Home/Reid Simmons

Reid Simmons

Research Professor
Email: rsimmons@andrew.cmu.edu
Office: NSH 3213
Phone: (412) 268-2621
Personal Homepage
Administrative Assistant: Karen R. Widmaier

My research interests focus on developing reliable, highly autonomous systems (especially mobile robots) that operate in rich, uncertain environments. The goal is to create intelligent systems that can operate autonomously for long periods of time in unstructured, natural environments. This necessitates robots that can plan, effectively reason about uncertainty, diagnose and recover from unanticipated errors, and reason about their limitations. In particular, I am interested in architectures for autonomy that combine deliberative and reactive behavior, reliable execution monitoring and error recovery, multi-robot coordination, probabilistic and symbolic planning, formal verification of autonomous systems, and human-robot social interaction.

Architectures for Autonomy. We are developing the Task Description Language (TDL), an extension of C++ that includes syntax to support task-level control, such as task decomposition, task synchronization, monitoring and exception handling. TDL is based on our earlier work on the Task Control Architecture (TCA), a general-purpose architecture to support distributed planning, execution, error recovery, and task management for autonomous systems. TDL and TCA have been used in over a dozen mobile robot projects at CMU and elsewhere, including NASA and DARPA. At CMU, current testbeds include Xavier,Bullwinkle and Nomad. We are currently extending TDL to integrate within a three-tiered architecture and to handle coordination of multiple robot agents.

We have also developed IPC a message-based package for inter-process communication. IPC features anonymous publish-subscribe messages, client-server messages, automatic serializing and deserializing of message data, including data containing pointers and variable-length arrays.

Click here for a brief history of our research in architectures for task-level control.

Execution Monitoring and Error Recovery. We are investigating methods for making mobile robots more robust and self-reliant. We are exploring the use of model-based reasoning techniques to detect and diagnose failures, hierarchies of monitors and exception handlers to catch unanticipated situations, and learning of new monitors and exception handlers from experience. The research incorporates symbolic (model-based) reasoning, probabilistic reasoning, interleaving of planning and execution and selective monitoring of relevant environmental features. Testbeds include Xavier and Amelia (office-delivery robots), Nomad (Antarctic exploration rover), and Bullwinkle (a testbed for Mars exploration).

Multi-Robot Coordination. We are researching issues of how multiple, heterogeneous robots can coordinate to carry out high-level tasks, especially those that cannot be accomplished by a single robot. Issues include having the robots negotiate to dynamically form teams and assign tasks, monitoring each other’s performance, and adapting dynamically to changing situations. Testbeds include the Mercator (urban exploration robots) and DIRA (multi-robot assembly and construction) projects.

Probabilistic Planning and Reasoning. We are exploring advanced planning and reasoning techniques, many of which involve probabilistic reasoning. In particular, we are exploring issues of using information gain metrics to plan how to efficiently explore large areas (both indoors and outdoors), and using partially observable Markov models to navigate robots in office environments.

Formal Verification of Autonomous Systems. We are developing tools and techniques to enable engineers to use formal methods more easily in the process of designing and implementing autonomous systems. The basic idea is to provide translators that can autonomously convert specialized representation used in autonomous systems into SMV, a formal model-checking language, verify the resulting models, and then translate any counter-examples back into the original representation language. The research also involves developing classes of properties that are useful to verify, automatic explanation and visualization of counter-examples, and advanced model-checking techniques that are relevant to verification of autonomous systems. To date, we have investigated these issues using the Livingstone model-based fault diagnosis system (developed at NASA Ames) and TDL, a language for specifying task-level control strategies for concurrent, distributed systems.

Human-Robot Social Interaction. The goal here is to make robots more useful and acceptable by enabling them to interact with humans using social rules and conventions. This includes such rules as how to pass people in hallways in a socially acceptable manner, ride in elevators, and how to enter and wait in line. In conjunction with members of the Drama department, we are starting a project to give a robot a personality, and have it converse with people. The goal is to develop a robot that can escort visitors around Newell-Simon Hall and provide useful information naturally and pleasantly.

Publications

Displaying 129 Publications
Mobile Manufacturing of Large Structures
David Bourne, Howie Choset, Humphrey Hu, George A. Kantor, Christopher Niessl, Zack Rubinstein, Reid Simmons, and Stephen Smith

Proceedings 2015 IEEE International Conference on Robotics and Automation, May, 2015

Sensor Fusion for Human Safety in Industrial Workcells
Paul Rybski, Peter Anderson-Sprecher, Daniel Huber, Christopher Niessl and Reid Simmons

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2012

Risk-Variant Policy Switching to Exceed Reward Thresholds
Breelyn Melissa Kane Styler and Reid Simmons

TWENTY-SECOND INTERNATIONAL CONFERENCE ON AUTOMATED PLANNING AND SCHEDULING (ICAPS 2012), June, 2012

Voxel-Based Motion Bounding and Workspace Estimation for Robotic Manipulators
Peter Anderson-Sprecher and Reid Simmons

International Conference on Robotics and Automation, May, 2012

Background Subtraction and Accessibility Analysis in Evidence Grids
Peter Anderson-Sprecher, Reid Simmons and Daniel Huber

Proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA 2011), May, 2011

Do You Really Want to Know? Display Questions in Human-Robot Dialogues
Maxim Makatchev and Reid Simmons

Proc. of AAAI Fall Symposium on Dialog with Robots, November, 2010

Affective Social Robots
Rachel Kirby, Jodi Forlizzi and Reid Simmons

Robotics and Autonomous Systems, Vol. 58, March, 2010

Dialogue Patterns of an Arabic Robot Receptionist
Maxim Makatchev, Imran Aslam Fanaswala, Ameer Ayman Abdulsalam, Brett Browning , Wael Mahmoud Ghazzawi, Majd Sakr and Reid Simmons

Proceeding of the 5th ACM/IEEE international conference on Human-robot interaction, March, 2010

An autonomous mobile manipulator for assembly tasks
Bradley Hamner, Seth C. Koterba, Jane Shi, Reid Simmons and Sanjiv Singh

Autonomous Robots, Vol. 28, No. 1, pp. 131 - 149, January, 2010

Mobile Robotic Dynamic Tracking for Assembly Tasks
Bradley Hamner, Seth C. Koterba, Jane Shi, Reid Simmons and Sanjiv Singh

Proceedings of IROS 2009, October, 2009

COMPANION: A Constraint Optimizing Method for Person-Acceptable Navigation
Rachel Kirby, Reid Simmons and Jodi Forlizzi

IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pp. 607-612, September, 2009

Incorporating a User Model to Improve Detection of Unhelpful Robot Answers
Maxim Makatchev and Reid Simmons

International Symposium on Robot and Human Interactive Communication, RO-MAN'2009, pp. 973-978, September, 2009

Variable Sized Grid Cells for Rapid Replanning in Dynamic Environments
Rachel Kirby, Reid Simmons and Jodi Forlizzi

Proceedings of the IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS), pp. 4913-4918, September, 2009

Learning Sequential Composition Plans Using Reduced-Dimensionality Examples
Nicholas Melchior and Reid Simmons

(AAAI) SS-09-01, Robotics Institute, Carnegie Mellon University, Papers from the 2009 AAAI Spring Symposium, March, 2009

Relating initial turns of human-robot dialogues to discourse
Maxim Makatchev, Min Kyung Lee and Reid Simmons

International Conference on Human-Robot Interaction, March, 2009

Strengthening Schedules Through Uncertainty Analysis
Laura Hiatt, Terry Lyle Zimmerman, Stephen Smith and Reid Simmons

CMU-RI-TR-, Twenty-First International Joint Conference on Artificial Intelligence (IJCAI-09), January, 2009

Overcoming Sensor Noise for Low-Tolerance Autonomous Assembly
Brennan Peter Sellner, Frederik Heger, Laura Hiatt, Nicholas Melchior, Stephen Roderick, David Akin, Reid Simmons and Sanjiv Singh

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2008), pp. 4017-4023, September, 2008

Combining Cost and Reliability for Rough Terrain Navigation
Jun-young Kwak, Mikhail Pivtoraiko and Reid Simmons

9th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS'08), February, 2008

Human-Robot Teams for Large-Scale Assembly
Reid Simmons, Sanjiv Singh, Frederik Heger, Laura M. Hiatt, Seth C. Koterba, Nicholas Melchior and Brennan Peter Sellner

Proceedings of the NASA Science Technology Conference 2007 (NSTC-07), May, 2007

Particle RRT for Path Planning in Very Rough Terrain
Nicholas Melchior, Jun-young Kwak and Reid Simmons

Proceedings of the NASA Science Technology Conference 2007 (NSTC-07), May, 2007

Socially Distributed Perception: GRACE plays Social Tag at AAAI 2005
Marek Piotr Michalowski, Selma Sabanovic, Carl Francis DiSalvo, Didac Busquets Font, Laura M. Hiatt, Nicholas Melchior and Reid Simmons

Autonomous Robots, Vol. 22, No. 4, pp. 385-397, May, 2007

Particle RRT for Path Planning with Uncertainty
Nicholas Melchior and Reid Simmons

2007 IEEE International Conference on Robotics and Automation, pp. 1617-1624, 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

CMU-RI-TR-, Robotics Institute, Carnegie Mellon University, DARPA Grand Challenge Tech Report, April, 2007

Natural Person-Following Behavior for Social Robots
Rachel Kirby, Jodi Forlizzi and Reid Simmons

Proceedings of Human-Robot Interaction, pp. 17-24, March, 2007

A Preliminary Study of Peer-to-Peer Human-Robot Interaction
Terrence W. Fong, Jean Scholtz, Julie Shah, Lorenzo Flueckiger, Clayton Kunz, David Lees, John Schreiner, Michael Siegel, Laura Hiatt, Illah Nourbakhsh , Reid Simmons, Robert Ambrose, Robert Burridge, Brian Antonishek, Magda Bugajska, Alan Schultz and J. Gregory Trafton

International Conference on Systems, Man, and Cybernetics, October, 2006

Towards Proactive Replanning for Multi-Robot Teams
Brennan Peter Sellner and Reid Simmons

Proceedings of the 5th International Workshop on Planning and Scheduling in Space 2006, October, 2006

Modeling Affect in Socially Interactive Robots
Rachel Kirby, Reid Simmons and Jodi Forlizzi

Proceedings of the 15th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN06), pp. 558-563, September, 2006

Coordinated Multi-Agent Teams and Sliding Autonomy for Large-Scale Assembly
Brennan Peter Sellner, Frederik Heger, Laura Hiatt, Reid Simmons and Sanjiv Singh

Proceedings of the IEEE - Special Issue on Multi-Robot Systems, Vol. 94, No. 7, pp. 1425 - 1444, July, 2006

A spatial model of engagement for a social robot
Marek Piotr Michalowski, S. Sabanovic and Reid Simmons

Proceedings of the 9th International Workshop on Advanced Motion Control (AMC 2006), pp. 762 - 767, March, 2006

Attaining Situational Awareness for Sliding Autonomy
Brennan Peter Sellner, Laura M. Hiatt, Reid Simmons and Sanjiv Singh

Proceedings of HRI 2006, March, 2006

Interactions with a Moody Robot
Rachel Kirby, Jodi Forlizzi and Reid Simmons

Proceedings of Human-Robot Interaction, Salt Lake City, Utah, pp. 186-193, March, 2006

Multimodal person tracking and attention classification
Marek Piotr Michalowski and Reid Simmons

Proceedings of the 1st Annual Conference on Human-Robot Interaction (HRI 2006), pp. 347-348, March, 2006

Robots in the wild: observing human-robot social interaction outside the lab
S. Sabanovic, Marek Piotr Michalowski and Reid Simmons

Proceedings of the 9th International Workshop on Advanced Motion Control (AMC 2006), pp. 596 - 601, March, 2006

Socially Distributed Perception
Marek Piotr Michalowski, Carl Francis DiSalvo, Selma Sabanovic, Didac Busquets Font, Laura M. Hiatt, Nicholas Melchior and Reid Simmons

Proceedings of the 1st Annual Conference on Human-Robot Interaction (HRI 2006), pp. 349-350, March, 2006

Learning to Predict Driver Route and Destination Intent
Reid Simmons, Brett Browning , Yilu Zhang and Varsha Sadekar

the 9th International IEEE Conference on Intelligent Transportation Systems (ITSC'06), January, 2006

What to Communicate? Execution-time Decision in Multi-agent POMDPs
Maayan Roth, Reid Simmons and Manuela Veloso

The 8th International Symposium on Distributed Autonomous Robotic Systems (DARS), January, 2006

Results in Sliding Autonomy for Multi-robot Spatial Assembly
Frederik Heger, Laura Hiatt, Brennan Peter Sellner, Reid Simmons and Sanjiv Singh

Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005

The Peer-to-Peer Human-Robot Interaction Project
Terrence W. Fong, Illah Nourbakhsh , Robert Ambrose, Reid Simmons, Alan Schultz and Jean Scholtz

AIAA Space 2005, September, 2005

Designing Robots for Long-Term Social Interaction
Rachel Kirby, Frank Broz, Jodi Forlizzi, Marek Piotr Michalowski, Anne Mundell, Stephanie Rosenthal, Brennan Peter Sellner, Reid Simmons, Kevin Snipes, Alan Schultz and Jue Wang

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), pp. 2199 - 2204, August, 2005

Point-based POMDP Algorithms: Improved Analysis and Implementation
Trey Smith and Reid Simmons

Proc. of the Conference on Uncertainty in Artificial Intelligence, July, 2005

Social Tag: Finding the Person with the Pink Hat
Carl Francis DiSalvo, Didac Busquets Font, Laura Hiatt, Nicholas Melchior, Marek Piotr Michalowski and Reid Simmons

Proceedings of the Twentieth National Conference on Artificial Intelligence (AAAI 2005), pp. 1726-1727, July, 2005

Learning Opportunity Costs in Multi-Robot Market Based Planners
Jeff Schneider , David Apfelbaum, J. Andrew (Drew) Bagnell and Reid Simmons

CMU-RI-TR-, April, 2005

Decentralized Communication Strategies for Coordinated Multi-Agent Policies
Maayan Roth, Reid Simmons and Manuela Veloso

Multi-Robot Systems. From Swarms to Intelligent Automata, Vol. III, pp. 93-106, January, 2005

Reasoning About Joint Beliefs for Execution-Time Communication Decisions
Maayan Roth, Reid Simmons and Manuela Veloso

The Fourth International Joint Conference on Autonomous Agents and Multi Agent Systems (AAMAS), January, 2005

Social Tag: Finding the Person with the Pink Hat
Marek Piotr Michalowski, Didac Busquets Font, Carl Francis DiSalvo, Laura Hiatt, Nicholas Melchior, Reid Simmons and Selma Sabanovic

AAAI Mobile Robot Competition and Exhibition: Papers from the 2005 AAAI Workshop, Technical Report WS-05-11, pp. 40-44, January, 2005

User Modelling for Principled Sliding Autonomy in Human-Robot Teams
Brennan Peter Sellner, Reid Simmons and Sanjiv Singh

Proceedings of the NRL Multirobot Workshop 2005, January, 2005

Real-time fault diagnosis [robot fault diagnosis]
Vandi Verma, Geoffrey Gordon, Reid Simmons and Sebastian Thrun

Robotics & Automation Magazine, Vol. 11, No. 2, pp. 56 - 66, June, 2004

Decision-theoretic Monte Carlo smoothing for scaling tracking in hybrid dynamic systems
Vandi Verma and Reid Simmons

Vol. 3, pp. 1986 - 1992, March, 2004

Preliminary Results in Sliding Autonomy for Coordinated Teams
Jonathan Brookshire, Sanjiv Singh and Reid Simmons

Proceedings of The 2004 Spring Symposium Series, March, 2004

Heuristic Search Value Iteration for POMDPs
Trey Smith and Reid Simmons

Proc. of UAI 2004, January, 2004

Preliminary Results in Sliding Autonomy for Assembly by Coordinated Teams
Jonathan Brookshire, Sanjiv Singh and Reid Simmons

January, 2004

Approaches for Heuristically Biasing RRT Growth
Christopher Urmson and Reid Simmons

IEEE/RSJ IROS 2003, October, 2003

Maintaining line of sight communications networks between planetary rovers
Stuart Anderson, Reid Simmons and Dani Goldberg

Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS 2003), Vol. 3, pp. 2266 - 2272, October, 2003

Variable Resolution Particle Filter
Vandi Verma, Sebastian Thrun and Reid Simmons

In Proceedings of International Joint Conference on Artificial Intelligence, August, 2003

Efficient Monitoring for Planetary Rovers
Vandi Verma, Geoffrey Gordon and Reid Simmons

International Symposium on Artificial Intelligenceand Robotics in Space, May, 2003

A Generic Framework for Robotic Navigation
Christopher Urmson, Reid Simmons and Issa Nesnas

IEEE Aerospace Conference 2003, March, 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

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

Probabilistic Models for Monitoring and Fault Diagnosis
Vandi Verma, Joquin Fernandez and Reid Simmons

The Second IARP and IEEE/RAS Joint Workshop on Technical Challenges for Dependable Robots in Human Environments., October, 2002

Stereo Vision Based Navigation for Sun-Synchronous Exploration
Christopher Urmson, M Bernardine Dias and Reid Simmons

Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), Vol. 1, pp. 805 - 810, September, 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

Multi-Robot Systems: From Swarms to Intelligent Automata, Proceedings from the 2002 NRL Workshop on Multi-Robot Systems, May, 2002

A Social Robot that Stands in Line
Yasushi Nakauchi and Reid Simmons

Autonomous Robots, Vol. 12, No. 3, pp. 313 - 324, May, 2002

The Role of Expressiveness and Attention in Human-Robot Interaction
Frank Broz, Illah Nourbakhsh and Reid Simmons

Proceedings of the IEEE International Conference on Robotics and Automation (ICRA' 02), 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

Proceedings of the 3rd International NASA Workshop on Planning and Scheduling for Space, January, 2002

A Multiple Information Source Planner for Autonomous Planetary Exploration
Stewart Moorehead, Reid Simmons and William (Red) L. Whittaker

International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), June, 2001

Non-Parametric Fault Identification for Space Rovers
Vandi Verma, John Langford and Reid Simmons

International Symposium on Artificial Intelligence and Robotics in Space (iSAIRAS), June, 2001

Autonomous Exploration Using Multiple Sources of Information
Stewart Moorehead, Reid Simmons and William (Red) L. Whittaker

IEEE International Conference on Robotics and Automation, May, 2001

Future Directions in Multi-Robot Autonomy and Planetary Surface Construction
Trey Smith, Reid Simmons, Sanjiv Singh and David Hershberger

Proceedings of the 2001 Space Studies Institute Conference, May, 2001

The Science Autonomy System of the Nomad Robot
Michael D. Wagner , Dimitrios (Dimi) Apostolopoulos , Kimberly Shillcutt, Benjamin Shamah, Reid Simmons and William (Red) L. Whittaker

2001 IEEE International Conference on Robotics and Automation, pp. 1742-1749, May, 2001

Technology for Autonomous Space Systems
Ashley Stroupe, Sanjiv Singh, Reid Simmons, Trey Smith, Paul Tompkins, Vandi Verma, R. Vitti-Lyons and Michael D. Wagner

CMU-RI-TR-00-02, Robotics Institute, Carnegie Mellon University, January, 2001

The Role of Expressiveness and Attention in Human-Robot Interaction
Frank Broz, Illah Nourbakhsh and Reid Simmons

Proceedings, 2001 AAAI Fall Symposium, January, 2001

First Results in the Coordination of Heterogeneous Robots for Large-Scale Assembly
Reid Simmons, Sanjiv Singh, David Hershberger, Josue Ramos and Trey Smith

Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, December, 2000

A Social Robot that Stands in Line
Yasushi Nakauchi and Reid Simmons

Proceedings of the Conference on Intelligent Robots and Systems (IROS '00), October, 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

Proceedings of the IEEE International Conference on Robotics and Automation, 2000, April, 2000

Lessons Learned from Xavier
Reid Simmons, Joaquin Lopez Fernandez, Richard Goodwin, Sven Koenig and Joseph O'Sullivan

Robotics and Automation Magazine, pp. 733 - 39, January, 2000

Social Behavioral Robot that Stands in Line
Yasushi Nakauchi and Reid Simmons

Proceedings of SMC '99, October, 1999

Autonomous Navigation Field Results of a Planetary Analog Robot in Antarctica
Stewart Moorehead, Reid Simmons, Dimitrios (Dimi) Apostolopoulos and William (Red) L. Whittaker

International Symposium on Artificial Intelligence, Robotics and Automation in Space, June, 1999

Optimizing Symbolic Model Checking for Constraint-Rich Models
B. Yang, Reid Simmons, R. Bryant and D. O'Hallaron

CMU-CS-99-118, Computer Science Department, Carnegie Mellon University, March, 1999

Xavier: An Autonomous Mobile Robot on the Web
Reid Simmons, J. Fernandez, R. Goodwin, S. Koenig and Joseph O'Sullivan

Robotics and Automation Magazine, January, 1999

A Task Description Language for Robot Control
Reid Simmons and D. Apfelbaum

Proceedings Conference on Intelligent Robotics and Systems, October, 1998

Languages and Tools for Task-Level Robotics Integration
Reid Simmons and Sebastian Thrun

Proceedings of the 1998 AAAI Spring Symposium, January, 1998

Solving Robot Navigation Problems with Initial Pose Uncertainty Using Real-Time Heuristic Search
Sven Koenig and Reid Simmons

Proceedings of the International Conference on Artificial Intelligence Planning Systems, pp. 144 - 153, January, 1998

Xavier: A Robot Navigation Architecture Based on Partially Observable Markov Decision Process Models
Sven Koenig and Reid Simmons

Artificial Intelligence Based Mobile Robotics: Case Studies of Successful Robot Systems, pp. 91 - 122, January, 1998

Evolution of a Prototype Lunar Rover: Addition to Laser-Based Hazard Detection, and Results from Field Trials in Lunar Analogue Terrain
Eric Krotkov, Martial Hebert , L. Henriksen, P. Levin, Mark Maimone, Reid Simmons and James Teza

Autonomous Robots, Vol. 7, No. 2, pp. 119 - 130, July, 1997

Visualization Tools for Validating Software of Autonomous Spacecraft
Reid Simmons and Gregory Whelan

International Symposium on Artificial Intelligence, Robotics, and Automation in Space, July, 1997

Field Trials of a Prototype Lunar Rover under Multi-Sensor Safeguarded Teleoperation Control
Eric Krotkov, Martial Hebert , Lars Henriksen, Paul Levin, Mark Maimone, Reid Simmons and James Teza

American Nuclear Society Seventh Topical Meeting on Robotics & Remote Systems, pp. 575 - 582, May, 1997

A Layered Architecture for Office Delivery Robots
Reid Simmons, R. Goodwin, K. Haigh, S. Koenig and J. Sullivan

First International Conference on Autonomous Agents, pp. 235 - 242, February, 1997

A Modular Architecture for Office Delivery Robots
Reid Simmons, Richard Goodwin, Karen Zita Haigh, Sven Koenig and Joseph O'Sullivan

Autonomous Agents 1997, pp. 245 - 252, February, 1997

Xavier: Experience with a Layered Robot Architecture
Reid Simmons, R. Goodwin, K. Haigh, S. Koenig, Joseph O'Sullivan and Manuela Veloso

Agents '97, January, 1997

Safeguarded Teleoperation for Lunar Rovers
Eric Krotkov, Reid Simmons, Fabio Cozman and Sven Koenig

26th Int'l Conf. on Environmental Systems, July, 1996

Perception, Planning, and Control for Autonomous Walking with the Ambler Planetary Rover
Eric Krotkov and Reid Simmons

Intl. Journal of Robotics Research, Vol. 15, No. 2, pp. 155-180, April, 1996

Safeguarded Teleoperation for Lunar Rovers: From Human Factors to Field Trials
Eric Krotkov, Reid Simmons, Fabio Cozman and S. Koenig

IEEE Planetary Rover Technology and Systems Workshop, April, 1996

The Curvature-Velocity Method for Local Obstacle Avoidance
Reid Simmons

International Conference on Robotics and Automation, April, 1996

Amelia
Reid Simmons, Sebastian Thrun, Greg Armstrong, R. Goodwin, K. Haigh, S. Koenig, Shyjan Mahamud, Daniel Nikovski and Joseph O'Sullivan

Proceedings of the AAAI Thirteenth National Conference on Artificial Intelligence, January, 1996

Easy and Hard Testbeds for Real-Time Search Algorithms
Sven Koenig and Reid Simmons

Proceedings of the Thirteenth National Conference on Artificial Intelligence (AAAI), pp. 279 - 285, January, 1996

Passive Distance Learning for Robot Navigation
Sven Koenig and Reid Simmons

Proceedings ofthe Thirteenth International Conference on Machine Learning (ICML), pp. 266 - 274, January, 1996

The Effect of Representation and Knowledge on Goal-Directed Exploration with Reinforcement Learning Algorithms
S. Koenig and Reid Simmons

Machine Learning Journal, pp. 227 - 250, January, 1996

The Effect of Representation and Knowledge on Goal-Directed Exploration with Reinforcement-Learning Algorithms
Sven Koenig and Reid Simmons

Machine Learning, Vol. 22, No. 3-Jan, pp. 227 - 250, January, 1996

Unsupervised Learning of Probabilistic Models for Robot Navigation
Sven Koenig and Reid Simmons

Proceedings of the 1996 IEEE International Conference on Robotics and Automation (ICRA '96), pp. 2301 - 2308, January, 1996

Robot Navigation with Markov Models: A Framework for Path Planning and Learning with Limited Computational Resources
Sven Koenig, Richard Goodwin and Reid Simmons

Proceedings of the International Workshop on Reasoning with Uncertainty in Robotics, December, 1995

Stereo Perception and Dead Reckoning for a Prototype Lunar Rover
Eric Krotkov, Martial Hebert and Reid Simmons

Autonomous Robots, Vol. 2, No. 4, pp. 313-331, December, 1995

The Effect of Representation and Knowledge on Goal-Directed Exploration with Reinforcement Learning Algorithms: The Proofs
S. Koenig and Reid Simmons

CMU-CS-95-177, Computer Science Department, Carnegie Mellon University, October, 1995

Probabilistic Robot Navigation in Partially Observable Environments
Reid Simmons and Sven Koenig

Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI '95), pp. 1080 - 1087, July, 1995

Ambler: Performance of a Six-Legged Planetary Rover
Eric Krotkov, Reid Simmons and William (Red) L. Whittaker

Acta Astonautica, Vol. 35, No. 1, pp. 75-81, January, 1995

Experience with Rover Navigation for Lunar-Like Terrains
Reid Simmons, Eric Krotkov, Lonnie Chrisman, Fabio Cozman, Richard Goodwin, Martial Hebert , Lalitesh Katragadda, Sven Koenig, G. Krishnaswamy, Y. Shinoda, William (Red) L. Whittaker and P. Klarer

Proceedings of the 1995 Conference on Intelligent Robots and Systems (IROS '95), pp. 441 - 446, January, 1995

Mixed-Mode Control of Navigation for a Lunar Rover
Reid Simmons, Eric Krotkov, L. Chrisman, Fabio Cozman, R. Goodwin, Martial Hebert , G. Heredia, S. Koenig, Pat Muir, Y. Shinoda and William (Red) L. Whittaker

Proceedings of the SSI/Princeton Space Manufacturing Conference, January, 1995

Real-Time Search in Nondeterministic Domains
Sven Koenig and Reid Simmons

Proceedings ofthe Fourteenth International Joint Conference on Artificial Intelligence (IJCAI), pp. 1660 - 1667, January, 1995

Experience with Rover Navigation for Lunar-Like Terrains
Reid Simmons, Eric Krotkov, Martial Hebert and Lalitesh Katragadda

International Lunar Exploration Conference, November, 1994

Structured Control for Autonomous Robots
Reid Simmons

IEEE Transactions on Robotics and Automation, Vol. 10, No. 1, February, 1994

Lunar Rover Technology Demonstrations with Dante and Ratler
Eric Krotkov, John Bares, Lalitesh Katragadda, Reid Simmons and William (Red) L. Whittaker

Proceedings of the International Symposium on Artificial Intelligence, Robotics, and Automation for Space, January, 1994

Risk-Sensitive Planning with Probabilistic Decision Graphs
Sven Koenig and Reid Simmons

Proceedings of the Fourth International Conference on Principles of Knowledge Representationand Reasoning (KR), pp. 363 - 373, January, 1994

Autonomous Walking in Natural Terrain: A Retrospective on the Performance of the Ambler
Eric Krotkov and Reid Simmons

3rd International Symposium of Experimental Robotics III, October, 1993

Rational Handling of Multiple Goals for Mobile Robots
Richard Goodwin and Reid Simmons

CMU-CS-93-204, Computer Science Department, Carnegie Mellon University, October, 1993

Autonomous Walking Results with the Ambler Hexapod Planetary Rover
Eric Krotkov, Reid Simmons and William (Red) L. Whittaker

International Conference of Intelligent Autonomous Systems, pp. 46 - 53, January, 1993

Complexity Analysis of Real-Time Reinforcement Learning
Sven Koenig and Reid Simmons

Proceedings of the Eleventh National Conference on Artificial Intelligence (AAAI), pp. 99 - 105, January, 1993

The Winning Robots from the 1993 Robot Competition
Illah Nourbakhsh , Sarah Morse, Craig Becker, Marko Balabanovic, Erann Gat, Reid Simmons, Steven Goodridge, Harsh Potlapalli, David Hinkle, Ken Jung and David Van Vactor

AI Magazine, Vol. 14, No. 4, January, 1993

Complexity Analysis of Real-Time Reinforcement Learning Applied to Finding Shortest Paths in Deterministic Domains
Sven Koenig and Reid Simmons

CMU-CS-93-106, Computer Science Department, Carnegie Mellon University, December, 1992

Task Planning for Robotic Excavation
Sanjiv Singh and Reid Simmons

Proc. IEEE/RSJ International Conference on Intelligent Robot Systems, July, 1992

Rational Handling of Multiple Goals for Mobile Robots
Richard Goodwin and Reid Simmons

Proceedings of the First International Conference on Artificial Intelligence Planning Systems (AIPS-92), June, 1992

Performance of a six-legged planetary rover: power, positioning, and autonomous walking
Eric Krotkov and Reid Simmons

IEEE International Conference on Robotics and Automation, Vol. 1, pp. 169 - 174, May, 1992

1991 Year End Report Autonomous Planetary Rover
Eric Krotkov, Reid Simmons and William (Red) L. Whittaker

CMU-RI-TR-92-02, Robotics Institute, Carnegie Mellon University, February, 1992

ODYSSEUS: An Autonomous Mobile Robot
Reid Simmons, Sebastian Thrun, Charalambos Athanassiou, J. Cheng, L. Chrisman, R. Goodwin, G.-T. Hsu and H. Wan

AI Magazine, January, 1992

Ambler: a six-legged planetary rover
Eric Krotkov, John Bares, Takeo Kanade, Tom Mitchell, Reid Simmons and William (Red) L. Whittaker

Fifth International Conference on Advanced Robotics, 1991, Robots in Unstructured Environments (ICAR '91), Vol. 1, pp. 717 - 722, June, 1991

An integrated walking system for the Ambler planetary rover
Reid Simmons and Eric Krotkov

IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2086 - 2091, April, 1991

Concurrent Planning and Execution for a Walking Robot
Reid Simmons

CMU-RI-TR-90-16, Robotics Institute, Carnegie Mellon University, July, 1990

Integrated System for Single Leg Walking
Reid Simmons, Eric Krotkov and G. Roston

CMU-RI-TR-90-15, Robotics Institute, Carnegie Mellon University, July, 1990

Single Leg Walking with Integrated Perception, Planning, and Control
Eric Krotkov, Reid Simmons and Chuck Thorpe

Proceedings of the IEEE International Workshop on Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Vol. 1, pp. 97 - 102, July, 1990

Experience with a Task Control Architecture for Mobile Robots
Long-Ji Lin, Reid Simmons and Christopher Fedor

CMU-RI-TR-89-29, Robotics Institute, Carnegie Mellon University, December, 1989

Ambler: An Autonomous Rover for Planetary Exploration
John Bares, Martial Hebert , Takeo Kanade, Eric Krotkov, Tom Mitchell, Reid Simmons and William (Red) L. Whittaker

IEEE Computer, Vol. 22, No. 6, pp. 18-26, June, 1989

A Case Study in Robot Exploration
L-J Lin, Tom Mitchell, A. Phillips and Reid Simmons

CMU-RI-TR-89-01, Robotics Institute, Carnegie Mellon University, January, 1989

Mailing Address:

Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

2017-04-19T15:51:55+00:00