegie Mellon University, March, 2008
Searching Alternate Spaces to Solve Oversubscribed Scheduling Problems
Laurence Kramer, Laura Barbulescu, and Stephen Smith
Tech. Report, CMU-RI-TR-08-12, Robotics Institute, Carnegie Mellon University, March, 2008
Tracking a Moving Target in Cluttered Environments with Ranging Radios: Extended Results
Geoffrey Hollinger, Joseph Djugash, and Sanjiv Singh
Tech. Report, CMU-RI-TR-08-07, Robotics Institute, Carnegie Mellon University, February, 2008
Application of Computational Symmetry to Histology Images
Brian Canada and Yanxi Liu
Tech. Report, CMU-RI-TR-08-08, Robotics Institute, Carnegie Mellon University, 2008
Cost-based Registration using A Priori Data for Mobile Robot Localization
Ling Xu and Anthony (Tony) Stentz
Tech. Report, CMU-RI-TR-08-05, Robotics Institute, Carnegie Mellon University, 2008
Imitation Learning for Locomotion and Manipulation
Nathan Ratliff, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa
Tech. Report, CMU-RI-TR-07-45, Robotics Institute, Carnegie Mellon University, December, 2007
Rover Configuration for Exploring Lunar Craters
Jason Ziglar
Tech. Report, CMU-RI-TR-07-42, Robotics Institute, Carnegie Mellon University, December, 2007
A Quantitative Evaluation of Symmetry Detection Algorithms
Po-Chun Chen, James H. Hays, Seungkyu Lee, Minwoo Park, and Yanxi Liu
Tech. Report, CMU-RI-TR-07-36, Robotics Institute, Carnegie Mellon University, September, 2007
Learning the Forward Predictive Model for an Off-Road Skid-Steer Vehicle
Michael W. Bode
Tech. Report, CMU-RI-TR-07-32, Robotics Institute, Carnegie Mellon University, September, 2007
On Using Shadowgrams for Visual Hull Reconstruction
Shuntaro Yamazaki, Srinivasa G. Narasimhan, Simon Baker, and Takeo Kanade
Tech. Report, CMU-RI-TR-07-29, Robotics Institute, Carnegie Mellon University, August, 2007
Evolving Cooperative Control on Sparsely Distributed Tasks for UAV Teams Without Global Communication
Gregory Barlow, Choong Oh, and Stephen Smith
Tech. Report, CMU-RI-TR-07-24, Robotics Institute, Carnegie Mellon University, July, 2007
The Dynamic Hungarian Algorithm for the Assignment Problem with Changing Costs
G. Ayorkor Korsah, Anthony (Tony) Stentz, and M. Bernardine Dias
Tech. Report, CMU-RI-TR-07-27, Robotics Institute, Carnegie Mellon University, July, 2007
CMUcam3: An Open Programmable Embedded Vision Sensor
Anthony Rowe, Adam G. Goode, Dhiraj Goel, and Illah Nourbakhsh
Tech. Report, CMU-RI-TR-07-13, Robotics Institute, Carnegie Mellon University, May, 2007
DD* Lite: Efficient Incremental Search with State Dominance
G. Ayorkor Korsah, Anthony (Tony) Stentz, and M. Bernardine Dias
Tech. Report, CMU-RI-TR-07-12, Robotics Institute, Carnegie Mellon University, May, 2007
Legendre polynomials Triple Product Integral and lower-degree approximation of polynomials using Chebyshev polynomials
Mohit Gupta and Srinivasa G. Narasimhan
Tech. Report, CMU-RI-TR-07-22, Robotics Institute, Carnegie Mellon University, May, 2007
Optimal, Smooth, Nonholonomic Mobile Robot Motion Planning in State Lattices
Mikhail Pivtoraiko, Ross Alan Knepper, and Alonzo Kelly
Tech. Report, CMU-RI-TR-07-15, Robotics Institute, Carnegie Mellon University, May, 2007
Symmetries of Dance
Yanxi Liu, Xin Yang, Marina Spivak, and Chris Bregler
Tech. Report, CMU-RI-TR-07-09, Robotics Institute, Carnegie Mellon University, May, 2007
Tartan Racing: A Multi-Modal Approach to the DARPA Urban Challenge
Christopher Urmson, Joshua Anhalt, J. Andrew (Drew) Bagnell, Christopher R. Baker, Robert E. Bittner, John M. Dolan, David Duggins, David Ferguson, Tugrul Galatali, Hartmut Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Alonzo Kelly, David Kohanbash, Maxim Likhachev, Nick Miller, Kevin Peterson, Raj Rajkumar, Paul Rybski, Bryan Salesky, Sebastian Scherer, Young-Woo Seo, Reid Simmons, Sanjiv Singh, Jarrod M. Snider, Anthony (Tony) Stentz, William (Red) L. Whittaker, and Jason Ziglar
Tech. Report, Robotics Institute, Carnegie Mellon University, DARPA Grand Challenge Tech Report, April, 2007
Technologies Toward Lunar Crater Exploration
Jason Ziglar, David Kohanbash, David Wettergreen, and William (Red) L. Whittaker
Tech. Report, CMU-RI-TR-07-40, Robotics Institute, Carnegie Mellon University, April, 2007
Parrots: A Range Measuring Sensor Network
Wei Zhang, Joseph Djugash, and Sanjiv Singh
Tech. Report, CMU-RI-TR-06-05, Robotics Institute, Carnegie Mellon University, March, 2007
A Viewpoint Invariant, Sparsely Registered, Patch Based, Face Verifier
Simon Lucey and Tsuhan Chen
Tech. Report, CMU-RI-TR-07-17, Robotics Institute, Carnegie Mellon University, CMU Tech Report, February, 2007
Managing Conflict Resolution in Norm-Regulated Environments
Martin Kollingbaum, Wamberto W. Vasconcelos, A. Garcia-Camino, and Timothy J. Norman
Tech. Report, University of Aberdeen AUCS/TR0702, February, 2007
Optical Tracking for Performance Testing of Microsurgical Instruments
Robert MacLachlan and Cameron Riviere
Tech. Report, CMU-RI-TR-07-01, Robotics Institute, Carnegie Mellon University, 2007
Literature Review of Teamwork Models
Katia Sycara and Gita Sukthankar
Tech. Report, CMU-RI-TR-06-50, Robotics Institute, Carnegie Mellon University, November, 2006
Optimal Sampling In the Space of Paths: Preliminary Results
Colin Green and Alonzo Kelly
Tech. Report, CMU-RI-TR-06-51, Robotics Institute, Carnegie Mellon University, November, 2006
CMAssist: A RoboCup@Home Team
Paul Rybski, Kevin Yoon, Jeremy Stolarz, and Manuela Veloso
Tech. Report, CMU-RI-TR-06-47, Robotics Institute, Carnegie Mellon University, October, 2006
Learning-enhanced Market-based Task Allocation for Disaster Response
Edward Jones, M. Bernardine Dias, and Anthony (Tony) Stentz
Tech. Report, CMU-RI-TR-06-48, Robotics Institute, Carnegie Mellon University, October, 2006
Teaching technical creativity through Robotics: A case study in Ghana
G. Ayorkor Korsah, M. Bernardine Dias, Brett Browning, and Nathan Amanquah
Tech. Report, CMU-RI-TR-06-46, Robotics Institute, Carnegie Mellon University, October, 2006
Task Constrained Motion Planning in Robot Joint Space
Michael Stilman
Tech. Report, CMU-RI-TR-06-43, Robotics Institute, Carnegie Mellon University, September, 2006
CMOS-MEMS Membrane Gravimetric Biosensor
Anna L. Liao
Tech. Report, CMU-RI-TR-06-10, Robotics Institute, Carnegie Mellon University, August, 2006
Integrated Planning and Control for Convex-bodied Nonholonomic systems using Local Feedback Control Policies
David C. Conner, Howie Choset, and Alfred Rizzi
Tech. Report, CMU-RI-TR-06-34, Robotics Institute, Carnegie Mellon University, August, 2006
Learning and Predicting Moving Object Trajectory: a piecewise trajectory segment approach
Pak Yan Choi and Martial Hebert
Tech. Report, CMU-RI-TR-06-42, Robotics Institute, Carnegie Mellon University, August, 2006
On the Beaten Path: Exploitation of Entities Interactions For Predicting Potential Link
Young-Woo Seo and Katia Sycara
Tech. Report, CMU-RI-TR-06-36, Robotics Institute, Carnegie Mellon University, August, 2006
Planning with Uncertainty in Position Using High-Resolution Maps
Juan Pablo Gonzalez and Anthony (Tony) Stentz
Tech. Report, CMU-RI-TR-06-33, Robotics Institute, Carnegie Mellon University, August, 2006
Automatic Three-Dimensional Point Cloud Processing for Forest Inventory
Jean-Francois Lalonde, Nicolas Vandapel, and Martial Hebert
Tech. Report, CMU-RI-TR-06-21, Robotics Institute, Carnegie Mellon University, July, 2006
Challenges to Grounding in Human-Robot Collaboration: Errors and Miscommunications in Remote Exploration Robotics
Kristen Stubbs, Pamela Hinds, and David Wettergreen
Tech. Report, CMU-RI-TR-06-32, Robotics Institute, Carnegie Mellon University, July, 2006
Scale Selection for the Analysis of Point Sampled Curves: Extended Report
Ranjith Unnikrishnan, Jean-Francois Lalonde, Nicolas Vandapel, and Martial Hebert
Tech. Report, CMU-RI-TR-06-25, Robotics Institute, Carnegie Mellon University, June, 2006
Approximating State-Space Obstacles for Non-Holonomic Motion Planning
Matthew Zucker
Tech. Report, CMU-RI-TR-06-27, Robotics Institute, Carnegie Mellon University, May, 2006
Combining multiple hypotheses for identifying human activities
Young-Woo Seo and Katia Sycara
Tech. Report, CMU-RI-TR-06-31, Robotics Institute, Carnegie Mellon University, May, 2006
Handling Diverse Information Sources: Prioritized Multi-Hypothesis World Modeling
Paul Rybski and Manuela Veloso
Tech. Report, CMU-CS-06-182, Computer Science Department, Carnegie Mellon University, May, 2006
Range-only SLAM with Interpolated Range Data
Athanasios Kehagias, Joseph Djugash, and Sanjiv Singh
Tech. Report, CMU-RI-TR-06-26, Robotics Institute, Carnegie Mellon University, May, 2006
Taylor Series of Appearance Functions
Sanjeev Jagannatha Koppal, Ankur Datta, Srinivasa G. Narasimhan, and Ko Nishino
Tech. Report, CMU-RI-TR-08-39, Robotics Institute, Carnegie Mellon University, May, 2006
The RADAR Test Methodology: Evaluating a Multi-Task Machine Learning System with Humans in the Loop
Aaron Steinfeld, Rachael Bennett, Kyle Cunningham, Matt Lahut, Pablo-Alejandro Quinones, Django Wexler, Daniel Siewiorek, Paul Cohen, Julie Fitzgerald, Othar Hansson, Jordan Hayes, Mike Pool, and Mark Drummond
Tech. Report, CMU-CS-06-125, Computer Science Department, Carnegie Mellon University, May, 2006