
Office: 3209 Newell-Simon Hall
Phone: (412) 268-5330
Personal Homepage
Mailing Address
Research Topics
Applications
My research agenda emerges from the struggle to develop mobile robot systems that are useful today in applications. In my case, “useful” means that the net effect on the profit and loss of the enterprise is a positive one. It fortunately happens to (still) be the case that trying to make profitable and/or cost-effective real systems presents enough fundamental challenges to keep researchers busy. Luckily, there is never a question about whether such efforts matter in the real world, because somebody patently cares enough to part with their hard-earned money to have them solved.
So, what are those problems? My personal web site contains more details but some examples are provided below, organized by subsystems. These are often developed for either structured (indoor, road) or unstructured (off-road, off-earth) environments. The overall theme is each case is a fundamental problem of mobile robot systems was inspired from a specific application but thereafter attacked as generally as possible.
- Modeling, Simulation, and Identification:
- general kinematic models of wheeled mobile robots undergoing slip in arbitrary terrain,
- methods to calibrate such models in real-time based on autonomy sensing.
- Position estimation and mapping:
- systems for factory AGVs based on image mosaic or lidar maps
- wearable inertial navigation systems for mine workers or first responders.
- Motion Control and Path Planning:
- algorithms to invert vehicle models to produce accurate feedforward trajectories
- methods to generate path following and obstacle avoidance trajectories in nonholonomic control.
- Architecture and Infrastructure:
- data structures that support efficient representation of the relative motion of the robot and the environment
- optimal real-time control approaches to resolving the often conflicting goals of local planning and planning on the scale of 100s of kilometers.
- Human Interfaces:
- methods to allow humans to drive robots remotely based on a synthetic rendering of the vehicle in the context of its sensor measurements of its surroundings.
- methods to permit operators to drive robots effectively based on enhanced video whether the driver is remotely situated or inside the vehicle.
- Theoretical Mobile Robotics:
- models of error propagation in odometry and triangulation
- methods to optimize the design of search spaces for constraint satisfaction or probability of funding a solution in fixed time.
Additional Interests
Find more detailed information on my research interests here.
Abhijeet Tallavajhula, Cetin Mericli and Alonzo Kelly
Conference Paper, Proceedings of ICRA 2018, May, 2018
Abhijeet Tallavajhula, Barnabas Poczos and Alonzo Kelly
Conference Paper, International Conference on Intelligent Robots and Systems (IROS), October, 2016
Abhijeet Tallavajhula, Sanjiban Choudhury, Sebastian Scherer and Alonzo Kelly
Conference Paper, 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 213 – 220, May, 2016
Abhijeet Tallavajhula and Alonzo Kelly
Conference Paper, IEEE Conference on Robotics and Automation, May, 2015
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
Neal Seegmiller and Alonzo Kelly
Conference Paper, Robotics: Science and Systems, July, 2014
Neal Seegmiller and Alonzo Kelly
Conference Paper, Proc. Field and Service Robotics, December, 2013
Neal Seegmiller, Forrest Rogers-Marcovitz, Gregory A. Miller and Alonzo Kelly
Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 32, No. 8, pp. 912-931, July, 2013
Forrest Rogers-Marcovitz, Michael George, Neal Seegmiller and Alonzo Kelly
Conference Paper, Intelligent Robots and Systems (IROS), October, 2012
Alonzo Kelly and Neal Seegmiller
Conference Paper, Field and Service Robotics, July, 2012
Forrest Rogers-Marcovitz, Neal Seegmiller and Alonzo Kelly
Conference Paper, RSS 2012 Workshop on Long-term Operation of Autonomous Robotic Systems in Changing Environments, July, 2012
Neal Seegmiller, Forrest Rogers-Marcovitz and Alonzo Kelly
Conference Paper, IEEE International Conference on Robotics and Automation, May, 2012
Neal Seegmiller, Forrest Rogers-Marcovitz, Gregory A. Miller and Alonzo Kelly
Conference Paper, International Symposium on Robotics Research, August, 2011
Forrest Rogers-Marcovitz and Alonzo Kelly
Conference Paper, 12th International Symposium on Experimental Robotics, December, 2010
Alonzo Kelly
Tech. Report, CMU-RI-TR-10-33, Robotics Institute, Carnegie Mellon University, August, 2010
Alonzo Kelly
Tech. Report, CMU-RI-TR-10-32, Robotics Institute, Carnegie Mellon University, August, 2010
Daniel Huber, Herman Herman, Alonzo Kelly, Peter Rander and Jason Ziglar
Conference Paper, Proceedings of the International Conference on 3-D Digital Imaging and Modeling (3DIM), October, 2009
Thomas Howard, Colin Green and Alonzo Kelly
Conference Paper, Proceedings of the 7th International Conferences on Field and Service Robotics, July, 2009
Mikhail Pivtoraiko and Alonzo Kelly
Conference Paper, International Conference on Robotics and Automation, May, 2009
Mikhail Pivtoraiko, Alonzo Kelly and Issa Nesnas
Conference Paper, IEEE Aerospace, March, 2009
Mikhail Pivtoraiko, Ross Alan Knepper and Alonzo Kelly
Journal Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 26, No. 3, pp. 308-333, March, 2009
Mikhail Pivtoraiko and Alonzo Kelly
Conference Paper, Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '08), pp. 2611-2616, September, 2008
Dean Anderson, Thomas Howard, David Apfelbaum, Herman Herman and Alonzo Kelly
Conference Paper, Proceedings of the 11th International Symposium on Experimental Robotics 2008 (ISER '08), August, 2008
Christopher Urmson, Joshua Anhalt, Hong Bae, J. Andrew (Drew) Bagnell, Christopher R. Baker, Robert E. Bittner, Thomas Brown, M. N. Clark, Michael Darms, Daniel Demitrish, John M. Dolan, David Duggins, David Ferguson, Tugrul Galatali, Christopher M. Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Sascha Kolski, Maxim Likhachev, Bakhtiar Litkouhi, Alonzo Kelly, Matthew McNaughton, Nick Miller, Jim Nickolaou, Kevin Peterson, Brian Pilnick, Raj Rajkumar, Paul Rybski, Varsha Sadekar, Bryan Salesky, Young-Woo Seo, Sanjiv Singh, Jarrod M. Snider, Joshua C. Struble, Anthony (Tony) Stentz, Michael Taylor, William (Red) L. Whittaker, Ziv Wolkowicki, Wende Zhang and Jason Ziglar
Journal Article, Carnegie Mellon University, Journal of Field Robotics Special Issue on the 2007 DARPA Urban Challenge, Part I, Vol. 25, No. 8, pp. 425-466, June, 2008
Thomas Howard, Colin Green, David Ferguson and Alonzo Kelly
Journal Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 25, No. 7-Jun, pp. 325-345, June, 2008
Mikhail Pivtoraiko, Thomas Howard, Issa Nesnas and Alonzo Kelly
Conference Paper, Proceedings of the 9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS '08), February, 2008
Colin Green and Alonzo Kelly
Conference Paper, 13th International Symposium of Robotics Research, November, 2007
Thomas Howard, Colin Green and Alonzo Kelly
Conference Paper, Proceedings of the 6th International Conferences on Field and Service Robotics, July, 2007
Alonzo Kelly and Thomas Howard
Conference Paper, Proceedings of the Nasa Science and Technology Conference, June, 2007
Mikhail Pivtoraiko, Ross Alan Knepper and Alonzo Kelly
Tech. Report, CMU-RI-TR-07-15, Robotics Institute, Carnegie Mellon University, May, 2007
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
Alonzo Kelly, Thomas Howard and Colin Green
Conference Paper, Proceedings of the SPIE Defense and Security Symposium, pp. 6561-6566, April, 2007
Thomas Howard and Alonzo Kelly
Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 26, No. 2, pp. 141-166, February, 2007
Alonzo Kelly, Bryan Nagy, David Stager and Ranjith Unnikrishnan
Miscellaneous, IEEE Robotics and Automation Magazine, January, 2007
Colin Green and Alonzo Kelly
Tech. Report, CMU-RI-TR-06-51, Robotics Institute, Carnegie Mellon University, November, 2006
Ross Alan Knepper and Alonzo Kelly
Conference Paper, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3375 - 3380, October, 2006
Thomas Howard and Alonzo Kelly
Conference Paper, Proceedings of the the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), pp. 4827 - 4832, October, 2006
Mikhail Pivtoraiko and Alonzo Kelly
Conference Paper, Field and Service Robotics, Vol. 25, pp. 269-280, July, 2006
Thomas Howard, Ross Alan Knepper and Alonzo Kelly
Conference Paper, Proceedings of the 10th International Symposium on Experimental Robotics 2006 (ISER '06), July, 2006
Alonzo Kelly, Anthony (Tony) Stentz, Omead Amidi, Michael W. Bode, David Bradley, Antonio Diaz-Calderon, Michael Happold, Herman Herman, Robert Mandelbaum, Thomas Pilarski, Peter Rander, Scott Thayer, Nicholas M. Vallidis and Randon Warner
Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 25, No. 6-May, pp. 449-483, May, 2006
Dean Anderson, Herman Herman and Alonzo Kelly
Conference Paper, International Conference of Sensing and Technology, November, 2005
Antonio Diaz-Calderon and Alonzo Kelly
Journal Article, Carnegie Mellon University, International Journal of Robotics Research, October, 2005
Mikhail Pivtoraiko and Alonzo Kelly
Conference Paper, The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005
Thomas Howard and Alonzo Kelly
Conference Paper, Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS '05), September, 2005
Mikhail Pivtoraiko and Alonzo Kelly
Conference Paper, Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '05), pp. 3231 - 3237, August, 2005
Thomas Howard and Alonzo Kelly
Conference Paper, Proceedings of the 5th International Conference on Field and Service Robotics (FSR '05), July, 2005
Alonzo Kelly
Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 23, No. 2, pp. 179 - 218, February, 2004
Alonzo Kelly and Ranjith Unnikrishnan
Conference Paper, Proceedings of the 11th International Symposium of Robotics Research (ISRR '03), November, 2003
Alonzo Kelly and Bryan Nagy
Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 22, No. 8-Jul, pp. 583 - 601, July, 2003
Anthony (Tony) Stentz, Alonzo Kelly, Peter Rander, Herman Herman, Omead Amidi, Robert Mandelbaum, Garbis Salgian and Jorgen Pedersen
Conference Paper, Proc. of AUVSI Unmanned Systems Symposium 2003, July, 2003
Ranjith Unnikrishnan and Alonzo Kelly
Conference Paper, 2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems (IROS '02), Vol. 1, pp. 564-569, October, 2002
Anthony (Tony) Stentz, Alonzo Kelly, Herman Herman, Peter Rander, Omead Amidi and Robert Mandelbaum
Conference Paper, Proc. of AUVSI Unmanned Systems Symposium 2002, July, 2002
Ranjith Unnikrishnan and Alonzo Kelly
Conference Paper, IEEE International Conference on Robotics and Automation, 2002 (ICRA '02), Vol. 4, pp. 4299-4306, May, 2002
Alonzo Kelly
Tech. Report, CMU-RI-TR-00-21, Robotics Institute, Carnegie Mellon University, December, 2000
Alonzo Kelly
Tech. Report, CMU-RI-TR-00-20, Robotics Institute, Carnegie Mellon University, December, 2000
Alonzo Kelly
Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 19, No. 11, pp. 1104 - 1125, November, 2000
Alonzo Kelly
Conference Paper, International Conference on Intelligent Robots and Systems (IROS00), October, 2000
Patrick Rowe and Alonzo Kelly
Conference Paper, International Conference on Intelligent Autonomous Systems (IAS6), July, 2000
Alonzo Kelly
Conference Paper, Proceedings of International Conference on Robotics and Applications (IASTED99), October, 1999
Alonzo Kelly and Anthony (Tony) Stentz
Journal Article, Autonomous Robots, No. 5, pp. 129 - 161, May, 1998
Alonzo Kelly and Anthony (Tony) Stentz
Journal Article, Autonomous Robots, No. 5, pp. 163 - 198, May, 1998
Alonzo Kelly and Anthony (Tony) Stentz
Conference Paper, International Conference on Robotics and Automation, Workshop WS-7, Navigation of Outdoor Autonomous Vehicles, (ICRA '98), May, 1998
Alonzo Kelly and Anthony (Tony) Stentz
Journal Article, Autonomous Robots, April, 1998
Alonzo Kelly and Anthony (Tony) Stentz
Journal Article, Autonomous Robots, Vol. 4, No. 4, December, 1997
Alonzo Kelly and Anthony (Tony) Stentz
Conference Paper, Proceedings of the IEEE/RJS International Conference on Intelligent Robotic Systems, Vol. 1, pp. 215 - 223, September, 1997
Alonzo Kelly and Anthony (Tony) Stentz
Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '97), Vol. 4, pp. 3318 - 3325, April, 1997
Alonzo Kelly and Anthony (Tony) Stentz
Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '97), Vol. 4, pp. 3326 - 3333, April, 1997
Alonzo Kelly and Anthony (Tony) Stentz
Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1047 - 1052, April, 1997
Alonzo Kelly and Anthony (Tony) Stentz
Conference Paper, International Conference on Mobile Planetary Robots, January, 1997
Alonzo Kelly
Book Section/Chapter, Intelligent Unmanned Ground Vehicles: Autonomous Navigation Research at Carnegie Mellon, January, 1997
Sanjiv Singh and Alonzo Kelly
Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '96), Vol. 4, pp. 3309 - 3316, April, 1996
L. Matthies, Alonzo Kelly, T. Litwin and G. Tharp
Conference Paper, 7th International Symposium on Robotics Research, October, 1995
Alonzo Kelly
PhD Thesis, Tech. Report, Robotics Institute, Carnegie Mellon University, September, 1995
Alonzo Kelly
Tech. Report, CMU-RI-TR-95-33, Robotics Institute, Carnegie Mellon University, September, 1995
L. Matthies, Alonzo Kelly, T. Litwin and G. Tharp
Conference Paper, Proceedings of IEEE Intelligent Vehicles `95 Conference, pp. 66 - 71, September, 1995
Ian Davis, Alonzo Kelly, Anthony (Tony) Stentz and L. Matthies
Conference Paper, Proceedings of IEEE Intelligent Vehicles `95 Conference, pp. 400 - 405, September, 1995
B. Motazed, D. Patukas, Alonzo Kelly, Dean Pomerleau and Todd Jochem
Conference Paper, Proceedings of the Fifth Annual Meeting of IVHS America, March, 1995
Alonzo Kelly
Tech. Report, CMU-RI-TR-94-19, Robotics Institute, Carnegie Mellon University, May, 1994
Alonzo Kelly
Tech. Report, CMU-RI-TR-94-17, Robotics Institute, Carnegie Mellon University, May, 1994
Alonzo Kelly
Tech. Report, CMU-RI-TR-94-16, Robotics Institute, Carnegie Mellon University, May, 1994
Alonzo Kelly
Tech. Report, CMU-RI-TR-94-18, Robotics Institute, Carnegie Mellon University, May, 1994
Alonzo Kelly
Tech. Report, CMU-RI-TR-94-20, Robotics Institute, Carnegie Mellon University, May, 1994
Alonzo Kelly
Tech. Report, CMU-RI-TR-94-21, Robotics Institute, Carnegie Mellon University, May, 1994
Alonzo Kelly
Tech. Report, CMU-RI-TR-94-14, Robotics Institute, Carnegie Mellon University, May, 1994
Alonzo Kelly
Tech. Report, CMU-RI-TR-94-15, Robotics Institute, Carnegie Mellon University, May, 1994
Barry Brummit, R. Craig Coulter, Alonzo Kelly and Anthony (Tony) Stentz
Conference Paper, IFAC Symposium on Intelligent Components and Instruments for Control Applications, May, 1992
Anthony (Tony) Stentz, Barry Brummit, R. Craig Coulter and Alonzo Kelly
Conference Paper, Proceedings of SPIE Symposium on Mobile Robots, January, 1992
Alonzo Kelly, Anthony (Tony) Stentz and Martial Hebert
Conference Paper, Proceedings of SPIE Symposium on Mobile Robots, January, 1992
Past RI PhD Students
- Benjamin Eckart - 2017
- Thomas Howard - 2009
- Mikhail Pivtoraiko - 2012
- Neal Seegmiller - 2014