/Anthony (Tony) Stentz

Anthony (Tony) Stentz

Portrait of Anthony (Tony) Stentz
Research Professor
Office: NREC 211
Phone: (412) 268-8155
Associated Center: NREC

Mailing Address

My research goal is to automate large, mobile equipment operating outdoors in unstructured environments. Examples include excavators and wheel loaders used in surface mining, windrowing machines and combines used in agriculture, continuous miners and haulage systems used in underground mining, and unmanned ground vehicles employed in military scouting operations. For the commercial machines, automation promises to increase productivity, improve safety, and reduce operational costs.

My focus is planning and perception for robots in these applications. In unstructured environments, planning is difficult due to uncertainty. Typically, the robot does not have full information about its environment before it produces a plan. Sensors are able to fill in the missing information as the plan executes, but sensor data itself can be inaccurate. Even with perfect information, robot actions can have unexpected consequences. I investigate techniques for rapidly replanning robot operations in the presence of these types of uncertainty.

The perception problems for these applications are also challenging. The robot’s environment contains irregular geometry that is difficult to represent and manipulate, such as undulating terrain, mine walls, and soil banks. Natural features, such as plants, rocks, and water puddles, combine with man-made objects to create a rich and complex environment. Adverse weather can impair the ability of the robot to sense and interpret its environment. Objects of interest may be buried beneath the soil or hidden behind a rock face. The environment can change over time as the robot interacts with it. I investigate sensors and processing techniques that can handle these conditions and extract the necessary information from the environment to perform the task.

Current projects include autonomous truck loading using excavators and wheel loaders, mining of coal, harvesting of alfalfa and other crops, and navigation of reconnaissance vehicles.

Autonomous Loading System (ALS). The goal of this project is to develop technologies to automate mass excavation with excavators and wheel loaders. In a typical mass excavation scenario, a loading machine digs material from a face and dumps the material in a truck, with a throughput of hundreds of trucks per day. The process is repetitive and continues day and night and in most weather conditions. The type of loading machine and truck can vary, as can the material to be loaded which may range from sand to hard rock. Other issues include maintaining safety of all machines and personnel in the loading area and coordination of multiple machines to achieve a prescribed goal.

Previous project work in excavation focused on the retrieval of buried objects such as ordnance or hazardous waste. The goal was to automate the task to eliminate the hazard to humans. The system used a ground penetrating radar mounted on a robotic arm to recognize and localize buried objects. Once identified and characterized, the robotic arm was able to automatically remove the overburden and retrieve the object.

Autonomous Coal Mining (USBM). The goal of this project is to automate continuous mining equipment. Thus far we have developed a complete navigation system for a continuous mining machine, including laser rangefinder-based perception for robot localization, planning for cluttered spaces, and integration and simulation tools. This system was successfully demonstrated in a real mine in West Virginia. Future work includes automated mine surveying, haulage, multiple-machine interaction, and the commercialization of these technologies.

Autonomous Harvesting (DEMETER). The goal of this project is to automate the cutting of alfalfa and other crops using a harvesting machine. DEMETER is a NewHolland 2550 Windrower retrofitted for computer control of the speed and steering functions. DEMETER is equipped with a CCD camera and on-board computer for visually detecting the line between cut and uncut crop and steering the machine to cut a crop row. DEMETER is capable of detecting the end of the row and turning to cut the next row. The machine can detect and stop for obstacles in its path. To date, DEMETER has cut alfalfa on a farm in Western Pennsylvania at a maximum speed of 4.5 mph. By the end of 1996, we plan to cut 100 acres of crop fully autonomously in California.

Unmanned Ground Vehicle (UGV). The objective of this project is to automate navigation for a military scouting vehicle. Our research vehicle, NAVLAB II, is a computer-controlled HMMWV equipped with a scanning laser rangefinder and stereo cameras for obstacle detection. For cross-country navigation, our work has focused on two capabilities: local obstacle avoidance and global navigation. We have developed a system that drove the NAVLAB II over 10 kilometers continuously while avoiding obstacles. Another system drove the NAVLAB II a distance of 1.4 kilometers to a goal location in a cluttered environment, given no initial map information. The system produced an obstacle map of the terrain it explored en route to the goal.

Displaying 203 Publications
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
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, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2015
Grounding Spatial Relations for Outdoor Robot Navigation
Abdeslam Boularias, Felix Duvallet, Jean Hyaejin Oh and Anthony (Tony) Stentz

Conference Paper, 2015 IEEE International Conference on Robotics and Automation (ICRA), 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
Learning to Manipulate Unknown Objects in Clutter by Reinforcement
Abdeslam Boularias, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Conference Paper, Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI), 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, Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI), January, 2015
Efficient Optimization for Autonomous Robotic Manipulation of Natural Objects
Abdeslam Boularias, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Conference Paper, Proceedings of the Twenty-Eighth AAAI Conference on Artificial Intelligence (AAAI), pp. 2520-2526, November, 2014
Inferring Maps and Behaviors from Natural Language Instructions
Felix Duvallet, Matthew Walter, Thomas Howard, Sachithra Hemachandra, Jean Hyaejin Oh, Seth Teller, Nicholas Roy and Anthony (Tony) Stentz

Conference Paper, International Symposium on Experimental Robotics, June, 2014
Perceiving, Learning, and Exploiting Object Affordances for Autonomous Pile Manipulation
Dov Katz, Arun Venkatraman, Moslem Kazemi, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Conference Paper, Robotics: Science and Systems Conference, June, 2013
Enhancing robot perception using human teammates
Jean Hyaejin Oh, Arne Suppe, Anthony (Tony) Stentz and Martial Hebert

Conference Paper, Proceedings of the 12th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2013), May, 2013
Interactive Segmentation, Tracking, and Kinematic Modeling of Unknown 3D Articulated Objects
Dov Katz, Moslem Kazemi, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation, May, 2013
Clearing a Pile of Unknown Objects using Interactive Perception
Dov Katz, Moslem Kazemi, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation, March, 2013
Clearing a Pile of Unknown Objects using Interactive Perception
Dov Katz, Moslem Kazemi, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-12-34, Robotics Institute, Carnegie Mellon University, November, 2012
Semi-Autonomous Manipulation of Natural Objects
Dov Katz, Moslem Kazemi, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-12-33, Robotics Institute, Carnegie Mellon University, November, 2012
Predicting and Classifying Pedestrian Behavior Using an Integrated Cognitive Architecture
Unmesh Kurup, Christian Lebiere, Anthony (Tony) Stentz and Martial Hebert

Conference Paper, Proceedings of the 21st annual conference on behavior representation in modeling simulation (BRIMS), July, 2012
Using Expectations to Drive Cognitive Behavior
Unmesh Kurup, Christian Lebiere, Anthony (Tony) Stentz and Martial Hebert

Conference Paper, roceedings of the 26th AAAI Conference on Artificial Intelligence, July, 2012
Learning Autonomous Driving Styles and Maneuvers from Expert Demonstration
David Silver, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Conference Paper, International Symposium on Experimental Robotics, June, 2012
Active Learning from Demonstration for Robust Autonomous Navigation
David Silver, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Conference Paper, IEEE Conference on Robotics and Automation, May, 2012
Using Sound to Classify Vehicle-Terrain Interactions in Outdoor Environments
Jacqueline Libby and Anthony (Tony) Stentz

Conference Paper, 2012 IEEE International Conference on Robotics & Automation (ICRA 2012), May, 2012
xBots: An Approach to Generating and Executing Optimal Multi-Robot Plans with Cross-Schedule Dependencies
G. Ayorkor Korsah, Balajee Kannan, Brett Browning, Anthony (Tony) Stentz and M Bernardine Dias

Conference Paper, Proceedings of International Conference for Robotics and Automation (ICRA)-2012, May, 2012
Interactive Segmentation, Tracking, and Kinematic Modeling of Unknown Articulated Objects
Dov Katz, Moslem Kazemi, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-12-06, Robotics Institute, Carnegie Mellon University, March, 2012
Market-based Coordination of Coupled Robot Systems
Ling Xu and Anthony (Tony) Stentz

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September, 2011
Monte Carlo Localization and Registration to Prior Data for Outdoor Navigation
David Silver and Anthony (Tony) Stentz

Conference Paper, IEEE International Conference on Intelligent Robots and Systems (IROS), September, 2011
An Efficient Algorithm for Environmental Coverage with Multiple Robots
Ling Xu and Anthony (Tony) Stentz

Conference Paper, International Conference on Robotics and Automation, May, 2011
Segmentation-Based Online Change Detection for Mobile Robots
Bradford Neuman, Boris Sofman, Anthony (Tony) Stentz and J. Andrew (Drew) Bagnell

Conference Paper, International Conference on Robotics and Automation, May, 2011
Imitation Learning for Task Allocation.
Felix Duvallet and Anthony (Tony) Stentz

Conference Paper, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October, 2010
Learning from Demonstration for Autonomous Navigation in Complex Unstructured Terrain
David Silver, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 29, No. 12, pp. 1565 - 1592, October, 2010
A Fast Traversal Heuristic and Optimal Algorithm for Effective Environmental Coverage
Ling Xu and Anthony (Tony) Stentz

Conference Paper, Robotics: Science and Systems (RSS), June, 2010
Learning for Autonomous Navigation: Advances in Machine Learning for Rough Terrain Mobility
J. Andrew (Drew) Bagnell, David Bradley, David Silver, Boris Sofman and Anthony (Tony) Stentz

Magazine Article, Carnegie Mellon University, IEEE Robotics & Automation Magazine, Vol. 17, No. 2, pp. 74-84, June, 2010
Anytime Online Novelty Detection for Vehicle Safeguarding
Boris Sofman, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Conference Paper, IEEE International Conference on Robotics and Automation, May, 2010
Optimal Vehicle Routing and Scheduling with Precedence Constraints and Location Choice
G. Ayorkor Korsah, Anthony (Tony) Stentz, M Bernardine Dias and Imran Aslam Fanaswala

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA) 2010 Workshop on Intelligent Autonomous Systems, May, 2010
Perceptual Interpretation for Autonomous Navigation through Dynamic Imitation Learning
David Silver, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Conference Paper, International Symposium of Robotics Research, August, 2009
Bandit-Based Online Candidate Selection for Adjustable Autonomy
Boris Sofman, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Conference Paper, 7th International Conferences on Field and Service Robotics, July, 2009
Time-extended Multi-robot Coordination for Domains with Intra-path constraints
Edward Jones, M Bernardine Dias and Anthony (Tony) Stentz

Conference Paper, Robotics: Science and Systems (RSS), July, 2009
Anytime Online Novelty Detection for Vehicle Safeguarding
Boris Sofman, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-09-17, Robotics Institute, Carnegie Mellon University, April, 2009
Tiered auctions for multi-agent coordination in domains with precedence constraints
Edward Jones, M Bernardine Dias and Anthony (Tony) Stentz

Conference Paper, Proceedings of the 26th Army Science Conference, December, 2008
Blended local planning for generating safe and feasible paths
Ling Xu and Anthony (Tony) Stentz

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2008., pp. 709-716, September, 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

Conference Paper, 10th International Conference on Intelligent Autonomous Systems 2008, July, 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
Prior Data and Kernel Conditional Random Fields for Obstacle Detection
Carlos Vallespi-Gonzalez and Anthony (Tony) Stentz

Conference Paper, Robotics Proceedings IV, June, 2008
Continuous-field path planning with constrained path-dependent state variables
G. Ayorkor Korsah, Anthony (Tony) Stentz and M Bernardine Dias

Conference Paper, ICRA 2008 Workshop on Path Planning on Costmaps, May, 2008
Replanning with Uncertainty in Position: Sensor Updates vs. Prior Map Updates
Juan Pablo Gonzalez and Anthony (Tony) Stentz

Conference Paper, Proceedings of the IEEE Int. Conference on Robotics & Automation (ICRA), May, 2008
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
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, January, 2008
Learning-enhanced market-based task allocation for oversubscribed domains
Edward Jones, M Bernardine Dias and Anthony (Tony) Stentz

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

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 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
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
A Generalized Framework for Solving Tightly-coupled Multirobot Planning Problems
Nidhi Kalra, David Ferguson and Anthony (Tony) Stentz

Conference Paper, International Conference on Robotics and Automation (ICRA), April, 2007
Planning with Uncertainty in Position Using High-Resolution Maps
Juan Pablo Gonzalez and Anthony (Tony) Stentz

Conference Paper, In Proceedings of the IEEE Int. Conference on Robotics & Automation (ICRA) 2007, April, 2007
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
Anytime, Dynamic Planning in High-dimensional Search Spaces
David Ferguson and Anthony (Tony) Stentz

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), January, 2007
Global Path Planning on-board the Mars Exploration Rovers
Joseph Carsten, Arturo Rankin, David Ferguson and Anthony (Tony) Stentz

Conference Paper, IEEE Aerospace Conference, January, 2007
A Generative Model of Terrain for Autonomous Navigation in Vegetation
Carl Wellington, Aaron Courville and Anthony (Tony) Stentz

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 25, No. 12, pp. 1287 - 1304, December, 2006
Improving Robot Navigation Through Self-Supervised Online Learning
Boris Sofman, Ellie Lin Ratliff, J. Andrew (Drew) Bagnell, John Cole, Nicolas Vandapel and Anthony (Tony) Stentz

Journal Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 23, No. 12, December, 2006
3D Field D: Improved Path Planning and Replanning in Three Dimensions
Joseph Carsten, David Ferguson and Anthony (Tony) Stentz

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

Conference Paper, Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), pp. 5369 - 5375, October, 2006
Experimental Analysis of Overhead Data Processing To Support Long Range Navigation
David Silver, Boris Sofman, Nicolas Vandapel, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Conference Paper, IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 2443 - 2450, 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
Improving Robot Navigation Through Self-Supervised Online Learning
Boris Sofman, Ellie Lin Ratliff, J. Andrew (Drew) Bagnell, Nicolas Vandapel and Anthony (Tony) Stentz

Conference Paper, Proceedings of Robotics: Science and Systems, 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
DD* Lite: Efficient Incremental Search with State Dominance
G. Ayorkor Korsah, Anthony (Tony) Stentz and M Bernardine Dias

Conference Paper, Twenty-First National Conference on Artificial Intelligence (AAAI-06), pp. 1032-1038, July, 2006
Market-based multirobot coordination: a survey and analysis
M Bernardine Dias, Robert Michael Zlot, Nidhi Kalra and Anthony (Tony) Stentz

Journal Article, Carnegie Mellon University, Proceedings of the IEEE, Vol. 94, No. 7, pp. 1257 - 1270, July, 2006
Constrained Exploration for Studies in Multirobot Coordination
Nidhi Kalra, David Ferguson and Anthony (Tony) Stentz

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2006
Dynamically Formed Heterogeneous Robot Teams Performing Tightly-Coordinated Tasks
Edward Jones, Brett Browning, M Bernardine Dias, Brenna Argall, Manuela Veloso and Anthony (Tony) Stentz

Conference Paper, International Conference on Robotics and Automation, pp. 570 - 575, May, 2006
Replanning with RRTs
David Ferguson, Nidhi Kalra and Anthony (Tony) Stentz

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

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

Conference Paper, Proceedings of the International Conference on Intelligent Autonomous Systems (IAS), March, 2006
Mission-level path planning and re-planning for rover exploration
Paul Tompkins, Anthony (Tony) Stentz and David Wettergreen

Journal Article, Carnegie Mellon University, Robotics and Autonomous Systems, Intelligent Autonomous Systems, Vol. 54, No. 2, pp. 174 - 183, February, 2006
The Geometric Path Planner for Navigating Unmanned Vehicles in Dynamic Environments
Juan Pablo Gonzalez, Bryan Nagy and Anthony (Tony) Stentz

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

Journal Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 23, No. 2, pp. 79-101, February, 2006
Dynamically formed human-robot team performing coordinated tasks
M Bernardine Dias, Thomas K. Harris, Brett Browning, Edward Jones, Brenna Argall, Manuela Veloso, Anthony (Tony) Stentz and Alexander Rudnicky

Conference Paper, the AAAI Spring Symposium "To boldly go where no Human-Robot Team has gone before", January, 2006
Market-based Multirobot Coordination for Complex Tasks
Robert Michael Zlot and Anthony (Tony) Stentz

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Special Issue on the 4th International Conference on Field and Service Robotics, Vol. 25, No. 1, pp. 73-101, January, 2006
Terrain Classification from Aerial Data to Support Ground Vehicle Navigation
Boris Sofman, J. Andrew (Drew) Bagnell, Anthony (Tony) Stentz and Nicolas Vandapel

Tech. Report, CMU-RI-TR-05-39, Robotics Institute, Carnegie Mellon University, January, 2006
Market-Based Multirobot Coordination: A Comprehensive Survey and Analysis
Nidhi Kalra, M Bernardine Dias, Robert Michael Zlot and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-05-16, Robotics Institute, Carnegie Mellon University, December, 2005
Field D*: An Interpolation-based Path Planner and Replanner
David Ferguson and Anthony (Tony) Stentz

Conference Paper, Proceedings of the International Symposium on Robotics Research (ISRR), October, 2005
Improving cost estimation in market-based coordination of a distributed sensing task
M Bernardine Dias, B. Ghanem and Anthony (Tony) Stentz

Conference Paper, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3972 - 3977, August, 2005
Planning with Uncertainty in Position: An Optimal and Efficient Planner
Juan Pablo Gonzalez and Anthony (Tony) Stentz

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

Conference Paper, Proceedings of the International Workshop on Planning under Uncertainty for Autonomous Systems, International Conference on Automated Planning and Scheduling (ICAPS), June, 2005
Anytime Dynamic A*: An Anytime, Replanning Algorithm
Maxim Likhachev, David Ferguson, Geoffrey Gordon, Anthony (Tony) Stentz and Sebastian Thrun

Conference Paper, Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), June, 2005
Interacting Markov Random Fields for Simultaneous Terrain Modeling and Obstacle Detection
Carl Wellington, Aaron Courville and Anthony (Tony) Stentz

Conference Paper, Proceedings of Robotics: Science and Systems, June, 2005
The Field D* Algorithm for Improved Path Planning and Replanning in Uniform and Non-Uniform Cost Environments
David Ferguson and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-05-19, Robotics Institute, Carnegie Mellon University, June, 2005
Anytime Dynamic A*: The Proofs
Maxim Likhachev, David Ferguson, Geoffrey Gordon, Anthony (Tony) Stentz and Sebastian Thrun

Tech. Report, CMU-RI-TR-05-12, Robotics Institute, Carnegie Mellon University, May, 2005
Complex Task Allocation For Multiple Robots
Robert Michael Zlot and Anthony (Tony) Stentz

Conference Paper, Proceedings of the International Conference on Robotics and Automation, pp. 1515 - 1522, April, 2005
Dynamic Heterogeneous Robot Teams Engaged in Adversarial Tasks
M Bernardine Dias, Brett Browning, Manuela Veloso and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-05-14, Robotics Institute, Carnegie Mellon University, April, 2005
Hoplites: A Market-Based Framework for Planned Tight Coordination in Multirobot Teams
Nidhi Kalra, David Ferguson and Anthony (Tony) Stentz

Conference Paper, Proceedings of the International Conference on Robotics and Automation, pp. 1170 - 1177, April, 2005
Market-Based Multirobot Coordination: A Survey and Analysis
M Bernardine Dias, Robert Michael Zlot, Nidhi Kalra and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-05-13, Robotics Institute, Carnegie Mellon University, April, 2005
The Delayed D* Algorithm for Efficient Path Replanning
David Ferguson and Anthony (Tony) Stentz

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2045 - 2050, April, 2005
Focussed processing of MDPs for path planning
David Ferguson and Anthony (Tony) Stentz

Conference Paper, Proceedings of the 16th IEEE International Conference on Tools with Artificial Intelligence (ICTAI '04), pp. 310 - 317, November, 2004
Planning with Uncertainty in Position: an Optimal Planner
Juan Pablo Gonzalez and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-04-63, Robotics Institute, Carnegie Mellon University, November, 2004
Delayed D*: The Proofs
David Ferguson and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-04-51, Robotics Institute, Carnegie Mellon University, September, 2004
Planning with Imperfect Information
David Ferguson and Anthony (Tony) Stentz

Conference Paper, Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Vol. 2, pp. 1926 - 1931, September, 2004
Hoplites: A Market Framework for Complex Tight Coordination in Multi-Agent Teams
Nidhi Kalra, Anthony (Tony) Stentz and David Ferguson

Tech. Report, CMU-RI-TR-04-41, Robotics Institute, Carnegie Mellon University, August, 2004
Enabling Learning From Large Datasets: Applying Active Learning to Mobile Robotics
Cristian Dima, Martial Hebert and Anthony (Tony) Stentz

Conference Paper, International Conference on Robotics and Automation, Vol. 1, pp. 108 - 114, April, 2004
Online Adaptive Rough-Terrain Navigation in Vegetation
Carl Wellington and Anthony (Tony) Stentz

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 96 - 101, April, 2004
PAO* for Planning with Hidden State
David Ferguson, Anthony (Tony) Stentz and Sebastian Thrun

Conference Paper, Proceedings of the 2004 IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2840 - 2847, April, 2004
Robust Multirobot Coordination in Dynamic Environments
M Bernardine Dias, Marc B. Zinck, Robert Michael Zlot and Anthony (Tony) Stentz

Conference Paper, IEEE International Conference on Robotics and Automation, Vol. 4, pp. 3435 - 3442, April, 2004
A Versatile Implementation of the TraderBots Approach for Multirobot Coordination
M Bernardine Dias, Robert Michael Zlot, Marc B. Zinck, Juan Pablo Gonzalez and Anthony (Tony) Stentz

Conference Paper, March, 2004
Field Experiments in Mission-Level Path Execution and Re-Planning
Paul Tompkins, Anthony (Tony) Stentz and William (Red) L. Whittaker

Conference Paper, Proceedings of the 8th Conference on Intelligent Autonomous Systems (IAS-8), March, 2004
Focussed Dynamic Programming: Extensive Comparative Results
David Ferguson and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-04-13, Robotics Institute, Carnegie Mellon University, March, 2004
Global Path Planning for Mars Rover Exploration
Paul Tompkins, Anthony (Tony) Stentz and David Wettergreen

Conference Paper, Proceedings of the 2004 IEEE Aerospace Conference, March, 2004
Market-Based Approaches for Coordination of Multi-Robot Teams at Different Granularities of Interaction
Anthony (Tony) Stentz, M Bernardine Dias, Robert Michael Zlot and Nidhi Kalra

Conference Paper, Proceedings of the ANS 10th International Conference on Robotics and Remote Systems for Hazardous Environments, March, 2004
Mission-Level Path Planning for Rover Exploration
Paul Tompkins, Anthony (Tony) Stentz and William (Red) L. Whittaker

Conference Paper, Proceedings of the 8th Conference on Intelligent Autonomous Systems (IAS-8), March, 2004
Planning with Map Uncertainty
David Ferguson and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-04-09, Robotics Institute, Carnegie Mellon University, February, 2004
Vegetation Detection for Mobile Robot Navigation
David Bradley, Scott Thayer, Anthony (Tony) Stentz and Peter Rander

Tech. Report, CMU-RI-TR-04-12, Robotics Institute, Carnegie Mellon University, February, 2004
Planning with Pinch Points
David Ferguson, Anthony (Tony) Stentz and Sebastian Thrun

Tech. Report, CMU-RI-TR-04-06, Robotics Institute, Carnegie Mellon University, January, 2004
A comparative study between centralized, market-based, and behavioral multirobot coordination approaches
M Bernardine Dias and Anthony (Tony) Stentz

Conference Paper, Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), Vol. 3, pp. 2279 - 2284, October, 2003
TraderBots: A Market-Based Approach for Resource, Role, and Task Allocation in Multirobot Coordination
M Bernardine Dias and Anthony (Tony) Stentz

Tech. Report, CMU-RI -TR-03-19, Robotics Institute, Carnegie Mellon University, August, 2003
Learning Predictions of the Load-Bearing Surface for Autonomous Rough-Terrain Navigation in Vegetation
Carl Wellington and Anthony (Tony) Stentz

Conference Paper, International Conference on Field and Service Robotics, pp. 49-54, July, 2003
Market-based Multirobot Coordination Using Task Abstraction
Robert Michael Zlot and Anthony (Tony) Stentz

Conference Paper, International Conference on Field and Service Robotics, 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 Market Approach to Tightly-Coupled Multi-Robot Coordination: First Results
Nidhi Kalra and Anthony (Tony) Stentz

Conference Paper, Proceedings of the ARL Collaborative Technologies Alliance Symposium, May, 2003
Market-Based Multirobot Coordination For Complex Space Applications
M Bernardine Dias, Dani Goldberg and Anthony (Tony) Stentz

Miscellaneous, Carnegie Mellon University, The 7th International Symposium on Artificial Intelligence, Robotics and Automation in Space, May, 2003
Market-Based Multi-Robot Planning in a Distributed Layered Architecture
Dani Goldberg, Vincent Cicirello, M Bernardine Dias, Reid Simmons, Stephen Smith and Anthony (Tony) Stentz

Conference Paper, Multi-Robot Systems: From Swarms to Intelligent Automata: Proceedings from the 2003 International Workshop on Multi-Robot Systems, Vol. 2, pp. 27-38, January, 2003
Opportunistic Optimization for Market-Based Multirobot Control
M Bernardine Dias and Anthony (Tony) Stentz

Conference Paper, Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), Vol. 3, pp. 2714 - 2720, September, 2002
Enhanced Negotiation and Opportunistic Optimization for Market-Based Multirobot Coordination
M Bernardine Dias and Anthony (Tony) Stentz

Tech. Report, CMU-RI -TR-02-18, Robotics Institute, Carnegie Mellon University, August, 2002
A System for Semi-Autonomous Tractor Operations
Anthony (Tony) Stentz, Cristian Dima, Carl Wellington, Herman Herman and David Stager

Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 13, No. 1, pp. 87-103, July, 2002
Designing Crash-Survivable Unmanned Vehicles
John Bares, S. McFadden, Anthony (Tony) Stentz, C. Richards and S. Murray

Carnegie Mellon University, Proceedings of the AUVSI Unmanned Systems 2002 Conference, July, 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
Stereo perception on an off-road vehicle
A. Rieder, B. Southall, G. Salgian, R. Mandelbaum, Herman Herman, Peter Rander and Anthony (Tony) Stentz

Conference Paper, IEEE 2002 Intelligent Vehicle Symposium, Vol. 1, pp. 221 - 226, June, 2002
A Layered Architecture for Coordination of Mobile Robots
Reid Simmons, Trey Smith, M Bernardine Dias, Dani Goldberg, David Hershberger, Anthony (Tony) Stentz and Robert Michael Zlot

Conference Paper, Multi-Robot Systems: From Swarms to Intelligent Automata, Proceedings from the 2002 NRL Workshop on Multi-Robot Systems, May, 2002
Mission Planning for the Sun-Synchronous Navigation Field Experiment
Paul Tompkins, Anthony (Tony) Stentz and William (Red) L. Whittaker

Conference Paper, Proceedings of the 2002 IEEE International Conference on Robotics and Automation, May, 2002
Multi-Robot Exploration Controlled By A Market Economy
Robert Michael Zlot, Anthony (Tony) Stentz, M Bernardine Dias and Scott Thayer

Conference Paper, IEEE International Conference on Robotics and Automation, Vol. 3, pp. 3016 - 3023, May, 2002
A Distributed Layered Architecture for Mobile Robot Coordination: Application to Space Exploration
Dani Goldberg, Vincent Cicirello, M Bernardine Dias, Reid Simmons, Stephen Smith, Trey Smith and Anthony (Tony) Stentz

Conference Paper, Proceedings of the 3rd International NASA Workshop on Planning and Scheduling for Space, January, 2002
Market-Driven Multi-Robot Exploration
Robert Michael Zlot, Anthony (Tony) Stentz, M Bernardine Dias and Scott Thayer

Tech. Report, CMU-RI-TR-02-02, Robotics Institute, Carnegie Mellon University, January, 2002
A Market Approach to Multirobot Coordination
M Bernardine Dias and Anthony (Tony) Stentz

Tech. Report, CMU-RI -TR-01-26, Robotics Institute, Carnegie Mellon University, August, 2001
Automated Surface Mission Planning Considering Terrain, Shadows, Resources and Time
Paul Tompkins, Anthony (Tony) Stentz and William (Red) L. Whittaker

Conference Paper, Proceedings of the 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS '01), Montreal, Canada., June, 2001
Distributed Robotic Mapping of Extreme Environments
Scott Thayer, Bruce Digney, M Bernardine Dias, Anthony (Tony) Stentz, Bart Nabbe and Martial Hebert

Conference Paper, Proceedings of SPIE: Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, Vol. 4195, November, 2000
An Efficient On-line Path Planner for Outdoor Mobile Robots Operating in Vast Environments
Alex Yahja, Sanjiv Singh and Anthony (Tony) Stentz

Journal Article, Carnegie Mellon University, Robotics and Autonomous Systems, Vol. 33, No. 2&3, pp. 129-143, August, 2000
A Free Market Architecture for Distributed Control of a Multirobot System
M Bernardine Dias and Anthony (Tony) Stentz

Conference Paper, 6th International Conference on Intelligent Autonomous Systems (IAS-6), pp. 115-122, July, 2000
Recent Progress in Local and Global Traversability for Planetary Rovers
Sanjiv Singh, Reid Simmons, Trey Smith, Anthony (Tony) Stentz, Vandi Verma, Alex Yahja and Kurt Schwehr

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, 2000, April, 2000
A Free Market Architecture for Coordinating Multiple Robots
Anthony (Tony) Stentz and M Bernardine Dias

Tech. Report, CMU-RI-TR-99-42, Robotics Institute, Carnegie Mellon University, December, 1999
A Robotic Excavator for Autonomous Truck Loading
Anthony (Tony) Stentz, John Bares, Sanjiv Singh and Patrick Rowe

Journal Article, Autonomous Robots, Vol. 7, No. 2, pp. 175-186, September, 1999
Position Measurement for Automated Mining Machinery
Anthony (Tony) Stentz, Mark Ollis, Steve Scheding, Herman Herman, Christopher Fromme, Jorgen Pedersen, Timothy Hegadorn, Robert McCall, John Bares and Richard Moore

Conference Paper, Proceedings of the 1999 International Conference on Field and Service Robotics, pp. 299 - 304, August, 1999
The Demeter System for Automated Harvesting
Thomas Pilarski, Michael Happold, Henning Pangels, Mark Ollis, Kerien Fitzpatrick and Anthony (Tony) Stentz

Conference Paper, Proceedings of the 8th International Topical Meeting on Robotics and Remote Systems, April, 1999
Obstacle detection and safeguarding for a high-speed autonomous hydraulic excavator
Patrick (Chris) Leger, Patrick Rowe, John Bares, Scott Boehmke and Anthony (Tony) Stentz

Conference Paper, Proceedings of SPIE Mobile Robots XIII, Vol. 3525, pp. 146-156, November, 1998
A Robotic Excavator for Autonomous Truck Loading
Anthony (Tony) Stentz, John Bares, Sanjiv Singh and Patrick Rowe

Conference Paper, IEEE/RSJ International Conference on Intelligent Robotic Systems, Vol. 7, No. 2, pp. 175-186, September, 1998
Mobility Planning for Autonomous Navigation of Multiple Robots in Unstructured Environments
Martial Hebert, Anthony (Tony) Stentz and Chuck Thorpe

Conference Paper, Proceedings of ISIC/CIRA/ISAS Joint Conference on the Science and Technology of Intelligent Systems, pp. 652 - 657, September, 1998
Recent Results in Path Planning for Mobile Robots Operating in Vast Outdoor Environments
Alex Yahja, Sanjiv Singh and Anthony (Tony) Stentz

Conference Paper, Proc, 1998 Symposium on Image, Speech, Signal Processing and Robotics, September, 1998
Framed-Quadtree Path Planning for Mobile Robots Operating in Sparse Environments
Alex Yahja, Anthony (Tony) Stentz, Sanjiv Singh and Barry Brummit

Conference Paper, In Proceedings, IEEE Conference on Robotics and Automation, (ICRA), May, 1998
GRAMMPS: A Generalized Mission Planner for Multiple Mobile Robots
Barry Brummit and Anthony (Tony) Stentz

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, May, 1998
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
Parameterized Scripts for Motion Planning
Patrick Rowe and Anthony (Tony) Stentz

Conference Paper, Proceedings of the IEEE/RSJ International Conference on Intelligent Robotic Systems, Vol. 2, pp. 1119 - 1124, September, 1997
Vision-Based Perception for an Autonomous Harvester
Mark Ollis and Anthony (Tony) Stentz

Conference Paper, Proceedings of the IEEE/RSJ International Conference on Intelligent Robotic Systems, Vol. 3, pp. 1838 - 1844, September, 1997
Best Information Planning for Unknown, Uncertain, and Changing Domains
Anthony (Tony) Stentz

Conference Paper, Proceedings of the AAAI Workshop on On-Line Search, July, 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
Map Building and Terrain-Aided Localisation in an Underground Mine
G. Dissanayake, Martial Hebert, Anthony (Tony) Stentz and H. Durrant-Whyte

Conference Paper, Proceedings of the Field and Service Robotics Conference, January, 1997
Dynamic Mission Planning for Multiple Mobile Robots
Barry Brummit and Anthony (Tony) Stentz

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, April, 1996
First Results in Vision-Based Crop Line Tracking
Mark Ollis and Anthony (Tony) Stentz

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 951 - 956, April, 1996
Map-Based Strategies for Robot Navigation in Unknown Environments
Anthony (Tony) Stentz

Conference Paper, Proceedings of the AAAI Spring Symposium on Planning with Incomplete Information for Robot Problems, March, 1996
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
A Complete Navigation System for Goal Acquisition in Unknown Environments
Anthony (Tony) Stentz and Martial Hebert

Conference Paper, Proceedings 1995 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '95), Vol. 1, pp. 425 - 432, August, 1995
Sensor fusion for autonomous outdoor navigation using neural networks
Ian Davis and Anthony (Tony) Stentz

Conference Paper, Proceedings 1995 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '95), Vol. 3, pp. 338 - 343, August, 1995
The Focussed D* Algorithm for Real-Time Replanning
Anthony (Tony) Stentz

Conference Paper, Proceedings of the International Joint Conference on Artificial Intelligence, August, 1995
Resolution Independent Grid-based Path Planning
Gita Krishnaswamy and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-95-08, Robotics Institute, Carnegie Mellon University, April, 1995
A Mobile Robot Iconic Position Estimator using a Radial Laser Scanner
J. Gonzalez, Anthony (Tony) Stentz and A. Ollero

Journal Article, Journal of Intelligent and Robotic Systems, Vol. 13, pp. 161-179, January, 1995
The D* Algorithm for Real-Time Planning of Optimal Traverses
Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-94-37, Robotics Institute, Carnegie Mellon University, October, 1994
Active Surface/Subsurface Perception for Autonomous Excavation
Herman Herman and Anthony (Tony) Stentz

Conference Paper, Proceedings of the SPIE Conference on Sensor Fusion and Aerospace Applications II, June, 1994
Optimal and Efficient Path Planning for Partially-Known Environments
Anthony (Tony) Stentz

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '94), Vol. 4, pp. 3310 - 3317, May, 1994
A Complete Navigation System for Goal Acquisition in Unknown Environments
Anthony (Tony) Stentz and Martial Hebert

Tech. Report, CMU-RI-TR-94-07, Robotics Institute, Carnegie Mellon University, April, 1994
Subsurface Sensing for the Autonomous Retrieval of Buried Objects
Herman Herman and Anthony (Tony) Stentz

Conference Paper, Proceedings of the International Conference on Ground Penetrating Radar, April, 1994
Smart Cars: The CMU Navlab
Chuck Thorpe, R. Craig Coulter, Martial Hebert, Todd Jochem, Dirk Langer, Dean Pomerleau, Julio Rosenblatt, W. Ross and Anthony (Tony) Stentz

Conference Paper, Proceedings of WORLD MED93, October, 1993
Optimal and Efficient Path Planning for Unknown and Dynamic Environments
Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-93-20, Robotics Institute, Carnegie Mellon University, August, 1993
Automated Surveying of Mines Using a Scanning Laser Rangefinder
Gary Shaffer and Anthony (Tony) Stentz

Conference Paper, Proceedings of SME Annual Symposium on Robotics and Automation, February, 1993
Position Estimator for Underground Mine Equipment
Gary Shaffer, Anthony (Tony) Stentz, William (Red) L. Whittaker and Kerien Fitzpatrick

Journal Article, IEEE Transactions on Industry Applications, Vol. 28, No. 5, pp. 1131 - 1140, September, 1992
A Robotic System for Underground Coal Mining
Gary Shaffer and Anthony (Tony) Stentz

Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation (ICRA '92), Vol. 1, pp. 633 - 638, May, 1992
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 Iconic Position Estimator for a 2-D Laser Rangefinder
Javier Gonzalez, Anthony (Tony) Stentz and Anibal Ollero

Tech. Report, CMU-RI-TR-92-04, Robotics Institute, Carnegie Mellon University, May, 1992
An Iconic Position Estimator for a 2D Laser RangeFinder
J. Gonzalez, Anthony (Tony) Stentz and A. Ollero

Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation (ICRA '92), Vol. 3, pp. 2646 - 2651, May, 1992
A Comparison of Two Range-Based Pose Estimators for a Mobile Robot
Gary Shaffer, J. Gonzalez and Anthony (Tony) Stentz

Conference Paper, Proceedings of SPIE Symposium on Mobile Robots, January, 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
Dynamic Trajectory Planning for a Cross-Country Navigator
Barry Brummit, R. Craig Coulter and Anthony (Tony) Stentz

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
A Telerobotic Solution for Tool Insertion Tasks in Nuclear Servicing
R. Craig Coulter, Anthony (Tony) Stentz, P. Keller and William (Red) L. Whittaker

Conference Paper, Remote Systems Session of the ANS Winter Meeting, November, 1991
An Application of Tool Insertion Using Model Based Vision
R. Craig Coulter, Anthony (Tony) Stentz, P. Keller and William (Red) L. Whittaker

Conference Paper, Proceedings of IEEE International Conference on Systems Engineering, pp. 316 - 319, August, 1991
The Driving Pipeline: A Driving Control Scheme for Mobile Robots
Y. Goto, Steven Shafer and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-88-08, Robotics Institute, Carnegie Mellon University, June, 1991
A System for Telerobotic Control of Servicing Tasks in a Nuclear Steam Generator
R. Craig Coulter, Anthony (Tony) Stentz, Paul G. Keller, Gary K. Shaffer, William (Red) L. Whittaker, Barry Brummit and William Burky

Tech. Report, CMU-RI-TR-90-24, Robotics Institute, Carnegie Mellon University, December, 1990
Position Estimator for Robotic Mine Equipment
Gary Shaffer, Anthony (Tony) Stentz, William (Red) L. Whittaker and Kerien Fitzpatrick

Conference Paper, Proceedings of Tenth WVU International Mining Electrotechnology Conference, July, 1990
Hierarchical Terrain Representations for Off-Road Navigation
Jay Gowdy, Anthony (Tony) Stentz and Martial Hebert

Conference Paper, Proceedings of SPIE Symposium on Mobile Robots, January, 1990
Multiresolution Constraint Modeling for Mobile Robot Planning
Anthony (Tony) Stentz

Conference Paper, Proceedings of SPIE Symposium on Advances in Intelligent Robotics Systems, November, 1989
Against Complex Architectures
Anthony (Tony) Stentz and Chuck Thorpe

Conference Paper, Proceedings of the 6th International Symposium on Unmanned Untethered Submersible Technology, pp. 308 - 311, June, 1989
Against Complex Architectures
Anthony (Tony) Stentz and Chuck Thorpe

Conference Paper, Proceedings of AAAI Spring Symposium Series, March, 1989
The CMU Navigational Architecture
Anthony (Tony) Stentz and Y. Goto

Conference Paper, Proceedings of the DARPA Image Understanding Workshop, February, 1987
Mobile Robot Navigation: The CMU System
Y. Goto and Anthony (Tony) Stentz

Journal Article, IEEE Expert, Vol. 2, No. 4, pp. 44 - 55, January, 1987
An Architecture for Sensor Fusion in a Mobile Robot
Steven Shafer, Anthony (Tony) Stentz and Chuck Thorpe

Tech. Report, CMU-RI-TR-86-09, Robotics Institute, Carnegie Mellon University, April, 1986
An Architecture for Autonomous Vehicle Navigation
Anthony (Tony) Stentz and Chuck Thorpe

Conference Paper, Proceedings of the Fourth International Symposium on Unmanned Untethered Submersible Technology, January, 1985
First Results in Robot Road-Following
R. Wallace, Anthony (Tony) Stentz, Chuck Thorpe, Hans Moravec, William (Red) L. Whittaker and Takeo Kanade

Conference Paper, Proceedings of the International Joint Conference on Artificial Intelligence, January, 1985
Dynamically Stable Legged Locomotion Progress Report: October 1982 – October 1983
Marc H. Raibert, H. Benjamin Brown, Michael Chepponis, Eugene Hastings, Jeff Koechling, Karl N. Murphy, Seshashayee S. Murthy and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-83-20, Robotics Institute, Carnegie Mellon University, December, 1983

Current RI PhD Students

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