/Alonzo Kelly

Alonzo Kelly

Portrait of Alonzo Kelly
Professor
Office: 3209 Newell-Simon Hall
Phone: (412) 268-5330
Personal Homepage
Administrative Assistant: Lynnetta J. Miller

Mailing Address

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.

Displaying 88 Publications
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
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), pp. 213 – 220, May, 2016
Construction and Validation of a High Fidelity Simulator for a Planar Range Sensor
Abhijeet Tallavajhula and Alonzo Kelly

Conference Paper, IEEE Conference on Robotics and Automation, May, 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
Enhanced 3D Kinematic Modeling of Wheeled Mobile Robots
Neal Seegmiller and Alonzo Kelly

Conference Paper, Robotics: Science and Systems, July, 2014
Modular Dynamic Simulation of Wheeled Mobile Robots
Neal Seegmiller and Alonzo Kelly

Conference Paper, Proc. Field and Service Robotics, December, 2013
Vehicle Model Identification by Integrated Prediction Error Minimization
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
Aiding Off-Road Inertial Navigation with High Performance Models of Wheel Slip
Forrest Rogers-Marcovitz, Michael George, Neal Seegmiller and Alonzo Kelly

Conference Paper, Intelligent Robots and Systems (IROS), October, 2012
A Vector Algebra Formulation of Mobile Robot Velocity Kinematics
Alonzo Kelly and Neal Seegmiller

Conference Paper, Field and Service Robotics, July, 2012
Continuous Vehicle Slip Model Identification on Changing Terrains
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
Online Calibration of Vehicle Powertrain and Pose Estimation Parameters using Integrated Dynamics
Neal Seegmiller, Forrest Rogers-Marcovitz and Alonzo Kelly

Conference Paper, IEEE International Conference on Robotics and Automation, May, 2012
A Unified Perturbative Dynamics Approach to Online Vehicle Model Identification
Neal Seegmiller, Forrest Rogers-Marcovitz, Gregory A. Miller and Alonzo Kelly

Conference Paper, International Symposium on Robotics Research, August, 2011
On-line Mobile Robot Model Identification using Integrated Perturbative Dynamics
Forrest Rogers-Marcovitz and Alonzo Kelly

Conference Paper, 12th International Symposium on Experimental Robotics, December, 2010
A Vector Algebra Formulation of Kinematics of Wheeled Mobile Robots
Alonzo Kelly

Tech. Report, CMU-RI-TR-10-33, Robotics Institute, Carnegie Mellon University, August, 2010
Error Propagation in Aided Discrete 2D Accelerometry
Alonzo Kelly

Tech. Report, CMU-RI-TR-10-32, Robotics Institute, Carnegie Mellon University, August, 2010
Real-time Photo-realistic Visualization of 3D Environments for Enhanced Tele-operation of Vehicles
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
Receding Horizon Model-Predictive Control for Mobile Robot Navigation of Intricate Paths
Thomas Howard, Colin Green and Alonzo Kelly

Conference Paper, Proceedings of the 7th International Conferences on Field and Service Robotics, July, 2009
Fast and Feasible Deliberative Motion Planner for Dynamic Environments
Mikhail Pivtoraiko and Alonzo Kelly

Conference Paper, International Conference on Robotics and Automation, May, 2009
Autonomous Robot Navigation using Advanced Motion Primitives
Mikhail Pivtoraiko, Alonzo Kelly and Issa Nesnas

Conference Paper, IEEE Aerospace, March, 2009
Differentially constrained mobile robot motion planning in state lattices
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
Differentially Constrained Motion Replanning Using State Lattices with Graduated Fidelity
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
Coordinated Control and Range Imaging for Mobile Manipulation
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
Autonomous driving in urban environments: Boss and the Urban Challenge
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
State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation in Complex Environments
Thomas Howard, Colin Green, David Ferguson and Alonzo Kelly

Journal Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 25, No. 7-Jun, pp. 325-345, June, 2008
Field Experiments in Rover Navigation via Model-Based Trajectory Generation and Nonholonomic Motion Planning in State Lattices
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
Toward Optimal Sampling in the Space of Paths
Colin Green and Alonzo Kelly

Conference Paper, 13th International Symposium of Robotics Research, November, 2007
State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Highly Constrained Environments
Thomas Howard, Colin Green and Alonzo Kelly

Conference Paper, Proceedings of the 6th International Conferences on Field and Service Robotics, July, 2007
Terrain Aware Inversion of Predictive Models for Planetary Rovers
Alonzo Kelly and Thomas Howard

Conference Paper, Proceedings of the Nasa Science and Technology Conference, June, 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
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
Terrain Aware Inversion of Predictive Models for High Performance UGVs
Alonzo Kelly, Thomas Howard and Colin Green

Conference Paper, Proceedings of the SPIE Defense and Security Symposium, pp. 6561-6566, April, 2007
Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots
Thomas Howard and Alonzo Kelly

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 26, No. 2, pp. 141-166, February, 2007
An Infrastructure-Free Automated Guided Vehicle Based on Computer Vision
Alonzo Kelly, Bryan Nagy, David Stager and Ranjith Unnikrishnan

Miscellaneous, IEEE Robotics and Automation Magazine, January, 2007
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
High Performance State Lattice Planning Using Heuristic Look-Up Tables
Ross Alan Knepper and Alonzo Kelly

Conference Paper, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3375 - 3380, October, 2006
Trajectory and Spline Generation for All-Wheel Steering Mobile Robots
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
Constrained Motion Planning in Discrete State Spaces
Mikhail Pivtoraiko and Alonzo Kelly

Conference Paper, Field and Service Robotics, Vol. 25, pp. 269-280, July, 2006
Constrained Optimization Path Following of Wheeled Robots in Natural Terrain
Thomas Howard, Ross Alan Knepper and Alonzo Kelly

Conference Paper, Proceedings of the 10th International Symposium on Experimental Robotics 2006 (ISER '06), July, 2006
Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments
Alonzo Kelly, Anthony (Tony) Stentz, Omead Amidi, Michael W. Bode, David Bradley, Antonio Diaz-Calderon, Michael Happold, Herman Herman, Robert Mandelbaum, Thomas Pilarski, Peter Rander, Scott Thayer, Nicholas M. Vallidis and Randon Warner

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 25, No. 6-May, pp. 449-483, May, 2006
Experimental Characterization of Commercial Flash Ladar Devices
Dean Anderson, Herman Herman and Alonzo Kelly

Conference Paper, International Conference of Sensing and Technology, November, 2005
OnLine Stability Margin and Attitude Estimation for Dynamic Articulating Mobile Robots
Antonio Diaz-Calderon and Alonzo Kelly

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, October, 2005
Efficient constrained path planning via search in state lattices
Mikhail Pivtoraiko and Alonzo Kelly

Conference Paper, The 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005
Terrain-Adaptive Generation of Optimal Continuous Trajectories for Mobile Robots
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
Generating near minimal spanning control sets for constrained motion planning in discrete state spaces
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
Trajectory Generation on Rough Terrain Considering Actuator Dynamics
Thomas Howard and Alonzo Kelly

Conference Paper, Proceedings of the 5th International Conference on Field and Service Robotics (FSR '05), July, 2005
Linearized Error Propagation in Odometry
Alonzo Kelly

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 23, No. 2, pp. 179 - 218, February, 2004
Efficient Construction of Globally Consistent Ladar Maps using Pose Network Topology and Nonlinear Programming
Alonzo Kelly and Ranjith Unnikrishnan

Conference Paper, Proceedings of the 11th International Symposium of Robotics Research (ISRR '03), November, 2003
Reactive Nonholonomic Trajectory Generation via Parametric Optimal Control
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
Real-Time, Multi-Perspective Perception for Unmanned Ground Vehicles
Anthony (Tony) Stentz, Alonzo Kelly, Peter Rander, Herman Herman, Omead Amidi, Robert Mandelbaum, Garbis Salgian and Jorgen Pedersen

Conference Paper, Proc. of AUVSI Unmanned Systems Symposium 2003, July, 2003
A Constrained Optimization Approach to Globally Consistent Mapping
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
Integrated Air/Ground Vehicle System for Semi-Autonomous Off-Road Navigation
Anthony (Tony) Stentz, Alonzo Kelly, Herman Herman, Peter Rander, Omead Amidi and Robert Mandelbaum

Conference Paper, Proc. of AUVSI Unmanned Systems Symposium 2002, July, 2002
Mosaicing Large Cyclic Environments for Visual Navigation in Autonomous Vehicles
Ranjith Unnikrishnan and Alonzo Kelly

Conference Paper, IEEE International Conference on Robotics and Automation, 2002 (ICRA '02), Vol. 4, pp. 4299-4306, May, 2002
Mobile Robot Localization from Large Scale Appearance Mosaics
Alonzo Kelly

Tech. Report, CMU-RI-TR-00-21, Robotics Institute, Carnegie Mellon University, December, 2000
Some Useful Results for Closed-Form Propagation of Error in Vehicle Odometry
Alonzo Kelly

Tech. Report, CMU-RI-TR-00-20, Robotics Institute, Carnegie Mellon University, December, 2000
Mobile Robot Localization from Large-Scale Appearance Mosaics
Alonzo Kelly

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 19, No. 11, pp. 1104 - 1125, November, 2000
Pose Determination and Tracking in Image Mosaic-Based Vehicle Position Estimation
Alonzo Kelly

Conference Paper, International Conference on Intelligent Robots and Systems (IROS00), October, 2000
Map Construction for Mosaic-Based Vehicle Position Estimation
Patrick Rowe and Alonzo Kelly

Conference Paper, International Conference on Intelligent Autonomous Systems (IAS6), July, 2000
Contemporary Feasibility of Image Mosaic Based Vehicle Position Estimation
Alonzo Kelly

Conference Paper, Proceedings of International Conference on Robotics and Applications (IASTED99), October, 1999
Stereo Vision Enhancements for Low-Cost Outdoor Autonomous Vehicles
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
An Approach to Rough Terrain Autonomous Mobility
Alonzo Kelly and Anthony (Tony) Stentz

Journal Article, Autonomous Robots, April, 1998
An Analysis of Requirements for Rough Terrain Autonomous Mobility
Alonzo Kelly and Anthony (Tony) Stentz

Journal Article, Autonomous Robots, Vol. 4, No. 4, December, 1997
Minimum Throughput Adaptive Perception for High Speed Mobility
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
Analysis of Requirements for High Speed Rough Terrain Autonomous Mobility: I – Throughput and Response
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
Analysis of Requirements for High Speed Rough Terrain Autonomous Mobility: II – Resolution and Accuracy
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
Computational Complexity of Terrain Mapping Perception in Autonomous Mobility
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
An Approach to Rough Terrain Autonomous Mobility
Alonzo Kelly and Anthony (Tony) Stentz

Conference Paper, International Conference on Mobile Planetary Robots, January, 1997
Chapter 7
Alonzo Kelly

Book Section/Chapter, Intelligent Unmanned Ground Vehicles: Autonomous Navigation Research at Carnegie Mellon, January, 1997
Robot Planning in the Space of Feasible Actions: Two Examples
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
Obstacle Detection for Unmanned Ground Vehicles: A Progress Report
L. Matthies, Alonzo Kelly, T. Litwin and G. Tharp

Conference Paper, 7th International Symposium on Robotics Research, October, 1995
An Intelligent Predictive Control Approach to the High-Speed Cross-Country Autonomous Navigation Problem
Alonzo Kelly

PhD Thesis, Tech. Report, Robotics Institute, Carnegie Mellon University, September, 1995
An Intelligent Predictive Control Approach to the High-Speed Cross-Country Autonomous Navigation Problem
Alonzo Kelly

Tech. Report, CMU-RI-TR-95-33, Robotics Institute, Carnegie Mellon University, September, 1995
Obstacle detection for unmanned ground vehicles: a progress report
L. Matthies, Alonzo Kelly, T. Litwin and G. Tharp

Conference Paper, Proceedings of IEEE Intelligent Vehicles `95 Conference, pp. 66 - 71, September, 1995
Terrain Typing for Real Robots
Ian Davis, Alonzo Kelly, Anthony (Tony) Stentz and L. Matthies

Conference Paper, Proceedings of IEEE Intelligent Vehicles `95 Conference, pp. 400 - 405, September, 1995
Demonstration of an Autonomous Convoying Concept
B. Motazed, D. Patukas, Alonzo Kelly, Dean Pomerleau and Todd Jochem

Conference Paper, Proceedings of the Fifth Annual Meeting of IVHS America, March, 1995
A 3D Space Formulation of a Navigation Kalman Filter for Autonomous Vehicles
Alonzo Kelly

Tech. Report, CMU-RI-TR-94-19, Robotics Institute, Carnegie Mellon University, May, 1994
A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles
Alonzo Kelly

Tech. Report, CMU-RI-TR-94-17, Robotics Institute, Carnegie Mellon University, May, 1994
A Partial Analysis of the High Speed Autonomous Navigation
Alonzo Kelly

Tech. Report, CMU-RI-TR-94-16, Robotics Institute, Carnegie Mellon University, May, 1994
Adaptive Perception for Autonomous Vehicles
Alonzo Kelly

Tech. Report, CMU-RI-TR-94-18, Robotics Institute, Carnegie Mellon University, May, 1994
An Intelligent Predictive Controller for Autonomous Vehicles
Alonzo Kelly

Tech. Report, CMU-RI-TR-94-20, Robotics Institute, Carnegie Mellon University, May, 1994
Concept Design of a Scanning Laser Rangefinder for Autonomous Vehicles
Alonzo Kelly

Tech. Report, CMU-RI-TR-94-21, Robotics Institute, Carnegie Mellon University, May, 1994
Essential Kinematics for Autonomous Vehicles
Alonzo Kelly

Tech. Report, CMU-RI-TR-94-14, Robotics Institute, Carnegie Mellon University, May, 1994
Modern Inertial and Satellite Navigation Systems
Alonzo Kelly

Tech. Report, CMU-RI-TR-94-15, Robotics Institute, Carnegie Mellon University, May, 1994
A System for Autonomous Cross Country Navigation
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
An Autonomous System for Cross-Country Navigation
Anthony (Tony) Stentz, Barry Brummit, R. Craig Coulter and Alonzo Kelly

Conference Paper, Proceedings of SPIE Symposium on Mobile Robots, January, 1992
Terrain Map Building for Fast Navigation on Rugged Outdoor Terrain
Alonzo Kelly, Anthony (Tony) Stentz and Martial Hebert

Conference Paper, Proceedings of SPIE Symposium on Mobile Robots, January, 1992
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