/David Wettergreen

David Wettergreen

Portrait of David Wettergreen
Research Professor;
Associate Director for Education
and Director of the Ph.D. Program

Office: 2115 Newell-Simon Hall
Phone: (412) 268-5421
Personal Homepage
Administrative Assistant: Jessica Butterbaugh
Associated Center: FRC

Mailing Address

I am a research professor at the Robotics Institute at Carnegie Mellon University. My research focuses on robotic exploration: underwater, on the surface, and in air and space, and in the necessary ingredients of perception, planning, learning and control for robot autonomy.

My work spans conceptual and algorithm design through to field experimentation and results in mobile robots that explore the difficult, dangerous, and usually dirty places on Earth, in the service of scientific and technical investigations. Much of this work is relevant to ongoing and future space activities.

I am currently leading projects in robotic exploration using robots to investigate the geology and biology of the Atacama Desert in Chile using the rover Zoë.  It has surveyed over 250km autonomously measuring the distribution of micro-organisms.
In recent past I have developed and tested lunar polar prospectors, autonomous underwater cave explorers and technologies for Antarctic traverse.  I also led research in sun-synchronous navigation, conducting field experiments well above the Arctic Circle on Devon Island in Canada. Our rover Hyperion executed 24-hour long traverses tracking the ever present sun as it explored.
Research and development of mobile robotic systems involves complex systems engineering and is aided by effective software engineering practice. In a useful parallel, I teach System Engineering.

If you really want excruciating detail, here is my curriculum vitae.


I was a research fellow at the Australian National University working at the Robotic Systems Laboratory. The university is located in Canberra, the capital of Australia.  I led research in underwater robotics and developed Kambara, an autonomous submersible robot.


I was an NRC postdoctoral research associate at the NASA Ames Research Center working with the intelligent robotics group. We developed technologies for robotic exploration, which involved building robots, control architectures, and interfaces: virtual, telepresent, or othersuch.

We collaborated with the Robotics Institute for the Nomad project. Nomad [Image]trekked across the Atacama Desert of Chile, where it traveled 220 kilometers and performed a number of science experiments.

I also continued work on an architecture for autonomous exploration for the Marsokhod based on visually-guided navigation. We completed testing in the Painted Desert of Arizona but continue working on refinements.

In my spare time, I lead research in dexterous locomotion–exploring architectures, control methods, and mechanisms for stable legged locomotion in very rough terrain.


I completed my doctorate in Robotics at the School of Computer Science at Carnegie Mellon University. There I began my affiliation with the Field Robotics Center. I also began my work on walking robots, developing planning and control algorithms for the Ambler, a large six-legged walking robot. I helped establish the work in science rovers by instigating the Dante projects. Dante is a robot designed to explore volcanic craters and collect information about their physical properties and activity. Dante’s expeditions have taken it (and me) to Mount Erebus, Antarctica and to Mount Spurr, Alaska.

Displaying 108 Publications
Spatial Spectroscopic Models for Remote Exploration
David R. Thompson, Alberto Candela, David S. Wettergreen, Eldar Noe Dobrea, Gregg A. Swayze, Roger N. Clark and Rebecca Greenberger

Journal Article, Astrobiology, Vol. 18, No. 7, pp. 934-954, August, 2018
Field Experiments in Robotic Subsurface Science with Long Duration Autonomy
Srinivasan Vijayarangan, David Kohanbash, Greydon Foil, Kris Zacny, Nathalie Cabrol and David Wettergreen

Conference Paper, Field and Service Robotics. Springer Proceedings in Advanced Robotics, Vol. 5, pp. 515-529, September, 2017
Strategic Autonomy for Reducing Risk of Sun-Synchronous Lunar Polar Exploration
Nathan Otten, David Wettergreen and William Whittaker

Conference Paper, Field and Service Robotics, pp. 465-479, September, 2017
High-throughput Robotic Phenotyping of Energy Sorghum Crops
Srinivasan Vijayarangan, Paloma Sodhi, Prathamesh Kini, James Bourne, Simon Du, Hanqi Sun, Barnabas Poczos, Dimitrios (Dimi) Apostolopoulos and David Wettergreen

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

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

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2017
Science-Aware Exploration Using Entropy-Based Planning
Shivam Gautam, Bishwamoy Sinha Roy, Alberto Candela and David Wettergreen

Conference Paper, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), September, 2017
Finding Routes for Efficient and Successful Slope Ascent for Exploration Rovers
Hiroaki Inotsume, Colin Creager, David Wettergreen and William (Red) L. Whittaker

Conference Paper, The International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS) 2016, June, 2016
Planning Routes of Continuous Illumination and Traversable Slope using Connected Component Analysis
Nathan D. Otten, Heather L. Jones, David S. Wettergreen and William L. Whittaker

Conference Paper, 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 3953-3958, July, 2015
Spatio-spectral exploration combining in situ and remote measurements
David R. Thompson, David Wettergreen, Greydon Foil, Padraig Michael Furlong and Anatha Ravi Kiran

Conference Paper, Association for the Advancement of Artificial Intelligence, January, 2015
Science Autonomy for Rover Subsurface Exploration of the Atacama Desert
David Wettergreen, Greydon Foil, Padraig Michael Furlong and David R. Thompson

Journal Article, Carnegie Mellon University, AI Magazine, Vol. 35, No. 4, October, 2014
Analysis of Grouser Performance to Develop Guidelines for Design for Planetary Rovers
Hiroaki Inotsume, Krzysztof Skonieczny and David Wettergreen

Conference Paper, 12th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2014), June, 2014
Slope Descent using Plowing to Minimize Slip for Planetary Rovers
Daniel Loret de Mola Lemus, David Kohanbash, Scott Jared Moreland and David Wettergreen

Conference Paper, Journal of Field Robotics, Vol. 31, No. 5, pp. 803-819, April, 2014
Visualizing and Analyzing Machine-soil Interactions using Computer Vision
Krzysztof Skonieczny, Scott Jared Moreland, Vivake Asnani, Colin Creager, Hiroaki Inotsume and David Wettergreen

Journal Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 31, No. 5, pp. 820-836, March, 2014
Kernel-based Tracking for Improving Sign Detection Performance
Jong Ho Lee, Young-Woo Seo and David Wettergreen

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November, 2013
Probabilistic Surface Classification for Rover Instrument Targeting
Greydon Foil, David R. Thompson, William Abbey and David Wettergreen

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, November, 2013
Kernel-Based Traffic Sign Tracking to Improve Highway Workzone Recognition for Reliable Autonomous Driving
Jong Ho Lee, Young-Woo Seo, Wende Zhang and David Wettergreen

Conference Paper, Proceedings of the 16th International IEEE Annual Conference on Intelligent Transportation Systems (ITSC 2013), The Hague, The Netherlands, October 6-9, 2013, October, 2013
Exploiting Publicly Available Cartographic Resources for Aerial Image Analysis
Young-Woo Seo, Christopher Urmson and David Wettergreen

Conference Paper, Proceedings of International Conference on Advances in Geographic Information Systems (ACM SIGSPATIAL GIS 2012), pp. 109-118, November, 2012
Ortho-Image Analysis for Producing Lane-Level Highway Maps
Young-Woo Seo, Christopher Urmson and David Wettergreen

Conference Paper, International Conference on Advances in Geographic Information Systems (ACM SIGSPATIAL GIS 2012), pp. 506-509, November, 2012
A Grouser Spacing Equation for Determining Appropriate Geometry of Planetary Rover Wheels
Krzysztof Skonieczny, Scott Jared Moreland and David Wettergreen

Conference Paper, Intelligent Robots and Systems (IROS), October, 2012
Recognizing Temporary Changes on Highways for Reliable Autonomous Driving
Young-Woo Seo, David Wettergreen and Wende Zhang

Conference Paper, Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, pp. 3021-3026, October, 2012
Ortho-Image Analysis for Producing Lane-Level Highway Maps
Young-Woo Seo, Christopher Urmson and David Wettergreen

Tech. Report, CMU-RI-TR-12-26, Robotics Institute, Carnegie Mellon University, September, 2012
Motion Analysis System for Robot Traction Device Evaluation and Design
Scott Jared Moreland, Krzysztof Skonieczny and David Wettergreen

Conference Paper, International Conference on Field and Service Robotics, July, 2012
Plowing for Rover Control on Extreme Slopes
David Kohanbash, Scott Jared Moreland and David Wettergreen

Conference Paper, Field and Service Robotics, July, 2012
Novel Experimental Technique for Visualizing and Analyzing Robot-Soil Interactions
Krzysztof Skonieczny, Scott Jared Moreland, Colin Creager and David Wettergreen

Conference Paper, Earth and Space Conference, April, 2012
Rover mobility on granular soil: Marrying multi-scale modeling and high fidelity experiments to infer soil stresses under the moving wheel
Ivan Vlahinic, Jose Andrade, Krzysztof Skonieczny, Scott Jared Moreland and David Wettergreen

Conference Paper, Earth and Space Conference, April, 2012
Planetary Lake Lander: Using Technology Relevant to Titan’s Exploration to Investigate the Impact of Deglaciation on Past and Present Planetary Lakes
Nathalie Cabrol, Edmund Grin, Chris Haberle, Jeff Moersch, Robert Jacobsen, Ruben Sommaruga, Erich Fleming, Angela Detweiler, Alex Echeverria, Yolanda Blanco, Luis Rivas, Liam Pedersen, Trey Smith, David Wettergreen, Cecilia Demergasso, Victor Parro, Terrence W. Fong and Lee Bebout

Conference Paper, 43rd Lunar and Planetary Science Conference, Abstract 2147, March, 2012
Soil Behavior of Wheels with Grousers for Planetary Rovers
Scott Jared Moreland, Krzysztof Skonieczny, Hiroaki Inotsume and David Wettergreen

Conference Paper, IEEE Aerospace, March, 2012
Advantageous bucket-wheel configuration for lightweight planetary excavators
Krzysztof Skonieczny, Scott Jared Moreland, David Wettergreen and William (Red) L. Whittaker

Conference Paper, September, 2011
Control of a passively steered rover using 3-D kinematics
Neal Seegmiller and David Wettergreen

Conference Paper, IEEE International Conference on Intelligent Robots and Systems, September, 2011
Optical Flow Odometry with Robustness to Self-shadowing
Neal Seegmiller and David Wettergreen

Conference Paper, IEEE International Conference on Intelligent Robots and Systems, September, 2011
Soil Motion Analysis System for Examining Wheel-Soil Shearing
Scott Jared Moreland, Krzysztof Skonieczny, David Wettergreen, Colin Creager and Vivake Asnani

Conference Paper, International Conference of the International Society for Terrain-Vehicle Systems, September, 2011
Inching Locomotion for Planetary Rover Mobility
Scott Jared Moreland, Krzysztof Skonieczny and David Wettergreen

Conference Paper, IEEE Aerospace, March, 2011
Adapting to Intra-Class Variations using Incremental Retraining with Exploratory Sampling
Young-Woo Seo, Christopher Urmson, David Wettergreen and Rahul Sukthankar

Tech. Report, CMU-RI-TR-10-36, Robotics Institute, Carnegie Mellon University, October, 2010
Building lane-graphs for autonomous parking
Young-Woo Seo, Christopher Urmson, David Wettergreen and Jin-Woo Lee

Conference Paper, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-10), pp. 6052-6057, October, 2010
Design and field experimentation of a prototype Lunar prospector
David Wettergreen, Scott Jared Moreland, Krzysztof Skonieczny, Dominic Jonak, David Kohanbash and James Teza

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 29, No. 12, pp. 1550 - 1564, October, 2010
Aesthetic Image Classification for Autonomous Agents
Mark Desnoyer and David Wettergreen

Conference Paper, pp. 3452 - 3455, August, 2010
Parameters governing regolith site work by small robots
Krzysztof Skonieczny, David Wettergreen and William (Red) L. Whittaker

Conference Paper, ASCE Earth & Space 2010, March, 2010
Segmented SLAM in Three-Dimensional Environments
Nathaniel Fairfield, George A. Kantor and David Wettergreen

Journal Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 27, No. 1, pp. 85-103, February, 2010
Augmenting cartographic resources for autonomous driving
Young-Woo Seo, Christopher Urmson, David Wettergreen and Jin-Woo Lee

Conference Paper, Proceedings of ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems (GIS-2009), pp. 13-22, November, 2009
Field Experiments in Mobility and Navigation with a Lunar Rover Prototype
David Wettergreen, Dominic Jonak, David Kohanbash, Scott Jared Moreland, Spencer Spiker and James Teza

Conference Paper, Field and Service Robotics, July, 2009
Configuring innovative regolith moving techniques for lunar outposts
Krzysztof Skonieczny, Matthew E. DiGioia, Raymond L Barsa, David Wettergreen and William (Red) L. Whittaker

Conference Paper, IEEE Aerospace, March, 2009
Design and Experimentation of a Rover Concept for Lunar Crater Resource Survey
David Wettergreen, Dominic Jonak, David Kohanbash, Scott Jared Moreland, Spencer Spiker, James Teza and William (Red) L. Whittaker

Conference Paper, 47th AIAA Aerospace Sciences Meeting Including The New Horizons Forum and Aerospace Exposition, January, 2009
Control Strategies for a Multi-Legged Hopping Robot
Rolf Allan Luders, Dimitrios (Dimi) Apostolopoulos and David Wettergreen

Conference Paper, Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS 2008), September, 2008
DEPTHX Autonomy Software: Design and Field Results
Nathaniel Fairfield, George A. Kantor, Dominic Jonak and David Wettergreen

Tech. Report, CMU-RI-TR-08-09, Robotics Institute, Carnegie Mellon University, July, 2008
Information-Optimal Selective Data Return for Autonomous Rover Traverse Science and Survey
David R. Thompson, Trey Smith and David Wettergreen

Conference Paper, IEEE Conference on Robotics and Automation, May, 2008
Autonomous Rover Reflectance Spectroscopy with Dozens of Targets
Francisco Calderon, David R. Thompson and David Wettergreen

Conference Paper, International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), February, 2008
Design of the Scarab Rover for Mobility and Drilling in the Lunar Cold Traps
Paul Bartlett, David Wettergreen and William (Red) L. Whittaker

Conference Paper, International Symposium on Artificial Intelligence, Robotics and Automation in Space, February, 2008
Intelligent Maps for Autonomous Kilometer-Scale Science Survey
David R. Thompson and David Wettergreen

Conference Paper, International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), February, 2008
Long-Distance Autonomous Survey and Mapping in the Robotic Investigation of Life in the Atacama Desert
David Wettergreen, Michael D. Wagner, Dominic Jonak, Vijayakumar Baskaran, Matthew Deans, Stuart Heys, David Pane, Trey Smith, James Teza, David R. Thompson, Paul Tompkins and Chris Williams

Conference Paper, International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), February, 2008
Plowing for Controlled Steep Crater Descents
Jason Ziglar, David Kohanbash, David Wettergreen and William (Red) L. Whittaker

Conference Paper, International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), February, 2008
3D Mapping and Characterization of Sistema Zacatón from DEPTHX (DEep Phreatic THermal eXplorer)
Marcus Gary, Nathaniel Fairfield, William C. Stone, David Wettergreen, George A. Kantor and John M. Sharp~Jr.

Conference Paper, Proceedings of KARST08: 11th Sinkhole Conference ASCE, January, 2008
Active Localization on the Ocean Floor With Multibeam Sonar
Nathaniel Fairfield and David Wettergreen

Conference Paper, Proceedings of MTS/IEEE OCEANS, January, 2008
Analysis of High-Efficiency Solar Cells in Mobile Robot Applications
Francisco Calderon, Rolf Allan Luders, David Wettergreen, James Teza and Andres Guesalaga

Journal Article, Carnegie Mellon University, Journal of Solar Energy Engineering, Vol. 129, No. 3, pp. 343-346, August, 2007
Multi-scale Features for Detection and Segmentation of Rocks in Mars Images
Heather Dunlop, David R. Thompson and David Wettergreen

Conference Paper, IEEE Conference on Computer Vision and Pattern Recognition, June, 2007
Technologies Toward Lunar Crater Exploration
Jason Ziglar, David Kohanbash, David Wettergreen and William (Red) L. Whittaker

Tech. Report, CMU-RI-TR-07-40, Robotics Institute, Carnegie Mellon University, April, 2007
Spatial Point Process Models for the Clustering Behavior of Northern Plains Boulders
David R. Thompson and David Wettergreen

Conference Paper, Lunar and Planetary Science Conference, March, 2007
Experiments in Navigation and Mapping with a Hovering AUV
George A. Kantor, Nathaniel Fairfield, Dominic Jonak and David Wettergreen

Conference Paper, Intl. Conf. on Field and Service Robotics, January, 2007
Field Results of the Control, Navigation, and Mapping Systems of a Hovering AUV
Nathaniel Fairfield, Dominic Jonak, George A. Kantor and David Wettergreen

Conference Paper, Intl. Symp. on Unmanned Untethered Submersible Technology, January, 2007
Generating Exponentially Smaller POMDP Models Using Conditionally Irrelevant Variable Abstraction
Trey Smith, David R. Thompson and David Wettergreen

Journal Article, Proc. Int. Conf. on Applied Planning and Scheduling (ICAPS), January, 2007
Real-Time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels
Nathaniel Fairfield, George A. Kantor and David Wettergreen

Journal Article, Journal of Field Robotics, January, 2007
Challenges to Grounding in Human-Robot Collaboration: Errors and Miscommunications in Remote Exploration Robotics
Kristen Stubbs, Pamela Hinds and David Wettergreen

Tech. Report, CMU-RI-TR-06-32, Robotics Institute, Carnegie Mellon University, July, 2006
Towards Particle Filter SLAM with Three Dimensional Evidence Grids in a Flooded Subterranean Environment
Nathaniel Fairfield, George A. Kantor and David Wettergreen

Conference Paper, Proceedings of ICRA 2006, pp. 3575 - 3580, May, 2006
Autonomous Detection of Novel Biologic and Geologic Features in Atacama Desert Rover Imagery
David R. Thompson, Trey Smith and David Wettergreen

Conference Paper, Proc. of the Lunar and Planetary Science Conference, March, 2006
Autonomous Rover Detection and Response Applied to the Search for Life Via Chlorophyll Fluorescence in the Atacama Desert
Trey Smith, David R. Thompson, S. Weinstein and David Wettergreen

Conference Paper, Proc. of the Lunar and Planetary Science Conference, 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
A Sun Tracker for Planetary Analog Rovers
Matthew C. Deans, David Wettergreen and Daniel Villa

Conference Paper, 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005
Data Mining During Rover Traverse: From Images to Geologic Signatures
David R. Thompson, Trey Smith and David Wettergreen

Conference Paper, 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005
Design and Control of a Passively Steered, Dual Axle Vehicle
Michael D. Wagner, Stuart Heys, David Wettergreen, James Teza, Dimitrios (Dimi) Apostolopoulos, George A. Kantor and William (Red) L. Whittaker

Conference Paper, 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005
Rover Design for Polar Astrobiological Exploration
Liam Pedersen, David Wettergreen, Dimitrios (Dimi) Apostolopoulos, Chris McKay, Matthew E. DiGioia, Dominic Jonak, Stuart Heys, James Teza and Michael D. Wagner

Conference Paper, 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005
Rover Design for Polar Astrobiological Exploration
Liam Pedersen, David Wettergreen, Dimitrios (Dimi) Apostolopoulos, Chris McKay, Matthew DiGoia, Dominic Jonak, Stuart Heys, James Teza and Michael D. Wagner

Conference Paper, Proceedings of the ISAIRAS 2005 Conference, Munich, Germany , ESA SP-603, 5-8 September, 2005, September, 2005
Second Experiments in the Robotic Investigation of Life in the Atacama Desert of Chile
David Wettergreen, Nathalie Cabrol, Vijayakumar Baskaran, Francisco Calderon, Stuart Heys, Dominic Jonak, Rolf Allan Luders, David Pane, Trey Smith, James Teza, Paul Tompkins, Daniel Villa, Chris Williams and Michael D. Wagner

Conference Paper, 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005
Multiple-Object Detection in Natural Scenes with Multiple-View Expectation Maximization Clustering
David R. Thompson and David Wettergreen

Conference Paper, International Conference on Intelligent Robots and Systems (IROS '05), pp. 448 - 453, August, 2005
Three Dimensional Evidence Grids for SLAM in Complex Underwater Environments
Nathaniel Fairfield, George A. Kantor and David Wettergreen

Conference Paper, Proceedings of the 14th International Symposium of Unmanned Untethered Submersible Technology (UUST), August, 2005
First Experiments in the Robotic Investigation of Life in the Atacama Desert of Chile
David Wettergreen, Nathalie Cabrol, James Teza, Paul Tompkins, Christopher Urmson, Vandi Verma, Michael D. Wagner and William (Red) L. Whittaker

Conference Paper, International Conference on Robotics and Automation, April, 2005
Automatic Detection and Classification of Geological Features of Interest
David R. Thompson, Scott Niekum, Trey Smith and David Wettergreen

Conference Paper, IEEE Aerospace Conference Proceedings, Big Sky Montana, 2005, March, 2005
Concepts for Science Autonomy During Robotic Traverse and Survey
Trey Smith, Scott Niekum, David R. Thompson and David Wettergreen

Conference Paper, IEEE Aerospace Conference Proceedings, Big Sky Montana, March, 2005
Fluorescence Imager for Biological Imaging in Daylight
Shmuel Weinstein, David Pane, Lauren A. Ernst, Edwin Minkley, Fred Lanni, David Wettergreen, Michael D. Wagner, Stuart Heys, James Teza and Alan Waggoner

Conference Paper, Lunar and Planetary Science Conference XXXVI, March, 2005
Robotic Technologies for Surveying Habitats and Seeking Evidence of Life: Results from the 2004 Field Experiments of the ?ife in the Atacama?Project
David Wettergreen, Nathalie Cabrol, William (Red) L. Whittaker, Guillermo Chong Diaz, Francisco Calderon, Stuart Heys, Dominic Jonak, Rolf Allan Luders, Jeffrey Moersch, David Pane, Marion Smith, Kristen Stubbs, James Teza, Paul Tompkins, Daniel Villa, Chris Williams, Michael D. Wagner, Alan Waggoner, Shmuel Weinstein and Michael Wyatt

Conference Paper, Lunar and Planetary Science Conference XXXVI, March, 2005
Searching for Life with Rovers: Exploration Methods and Science Results from the 2004 Field Campaign of the “Life in the Atacama” Project and Applications to Future Mars Missions
Nathalie A. Cabrol, David Wettergreen, William (Red) L. Whittaker, Edmond A. Grin, Jeffrey Moersch, Guillermo Chong Diaz, Charles Cockell, Peter Coppin, James M. Dohm, Gregory Fisher, Andrew N. Hock, Lucia Marinangeli, Edwin Minkley, G. G. Ori, Jennifer Piatek, Alan Waggoner, Kim Warren-Rhodes, Shmuel Weinstein, Michael Wyatt, Francisco Calderon, Stuart Heys, Dominic Jonak, Rolf Allan Luders, David Pane, Trey Smith, Kristen Stubbs, James Teza, Paul Tompkins, Daniel Villa, Chris Williams, Michael D. Wagner, Geb Thomas and Justin Glasgow

Conference Paper, Lunar and Planetary Science Conference XXXVI, March, 2005
Spectroscopic Results from the Life in the Atacama (LITA) Project 2004 Field Season
Jennifer L. Piatek, Jeffrey E. Moersch, Michael Wyatt, Michael Rampey, Nathalie A. Cabrol, David Wettergreen, William (Red) L. Whittaker, Edmond A. Grin, Guillermo Chong Diaz, Charles Cockell, Peter Coppin, James M. Dohm, Gregory Fisher, Andrew N. Hock, Lucia Marinangeli, Edwin Minkley, G. G. Ori, Alan Waggoner, Kim Warren-Rhodes, Shmuel Weinstein, Dimitrios (Dimi) Apostolopoulos, Trey Smith, Michael D. Wagner, Kristen Stubbs, Geb Thomas and Justin Glasgow

Conference Paper, Lunar and Planetary Science Conference XXXVI, March, 2005
Use of a Novel Rover-mounted Fluorescence Imager and Fluorescent Probes to Detect Biological Material in the Atacama Desert in Daylight
Shmuel Weinstein, David Pane, Kim Warren-Rhodes, Charles Cockell, Lauren A. Ernst, Edwin Minkley, Gregory Fisher, Sujata Emani, David Wettergreen, Michael D. Wagner, Nathalie Cabrol and Alan Waggoner

Conference Paper, Lunar and Planetary Science Conference XXXVI, March, 2005
Using Near Real-time Mission Data for Education and Public Outreach: Strategies from the Life in the Atacama E/PO Report
Eben Myers, Peter Coppin, Michael D. Wagner, Karl Fischer, Dan Luisa Lu, Ron McCloskey, David Seneker, Nathalie Cabrol, David Wettergreen and Alan Waggoner

Conference Paper, Lunar and Planetary Science Conference XXXVI, March, 2005
Sun-Synchronous Robotic Exploration: Technical Description and Field Experimentation
David Wettergreen, Paul Tompkins, Christopher Urmson, Michael D. Wagner and William (Red) L. Whittaker

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 24, No. 1, January, 2005
Far-field terrain evaluation using geometric and toposemantic vision
Alec Avedisyan, David Wettergreen, Terrence W. Fong and Charles Baur

Conference Paper, Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA), November, 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
First Experiment in Sun-Synchronous Exploration
David Wettergreen, M Bernardine Dias, Benjamin Shamah, James Teza, Paul Tompkins, Christopher Urmson, Michael D. Wagner and William (Red) L. Whittaker

Conference Paper, International Conference on Robotics and Automation, pp. 3501-3507, May, 2002
Collection of Environmental Data From an Airship Platform
George A. Kantor, David Wettergreen, James P. Ostrowski and Sanjiv Singh

Conference Paper, Proceedings of the SPIE Conference on Sensor Fusion and Decentralized Control in Robotic Systems IV, Vol. 4571, pp. 76-83, October, 2001
Steering and Control of a Passively Articulated Robot
Benjamin Shamah, Michael D. Wagner, Stewart Moorehead, James Teza, David Wettergreen and William (Red) L. Whittaker

Conference Paper, SPIE, Sensor Fusion and Decentralized Control in Robotic Systems IV, Vol. 4571, October, 2001
Robotic Planetary Exploration by Sun-Synchronous Navigation
David Wettergreen, Benjamin Shamah, Paul Tompkins and William (Red) L. Whittaker

Conference Paper, Proceedings of the 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS '01), June, 2001
Sun-Synchronous Planetary Exploration
William (Red) L. Whittaker, George A. Kantor, Benjamin Shamah and David Wettergreen

Conference Paper, AIAA Space 2000 Conference an Exposition, September, 2000
Dante II: Technical Description, Results and Lessons Learned
John Bares and David Wettergreen

Journal Article, International Journal of Robotics Research, Vol. 18, No. 7, pp. 621-649, July, 1999
Developing Nomad for Robotic Exploration of the Atacama Desert
David Wettergreen, Deepak Bapna, Mark Maimone and H. Thomas

Journal Article, Robotics and Autonomous Systems, Vol. 26, No. 3-Feb, pp. 127-148, February, 1999
The Atacama Desert Trek: Outcomes
Deepak Bapna, Eric Rollins, John Murphy, Mark Maimone, William (Red) L. Whittaker and David Wettergreen

Conference Paper, Proceedings of ICRA 1998, Vol. 1, pp. 597 - 604, May, 1998
Field Experiments with the Ames Marsokhod Rover
Daniel A. Christian, David Wettergreen, Maria Bualat, Kurt Schwehr, Deanne Tucker and Eric Zbinden

Book Section/Chapter, Proceedings of the 1997 Field and Service Robotics Conference, December, 1997
Lessons from the Development and Deployment of Dante II
John Bares and David Wettergreen

Conference Paper, Proceedings of the 1997 Field and Service Robotics Conference, December, 1997
Operating Nomad during the Atacama Desert Trek
David Wettergreen, Maria Bualat, Daniel A. Christian, Kurt Schwehr, Hans Thomas, Deanne Tucker and Eric Zbinden

Conference Paper, Proceedings of the 1997 Field and Service Robotics Conference, December, 1997
Initial Results from Vision-based Control of the Ames Marsokhod Rover
David Wettergreen, Hans Thomas and Maria Bualat

Conference Paper, International Conference on Intelligent Robots and Systems (IROS), September, 1997
Developing Planning and Reactive Control for a Hexapod Robot
David Wettergreen and Chuck Thorpe

Conference Paper, Proceedings of ICRA '96, Vol. 3, pp. 2718 - 2723, April, 1996
Robotic Walking on Natural Terrain: Gait planning and behavior-based control for statically-stable walking robots
David Wettergreen

PhD Thesis, Tech. Report, CMU-RI-TR-95-42, Robotics Institute, Carnegie Mellon University, December, 1995
Behavior-based Gait Execution for the Dante II Walking Robot
David Wettergreen, Henning Pangels and John Bares

Conference Paper, Proceedings of IROS '95, Vol. 3, pp. 274 - 279, August, 1995
Operator Interfaces and Network-Based Participation for Dante II
Terrence W. Fong, Henning Pangels, David Wettergreen, E. Nygren, B. Hine, P. Hontalas and C. Fedor

Conference Paper, SAE 25th International Conference on Environmental Systems, July, 1995
Exploring Mount Erebus by Walking Robot
David Wettergreen, Chuck Thorpe and William (Red) L. Whittaker

Conference Paper, International Conference of Intelligent Autonomous Systems, pp. pp72-81, January, 1993
Exploring Mount Erebus by Walking Robot
David Wettergreen, Chuck Thorpe and William (Red) L. Whittaker

Journal Article, Robotics and Autonomous Systems, January, 1993
Gait Generation for Legged Robots
David Wettergreen and Chuck Thorpe

Conference Paper, Proceedings of the IROS '92 Conference, Vol. 2, pp. 1413 - 1420, July, 1992
Planning Strategies for the Ambler Walking Robot
David Wettergreen, H. Thomas and Chuck Thorpe

Conference Paper, Proceedings of the 1990 IEEE International Conference on Systems Engineering, pp. 198 - 203, August, 1990
Simulation of the Ambler Environment
H. Thomas, David Wettergreen and Chuck Thorpe

Conference Paper, Proceedings of 23rd Pittsburgh Conference on Modeling and Simulation, January, 1990
2017-09-13T10:48:16+00:00