/Michael Erdmann

Michael Erdmann

Portrait of Michael Erdmann
Professor, RI / CS
Office: 9203 Gates and Hillman Centers
Phone: (412) 268-7883
Personal Homepage

Mailing Address

I am interested in making robots act purposefully and successfully in a world in which most everything is uncertain. Sensors are noisy, actions are imprecise, and objects are often in the wrong location. Despite such obstacles to purposeful action, there are many tasks that can be accomplished successfully. Humans, animals, and some machines are proof. Providing robots with the ability to operate autonomously and purposefully requires an understanding of how different tasks may be accomplished by different repertoires of actions.

Since about 2002, I have been applying methods from topology to these and related problems. My interest in topology started with the realization that knot invariants could describe the 3D arrangement of protein structures. Subsequently, DARPA launched a big program connecting robotics with topology. That program gave me an opportunity to seek topological parallels to some of the earlier work I had done on planning in the presence of uncertainty. One novel result was the following controllability theorem: A system can reach any state in a graph with control uncertainty if and only if the graph’s strategy complex is homotopic to a sphere of dimension two less than the number of states in the graph.

Recently, I have explored topological perspectives on privacy. One discovery is that homology in relations provides lower bounds on how long an individual can defer de-anonymization. In conjunction with my previous work on strategy complexes, this result shows the manner in which a fully controllable system can obfuscate its strategies and goals.

Displaying 55 Publications
Brief Announcement: Stateless Computation
D. Dolev, Michael Erdmann, N. Lutz, M. Schapira and A. Zair

Conference Paper, Proceedings of the 2017 ACM Symposium on Principles of Distributed Computing, pp. 419-421, July, 2017
Extrinsic Dexterity: In-Hand Manipulation with External Forces
Nikhil Chavan-Dafle, Alberto Rodriguez, Robert Paolini, Bowei Tang, Siddhartha Srinivasa, Michael Erdmann, Matthew T. Mason, Ivan Lundberg, Harald Staab and Thomas Fuhlbrigge

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), May, 2014
Multiple Impacts: A State Transition Diagram Approach
Yan-Bin Jia, Matthew T. Mason and Michael Erdmann

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 32, No. 1, pp. 84-114, January, 2013
On the Topology of Discrete Planning with Uncertainty
Michael Erdmann

Book Section/Chapter, Carnegie Mellon University, Advances in Applied and Computational Topology, pp. 147-194, June, 2012
On the Topology of Discrete Strategies
Michael Erdmann

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 29, No. 7, pp. 855-896, June, 2010
A State Transition Diagram for Simultaneous Collisions with Application in Billiard Shooting
Yan-Bin Jia, Matthew T. Mason and Michael Erdmann

Conference Paper, Eighth International Workshop on the Algorithmic Foundations of Robotics, December, 2008
On the Topology of Plans
Michael Erdmann

Conference Paper, Eighth International Workshop on the Algorithmic Foundations of Robotics, December, 2008
Using projected dynamics to plan dynamic contact manipulation
Siddhartha Srinivasa, Michael Erdmann and Matthew T. Mason

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3618 - 3623, August, 2005
Control synthesis for dynamic contact manipulation
Siddhartha Srinivasa, Michael Erdmann and Matthew T. Mason

Conference Paper, IEEE International Conference on Robotics and Automation, pp. 2523 - 2528, April, 2005
Algorithmic Foundations of Robotics VI
Michael Erdmann, David Hsu, Mark Overmars and A. Frank van der Stappen

Book, Springer Tracts in Advanced Robotics 17, January, 2005
Protein Similarity from Knot Theory: Geometric Convolution and Line Weavings
Michael Erdmann

Journal Article, Journal of Computational Biology, Vol. 12, No. 6, pp. 609-637, January, 2005
Protein Similarity from Knot Theory and Geometric Convolution
Michael Erdmann

Conference Paper, Proceedings 2004 ACM International Conference on Research in Computational Molecular Biology, pp. 195-204, March, 2004
Motion Sketching for Control of Rigid-Body Simulations
Jovan Popovic, Steven Seitz and Michael Erdmann

Journal Article, Carnegie Mellon University, ACM Transactions on Graphics, Vol. 22, No. 4, pp. 1034-1054, October, 2003
Bilateral time-scaling for control of task freedoms of a constrained nonholonomic system
Siddhartha Srinivasa, Michael Erdmann and Matthew T. Mason

Conference Paper, Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA '03), Vol. 3, pp. 3391 - 3396, May, 2003
Experiments with nonholonomic manipulation
Siddhartha Srinivasa, Christopher R. Baker, Elisha Sacks, Grigoriy Reshko, Matthew T. Mason and Michael Erdmann

Conference Paper, Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), Vol. 2, pp. 2042 - 2047, May, 2002
Manipulation of Pose Distributions
Mark Moll and Michael Erdmann

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 21, No. 3, pp. 277-292, March, 2002
Aligning Parts for Micro Assemblies
Mark Moll, K. Goldberg, Michael Erdmann and R. Fearing.

Journal Article, Carnegie Mellon University, Assembly Automation, Vol. 22, No. 1, pp. 46-54, February, 2002
Reconstructing Shape from Motion Using Tactile Sensors
Mark Moll and Michael Erdmann

Conference Paper, Proc. 2001 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, November, 2001
Interactive Manipulation of Rigid Body Simulations
Jovan Popovic, Steven Seitz, Michael Erdmann, Zoran Popovic and Andrew Witkin

Conference Paper, Proceedings of SIGGRAPH 2000, pp. 209 - 218, July, 2000
Uncertainty Reduction Using Dynamics
Mark Moll and Michael Erdmann

Conference Paper, Proceeding of the 2000 Conference on Robotics and Automation, April, 2000
Manipulation of Pose Distribitions
Mark Moll and Michael Erdmann

Conference Paper, Workshop on the Algorithmic Foundations of Robotics, March, 2000
Manipulation of Pose Distributions
Mark Moll and Michael Erdmann

Tech. Report, CMU-CS-00-111, Computer Science Department, Carnegie Mellon University, March, 2000
A Mobile Manipulator
Matthew T. Mason, Dinesh Pai, Daniela Rus, L. R. Taylor and Michael Erdmann

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '99), Vol. 3, pp. 2322 - 2327, May, 1999
Pose and Motion from Contact
Yan-Bin Jia and Michael Erdmann

Journal Article, International Journal of Robotics Research, Vol. 18, No. 5, pp. 466-490, May, 1999
Experiments with Desktop Mobile Manipulators
Matthew T. Mason, Dinesh Pai, Daniela Rus, J. Howell, L. R. Taylor and Michael Erdmann

Conference Paper, Internatiional Symposium on Experimental Robotics, January, 1999
Observing Pose and Motion through Contact
Yan-Bin Jia and Michael Erdmann

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, May, 1998
Local observability of rolling
Yan-Bin Jia and Michael Erdmann

Conference Paper, Third International Workshop on the Algorithmic Foundations of Robotics, March, 1998
An Exploration of Nonprehensile Two-Palm Manipulation
Michael Erdmann

Journal Article, International Journal of Robotics Research, Vol. 17, No. 5, January, 1998
Shape Recovery from Passive Locally Dense Tactile Data
Michael Erdmann

Conference Paper, Proceedings of the Workshop on the Algorithmic Foundations of Robotics, January, 1998
Nonprehensile Manipulation for Orienting Parts in the Plane
Nina Zumel and Michael Erdmann

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2433 - 2439, April, 1997
Geometric Sensing of Known Planar Shapes
Yan-Bin Jia and Michael Erdmann

Conference Paper, International Journal of Robotics Research, Vol. 15, No. 4, pp. 365 - 392, August, 1996
Pose from Pushing
Yan-Bin Jia and Michael Erdmann

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 165-171, June, 1996
Nonprehensile Two Palm Manipulation with Non-Equilibrium Transitions between Stable States
Nina Zumel and Michael Erdmann

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 4, pp. 3317-3323, April, 1996
An Exploration of Nonprehensile Two-Palm Manipulation: Planning and Execution
Michael Erdmann

Conference Paper, Seventh International Symposium on Robotics Research, October, 1995
Stably Supported Rotations of a Planar Polygon with Two Frictionless Contacts
Tamara Abell and Michael Erdmann

Conference Paper, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 411-418, January, 1995
The complexity of sensing by point sampling
Yan-Bin Jia and Michael Erdmann

Book Section/Chapter, Algorithmic Foundations of Robotics, pp. 283 - 300, January, 1995
Understanding Action and Sensing by Designing Action-Based Sensors
Michael Erdmann

Journal Article, International Journal of Robotics Research, Vol. 14, No. 5, January, 1995
Geometric Sensing of Known Planar Shapes
Yan-Bin Jia and Michael Erdmann

Tech. Report, CMU-RI-TR-94-24, Robotics Institute, Carnegie Mellon University, July, 1994
Sensing Polygon Poses by Inscription
Yan-Bin Jia and Michael Erdmann

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1642 - 1649, May, 1994
Balancing of a Planar Bouncing Object
Nina Zumel and Michael Erdmann

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '94), Vol. 4, pp. 2949 - 2954, January, 1994
On a Representation of Friction in Configuration Space
Michael Erdmann

Journal Article, International Journal of Robotics Research, Vol. 13, No. 3, January, 1994
Systematic Induction and Parsimony of Phenomenological Conservation Laws
Raul Valdes-Perez and Michael Erdmann

Journal Article, Computer Physics Communications, Vol. 83, pp. 171-180, January, 1994
Mechanical Parts Orienting: The Case of a Polyhedron on a Table
Michael Erdmann, Matthew T. Mason and George Vanecek

Journal Article, Algorithmica, Vol. 10, No. 2/3/2004, August, 1993
Multiple-point contact with friction: Computing forces and motions in configuration space
Michael Erdmann

Conference Paper, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 163 - 170, July, 1993
Action subservient sensing and design
Michael Erdmann

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 2, pp. 592 - 598, May, 1993
Randomization for Robot Tasks: Using Dynamic Programming in the Space of Knowledge States
Michael Erdmann

Journal Article, Algorithmica, Vol. 10, pp. 248-291, January, 1993
Towards Task-Level Planning: Action-Based Sensor Design
Michael Erdmann

Tech. Report, CMU-RI-TR-92-03, Robotics Institute, Carnegie Mellon University, February, 1992
Planar Sliding with Dry Friction: a Review
Michael Erdmann and Matthew T. Mason

Book Section/Chapter, The Robotics Review 2, pp. 47-50, January, 1992
Randomization in Robot Tasks
Michael Erdmann

Journal Article, International Journal of Robotics Research, Vol. 11, No. 5, pp. 399-436, January, 1992
A configuration space friction cone
Michael Erdmann

Conference Paper, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Intelligence for Mechanical Systems, Vol. 2, pp. 455 - 460, November, 1991
Generating Stochastic Plans for a Programmable Parts Feeder
Kenneth Y. Goldberg, Matthew T. Mason and Michael Erdmann

Conference Paper, IEEE International Conference on Robotics and Automation, Vol. 1, pp. 352 - 359, April, 1991
Randomization in robot tasks
Michael Erdmann

Conference Paper, IEEE International Conference on Robotics and Automation, Vol. 3, pp. 1744 - 1749, May, 1990
An Exploration of Sensorless Manipulation
Michael Erdmann and Matthew T. Mason

Journal Article, IEEE Journal of Robotics and Automation, Vol. 4, No. 4, pp. 369 - 379, August, 1988
On Multiple Moving Objects
Michael Erdmann and Tomas Lozano-Perez

Journal Article, Algorithmica, Vol. 2, pp. 477-521, January, 1987
Using Backprojections for Fine Motion Planning with Uncertainty
Michael Erdmann

Journal Article, International Journal of Robotics Research, Vol. 5, No. 1, pp. 19-45, January, 1986

Past RI PhD Students

2017-09-13T10:53:05+00:00