/Matthew J. Travers

Matthew J. Travers

Portrait of Matthew J. Travers
Systems Scientist
Office: 3207 Newell-Simon Hall
Phone: (412) 268-3818
Administrative Assistant: Peggy A. Martin

Mailing Address

My research focuses on developing the intelligence necessary to enable complex platforms to autonomously interact with and perform meaningful work in complex environments. The task areas on which I am currently focusing include biologically inspired dynamic locomotion and learning, compliant manipulation for agriculture and food preparation, managing uncertainty in human-robot interaction, and field-ready search and rescue robotics. The central ideas that underlie the analytical aspects of my work are drawn from classical control theory, Bayesian inference, practical optimal control, and modern reinforcement learning.

Displaying 42 Publications
Shape-Based Coordination in Locomotion Control
M. Travers, J. Whitman and H. Choset

Journal Article, International Journal of Robotics Research (IJRR), March, 2018
Locomotion of a Multi-Link Nonholonomic Snake Robot
T. Dear, S.D. Kelly, M. Travers and H. Choset

Conference Paper, ASME Dynamic Systems and Control Conference, October, 2017
A dynamical systems approach to obstacle navigation for a series-elastic hexapod robot
M. Travers, A. Ansari and H. Choset

Conference Paper, Conference on Decision and Control (CDC), December, 2016
Locomotive analysis of a single-input three-link snake robot
T. Dear, S.D. Kelly, M. Travers and H. Choset

Conference on Decision and Control (CDC), December, 2016
Shape-based compliant control with variable coordination centralization on a snake robot
J. Whitman, F. Ruscelli, M. Travers and H. Choset

Conference Paper, Conference on Decision and Control (CDC), December, 2016
A Review on Locomotion Robophysics: The Study of Movement at the Intersection of Robotics, Soft Matter and Dynamical Systems
J. Aguilar, T. Zhang, F. Qian, M. Kingsbury, B. McInroe, N. Mazouchova, C. Li, R. Maladen, C. Gong, M. Travers, R.L. Hatton, H. Choset, P.B. Umbanhowar and D.I. Goldman

Journal Article, Reports on Progress in Physics, Vol. 1, pp. 1 - 61, September, 2016
The three-link nonholonomic snake as a hybrid kinodynamic system
T. Dear, S.D. Kelly, M. Travers and H. Choset

Conference Paper, American Control Conference (ACC), July, 2016
Shape-Based Compliance in Locomotion
M. Travers, J. Whitman and H. Choset

Conference Paper, Robotics: Science and Systems (RSS), June, 2016
Motion Planning and Differential Flatness of Mechanical Systems on Principal Bundles
T. Dear, S.D. Kelly, M. Travers and H. Choset.

Conference Paper, ASME Dynamic Systems and Controls Conference (DSCC), October, 2015
Shape-Constrained Whole-Body Adaptivity.
M. Travers and H. Choset

Conference Paper, International Symposium on Safety, Security, and Rescue Robotics (SSRR) Nominated for best paper award, October, 2015
Using Lie algebra for shape estimation of medical snake robots
Arun Srivatsan Rangaprasad, Matthew J. Travers and Howie Choset

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2015
Kinematic Gait Synthesis for Snake Robots
C. Gong, M. Travers, H. Astley, L. Li, J.R. Mendelson, D.I. Goldman and H. Choset

Journal Article, The International Journal of Robotics Research (IJRR), Vol. 35, No. 1, pp. 100 - 113, August, 2015
Shape-Constrained Whole-Body Adaptivity
M. Travers, P. Schiebel, C. Gong, H. Astley, D. Goldman and H. Choset

Conference Paper, Symposium on Adaptive Motion of Animals and Machines, June, 2015
Limbless Locomotors That Turn in Place
C. Gong, M. Travers, H. Astley, D. Goldman and H. Choset

Conference Paper, International Conference on Robotics and Automation (ICRA), May, 2015
Locomotive Reduction for Snake Robots
X. Xiao, E. Cappo, W. Zhen, J. Dai, K. Su, C. Gong, M. Travers and H. Choset

Conference Paper, International Conference on Robotics and Automation (ICRA), May, 2015
Robot-Inspired Biology: The Compound-Wave Control Template
J. Dai, M. Travers, T. Dear, C. Gong, H. Astley, D. Goldman and H. Choset

Conference Paper, International Conference on Robotics and Automation (ICRA), May, 2015
Snakeboard Motion Planning with Viscous Friction and Skidding
T. Dear, S.D. Kelly, M. Travers and H. Choset

Conference Paper, International Conference on Robotics and Automation (ICRA), May, 2015
Use of the Nonlinear Observability Rank Condition for Improved Parametric Estimation
M. Travers and H. Choset

Conference Paper, International Conference on Robotics and Automation (ICRA), May, 2015
Modulation of Orthogonal Body Waves Enables High Maneuverability in Sidewinding Locomotion
H. Astley, C. Gong, J. Dai, M. Travers, M. Serrano, P. Vela, H. Choset, J.R. Mendelson, D.L. Hu and D.I. Goldman

Conference Paper, Proceedings of the National Academy of Sciences of the United States of America (PNAS), Vol. 112, No. 19, pp. 6200-6205, May, 2015
Modulation of Orthogonal Body Waves Enables Versatile and Rapid Maneuverability in Sidewinding Locomotion
H. Astley, C. Gong, J. Dai, M. Travers, M. Serrano, P. Vela, H. Choset, J.R. Mendelson, D.L. Hu and D.I. Goldman

Conference Paper, Society for Integrative and Comparative Biology annual meeting, 2015. Operating Systems: Apple OS X, Microsoft Windows, Linux, January, 2015
Dissipation-Induced Self-Recovery in Systems on Principal Bundles
T. Dear, S.D. Kelly, M. Travers and H. Choset

Conference Paper, ASME Dynamic Systems and Controls Conference (DSCC), October, 2014
Sidewinding with Minimal Slip: Snake and Robot Ascent of Sandy Slopes
H. Marvi, C. Gong, N. Gravish, H. Astley, M. Travers, R.L. Hatton, J.R. Mendelson, H. Choset, D.L. Hu and D.I. Goldman

Journal Article, Science, Vol. 346, No. 6206, pp. 224 - 229, October, 2014
Guided Locomotion in 3D for Snake Robots Based on Contact Force Optimization
H. Ponte, M. Travers and H. Choset

Conference Paper, International Conference on Intelligent Robots and Systems (IROS), September, 2014
Parameterized Controller Generation for Multiple Mode Behavior
C. Gong, M. Travers, H. Kao and H. Choset

Conference Paper, International Conference on Intelligent Robots and Systems (IROS), September, 2014
Recursive Dynamics and Feedback Linearizing Control of Serial-Chain Manipulators
M. Travers and H. Choset

Conference Paper, International Conference on Intelligent Robots and Systems (IROS), September, 2014
Using Lie Algebra to Estimate the Shape of Medical Snake Robots
A. Rangaprasad, M. Travers and H. Choset

Conference Paper, International Conference on Intelligent Robots and Systems IROS), September, 2014
Conditioned Basis Array Factorization: An Approach to Gait Pattern Extraction
C. Gong, M. Travers, H. Kao and H. Choset

Conference Paper, Robotics: Science and Systems (RSS), July, 2014
Visual Sensing for Developing Autonomous Behavior in Snake Robots
Hugo Ponte, Max Queenan, Christoph Mertz, Matthew J. Travers, Florian Enner, Martial Hebert and Howie Choset

Conference Paper, 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), June, 2014
Visual Sensing for Developing Autonomous Behavior in Snake Robots
H. Ponte, M. Queenan, C. Mertz, M. Travers, F. Enner, M. Hebert and H. Choset

Conference Paper, International Conference on Robotics and Automation (ICRA), May, 2014
Mechanics and Control of a Terrestrial Vehicle Exploiting a Nonholonomic Constraint for Fishlike Locomotion
T. Dear, S.D. Kelly, M. Travers and H. Choset

Conference Paper, ASME Dynamic Systems and Control Conference (DSCC), October, 2013
Optimal Gait Design for Systems with Drift on SO(3)
M. Travers and H. Choset

Conference Paper, ASME Dynamic Systems and Control Conference (DSCC), October, 2013
Snakeboard Motion Planning with Local Trajectory Information
T. Dear, R.L. Hatton, M. Travers and H. Choset

Conference Paper, ASME Dynamic Systems and Control Conference (DSCC), October, 2013
Minimum Perturbation Coordinates on SO(3)
M. Travers, R.L. Hatton and H. Choset

Conference Paper, American Control Conference (ACC), June, 2013
Extended Gait Equation for Sidewinding
Chaohui Gong, M. Travers, X. Fu and H. Choset

Conference Paper, International Conference on Robotics and Automation (ICRA), April, 2013
Proposal of EARLI for a Snake Robot Obstacle-Aided Locomotion
T. Kamegawa, R. Kuroki, M. Travers and H. Choset

Conference Paper, International Symposium on Safety, Security, and Rescue Robotics (SSRR), October, 2012
Linear Time-Varying Impulse Optimization for Data Association
M. Travers, T. Murphey and L. Pao

Conference Paper, American Control Conference (ACC), June, 2012
Trajectory Optimization Estimator for Impulsive Data Association
M. Travers, T. Murphey and L. Pao

Conference Paper, American Control Conference (ACC), June, 2011
Impulsive Data Association with an Unknown Number of Targets
M. Travers, T. Murphey and L. Pao

Conference Paper, Hybrid Systems: Computation and Control (HSCC), March, 2011
Impulsive Optimization for Data Association
M. Travers, T. Murphey and L. Pao

Conference Paper, IEEE Conference on Decision and Control (CDC), December, 2010
Stochastic Sampling-Based Data Association
M. Travers, T. Murphey and L. Pao

Conference Paper, American Control Conference (ACC), May, 2009
Data Association with Ambiguous Measurements
M. Travers, T. Murphey and L. Pao

Conference Paper, American Control Conference (ACC), May, 2008

Current Affiliates

2018-10-01T15:55:33+00:00