/Field Robotics Center (FRC)

Field Robotics Center (FRC)

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Field robotics is the use of mobile robots in field environments such as work sites and natural terrain, where the robots must safeguard themselves while performing non-repetitive tasks and objective sensing as well as self-navigation in random or dynamic environments. The Field Robotics Center at Carnegie Mellon University is dedicated to the pursuit of this technology, and to push its limits into the next century, our imaginations, and beyond.

Displaying 564 Publications
Generative Point Cloud Modeling with Gaussian Mixture Models for Multi-Robot Exploration
Cormac OMeadhra

Master's Thesis, Tech. Report, CMU-RI-TR-18-45, August, 2018
Improving Imitation Learning through Efficient Expert Querying
Matthew Hanczor

Master's Thesis, Tech. Report, CMU-RI-TR-18-56, August, 2018
In-Field Robotic Leaf Grasping and Automated Crop Spectroscopy
Justin Abel

Master's Thesis, Tech. Report, CMU-RI-TR-18-51, August, 2018
Robust and Efficient State Estimation for Micro Aerial Vehicles
Logan Ellis

Master's Thesis, Tech. Report, CMU-RI-TR-18-57, August, 2018
Toward Invariant Visual-Inertial State Estimation using Information Sparsification
Shih-Chieh (Jerry) Hsiung

Master's Thesis, Tech. Report, CMU-RI-TR-18-50, August, 2018
Radiation Source Localization using a Gamma-ray Camera
Michael Lee

Master's Thesis, Tech. Report, CMU-RI-TR-18-53, August, 2018
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
Robotic Measurement of Holdup Deposit Volume in Gaseous Diffusion Piping to Quantify U-235 Content
Lawrence Papincak, Heather Jones, Matthew Hanczor, Warren Whittaker, James Teza, David Kohanbash, Siri Maley, Daniel Arnett, Andrew Tallaksen, Alexander Duncan, Ignacio Cordova Lanta Hanczdilla, Ryan O'Keefe, Jordan Ford and William Whittaker

Conference Paper, Waste Management, March, 2018
Robotic NDA of Holdup Deposits in Gaseous Diffusion Piping by Gamma Assay of Uranium-235
Heather Jones, William Whittaker, Oleg Sapunkov, Taylor Wilson, David Kohanbash, Siri Maley, James Teza, Eugene Fang, Max McHugh, Ian Holst, Christopher Ng and Russell Riddle

Conference Paper, Waste Mangement, March, 2018
Adaptive Motion Planning
Sanjiban Choudhury

PhD Thesis, Tech. Report, CMU-RI-TR-18-04, February, 2018
Robust Autonomous Flight in Constrained and Visually Degraded Shipboard Environments
Zheng Fang, Shichao Yang, Sezal Jain, Geetesh Dubey, Stephan Roth, Silvio Mano Maeta, Stephen T. Nuske, Yuzhang Wu and Sebastian Scherer

Journal Article, Journal of Field Robotics, Vol. 34, No. 1, pp. 25–52, January, 2017
Configuration Lattices for Planar Contact Manipulation Under Uncertainty
Michael Koval, David Hsu, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, Workshop on the Algorithmic Foundations of Robotics, December, 2016
Detecting cars in aerial photographs with a hierarchy of deconvolution nets
Satyaki Chakraborty, Daniel Maturana and Sebastian Scherer

Tech. Report, CMU-RI-TR-16-60, Robotics Institute, Carnegie Mellon University, November, 2016
Semi-Supervised Learning of Sequence Models with Method of Moments
Zita Alexandra Magalhaes Marinho, Andre F. T. Martins, Shay B. Cohen and Noah A. Smit

Conference Paper, Proceedings of Empirical Methods for Natural Language Processing Conference (EMNLP), November, 2016
Semi-Supervised Learning of Sequence Models with Method of Moments
Zita Marinho, Andre F. T. Martins, Shay B. Cohen and Noah A. Smith

Conference Paper, Proceedings of Empirical Methods for Natural Language Processing, November, 2016
A Nonparametric Belief Solution to the Bayes Tree
Dehann Fourie, John J. Leonard and Michael Kaess

Conference Paper, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2016
Approximate Continuous Belief Distributions for Precise Autonomous Inspection
Shobhit Srivastava and Nathan Michael

Conference Paper, International Symposium on Safety, Security and Rescue Robotics, October, 2016
Efficiently Sampling from Underlying Physical Models
Greydon Foil

PhD Thesis, Tech. Report, CMU-RI-TR-16-57, Robotics Institute, Carnegie Mellon University, October, 2016
Incremental Data Association for Acoustic Structure from Motion
Tiffany Huang and Michael Kaess

Conference Paper, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2016
Long-range GPS-denied Aerial Inertial Navigation with LIDAR Localization
Garrett Hemann, Sanjiv Singh and Michael Kaess

Conference Paper, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2016
Nonholonomic motion planning in partially unknown environments using vector fields and optimal planners
Guilherme Augusto Silva Pereira, Sanjiban Choudhury and Sebastian Scherer

Conference Paper, Congresso Brasileiro de Automatica (CBA), October, 2016
Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments
Shichao Yang, Yu Song, Michael Kaess and Sebastian Scherer

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1222 – 1229, October, 2016
Underwater Inspection using Sonar-based Volumetric Submaps
Pedro V. Teixeira, Michael Kaess, Franz S. Hover and John J. Leonard

Conference Paper, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2016
Analysis of Angle of Attack for Efficient Slope Ascent by Rovers
Hiroaki Inotsume

Master's Thesis, Tech. Report, CMU-RI-TR-15-22, Robotics Institute, Carnegie Mellon University, August, 2016
Vision-Enhanced Lidar Odometry and Mapping
Daniel Lu

Master's Thesis, Tech. Report, CMU-RI-TR-16-34, Robotics Institute, Carnegie Mellon University, August, 2016
Kinodynamic Motion Planning on Vector Fields using RRT*
Guilherme Augusto Silva Pereira, Sanjiban Choudhury and Sebastian Scherer

Tech. Report, CMU-RI-TR-16-35, Robotics Institute, Carnegie Mellon University, July, 2016
A Framework for Optimal Repairing of Vector Field-based Motion Plans
Guilherme Augusto Silva Pereira, Sanjiban Choudhury and Sebastian Scherer

Conference Paper, Proceedings of the 2016 International Conference of Unmanned Aircraft Systems (ICUAS), pp. 261-266, June, 2016
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
iSTEP 2012: Waste Monitoring and Water Monitoring and Management at Ashesi University College in Ghana
Scott Andes, Corinne Clinch, Julie Mallis, Sandeep Reddy Munnangi, Ronnell Perry, Sarah M. Belousov, Mary Beatrice Dias, Malcolm Frederick Dias, Balajee Kannan, Ermine A. Teves, Yonina Cooper and M Bernardine Dias

Tech. Report, CMU-RI-TR-16-29, Robotics Institute, Carnegie Mellon University, June, 2016
iSTEP 2013: Development and Assessment of Assistive Technology for a School for the Blind in India
Madeleine Clute, Madelyn Gioffre, Poornima Kaniarasu, Aditya Kodkany, Vivek Nair, Shree Lakshmi Rao, Aveed Sheikh, Avia Weinstein, Ermine A. Teves, Mary Beatrice Dias and M Bernardine Dias

Tech. Report, CMU-RI-TR-16-30, Robotics Institute, Carnegie Mellon University, June, 2016
iSTEP 2013: Exploring the Feasibility and Suitability of Assistive Technology at the Mathru Center for Differently-Abled
Shree Lakshmi Rao, Aveed Sheikh, Avia Weinstein, Aditya Kodkany, Madeleine Clute, Madelyn Gioffre, Poornima Kaniarasu, Vivek Nair, Ermine A. Teves, Mary Beatrice Dias and M Bernardine Dias

Tech. Report, CMU-RI-TR-16-31, Robotics Institute, Carnegie Mellon University, June, 2016
iSTEP 2015: Cross-Cultural Technology Development Toward Language Access for the Deaf and Hard of Hearing
Maya Lassiter, Amal Nanavati, Erik Pintar, Minnar Xie, Ermine A. Teves and M Bernardine Dias

Tech. Report, CMU-RI-TR-16-32, Robotics Institute, Carnegie Mellon University, June, 2016
Acoustic Structure from Motion
Tiffany Huang

Master's Thesis, Tech. Report, CMU-RI-TR-16-08, Robotics Institute, Carnegie Mellon University, May, 2016
High-Fidelity Planetary Route Determination Using Computationally Efficient Monocular Fisheye Odometry and Sun Compass
Eugene Fang

Tech. Report, CMU-RI-TR-16-14, Robotics Institute, Carnegie Mellon University, May, 2016
On Degeneracy of Optimization-based State Estimation Problems
Ji Zhang, Michael Kaess and Sanjiv Singh

Conference Paper, 2016 IEEE International Conference on Robotics and Automation, May, 2016
Real-time 3D Scene Layout from a Single Image Using Convolutional Neural Networks
Shichao Yang, Daniel Maturana and Sebastian Scherer

Conference Paper, International Conference on Robotics and Automation (ICRA), pp. 2183 – 2189, May, 2016
Symbiotic Planning for Planetary Exploration
Joseph Amato

Master's Thesis, Tech. Report, CMU-RI-TR-16-09, Robotics Institute, Carnegie Mellon University, May, 2016
Texture-based Fruit Detection via Images using the Smooth Patterns on the Fruit
Zania Pothen and Stephen T. Nuske

Conference Paper, IEEE conference on Robotics and Automation, May, 2016
Fuel-Optimal Spacecraft Guidance for Landing in Planetary Pits
Neal S. Bhasin

Master's Thesis, Tech. Report, CMU-RI-TR-16-10, Robotics Institute, Carnegie Mellon University, April, 2016
Articulated Robot Motion for Simultaneous Localization and Mapping (ARM-SLAM)
Matthew Klingensmith, Siddhartha Srinivasa and Michael Kaess

Journal Article, IEEE Robotics and Automation - Letters, January, 2016
Multi-Scale Convolutional Architecture for Semantic Segmentation
Aman Raj, Daniel Maturana and Sebastian Scherer

Tech. Report, CMU-RI-TR-15-21, Robotics Institute, Carnegie Mellon University, pp. 14, October, 2015
A Needs Assessment Study of the Educational Technology Needs of English Literacy Students and Teachers in Qatar and the U.S.
Nada Soudy, Ermine A. Teves, Mary Beatrice Dias, Silvia Pessoa and M Bernardine Dias

Tech. Report, CMU-RI-TR-15-16, Robotics Institute, Carnegie Mellon University, September, 2015
Bridging Text Spotting and SLAM with Junction Features
Hsueh-Cheng Wang, Chelsea Finn, Liam Paull, Michael Kaess, Ruth Rosenholtz, Seth Teller and John Leonard

Conference Paper, In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, pp. 3701-3708, September, 2015
Online Safety Verification of Trajectories for Unmanned Flight with Offline Computed Robust Invariant Sets
Daniel Althoff, Matthias Althoff and Sebastian Scherer

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3470 – 3477, September, 2015
Towards Acoustic Structure from Motion for Imaging Sonar
Tiffany Huang and Michael Kaess

Conference Paper, In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, pp. 758-765, September, 2015
Consistent Unscented Incremental Smoothing for Multi-robot Cooperative Target Tracking
Guoquan Huang, Michael Kaess and John J. Leonard

Journal Article, Journal of Robotics and Autonomous Systems, Vol. 69, pp. 52-67, July, 2015
Preparing Engineers for a Global Future through Guided Opportunities to Innovate for Underserved Communities
M Bernardine Dias, Ermine A. Teves and Mary Beatrice Dias

Journal Article, Carnegie Mellon University, Journal of Engineering Education Transformations, Vol. 29, No. 1, pp. 26-37, July, 2015
Energy Utilization and Energetic Estimation of Achievable Range for Wheeled Mobile Robots Operating on a Single Battery Discharge
Xuesu Xiao and William (Red) L. Whittaker

Tech. Report, CMU-RI-TR-14-15, Robotics Institute, Carnegie Mellon University, June, 2015
Towards technology with a global heart through compassionate engineering
M Bernardine Dias, Ermine A. Teves and Mary Beatrice Dias

Conference Paper, pp. 96 - 100, June, 2015
Building 3D Mosaics from an Autonomous Underwater Vehicle, Doppler Velocity Log, and 2D Imaging Sonar
Paul Ozog, Giancarlo Troni, Michael Kaess, Ryan M. Eustice and Matthew Johnson-Roberson

Journal Article, In IEEE Intl. Conf. on Robotics and Automation, May, 2015
Simultaneous Localization and Mapping with Infinite Planes
Michael Kaess

Journal Article, In IEEE Intl. Conf. on Robotics and Automation, May, 2015
The Dynamics Projection Filter (DPF) – Real-Time Nonlinear Trajectory Optimization Using Projection Operators
Sanjiban Choudhury and Sebastian Scherer

Conference Paper, IEEE International Conference on Robotics and Automation, pp. 644 – 649, May, 2015
The Planner Ensemble: Motion Planning by Executing Diverse Algorithms
Sanjiban Choudhury, Sankalp Arora and Sebastian Scherer

Conference Paper, IEEE Conference on Robotics and Automation, pp. 2389 – 2395, May, 2015
Real-time large scale dense RGB-D SLAM with volumetric fusion
Thomas Whelan, Michael Kaess, Hordur Johannsson, Maurice Fallon, John J. Leonard and John McDonald

Conference Paper, The International Journal of Robotics Research, Vol. 34, pp. 598-626, April, 2015
Connected Invariant Sets for High-Speed Motion Planning in Partially-Known Environments
Daniel Althoff and Sebastian Scherer

Conference Paper, 2015 IEEE International Conference on Robotics and Automation, pp. 3279 – 3285, March, 2015
Future Directions in Indoor Navigation Technology for Blind Travelers
M Bernardine Dias, Aaron Steinfeld and Mary Beatrice Dias

Book Section/Chapter, Carnegie Mellon University, Indoor Wayfinding and Navigation, pp. 203 -226, March, 2015
How Would You Describe Assistive Robots to People Who are Blind or Low Vision?
Byung-Cheol Min, Aaron Steinfeld and M Bernardine Dias

Conference Paper, Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction Extended Abstracts, pp. 91-92, March, 2015
Incorporating Information from Trusted Sources to Enhance Urban Navigation for Blind Travelers
Byung-Cheol Min, Suryansh Saxena, Aaron Steinfeld and M Bernardine Dias

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), March, 2015
Indoor Navigation Aids for Blind and Visually Impaired People
M Bernardine Dias and Satish Ravishankar

Book Section/Chapter, Carnegie Mellon University, Indoor Wayfinding and Navigation, pp. 165 -186, March, 2015
Indoor Navigation Challenges for Visually Impaired People
Mary Beatrice Dias, Ermine A. Teves, George J. Zimmerman, Hend K. Gedawy, Sarah M. Belousov and M Bernardine Dias

Book Section/Chapter, Carnegie Mellon University, Indoor Wayfinding and Navigation, pp. 141-164, March, 2015
The NavPal Suite of Tools for Enhancing Indoor Navigation for Blind Travelers
M Bernardine Dias

Book Section/Chapter, Carnegie Mellon University, Indoor Wayfinding and Navigation, pp. 187 -202, March, 2015
High-precision Autonomous Flight in Constrained Shipboard Environments
Shichao Yang, Zheng Fang, Sezal Jain, Geetesh Dubey, Silvio Mano Maeta, Stephan Roth, Sebastian Scherer, Yu Zhang and Stephen T. Nuske

Tech. Report, CMU-RI-TR-15-06, Robotics Institute, Carnegie Mellon University, February, 2015
Improving Localization of Planetary Rovers with Absolute Bearing by Continuously Tracking the Sun
Curtis Boirum

Tech. Report, CMU-RI-TR-16-01, Robotics Institute, Carnegie Mellon University, January, 2015
RISE: An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation
David M. Rosen, Michael Kaess and John J. Leonard

Journal Article, IEEE Trans. on Robotics, TRO, Vol. 30, No. 5, pp. 1091-1108, October, 2014
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
City-Wide Road Distress Monitoring with Smartphones
Christoph Mertz, Srivatsan Varadharajan, Sobhagya Jose, Karan Sharma, Lars Wander and Jina Wang

Conference Paper, Proceedings of ITS World Congress, September, 2014
Generic Node Removal for Factor-Graph SLAM
Nicholas Carlevaris-Bianco, Michael Kaess and Ryan M. Eustice

Journal Article, IEEE Robotics and Automation Society, Vol. 30, No. 6, September, 2014
NavPal: Technology Solutions for Enhancing Urban Navigation
M Bernardine Dias

Tech. Report, CMU-RI-TR-21, Robotics Institute, Carnegie Mellon University, September, 2014
Real-time Depth Enhanced Monocular Odometry
Ji Zhang, Michael Kaess and Sanjiv Singh

Conference Paper, Intelligent Robots and Systems (IROS), Chicago, IL, USA, September, 2014
3D mapping, localisation and object retrieval using low cost robotic platforms: A robotic search engine for the real-world
Thomas Whelan, Michael Kaess, Ross Finman, Maurice Fallon, Hordur Johannsson, John J. Leonard and John McDonald

Journal Article, In RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, July, 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
Efficient Incremental Map Segmentation in Dense RGB-D Maps
Ross Finman, Thomas Whelan, Michael Kaess and John J. Leonard

Conference Paper, IEEE Intl. Conf. on Robotics and Automation, ICRA, (Hong Kong), June, 2014
Towards Consistent Visual-Inertial Navigation
Guoquan Huang, Michael Kaess and John J. Leonard

Conference Paper, IEEE Intl. Conf. on Robotics and Automation, ICRA, June, 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
Mapping 3D Underwater Environments with Smoothed Submaps
Mark VanMiddlesworth, Michael Kaess, Franz Hover and John J. Leonard

Conference Paper, Conference on Field and Service Robotics (FSR), December, 2013
The MIT Stata Center Dataset
M. Fallon, H. Johannsson, Michael Kaess and J.J. Leonard

Journal Article, Intl. J. of Robotics Research, IJRR, Vol. 32, No. 14, pp. 1695-1699, December, 2013
Wireless Sensor Network Design for Monitoring and Irrigation
David Kohanbash, George A. Kantor, Todd Martin and Lauren Crawford

Journal Article, Carnegie Mellon University, Hort Technology, pp. 725-734, December, 2013
Deformation-based Loop Closure for Large Scale Dense RGB-D SLAM
Thomas Whelan, Michael Kaess, John J. Leonard and John McDonald

Conference Paper, IEEE/RSJ Intl. Conf. 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
Efficient Aerial Coverage Search in Road Networks
Michael Dille and Sanjiv Singh

Conference Paper, AIAA Conference on Guidance, Navigation, and Control, August, 2013
Inference Machines: Parsing Scenes via Iterated Predictions
Daniel Munoz

PhD Thesis, Tech. Report, CMU-RI-TR-13-15, Robotics Institute, Carnegie Mellon University, June, 2013
Slip Control During Slope Descent for a Rover with Plowing Capability
Daniel Loret de Mola Lemus

Master's Thesis, Tech. Report, CMU-RI-TR-13-10, Robotics Institute, Carnegie Mellon University, June, 2013
Efficient 3-D Scene Analysis from Streaming Data
Hanzhang Hu, Daniel Munoz, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), May, 2013
Efficient Temporal Consistency for Streaming Video Scene Analysis
Ondrej Miksik, Daniel Munoz, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), May, 2013
Infrastructure-free Shipdeck Tracking for Autonomous Landing
Sankalp Arora, Sezal Jain, Sebastian Scherer, Stephen T. Nuske, Lyle J. Chamberlain and Sanjiv Singh

Conference Paper, International Conference on Robotics and Automation, pp. 323 – 330, May, 2013
RRT*-AR: Sampling-Based Alternate Routes Planning with Applications to Autonomous Emergency Landing of a Helicopter
Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh

Conference Paper, International Conference on Robotics and Automation, pp. 3947 - 3952, May, 2013
Sparse Tangential Network (SPARTAN): Motion Planning for Micro Aerial Vehicles
Hugh Cover, Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh

Conference Paper, International Conference on Robotics and Automation, pp. 2820 – 2825, May, 2013
An Architecture for Online Semantic Labeling on UGVs
Arne Suppe, Luis Ernesto Navarro-Serment, Daniel Munoz, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, Proc. SPIE 8741, Unmanned Systems Technology XV, April, 2013
Realtime Alternate Routes Planning:The RRT*-AR Algorithm
Sanjiban Choudhury, Sebastian Scherer and Sanjiv Singh

Tech. Report, CMU-RI-TR-12-27, Robotics Institute, Carnegie Mellon University, December, 2012
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
Irrigation Scheduling Software Development
David Kohanbash and George A. Kantor

Conference Paper, Irrigation Association, November, 2012
Next-Generation Monitoring and Control Hardware Development
George A. Kantor, David Kohanbash and Todd Martin

Conference Paper, Irrigation Association, 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
Robust Monocular Visual Odometry for a Ground Vehicle in Undulating Terrain
Ji Zhang, Sanjiv Singh and George A. Kantor

Conference Paper, The 8th International Conference on Field and Service Robots (FSR 2012), 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
A Practical Obstacle Detection System for Autonomous Orchard Vehicles
Gustavo Medeiros Freitas, Bradley Hamner, Marcel Bergerman and Sanjiv Singh

Conference Paper, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2012
A Practical Obstacle Detection System for Autonomous Orchard Vehicles
Gustavo Medeiros Freitas, Bradley Hamner, Marcel Bergerman and Sanjiv Singh

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, Algarve, Portugal, October, 2012
Monocular Visual Navigation of an Autonomous Vehicle in Natural Scene Corridor-like Environments
Ji Zhang, George A. Kantor, Marcel Bergerman and Sanjiv Singh

Conference Paper, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 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
Market-based Coordination of Recharging Robots
Victor Marmol, Balajee Kannan and M Bernardine Dias

Tech. Report, CMU-RI-TR-12-28, Robotics Institute, Carnegie Mellon University, September, 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
Position Estimation by Registration to Planetary Terrain
Aashish Sheshadri, Kevin Peterson, Heather Jones and William (Red) L. Whittaker

Conference Paper, International Conference on Multisensor Fusion and Information Integration (MFI), September, 2012
Robust Indoor Localization on a Commercial Smart Phone
Nisarg Kothari, Balajee Kannan and M Bernardine Dias

Conference Paper, Procedia Computer Science, Vol. 10, No. 1877-0509, pp. 1114-1120, August, 2012
A Safety Architecture for Autonomous Agricultural Vehicles
David Kohanbash, Marcel Bergerman, Karen M. Lewis and Stewart J. Moorehead

Conference Paper, American Society of Agricultural and Biological Engineers Annual Meeting, July, 2012
Automated Crop Yield Estimation for Apple Orchards
Qi Wang, Stephen T. Nuske, Marcel Bergerman and Sanjiv Singh

Conference Paper, 13th Internation Symposium on Experimental Robotics (ISER 2012), July, 2012
Automation of Hydroponic Installations using a Robot with Position Based Visual Feedback
Niels Tanke, Guoming Alex Long, Dhruv Agrawal, Abhinav Valada and George A. Kantor

Conference Paper, Proceedings of the International Conference of Agricultural Engineering CIGR-Ageng 2012, July, 2012
Base Station Design and Architecture for Wireless Sensor Networks
David Kohanbash, Abhinav Valada and George A. Kantor

Conference Paper, International Conference of Agricultural Engineering (CIGR), July, 2012
Irrigation Control Methods for Wireless Sensor Network
David Kohanbash, Abhinav Valada and George A. Kantor

Conference Paper, American Society of Agricultural and Biological Engineers (ASABE) Annual Meeting, July, 2012
Modeling and Calibration Visual Yield Estimates in Vineyards
Stephen T. Nuske, Kamal Gupta, Srinivasa G. Narasimhan and Sanjiv Singh

Conference Paper, International Conference on Field and Service Robotics, July, 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
Autonomous Robot for Small Scale NFT Systems
Dhruv Agrawal, Guoming Alex Long, Niels Tanke, David Kohanbash and George A. Kantor

Conference Paper, American Society of Agricultural and Biological Engineers (ASABE) Annual Meeting, June, 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
Real-World Testing of a Multi-Robot Team
Paul Scerri, Prasanna Velagapudi, Balajee Kannan, Abhinav Valada, Christopher Tomaszewski, John M. Dolan, Adrian Scerri, Kumar Shaurya Shankar, Luis Lorenzo Bill-Clark and George A. Kantor

Conference Paper, Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2012), June, 2012
Real-World Testing of a Multi-Robot Team
Paul Scerri, Prasanna Velagapudi, Balajee Kannan, Abhinav Valada, Christopher Tomaszewski, Adrian Scerri, Kumar Shaurya Shankar, Luis Lorenzo Bill-Clark and George A. Kantor

Conference Paper, Autonomous Robots and Multi- robot Systems workshop (ARMS 2012, at AAMAS 2012), 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
Global pose estimation with limited gps and long range visual odometry
Joern Rehder, Kamal Gupta, Stephen T. Nuske and Sanjiv Singh

Conference Paper, IEEE Conference on Robotics and Automation, May, 2012
Orientation Only Loop-closing with Closed-form Trajectory Bending
Gijs Dubbelman, Peter Hansen, Brett Browning and M Bernardine Dias

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), May, 2012
Results with Autonomous Vehicles Operating in Specialty Crops
Marcel Bergerman, Sanjiv Singh and Bradley Hamner

Conference Paper, 2012 IEEE International Conference on Robotics and Automation, 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
Benefit of “Push-pull” Locomotion for Planetary Rover Mobility
Colin Creager, Scott Jared Moreland, Krzysztof Skonieczny, Kyle Johnson, Vivake Asnani and Ryan Gilligan

Conference Paper, Earth and Space Conference, April, 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
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
iSTEP 2011 Uruguay
Sarah M. Belousov, Yonina Cooper, M Bernardine Dias, Malcolm Frederick Dias, Afnan Fahim, Elise Gonzales, Asma Hamid, Meghan Nahass, Roberto Ponce Lopez, Ermine A. Teves, Hanae Timoulali and Vanessa Vázquez

Tech. Report, CMU-RI-TR-11-26, Robotics Institute, Carnegie Mellon University, January, 2012
Target tracking without line of sight using range from radio
Geoffrey Hollinger, Joseph Djugash and Sanjiv Singh

Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 32, No. 1, January, 2012
Plowing for Rover Control on Extreme Slopes
David Kohanbash

Master's Thesis, Tech. Report, CMU-RI-TR-11-35, Robotics Institute, Carnegie Mellon University, December, 2011
Proactive Indoor Navigation on Mobile Devices
Felipe Meneguzzi, Balajee Kannan, Katia Sycara, Chet Gnegy and Piotr Yordanov

Tech. Report, CMU-RI-TR-11-37, Robotics Institute, Carnegie Mellon University, December, 2011
Visual yield estimation in vineyards: Experiments with different varietals and calibration procedures
Stephen T. Nuske, Supreeth Achar, Kamal Gupta, Srinivasa G. Narasimhan and Sanjiv Singh

Tech. Report, CMU-RI-TR-11-39, Robotics Institute, Carnegie Mellon University, December, 2011
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
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
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
Perception for a River Mapping Robot
Andrew D. Chambers, Supreeth Achar, Stephen T. Nuske, Joern Rehder, Bernd Manfred Kitt, Lyle J. Chamberlain, Justin Haines, Sebastian Scherer and Sanjiv Singh

Conference Paper, Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), pp. 227 – 234, 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
Yield Estimation in Vineyards by Visual Grape Detection
Stephen T. Nuske, Supreeth Achar, Terry Bates, Srinivasa G. Narasimhan and Sanjiv Singh

Conference Paper, Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), September, 2011
Wireless Sensor Networks and Actionable Modeling for Intelligent Irrigation
David Kohanbash, Abhinav Valada and George A. Kantor

Conference Paper, 2011 ASABE Annual International Meeting, August, 2011
Autonomous Mechanical Thinning Using Scanning LIDAR
Matthew Aasted, Reuben J. Dise, Tara Auxt Baugher, James R Schupp, Paul H Heinemann and Sanjiv Singh

Conference Paper, 2011 ASABE Annual International Meeting, July, 2011
Autonomous Orchard Vehicles for Specialty Crops Production
Bradley Hamner, Marcel Bergerman and Sanjiv Singh

Conference Paper, 2011 ASABE Annual International Meeting, July, 2011
3-D Scene Analysis via Sequenced Predictions over Points and Regions
Xuehan Xiong, Daniel Munoz, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), May, 2011
A Long-Duration Propulsive Lunar Landing Testbed
Krishna Shankar, Kevin Peterson, Heather Jones, Justin Moidel and William (Red) L. Whittaker

Conference Paper, Proceedings of the International Conference on Robotics and Automation, May, 2011
Deployment of a Point and Line Feature Localization System for an Outdoor Agriculture Vehicle
Jacqueline Libby and George A. Kantor

Conference Paper, 2011 IEEE International Conference on Robotics & Automation (ICRA 2011), May, 2011
Generalized Boosting Algorithms for Convex Optimization
Alexander Grubb and J. Andrew (Drew) Bagnell

Conference Paper, Proceedings of the 28th International Conference on Machine Learning, May, 2011
iSTEP 2010 Bangladesh
Sarah M. Belousov, Yonina Cooper, M Bernardine Dias, Malcolm Frederick Dias, Jen Horwitz, Brian Manalastas, Jonathan Muller, Aysha Siddique, Anthony Velazquez and Ermine A. Teves

Tech. Report, CMU-RI-TR-35, Robotics Institute, Carnegie Mellon University, May, 2011
Low-Altitude Operation of Unmanned Rotorcraft
Sebastian Scherer

PhD Thesis, Tech. Report, CMU-RI-TR-11-03, Robotics Institute, Carnegie Mellon University, 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
FAHR: Focused A* Heuristic Recomputation
Matthew McNaughton and Christopher Urmson

Conference Paper, Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, pp. 4893 -4898, March, 2011
Inching Locomotion for Planetary Rover Mobility
Scott Jared Moreland, Krzysztof Skonieczny and David Wettergreen

Conference Paper, IEEE Aerospace, March, 2011
DSRP: Distributed SensorWeb Routing Protocol
Abhinav Valada, David Kohanbash and George A. Kantor

Conference Paper, 21st International Conference on Electronics, Communications and Computers (CONIELECOMP 2011), February, 2011
The PREval (Pilot Research Evaluation) Framework: Evaluating Pilot Projects in Information Communication Technology for Development (ICTD)
Mary Beatrice Dias, M Bernardine Dias, David Dausey and Elizabeth Casman

Tech. Report, CMU-RI-TR-11-02, Robotics Institute, Carnegie Mellon University, February, 2011
Enabling Long-Duration Lunar Equatorial Operations With Thermal Wadi Infrastructure
Heather Jones, John P. Thornton, Ramaswamy Balasubramaniam, Suleyman A. Gokoglu, Kurt R. Sacksteder and William (Red) L. Whittaker

Miscellaneous, Carnegie Mellon University, 49th AIAA Aerospace Sciences Meeting, January, 2011
Understanding and Recreating Visual Appearance Under Natural Illumination
Jean-Francois Lalonde

PhD Thesis, Tech. Report, CMU-RI-TR-11-01, Robotics Institute, Carnegie Mellon University, January, 2011
Combining Web Technology and Mobile Phones to Enhance English Literacy in Underserved Communities
Hatem Said Alismail, Aysha Siddique, Malcolm Frederick Dias, Anthony Velazquez, Mary Beatrice Dias, Sarah M. Belousov, Ermine A. Teves, Rotimi Abimbola, Daniel Nuffer, Bradley Hall, M Bernardine Dias and M Bernardine Dias

Conference Paper, First Annual Symposium on Computing for Development (ACM DEV 2010), December, 2010
Experiences with Lower-Cost Access to Tactile Graphics in India
M Bernardine Dias, Mohammed Kaleemur Rahman, Saurabh Sanghvi and Kentaro Toyama

Conference Paper, First Annual Symposium on Computing for Development (ACM DEV 2010), December, 2010
Learning Preference Models for Autonomous Mobile Robots in Complex Domains
David Silver

PhD Thesis, Tech. Report, CMU-RI-TR-10-41, Robotics Institute, Carnegie Mellon University, December, 2010
Online Learning Techniques for Improving Robot Navigation in Unfamiliar Domains
Boris Sofman

PhD Thesis, Tech. Report, CMU-RI-TR-10-43, Robotics Institute, Carnegie Mellon University, December, 2010
Using Mobile Phones and Open Source Tools to Empower Social Workers in Tanzania
Mary Beatrice Dias, Daniel Nuffer, Anthony Velazquez, Ermine A. Teves, Hatem Said Alismail, Sarah M. Belousov, Malcolm Frederick Dias, Rotimi Abimbola, Bradley Hall and M Bernardine Dias

Conference Paper, International Conference on Information and Communication Technologies and Development (ICTD2010), December, 2010
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
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
Pedestrian Detection and Tracking Using Three-dimensional LADAR Data
Luis Ernesto Navarro-Serment, Christoph Mertz and Martial Hebert

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Special Issue on the Seventh International Conference on Field and Service Robots, Vol. 29, No. 12, pp. 1516 - 1528, October, 2010
Aesthetic Image Classification for Autonomous Agents
Mark Desnoyer and David Wettergreen

Conference Paper, pp. 3452 - 3455, August, 2010
Assembly Planning in Constrained Environments: Building Structures with Multiple Mobile Robots
Frederik Heger

PhD Thesis, Tech. Report, CMU-RI-TR-10-34, Robotics Institute, Carnegie Mellon University, August, 2010
Enhancing Market-Based Task Allocation with Optimal Initial Schedules
G. Ayorkor Korsah, Balajee Kannan, Imran Aslam Fanaswala and M Bernardine Dias

Conference Paper, Intelligent Autonomous Systems 11 - IAS-11, pp. 249 - 258, August, 2010
Representing Substantial Heading Uncertainty for Accurate Geolocation by Small UAVs
Stephen T. Nuske, Michael Dille, Benjamin P. Grocholsky and Sanjiv Singh

Conference Paper, AIAA Guidance, Navigation, and Control Conference, August, 2010
Segmentation-Based Online Change Detection for Mobile Robots
Bradford Neuman

Tech. Report, CMU-RI-TR-10-30, Robotics Institute, Carnegie Mellon University, August, 2010
Improving the Efficiency of Clearing with Multi-agent Teams
Geoffrey Hollinger, Sanjiv Singh and Athanasios Kehagias

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 29, No. 8, pp. 1088-1105, July, 2010
Search in the Physical World
Geoffrey Hollinger

PhD Thesis, Tech. Report, CMU-RI-TR-10-20, Robotics Institute, Carnegie Mellon University, July, 2010
Accurate GPS-free Positioning of Utility Vehicles for Specialty Agriculture
Jacqueline Libby and George A. Kantor

Conference Paper, 2010 ASABE Annual International Meeting, June, 2010
Design and Development of a Wireless Sensor Network System for Precision Agriculture
Abhinav Valada, David Kohanbash and George A. Kantor

Tech. Report, CMU-RI-TR-10-21, Robotics Institute, Carnegie Mellon University, June, 2010
Improving Child Literacy in Africa: Experiments with an Automated Reading Tutor
G. Ayorkor Korsah, Jack Mostow, M Bernardine Dias, Tracy Morrison Sweet, Sarah M. Belousov, Malcolm Frederick Dias and Haijun Gong

Journal Article, Carnegie Mellon University, Information Technologies & International Development, Vol. 6, No. 2, June, 2010
Visual Classification of Coarse Vehicle Orientation using Histogram of Oriented Gradients Features
Paul Rybski, Daniel Huber, Daniel D. Morris and Regis Hoffman

Conference Paper, 2010 IEEE Intelligent Vehicles Symposium, 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
Multi-Robot Coordination with Periodic Connectivity
Geoffrey Hollinger and Sanjiv Singh

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

Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 28, No. 1, pp. 131 - 149, January, 2010
A graph search algorithm for indoor pursuit/evasion
Athanasios Kehagias, Geoffrey Hollinger and Sanjiv Singh

Journal Article, Carnegie Mellon University, Mathematical and Computer Modelling, Vol. 50, No. 10-Sep, pp. 1305-1317, November, 2009
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
Enhancing an Automated Braille Writing Tutor
M Bernardine Dias, Malcolm Frederick Dias, Sarah M. Belousov, Mohammed Kaleemur Rahman, Saurabh Sanghvi and Noura El-Moughn

Conference Paper, 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS 2009) proceedings, October, 2009
Mobile Robotic Dynamic Tracking for Assembly Tasks
Bradley Hamner, Seth C. Koterba, Jane Shi, Reid Simmons and Sanjiv Singh

Conference Paper, Proceedings of IROS 2009, October, 2009
Modeling Mobile Robot Motion with Polar Representations
Joseph Djugash, Sanjiv Singh and Benjamin P. Grocholsky

Conference Paper, Proceedings of IROS 2009, October, 2009
Utilizing prior information to enhance self-supervised aerial image analysis for extracting parking lot structures
Young-Woo Seo and Christopher Urmson

Conference Paper, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 339-344, October, 2009
Automation for Specialty Crops: A Comprehensive Strategy, Current Results, and Future Goals
Sanjiv Singh, Tara Baugher, Marcel Bergerman, Katie Ellis, Benjamin P. Grocholsky, Bradley Hamner, Jay Harper, Gwen-Alyn Hoheisel, Larry Hull, Vincent Jones, George A. Kantor, Brian Kliethermes, Harvey Koselka, Karen Lewis, Jacqueline Libby, William Messner, Henry Ngugi, James Owen, Johnny Park, Clark Seavert, Wenfan Shi and James Teza

Conference Paper, The 4th IFAC International Workshop on Bio-Robotics, Information Technology and Intelligent Control for Bioproduction Systems (2009 IFAC Bio-Robotics IV Workshop), September, 2009
Automation for Specialty Crops: A Comprehensive Strategy, Current Results, and Future Goals
Sanjiv Singh, Marcel Bergerman, Benjamin P. Grocholsky, Bradley Hamner, George A. Kantor, Brian Kliethermes, Jacqueline Libby, William Messner, Wenfan Shi, James Teza, Tara Baugher, Katie Ellis, Jay Harper, Gwen-Alyn Hoheisel, Larry Hull, Vincent Jones, Harvey Koselka, Karen Lewis, Henry Ngugi, James Owen, Johnny Park and Clark Seavert

Conference Paper, 4th IFAC International Workshop on Bio-Robotics,Information Technology,and Intelligent Control for Bioproduction Systems, September, 2009
Navigating with ranging radios: Five data sets with ground truth
Joseph Djugash, Bradley Hamner and Stephan Roth

Journal Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 26, No. 9, pp. 689-695, September, 2009
Obstacle Detection and Tracking for the Urban Challenge
Michael Darms, Paul Rybski, Christopher R. Baker and Christopher Urmson

Journal Article, Carnegie Mellon University, IEEE Transactions on Intelligent Transportation Systems, Vol. 10, No. 3, pp. 475-485, September, 2009
iSTEP Tanzania 2009: Inaugural Experience
Rotimi Abimbola, Hatem Alismail, Sarah M. Belousov, Beatrice Dias, Malcolm Frederick Dias, M Bernardine Dias, Imran Fanaswala, Bradley Hall, Daniel Nuffer, Ermine A. Teves, Jessica Thurston and Anthony Velázquez

Tech. Report, CMU-RI-TR-09-33, Robotics Institute, Carnegie Mellon University, 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
Efficient, Guaranteed Search with Multi-Agent Teams
Geoffrey Hollinger, Athanasios Kehagias and Sanjiv Singh

Conference Paper, Robotics: Science and Systems, July, 2009
Enhanced Formalization, Fun-Factor, and Field Testing for a Low-Cost Braille Writing Tutor
M Bernardine Dias, Malcolm Frederick Dias, Sarah M. Belousov, Mohammed Kaleemur Rahman, Saurabh Sanghvi and Noura El-Moughny

Tech. Report, CMU-RI-TR-09-30, Robotics Institute, Carnegie Mellon University, July, 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
Outdoor Downward-facing Optical Flow Odometry with Commodity Sensors
Michael Dille, Benjamin P. Grocholsky and Sanjiv Singh

Conference Paper, Proceedings Field & Service Robotics (FSR '09), July, 2009
Pedestrian Detection and Tracking Using Three-Dimensional LADAR Data
Luis Ernesto Navarro-Serment, Christoph Mertz and Martial Hebert

Conference Paper, Proc. of The 7th Int. Conf. on Field and Service Robotics, July, 2009
Self-supervised aerial image analysis for extracting parking lot structure
Young-Woo Seo, Nathan Ratliff and Christopher Urmson

Conference Paper, Proceedings of International Joint Conference on Artificial Intelligence (IJCAI-09), 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
Autonomous Driving in Traffic: Boss and the Urban Challenge
Christopher Urmson, Christopher R. Baker, John M. Dolan, Paul Rybski, Bryan Salesky, William (Red) L. Whittaker, David Ferguson and Michael Darms

Journal Article, Carnegie Mellon University, AI Magazine, Vol. 30, No. 2, pp. 17-29, June, 2009
Contextual Classification with Functional Max-Margin Markov Networks
Daniel Munoz, J. Andrew (Drew) Bagnell, Nicolas Vandapel and Martial Hebert

Conference Paper, IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), June, 2009
Convex Coding
David Bradley and J. Andrew (Drew) Bagnell

Conference Paper, Uncertainty in Artificial Intelligence (UAI), June, 2009
Convex Coding
David Bradley and J. Andrew (Drew) Bagnell

Tech. Report, CMU-RI-TR-09-22, Robotics Institute, Carnegie Mellon University, May, 2009
Efficient C-Space and Cost Function Updates in 3D for Unmanned Aerial Vehicles
Sebastian Scherer, David Ferguson and Sanjiv Singh

Conference Paper, Proceedings International Conference on Robotics and Automation, pp. 2049 – 2054, May, 2009
Onboard Contextual Classification of 3-D Point Clouds with Learned High-order Markov Random Fields
Daniel Munoz, Nicolas Vandapel and Martial Hebert

Conference Paper, IEEE International Conference on Robotics and Automation, May, 2009
Prototype Sense-andAvoid System for UAVs
Christopher M. Geyer, Debadeepta Dey and Sanjiv Singh

Tech. Report, CMU-RI-TR-09-09, Robotics Institute, Carnegie Mellon University, May, 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
Conjoined Lander-Rovers for Planetary Exploration
Steven Huber

Master's Thesis, Tech. Report, CMU-RI-TR-09-11, Robotics Institute, Carnegie Mellon University, April, 2009
Improving Child Literacy in Africa: Experiments with an Automated Reading Tutor
G. Ayorkor Korsah, Jack Mostow, M Bernardine Dias, Tracy Morrison Sweet, Sarah M. Belousov, Malcolm Frederick Dias and Haijun Gong

Conference Paper, 3rd IEEE/ACM International Conference on Information and Communication Technologies and Development (ICTD2009), April, 2009
Integrated long-range UAV/UGV collaborative target tracking
Mark B. Mosely, Benjamin P. Grocholsky, Carol Cheung and Sanjiv Singh

Conference Paper, Proc. SPIE, Unmanned Systems Technology XI Conference, Vol. 7332, April, 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
Efficient Multi-Robot Search for a Moving Target
Geoffrey Hollinger, Sanjiv Singh, Joseph Djugash and Athanasios Kehagias

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 28, No. 2, pp. 201-219, February, 2009
A Hierarchical Image Analysis for Extracting Parking Lot Structures from Aerial Images
Young-Woo Seo and Christopher Urmson

Tech. Report, CMU-RI-TR-09-03, Robotics Institute, Carnegie Mellon University, January, 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
Software Infrastructure for an Autonomous Ground Vehicle
Matthew McNaughton, Christopher R. Baker, Tugrul Galatali, Bryan Salesky, Christopher Urmson and Jason Ziglar

Journal Article, Carnegie Mellon University, Journal of Aerospace Computing, Information, and Communication, Vol. 5, No. 12, pp. 491 - 505, December, 2008
The Conditionalizing Identity Management Bayesian Filter (CIMBal)
Qirong Ho and Christopher M. Geyer

Tech. Report, CMU-RI-TR-08-47, Robotics Institute, Carnegie Mellon University, October, 2008
A Multisensor Multiobject Tracking System for an Autonomous Vehicle Driving in an Urban Environment
Michael Darms, Paul Rybski and Christopher Urmson

Conference Paper, AVEC 2008 - 9th International Symposium on Advanced Vehicle Control, September, 2008
A perception mechanism for supporting autonomous intersection handling in urban driving
Young-Woo Seo and Christopher Urmson

Conference Paper, Proceedings of IEEE International Conference Intelligent Robots and Systems, September, 2008
Fast Feature Detection and Stochastic Parameter Estimation of Road Shape using Multiple LIDAR
Kevin Peterson, Jason Ziglar and Paul Rybski

Conference Paper, IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, September, 2008
Motion Planning in Urban Environments: Part I
David Ferguson, Thomas Howard and Maxim Likhachev

Conference Paper, Proceedings of the IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, September, 2008
Motion Planning in Urban Environments: Part II
David Ferguson, Thomas Howard and Maxim Likhachev

Conference Paper, Proceedings of the IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, September, 2008
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

Conference Paper, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2008), pp. 4017-4023, September, 2008
Traffic Interaction in the Urban Challenge: Putting Boss on its Best Behavior
Christopher R. Baker and John M. Dolan

Conference Paper, International Conference on Intelligent Robots and Systems (IROS 2008), pp. 1752-1758, September, 2008
A Graph Search Algorithm for Indoor Pursuit / Evasion
Athanasios Kehagias, Geoffrey Hollinger and Sanjiv Singh

Tech. Report, CMU-RI-TR-08-38, Robotics Institute, Carnegie Mellon University, August, 2008
Anytime Guaranteed Search using Spanning Trees
Geoffrey Hollinger, Athanasios Kehagias, Sanjiv Singh, David Ferguson and Siddhartha Srinivasa

Tech. Report, CMU-RI-TR-08-36, Robotics Institute, Carnegie Mellon University, August, 2008
Intelligent Mapping for Autonomous Robotic Survey
David R. Thompson

PhD Thesis, Tech. Report, CMU-RI-TR-08-33, Robotics Institute, Carnegie Mellon University, August, 2008
A Robust Method of Localization and Mapping Using Only Range
Joseph Djugash and Sanjiv Singh

Conference Paper, International Symposium on Experimental Robotics, July, 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
Robust Mission Execution for Autonomous Urban Driving
Christopher R. Baker, David Ferguson and John M. Dolan

Conference Paper, 10th International Conference on Intelligent Autonomous Systems (IAS 2008), pp. 155-163, July, 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
A Reasoning Framework for Autonomous Urban Driving
David Ferguson, Christopher R. Baker, Maxim Likhachev and John M. Dolan

Conference Paper, Proceedings of the IEEE Intelligent Vehicles Symposium (IV 2008), pp. 775-780, June, 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
Classification and tracking of dynamic objects with multiple sensors for autonomous driving in urban environments.
Michael Darms, Paul Rybski and Christopher Urmson

Conference Paper, Proceedings of the 2008 IEEE Intelligent Vehicles Symposium, pp. 1197-1202, June, 2008
Detection, Prediction, and Avoidance of Dynamic Obstacles in Urban Environments
David Ferguson, Michael Darms, Christopher Urmson and Sascha Kolski

Conference Paper, Proceedings of the 2008 IEEE Intelligent Vehicles Symposium, pp. 1149-1154, June, 2008
Directional Associative Markov Network for 3-D Point Cloud Classification
Daniel Munoz, Nicolas Vandapel and Martial Hebert

Conference Paper, International Symposium on 3D Data Processing, Visualization and Transmission (3DPVT), June, 2008
Multi-Scale Interest Regions from Unorganized Point Clouds
Ranjith Unnikrishnan and Martial Hebert

Conference Paper, Workshop on Search in 3D (S3D), IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June, 2008
Proofs and Experiments in Scalable, Near-Optimal Search by Multiple Robots
Geoffrey Hollinger and Sanjiv Singh

Conference Paper, Robotics: Science and Systems, June, 2008
State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation in Complex Environments
Thomas Howard, Colin Green, David Ferguson and Alonzo Kelly

Journal Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 25, No. 7-Jun, pp. 325-345, June, 2008
Decentralized Mapping of Robot-Aided Sensor Networks
Joseph Djugash, Sanjiv Singh and Benjamin P. Grocholsky

Conference Paper, IEEE International Conference on Robotics and Automation, May, 2008
Flying Fast and Low Among Obstacles: Methodology and Experiments
Sebastian Scherer, Sanjiv Singh, Lyle J. Chamberlain and Mike Elgersma

Journal Article, The International Journal of Robotics Research, Vol. 27, No. 5, pp. 549-574, May, 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
Learning to Detect Aircraft at Low Resolutions
Stavros Petridis, Christopher M. Geyer and Sanjiv Singh

Journal Article, Carnegie Mellon University, Computer Vision Systems, Lecture Notes in Computer Science, Vol. 5008, pp. 474 - 483, May, 2008
Planning with Uncertainty in Position Using High-Resolution Maps
Juan Pablo Gonzalez

PhD Thesis, Tech. Report, CMU-RI-TR-08-02, Robotics Institute, Carnegie Mellon University, May, 2008
Pose Estimation Using Starfield Occlusion
John Kua

Master's Thesis, Tech. Report, CMU-RI-TR-08-21, Robotics Institute, Carnegie Mellon University, 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
Tracking a Moving Target in Cluttered Environments with Ranging Radios
Geoffrey Hollinger, Joseph Djugash and Sanjiv Singh

Conference Paper, IEEE International Conference on Robotics and Automation, May, 2008
Self-Driving Cars and the Urban Challenge
Christopher Urmson and William (Red) L. Whittaker

Journal Article, Carnegie Mellon University, IEEE Intelligent Systems, Vol. 23, No. 2, pp. 66-68, April, 2008
Avoiding Collisions Between Aircraft: State of the Art and Requirements for UAVs operating in Civilian Airspace
Christopher M. Geyer, Sanjiv Singh and Lyle J. Chamberlain

Tech. Report, CMU-RI-TR-08-03, Robotics Institute, Carnegie Mellon University, March, 2008
An adaptive model switching approach for a multisensor tracking system used for autonomous driving in an urban environment
Michael Darms, Paul Rybski and Christopher Urmson

Conference Paper, AUTOREG 2008, Steuerung und Regelung von Fahrzeugen und Motoren: 4. Fachtagung, pp. 521-530, February, 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
Human Supervision of Robotic Site Survey
Debra Schreckenghost, Terrence W. Fong and Tod Milam

Conference Paper, 6th Conference on Human/Robotic Technology and the Vision for Space Exploration, 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
Robotic Site Survey at Haughton Crater
Terrence W. Fong, Mark Allan, Xavier Bouyssounouse, Maria G. Bualat, Matthew Deans, Laurence Edwards, Lorenzo Fl?kiger, Leslie Keely, Susan Y. Lee, David Lees, Vinh To and Hans Utz

Conference Paper, 9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space, February, 2008
Tracking a Moving Target in Cluttered Environments with Ranging Radios: Extended Results
Geoffrey Hollinger, Joseph Djugash and Sanjiv Singh

Tech. Report, CMU-RI-TR-08-07, Robotics Institute, Carnegie Mellon University, February, 2008
Active Localization on the Ocean Floor With Multibeam Sonar
Nathaniel Fairfield and David Wettergreen

Conference Paper, Proceedings of MTS/IEEE OCEANS, January, 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
Segmentation of Salient Regions in Outdoor Scenes Using Imagery and 3-D Data
Gunhee Kim, Daniel Huber and Martial Hebert

Conference Paper, IEEE Workshop on Applications of Computer VIsion (WACV08), January, 2008
Vehicle detection and tracking for the Urban Challenge
Michael Darms, Christopher R. Baker, Paul Rybski and Christopher Urmson

Book Section/Chapter, 5. Workshop Fahrerassistenzsysteme, pp. 57-67, January, 2008
Iterative Design of A Braille Writing Tutor to Combat Illiteracy
Nidhi Kalra, Tom Lauwers, Daniel Dewey, Thomas Stepleton and M Bernardine Dias

Conference Paper, Proceedings of the 2nd IEEE/ACM International Conference on Information and Communication Technologies and Development, December, 2007
Rover Configuration for Exploring Lunar Craters
Jason Ziglar

Tech. Report, CMU-RI-TR-07-42, Robotics Institute, Carnegie Mellon University, December, 2007
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
Potential Negative Obstacle Detection by Occlusion Labeling
Nicholas Heckman, Jean-Francois Lalonde, Nicolas Vandapel and Martial Hebert

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2007
Denoising Manifold and Non-Manifold Point Clouds
Ranjith Unnikrishnan and Martial Hebert

Conference Paper, 18th British Machine Vision Conference (BMVC), September, 2007
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
Data Structures for Efficient Dynamic Processing in 3-D
Jean-Francois Lalonde, Nicolas Vandapel and Martial Hebert

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 26, No. 8, pp. 777-796, August, 2007
Coordinated Search in Cluttered Environments Using Range from Multiple Robots
Geoffrey Hollinger, Joseph Djugash and Sanjiv Singh

Conference Paper, Sixth International Conference on Field and Service Robotics, July, 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
2D Localization of Outdoor Mobile Robots Using 3D Laser Range Data
Takeshi Takahashi

Master's Thesis, Tech. Report, CMU-RI-07-11, Robotics Institute, Carnegie Mellon University, May, 2007
Autonomous Reflectance Spectroscopy by a Mobile Robot for Mineralogical Characterization
Francisco Calderon

Tech. Report, CMU-RI-TR-07-46, Robotics Institute, Carnegie Mellon University, May, 2007
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

Conference Paper, 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

Conference Paper, Proceedings of the NASA Science Technology Conference 2007 (NSTC-07), May, 2007
Flying Fast and Low Among Obstacles
Sebastian Scherer, Sanjiv Singh, Lyle J. Chamberlain and Srikanth Saripalli

Conference Paper, Proceedings International Conference on Robotics and Automation, pp. 2023 – 2029, April, 2007
Particle RRT for Path Planning with Uncertainty
Nicholas Melchior and Reid Simmons

Conference Paper, 2007 IEEE International Conference on Robotics and Automation, pp. 1617-1624, 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
Probabilistic Strategies for Pursuit in Cluttered Environments with Multiple Robots
Geoffrey Hollinger, Athanasios Kehagias and Sanjiv Singh

Conference Paper, IEEE International Conference on Robotics and Automation, 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
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
Undergraduate Robotics Education in Technologically Underserved Communities
M Bernardine Dias, Brett Browning, G. Ayorkor Korsah, Nathan Amanquah and Noura El-Moughny

Conference Paper, 2007 IEEE International Conference on Robotics and Automation, pp. 1387-1392, April, 2007
Autonomous Underwater Vehicle Navigation and Proximity Operations for Deep Phreatic Thermal Explorer (DEPTHX)
William Stone, Nathaniel Fairfield and George A. Kantor

Conference Paper, Masterclass in AUV Technology for Polar Science: Proceedings of an International Masterclass Held at the National Oceanography Centre, Southampton, UK, 28-39 March 2006, March, 2007
Parrots: A Range Measuring Sensor Network
Wei Zhang, Joseph Djugash and Sanjiv Singh

Tech. Report, CMU-RI-TR-06-05, Robotics Institute, Carnegie Mellon University, March, 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
A Braille Writing Tutor to Combat Illiteracy in Developing Communities
Nidhi Kalra, Tom Lauwers and M Bernardine Dias

Conference Paper, AI in ICT for Development Workshop, International Joint Conference on Artificial Intelligence, January, 2007
Creating Low-Cost Soil Maps for Tropical Agriculture using Gaussian Processes
Juan Pablo Gonzalez, Simon Cook, Thomas Oberthur, Andrew Jarvis, J. Andrew (Drew) Bagnell and M Bernardine Dias

Conference Paper, Workshop on AI in ICT for Development (ICTD) at the Twentieth International Joint Conference on Artificial Intelligence (IJCAI 2007), January, 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
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
Teaching technical creativity through Robotics: A case study in Ghana
G. Ayorkor Korsah, M Bernardine Dias, Brett Browning and Nathan Amanquah

Conference Paper, Workshop on AI in ICT for Development (ICTD) at the Twentieth International Joint Conference on Artificial Intelligence (IJCAI 2007), January, 2007
Learning Obstacle Avoidance Parameters from Operator Behavior
Bradley Hamner, Sanjiv Singh and Sebastian Scherer

Journal Article, Special Issue on Machine Learning Based Robotics in Unstructured Environments, Journal of Field Robotics, Vol. 23, No. 12, pp. 1037-1058, 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
Learning to Drive Among Obstacles
Bradley Hamner, Sebastian Scherer and Sanjiv Singh

Conference Paper, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2663 - 2669, 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
Planning with Uncertainty in Position Using High-Resolution Maps – Thesis Proposal
Juan Pablo Gonzalez

Tech. Report, CMU-RI-TR-06-45, Robotics Institute, Carnegie Mellon University, October, 2006
Teaching technical creativity through Robotics: A case study in Ghana
G. Ayorkor Korsah, M Bernardine Dias, Brett Browning and Nathan Amanquah

Tech. Report, CMU-RI-TR-06-46, Robotics Institute, Carnegie Mellon University, October, 2006
Towards Proactive Replanning for Multi-Robot Teams
Brennan Peter Sellner and Reid Simmons

Conference Paper, Proceedings of the 5th International Workshop on Planning and Scheduling in Space 2006, October, 2006
Cooperative air and ground surveillance
Benjamin P. Grocholsky, J. Keller, V. Kumar and G. Pappas

Journal Article, Carnegie Mellon University, IEEE Robotics & Automation Magazine, Vol. 13, No. 3, pp. 16 - 25, September, 2006
Tracking of Moving Objects from a Moving Vehicle Using a Scanning Laser Rangefinder
Robert MacLachlan and Christoph Mertz

Conference Paper, Intelligent Transportation Systems 2006, Vol. 2006, pp. 301-306, September, 2006
A Robust Approach to High-Speed Navigation for Unrehearsed Desert Terrain
Christopher Urmson, Joshua Anhalt, Daniel Bartz, Michael Clark, Tugrul Galatali, Alexander Gutierrez, Sam Harbaugh, Joshua Johnston, Hiroki Kato, Phillip L. Koon, William Messner, Nick Miller, Aaron Mosher, Kevin Peterson, Charlie Ragusa, David Ray, Bryon K. Smith, Jarrod M. Snider, Spencer Spiker, Joshua C. Struble, Jason Ziglar and William (Red) L. Whittaker

Journal Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 23, No. 8, pp. 467-508, 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
Sliding Autonomy for Complex Coordinated Multi-Robot Tasks: Analysis & Experiments
Frederik Heger and Sanjiv Singh

Conference Paper, In Proceedings, Robotics: Systems and Science, August, 2006
Automatic Three-Dimensional Point Cloud Processing for Forest Inventory
Jean-Francois Lalonde, Nicolas Vandapel and Martial Hebert

Tech. Report, CMU-RI-TR-06-21, Robotics Institute, Carnegie Mellon University, July, 2006
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
Coordinated Multi-Agent Teams and Sliding Autonomy for Large-Scale Assembly
Brennan Peter Sellner, Frederik Heger, Laura Hiatt, Reid Simmons and Sanjiv Singh

Journal Article, Carnegie Mellon University, Proceedings of the IEEE - Special Issue on Multi-Robot Systems, Vol. 94, No. 7, pp. 1425 - 1444, July, 2006
Long-term motion estimation from images
Dennis Strelow and Sanjiv Singh

Conference Paper, In Proceedings, International Symposium on Experimental Robotics, 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
Preliminary Results in Tracking Mobile Targets Using Range Sensors from Multiple Robots
Elizabeth Liao, Geoffrey Hollinger, Joseph Djugash and Sanjiv Singh

Conference Paper, The 8th International Symposium on Distributed Autonomous Robotic Systems, pp. 125-134, June, 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
Data Structure for Efficient Dynamic Processing in 3-D
Jean-Francois Lalonde

Master's Thesis, Tech. Report, CMU-RI-TR-06-22, Robotics Institute, Carnegie Mellon University, May, 2006
Range-Only SLAM for Robots Operating Cooperatively with Sensor Networks
Joseph Djugash, Sanjiv Singh, George A. Kantor and Wei Zhang

Conference Paper, IEEE International Conference on Robotics and Automation, pp. 2078 - 2084, May, 2006
Range-only SLAM with Interpolated Range Data
Athanasios Kehagias, Joseph Djugash and Sanjiv Singh

Tech. Report, CMU-RI-TR-06-26, Robotics Institute, Carnegie Mellon University, 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
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
Attaining Situational Awareness for Sliding Autonomy
Brennan Peter Sellner, Laura M. Hiatt, Reid Simmons and Sanjiv Singh

Conference Paper, Proceedings of HRI 2006, March, 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
Evaluation of Autonomous Ground Vehicle Skills
Phillip L. Koon

Master's Thesis, Tech. Report, CMU-RI-TR-06-13, Robotics Institute, Carnegie Mellon University, March, 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
A Formalism for Utilization of Sensor Systems and Integrated Project Models for Active Construction Quality Control
Burcu Akinci, Frank Boukamp, Chris Gordon, Daniel Huber, Catherine Lyons and Kuhn Park

Journal Article, Carnegie Mellon University, Automation in Construction, Vol. 15, No. 2, pp. 124-138, February, 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
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
Recent Developments in Subterranean Robotics
Aaron Christopher Morris, David Ferguson, Zachary Omohundro, David Bradley, David Silver, Christopher R. Baker, Scott Thayer, Chuck Whittaker and William (Red) L. Whittaker

Journal Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 23, No. 1, pp. 35-57, 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
Preplanning for high performance autonomous traverse of desert terrain exploiting a priori knowledge to optimize speeds and to detail paths
Alexander Gutierrez, Tugrul Galatali, Juan Pablo Gonzalez, Christopher Urmson and William (Red) L. Whittaker

Tech. Report, CMU-RI-TR-05-54, 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
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
An Analysis of the Human Odometer
Uland Wong, Catherine Lyons and Scott Thayer

Tech. Report, CMU-RI-TR-05-47, Robotics Institute, Carnegie Mellon University, 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
Experimental Characterization of a Robotic Inflatable Wheel
Dimitrios (Dimi) Apostolopoulos, Michael D. Wagner, Chris Leger and Jack Jones

Conference Paper, 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005
Experimental Characterization of a Robotic Inflatable Wheel
Dimitrios (Dimi) Apostolopoulos, Michael D. Wagner, Patrick (Chris) Leger and Jack Jones

Conference Paper, Proceedings of the ISAIRAS 2005 Conference Munich, Germany, 5-8 Sep 2005, ESA SP-603, 5-8 September, 2005, September, 2005
Model Checking of Robotic Control Systems
Sebastian Scherer, Flavio Lerda and Edmund M. Clarke

Conference Paper, Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), September, 2005
Results in Sliding Autonomy for Multi-robot Spatial Assembly
Frederik Heger, Laura Hiatt, Brennan Peter Sellner, Reid Simmons and Sanjiv Singh

Conference Paper, Proceedings of the 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
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
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
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
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
Assessment of visualization software for support of construction site inspection tasks using data collected from reality capture technologies
Chris Gordon, Burcu Akinci, Frank Boukamp and Daniel Huber

Conference Paper, Proceedings of the 2005 International Conference on Computing in Civil Engineering, July, 2005
Further Results with Localization and Mapping using Range from Radio
Joseph Djugash, Sanjiv Singh and Peter Ian Corke

Conference Paper, International Conference on Field & Service Robotics (FSR '05), July, 2005
Results in Combined Route Traversal and Collision Avoidance
Stephan Roth, Bradley Hamner, Sanjiv Singh and Myung Hwangbo

Conference Paper, International Conference on Field & Service Robotics (FSR '05), July, 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
Data Structure for Efficient Processing in 3-D
Jean-Francois Lalonde, Nicolas Vandapel and Martial Hebert

Conference Paper, Robotics: Science and Systems 1, June, 2005
Scale Selection for Classification of Point-sampled 3-D Surfaces
Jean-Francois Lalonde, Ranjith Unnikrishnan, Nicolas Vandapel and Martial Hebert

Conference Paper, Fifth International Conference on 3-D Digital Imaging and Modeling (3DIM 2005), pp. 285 - 292, 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
The hierarchical atlas
Brad Lisien, Deryck Morales, David Silver, George A. Kantor, Ioannis Rekleitis and Howie Choset

Journal Article, Carnegie Mellon University, IEEE Transactions on Robotics, Vol. 21, No. 3, pp. 473 - 481, June, 2005
The TechBridgeWorld Initiative: Broadening Perspectives in Computing Technology, Education and Research
M Bernardine Dias, G. Ayorkor Korsah and Joseph Mertz

Conference Paper, CWIT '05: Proceedings of the international symposium on Women and ICT: Creating Global Transformation, June, 2005
Mission-Directed Path Planning for Planetary Rover Exploration
Paul Tompkins

PhD Thesis, Tech. Report, CMU-RI-TR-05-20, Robotics Institute, Carnegie Mellon University, May, 2005
Navigation Regimes for Off-Road Autonomy
Christopher Urmson

PhD Thesis, Tech. Report, CMU-RI-TR-05-23, Robotics Institute, Carnegie Mellon University, May, 2005
Analysis and Removal of Artifacts in 3-D LADAR Data
John Tuley, Nicolas Vandapel and Martial Hebert

Conference Paper, IEEE International Conference on Robotics and Automation, pp. 2203 - 2210, April, 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
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
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
Planning 3-D Path Networks in Unstructured Environments
Nicolas Vandapel, James Kuffner and Omead Amidi

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 4624 - 4629, April, 2005
Robotics, Education, and Sustainable Development
M Bernardine Dias, G. Ayorkor Korsah and Thrishantha Nanayakkara

Conference Paper, 2005 IEEE International Conference on Robotics and Automation, pp. 4248 - 4253, 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
Life in the Atacama ?Year 2: Geologic Reconnaissance Through Long-Range Roving and Implications on the Search for Life
James M. Dohm, Nathalie A. Cabrol, Edmond A. Grin, Jeffrey Moersch, Guillermo Chong Diaz, Charles Cockell, Peter Coppin, Gregory Fisher, Andrew N. Hock, Lucia Marinangeli, Edwin Minkley, G. G. Ori, Jennifer L. Piatek, Kim Warren-Rhodes, Shmuel Weinstein, Michael Wyatt, Trey Smith, Michael D. Wagner, Kristen Stubbs, Geb Thomas and Justin Glasgow

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
Bearings based robot homing with robust landmark matching and limited horizon view
Ivan Kirigin and Sanjiv Singh

Tech. Report, CMU-RI-TR-05-02, Robotics Institute, Carnegie Mellon University, January, 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
User Modelling for Principled Sliding Autonomy in Human-Robot Teams
Brennan Peter Sellner, Reid Simmons and Sanjiv Singh

Conference Paper, Proceedings of the NRL Multirobot Workshop 2005, January, 2005
A regional point descriptor for global localization in subterranean environments
David Bradley, David Silver and Scott Thayer

Conference Paper, IEEE conference on Robotics Automation and Mechatronics (RAM 2005), Vol. 1, pp. 440 - 445, December, 2004
Scan Matching for Flooded Subterranean Voids
David Silver, David Bradley and Scott Thayer

Conference Paper, IEEE conference on Robotics Automation and Mechatronics (RAM), Vol. 1, pp. 422 - 427, December, 2004
Finding Organized Structures in 3-D LADAR Data
Nicolas Vandapel and Martial Hebert

Conference Paper, Army Science Conference, November, 2004
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
EventScope: Bringing Remote Experience of Mars to the Public through Telepresence
E. Myers, Peter Coppin, Michael D. Wagner, Karl Fischer, Dan Luisa Lu, W.R. McCloskey and David Seneker

Conference Paper, 2004 IEEE Symposium on Information Visualization, pp. 16 - 17, October, 2004
Framework for robust mobile robot systems
Nicholas Melchior and William D. Smart

Conference Paper, Proceedings of the SPIE: Mobile Robots XVII, Vol. 5609, pp. 145-154, October, 2004
Path Planning with Hallucinated Worlds
Bart Nabbe, Sanjiv Kumar and Martial Hebert

Conference Paper, Proceedings: IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 4, pp. 3123 - 3130, October, 2004
Robot and Sensor Networks for First Responders
Vijay Kumar, Daniela Rus and Sanjiv Singh

Journal Article, Carnegie Mellon University, PERVASIVE computing, pp. 24 - 33, October, 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
Finding Organized Structures in 3-D Ladar Data
Nicolas Vandapel and Martial Hebert

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 786 - 791, September, 2004
Analysis and removal of artifacts in 3-D LADAR data
John Tuley, Nicolas Vandapel and Martial Hebert

Tech. Report, CMU-RI-TR-04-44, Robotics Institute, Carnegie Mellon University, August, 2004
High Speed Navigation of Unrehearsed Terrain: Red Team Technology for Grand Challenge 2004
Christopher Urmson, Joshua Anhalt, Michael Clark, Tugrul Galatali, Juan Pablo Gonzalez, Jay Gowdy, Alexander Gutierrez, Sam Harbaugh, Matthew Johnson-Roberson, Hiroki Kato, Phillip L. Koon, Kevin Peterson, Bryon K. Smith, Spencer Spiker, Erick Tryzelaar and William (Red) L. Whittaker

Tech. Report, CMU-RI-TR-04-37, Robotics Institute, Carnegie Mellon University, June, 2004
Enhancing Multi-Robot Coordinated Teams with Sliding Autonomy
Jonathan Brookshire

Master's Thesis, Tech. Report, CMU-RI-TR-04-40, Robotics Institute, Carnegie Mellon University, May, 2004
Classifier Fusion for Outdoor Obstacle Detection
Cristian Dima, Nicolas Vandapel and Martial Hebert

Conference Paper, International Conference on Robotics and Automation, Vol. 1, pp. 665 - 671, April, 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
Natural Terrain Classification using 3-D Ladar Data
Nicolas Vandapel, Daniel Huber, Anuj Kapuria and Martial Hebert

Conference Paper, IEEE International Conference on Robotics and Automation, Vol. 5, pp. 5117 - 5122, 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
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
Preliminary Results in Sliding Autonomy for Coordinated Teams
Jonathan Brookshire, Sanjiv Singh and Reid Simmons

Conference Paper, Proceedings of The 2004 Spring Symposium Series, March, 2004
Omnidirectional Visual Odometry for a Planetary Rover
Peter Ian Corke, Dennis Strelow and Sanjiv Singh

Conference Paper, Proceedings of IROS 2004, January, 2004
Perception for collision avoidance and autonomous driving
Romuald Aufrere, Jay Gowdy, Christoph Mertz, Chuck Thorpe, Chieh-Chih Wang and Teruko Yata

Journal Article, Carnegie Mellon University, Mechatronics, Vol. 13, No. 10, pp. 1149-1161, December, 2003
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
Combining Reality Capture Technologies for Construction Defect Detection: A Case Study
C. Gordon, F. Boukamp, Daniel Huber, Edward Latimer, K. Park and B. Akinci

Conference Paper, EIA9: E-Activities and Intelligent Support in Design and the Built Environment, 9th EuropIA International Conference, pp. 99-108, October, 2003
Experimental results in range-only localization with radio
Derek Kurth, George A. Kantor and Sanjiv Singh

Conference Paper, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), Vol. 1, pp. 974 - 979, October, 2003
Hierarchical simultaneous localization and mapping
Brad Lisien, Deryck Morales, David Silver, George A. Kantor, Ioannis Rekleitis and Howie Choset

Conference Paper, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), Vol. 1, pp. 448 - 453, October, 2003
Motion Planning for a Mobile Manipulator with Imprecise Locomotion
Dong Hun Shin, Bradley Hamner, Sanjiv Singh and Myung Hwangbo

Conference Paper, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), October, 2003
Safe Robot Driving in Cluttered Environments
Chuck Thorpe, Justin David Carlson, David Duggins, Jay Gowdy, Robert MacLachlan, Christoph Mertz, Arne Suppe and Chieh-Chih Wang

Conference Paper, Proceedings of the 11th International Symposium of Robotics Research, October, 2003
Sensor and Classifier Fusion for Outdoor Obstacle Detection: an Application of Data Fusion To Autonomous Off-Road Navigation
Cristian Dima, Nicolas Vandapel and Martial Hebert

Conference Paper, The 32nd Applied Imagery Recognition Workshop (AIPR2003), pp. 255 - 262, October, 2003
Where and When to Look
Bart Nabbe and Martial Hebert

Conference Paper, IROS 2003, Vol. 1, pp. 920 - 927, October, 2003
Variable Resolution Particle Filter
Vandi Verma, Sebastian Thrun and Reid Simmons

Conference Paper, In Proceedings of International Joint Conference on Artificial Intelligence, August, 2003
Case Studies of a Borehole Deployable Robot for Limestone Mine Profiling and Mapping
Aaron Christopher Morris, Derek Kurth, Daniel Huber, Chuck Whittaker and Scott Thayer

Conference Paper, International Conference on Field and Service Robotics (FSR), July, 2003
Distributed Search and Rescue with Robot and Sensor Teams
George A. Kantor, Sanjiv Singh, R. Peterson, Daniela Rus, A. Das, V. Kumar, G. Pereira and J. Spletzer

Conference Paper, The 4th International Conference on Field and Service Robotics, July, 2003
FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem with Unknown Data Association
Michael Montemerlo

PhD Thesis, Tech. Report, CMU-RI-TR-03-28, Robotics Institute, Carnegie Mellon University, 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
Multiple Sensor Fusion for Detecting Location of Curbs, Walls, and Barriers
Romuald Aufrere, Christoph Mertz and Chuck Thorpe

Conference Paper, Proceedings of the IEEE Intelligent Vehicles Symposium (IV2003), June, 2003
Optimal Motion Estimation from Visual and Inertial Measurements
Dennis Strelow and Sanjiv Singh

Conference Paper, Proceedings of the Workshop on Integration of Vision and Inertial Sensors (INERVIS 2003), June, 2003
Reckless motion estimation from omnidirectional image and inertial measurements
Dennis Strelow and Sanjiv Singh

Conference Paper, IEEE Workshop on Omnidirectional Vision and Camera Networks (OMNIVIS 2003), June, 2003
Results of the Inflatable Robotic Rover Testbed
Dimitrios (Dimi) Apostolopoulos, Michael D. Wagner, Stuart Heys and James Teza

Tech. Report, CMU-RI-TR-03-18, Robotics Institute, Carnegie Mellon University, June, 2003
Efficient Monitoring for Planetary Rovers
Vandi Verma, Geoffrey Gordon and Reid Simmons

Conference Paper, International Symposium on Artificial Intelligenceand Robotics in Space, May, 2003
terrain classification techniques from ladar data for autonomous navigation
Martial Hebert and Nicolas Vandapel

Conference Paper, Collaborative Technology Alliances conference, May, 2003
A Generic Framework for Robotic Navigation
Christopher Urmson, Reid Simmons and Issa Nesnas

Conference Paper, IEEE Aerospace Conference 2003, March, 2003
Science Autonomy in the Atacama
Trey Smith

Conference Paper, Proc. of ICML 2003 Workshop on Machine Learning Technologies for Autonomous Space Applications, January, 2003
Evaluation and Comparison of Terrain Classification Techniques from LADAR Data for Autonomous Navigation
Martial Hebert, Nicolas Vandapel, Stefan Keller and Raghavendra Rao Donamukkala

Conference Paper, 23rd Army Science Conference, December, 2002
Optimal Motion Estimation from Visual and Inertial Measurements
Dennis Strelow and Sanjiv Singh

Conference Paper, Proceedings of the Workshop on Applications of Computer Vision, December, 2002
An empirical comparison of methods for image-base motion estimation
Henele Adams, Sanjiv Singh and Dennis Strelow

Conference Paper, 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002
Autonomous Coverage Operations in Semi-Structured Outdoor Environments
Parag Batavia and Sanjiv Singh

Conference Paper, 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002
State of the Art in Automation of Earthmoving, 2002
Sanjiv Singh

Conference Paper, Proceedings of the Workshop on Advanced Geomechatronics, October, 2002
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
Safe Robot Driving
Chuck Thorpe, Romuald Aufrere, Justin David Carlson, David Duggins, Terrence W. Fong, Jay Gowdy, John Kozar, Robert MacLachlan, Colin McCabe, Christoph Mertz, Arne Suppe, Chieh-Chih Wang and Teruko Yata

Conference Paper, Proceedings of the International Conference on Machine Automation (ICMA 2002), September, 2002
Stereo Vision Based Navigation for Sun-Synchronous Exploration
Christopher Urmson, M Bernardine Dias and Reid Simmons

Conference Paper, Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), Vol. 1, pp. 805 - 810, 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 Foundation for Kilorobotic Exploration
Surya Singh and Scott Thayer

Conference Paper, Proceedings of the Congress on Evolutionary Computation at the 2002 IEEE World Congress on Computational Intelligence, May, 2002
EventScope: A Telescience Interface for Internet-Based Education
Peter Coppin, Michael D. Wagner and The EventScope Team

Miscellaneous, Carnegie Mellon University, Presented at the Workshop on Telepresence for Education, International Conference on Robotics and Automation, May, 2002
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
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
Preliminary Results in Range-only Localization and Mapping
George A. Kantor and Sanjiv Singh

Conference Paper, Proceedings of the IEEE Conference on Robotics and Automation (ICRA '02), Vol. 2, pp. 1818 - 1823, May, 2002
Toward Practical Cooperative Stereo for Robotic Colonies
Bart Nabbe and Martial Hebert

Conference Paper, 2002 IEEE International Conference on Robotics and Automation, Vol. 4, No. 2002, pp. 3328-3335, May, 2002
Driving in Traffic: Short-Range Sensing for Urban Collision Avoidance
Chuck Thorpe, David Duggins, Jay Gowdy, Robert MacLachlan, Christoph Mertz, Mel Siegel, Arne Suppe, Chieh-Chih Wang and Teruko Yata

Conference Paper, Proceedings of SPIE: Unmanned Ground Vehicle Technology IV, Vol. 4715, April, 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
Principles of Computer System Design for Stereo Perception
Michael D. Wagner, David O'Hallaron, Dimitrios (Dimi) Apostolopoulos and Christopher Urmson

Tech. Report, CMU-RI-TR-02-01, Robotics Institute, Carnegie Mellon University, January, 2002
Scene Modeling from Motion-Free Radar Sensing
Alex Foessel

PhD Thesis, Tech. Report, CMU-RI-TR-02-03, Robotics Institute, Carnegie Mellon University, January, 2002
Eye-safe Laser Line Striper for Outside Use
Christoph Mertz, John Kozar, James Ryan Miller and Chuck Thorpe

Conference Paper, IV 2002, IEEE Intelligent Vehicle Symposium, June, 2002., December, 2001
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
A Sensor Arm for Robotic Antarctic Meteorite Search
Christopher Urmson, Benjamin Shamah, James Teza, Michael D. Wagner, Dimitrios (Dimi) Apostolopoulos and William (Red) L. Whittaker

Conference Paper, Proceedings of the 3rd International Conference on Field and Service Robotics, July, 2001
A Multiple Information Source Planner for Autonomous Planetary Exploration
Stewart Moorehead, Reid Simmons and William (Red) L. Whittaker

Conference Paper, International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), June, 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
MMW-Scanning Radar for Descent Guidance and Landing Safeguard
Alex Foessel and William (Red) L. Whittaker

Conference Paper, Proceedings 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space, June, 2001
Non-Parametric Fault Identification for Space Rovers
Vandi Verma, John Langford and Reid Simmons

Conference Paper, International Symposium on Artificial Intelligence and Robotics in Space (iSAIRAS), June, 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
Three-Dimensional Map Building with MMW Radar
Alex Foessel, John Bares and William (Red) L. Whittaker

Conference Paper, Proceedings of the 3rd International Conference on Field and Service Robotics, June, 2001
A Data-Rate Aware Telemetry Scheduler
Punitha Manavalan and Michael D. Wagner

Tech. Report, CMU-RI-TR-01-12, Robotics Institute, Carnegie Mellon University, May, 2001
Autonomous characterization of unknown environments
Liam Pedersen

Conference Paper, 2001 IEEE International Conference on Robotics and Automation, Vol. 1, pp. 277 - 284, May, 2001
Autonomous Robotic Meteorite Identification in Antarctica
Liam Pedersen, Michael D. Wagner, Dimitrios (Dimi) Apostolopoulos and William (Red) L. Whittaker

Conference Paper, 2001 IEEE International Conference on Robotics and Automation, pp. 4158-4165, May, 2001
Future Directions in Multi-Robot Autonomy and Planetary Surface Construction
Trey Smith, Reid Simmons, Sanjiv Singh and David Hershberger

Conference Paper, Proceedings of the 2001 Space Studies Institute Conference, May, 2001
Robotic Antarctic Meteorite Search: Outcomes
Dimitrios (Dimi) Apostolopoulos, Liam Pedersen, Benjamin Shamah, Kimberly Shillcutt, Michael D. Wagner and William (Red) L. Whittaker

Conference Paper, 2001 IEEE International Conference on Robotics and Automation, pp. 4174-4179, May, 2001
Skyworker: a robot for assembly, inspection and maintenance of large scale orbital facilities
Peter Staritz, Sarjoun Skaff, Christopher Urmson and William (Red) L. Whittaker

Conference Paper, Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA '01), Vol. 4, pp. 4180 - 4185, May, 2001
Solar Navigational Planning for Robotic Explorers
Kimberly Shillcutt and William (Red) L. Whittaker

Conference Paper, 2001 IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1421 - 1426, 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

Conference Paper, 2001 IEEE International Conference on Robotics and Automation, pp. 1742-1749, May, 2001
Analytical Configuration of Wheeled Robotic Locomotion
Dimitrios (Dimi) Apostolopoulos

PhD Thesis, Tech. Report, CMU-RI-TR-01-08, Robotics Institute, Carnegie Mellon University, April, 2001
Reality Browsing: Using Information Interaction and Robotic Autonomy for Planetary Exploration
Peter Coppin, Michael D. Wagner and Scott Thayer

Conference Paper, Space Technology and Applications International Forum 2001 (STAIF 2001), Vol. 552, pp. 64-69, February, 2001
Extending Shape from Motion to Non-Central Omnidirectional Cameras
Dennis Strelow, Jeffrey S. Mishler, Sanjiv Singh and Herman Herman

Conference Paper, Proceedings of IROS 2001, January, 2001
Skyworker: Robotics for Space Assembly, Inspection and Maintenance
Sarjoun Skaff, Peter Staritz and William (Red) L. Whittaker

Conference Paper, Space Studies Institute Conference, January, 2001
Technology and Field Demonstration of Robotic Search for Antarctic Meteorites
Dimitrios (Dimi) Apostolopoulos, Michael D. Wagner, Benjamin Shamah, Liam Pedersen, Kimberly Shillcutt and William (Red) L. Whittaker

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, December, 2000
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
Radar Sensor Model for Three-Dimensional Map Building
Alex Foessel

Conference Paper, Proc. SPIE, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, Vol. 4195, November, 2000
Solar Based Navigation for Robotic Explorers
Kimberly Shillcutt

PhD Thesis, Tech. Report, CMU-RI-TR-00-25, Robotics Institute, Carnegie Mellon University, October, 2000
EventScope: Amplifying Human Knowledge and Experience via Intelligent Robotic Systems and Information Interaction
Peter Coppin, Richard Pell, Michael D. Wagner, John R. Hayes, Junlei Li, Liza Hall, Karl Fischer, David Hirschfield and William (Red) L. Whittaker

Conference Paper, IEEE International Workshop on Robot-Human Interaction, Osaka, Japan, September 2000, September, 2000
Robotics for Assembly, Inspection, and Maintenance of Space Macrofacilities
William (Red) L. Whittaker, Christopher Urmson, Peter Staritz, Brett Kennedy and Rob Ambrose

Conference Paper, AIAA Space 2000 Conference and Exposition, September, 2000
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
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
Experimenter’s Notebook: Robotic Search for Antarctic Meteorites 2000 Expedition
Michael D. Wagner

Tech. Report, CMU-RI-TR-00-13, Robotics Institute, Carnegie Mellon University, June, 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
Evaluation of Computer Vision Algorithms for Autonomous Navigation in Polar Terrains
Nicolas Vandapel, Raja Chatila, Stewart Moorehead, Simon Lacroix, Dimitrios (Dimi) Apostolopoulos and William (Red) L. Whittaker

Conference Paper, International Conference on Intelligent Autonomous Systems, January, 2000
Constructing fast hydraulic robot models for optimal motion planning
Murali Krishna and John Bares

Conference Paper, 1999 Field and Service Robotics Conference (FSR '99), August, 1999
Effect of Tire Design and Steering Mode on Robotic Mobility in Barren Terrain
Benjamin Shamah, Dimitrios (Dimi) Apostolopoulos, Michael D. Wagner and William (Red) L. Whittaker

Conference Paper, Proceeding of the International Conference on Field and Service Robots, pp. 287-292, August, 1999
Short-Range Millimeter-Wave Radar Perception in a Polar Environment
Alex Foessel and Dimitrios (Dimi) Apostolopoulos

Conference Paper, Proceedings of the Field and Service Robotics Conference, August, 1999
Solar Blade Nanosatellite Development: Heliogyro Deployment, Dynamics,and Control
Richard Blomquist

Conference Paper, Proceedings of the 13th USU / AIAA Small Satellite Conference, August, 1999
Technology and Field Demonstration Results in the Robotic Search for Antarctic Meteorites
Dimitrios (Dimi) Apostolopoulos, Michael D. Wagner and William (Red) L. Whittaker

Conference Paper, Proceedings of the International Conference on Field and Service Robotics, pp. 185-190, August, 1999
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
Autonomous Navigation Field Results of a Planetary Analog Robot in Antarctica
Stewart Moorehead, Reid Simmons, Dimitrios (Dimi) Apostolopoulos and William (Red) L. Whittaker

Conference Paper, International Symposium on Artificial Intelligence, Robotics and Automation in Space, June, 1999
Solar Power Expert for Remote Robotic Explorers
Kimberly Shillcutt and William (Red) L. Whittaker

Conference Paper, International Symposium on Artificial Intelligence, Robotics and Automation in Space, June, 1999
Big Signal: Information Interaction for Public Telerobotic Exploration
Peter Coppin, Alexi Morrissey, Michael D. Wagner, Matthew Vincent and Geb Thomas

Conference Paper, Presented at the Workshop on Current Challenges in Internet Robotics, International Conference on Robotics and Automation, May, 1999
Icebreaker: An Exploration of the Lunar South Pole
Paul Tompkins and Ashley Stroupe

Conference Paper, Proceedings of the 14th SSI Conference on Space Manufacturing, May, 1999
ARTISAN: An Integrated Scene Mapping and Object Recognition System
Vince Broz, Owen Carmichael, Scott Thayer, James Osborn and Martial Hebert

Conference Paper, American Nuclear Society 8th Intl. Topical Meeting on Robotics and Remote Systems, April, 1999
Preliminary Results on the use of Stereo, Color Cameras and Laser Sensors in Antarctica
Nicolas Vandapel, Stewart Moorehead, William (Red) L. Whittaker, Raja Chatila and Raphael Murrieta-Cid

Conference Paper, International Symposium on Experimental Robotics, March, 1999
Virtual Reality Mapping System for Chernobyl Accident Site Assessment
Theodore T. Blackmon, Scott Thayer, James Teza, James Osborn and Martial Hebert

Conference Paper, Proceedings of the SPIE, Vol. 3644, pp. 338-345, February, 1999
Autonomous Science Decisions for Mars Sample Return
T.L. Roush, V. Gulick, R. Morris, P. Gazis, G. Benedix, C. Glymour, J. Ramsey, Liam Pedersen, M. Ruzon, W. Buntine and J. Oliver

Conference Paper, Lunar and Planetary Science Conference XXX, January, 1999
Radar sensor for an autonomous Antarctic explorer
Alex Foessel, Dimitrios (Dimi) Apostolopoulos and William (Red) L. Whittaker

Journal Article, Proc. SPIE , Mobile Robots XIII and Intelligent Transportation Systems, Vol. 3525, pp. 117-124, January, 1999
Search for Meteorites at Martin Hills and Pirrit Hills, Antarctica
P. Lee, W. A. Cassidy, Dimitrios (Dimi) Apostolopoulos, D. Bassi, L. Bravo, H. Cifuentes, Matthew Deans, Alex Foessel, Stewart Moorehead, Michael Parris, C. Puebla, Liam Pedersen, Mark Sibenac, F. Vald?, Nicolas Vandapel and William (Red) L. Whittaker

Conference Paper, Lunar and Planetary Science Conference XXX, January, 1999
Field Validation of Nomad’s Robotic Locomotion
Benjamin Shamah, Dimitrios (Dimi) Apostolopoulos, Eric Rollins and William (Red) L. Whittaker

Conference Paper, Proceedings of SPIE - The International Society of Photo-Optical Engineering, Vol. 3525, pp. 214-222, November, 1998
A Task Description Language for Robot Control
Reid Simmons and D. Apfelbaum

Conference Paper, Proceedings Conference on Intelligent Robotics and Systems, October, 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
A Robotic Pipe-Asbestos Insulation Removal System
Hagen Schempf, E. Mutschler, Brian Chemel, Scott Boehmke, Colin Piepgras and W. Crowley

Journal Article, Industrial Robot: An International Journal, Vol. 25, No. 3, pp. 196 - 204, June, 1998
A High Speed 3D Radar Scanner for Automation
Scott Boehmke, John Bares, Edward Mutschler and Keith Lay

Conference Paper, Proceedings of ICRA '98, Vol. 4, pp. 2777-2782, May, 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
Robotic Deployment of Electro-Magnetic Sensors for Meteorite Search
Liam Pedersen

Conference Paper, Proceedings of the 1998 International Conference on Robotics and Automation (ICRA '98), Vol. 1, pp. 618 - 623, May, 1998
Robust Communications for High Bandwidth Real-Time Systems
Jorgen Pedersen

Master's Thesis, Tech. Report, CMU-RI-TR-98-13, Robotics Institute, Carnegie Mellon University, May, 1998
Ground Pressure Measurement System Paper
D. Griffiths and James Osborn

Conference Paper, 12th Annual International Symposium on Aerospace/Defense Sensing, Simulation, and Controls, Detection and Remediation Technologies for Mines and Minelike Targets III, April, 1998
Learning Hierarchical Control Structure for Multiple Tasks and Changing Environments
Bruce Digney

Conference Paper, Proceedings of the Fifth Conference on the Simulation of Adaptive Behavior: SAB 98, January, 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
Synergy: A Language and Framework for Robot Design
Lalitesh Katragadda

PhD Thesis, Tech. Report, CMU-RI-TR-98-16, Robotics Institute, Carnegie Mellon University, 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
Visualization Tools for Validating Software of Autonomous Spacecraft
Reid Simmons and Gregory Whelan

Conference Paper, International Symposium on Artificial Intelligence, Robotics, and Automation in Space, July, 1997
Mechanics of Tensegrity Prisms
Irving Oppenheim and William Williams

Conference Paper, 14th International Symposium on Automation & Robotics in Construction, June, 1997
BOA II: Pipe-Asbestos Insulation Removal Robot System
Hagen Schempf, Scott Boehmke, Brian Chemel and Colin Piepgras

Conference Paper, Proceedings of the 1996 Environmental Technology Development Through Industry Partnership Conference, October, 1996
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
Perception, Planning, and Control for Autonomous Walking with the Ambler Planetary Rover
Eric Krotkov and Reid Simmons

Journal Article, Intl. Journal of Robotics Research, Vol. 15, No. 2, pp. 155-180, April, 1996
Designing Stereo Heads Using Task Domain Constraints
Scott Thayer and Christopher S. Gourley

Conference Paper, Proceedings of ICPR, pp. 820-824, January, 1996
Tessellator Robot Design Document
Kevin Dowling

Tech. Report, CMU-RI-TR-95-43, Robotics Institute, Carnegie Mellon University, January, 1996
HOUDINI: Site and Locomotion Analysis-driven Design of an In-Tank Mobile Cleanup Robot
Hagen Schempf

Conference Paper, American Nuclear Society Winter Meeting Transactions, October, 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
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
Locomotion configuration of a robust rappelling robot
Dimitrios (Dimi) Apostolopoulos and John Bares

Conference Paper, Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, Human Robot Interaction and Cooperative Robots (IROS '95), Vol. 3, pp. 280 - 284, 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
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
ROBOLEG: A Robotic Soccer-Ball Kicking Leg
Hagen Schempf, C. Kraeuter and Mike Blackwell

Conference Paper, Proceedings of ICRA '95, Vol. 2, pp. 1314 - 1318, May, 1995
Ambler: Performance of a Six-Legged Planetary Rover
Eric Krotkov, Reid Simmons and William (Red) L. Whittaker

Journal Article, Acta Astonautica, Vol. 35, No. 1, pp. 75-81, January, 1995
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
Three Mobile Robots For Space Context
William (Red) L. Whittaker, John Bares, Kevin Dowling and L. Kattragadda

Conference Paper, AIAA/NASA Conference on Intelligent Robots in Field, Factory, Service and Space (CIRFFSS '94) Conference, March, 1994
Drivetrain Design, Incorporating Redundancy, for an Autonomous Walking Robot
G. Roston and Kevin Dowling

Conference Paper, Space94: 4th International Conference and Exposition on Engineering, Construction, and Operations in Space, February, 1994
Autonomous Walking in Natural Terrain: A Retrospective on the Performance of the Ambler
Eric Krotkov and Reid Simmons

Conference Paper, 3rd International Symposium of Experimental Robotics III, October, 1993
The Mt. Erebus Explorer Control System
Daniel A. Christian

Tech. Report, CMU-RI-TR-93-19, Robotics Institute, Carnegie Mellon University, June, 1993
Design of Space Shuttle Tile Servicing Robot: An Application of Task Based Kinematic Design
Jin-Oh Kim and Pradeep Khosla

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '93), Vol. 3, pp. 867 - 874, May, 1993
Autonomous Walking Results with the Ambler Hexapod Planetary Rover
Eric Krotkov, Reid Simmons and William (Red) L. Whittaker

Conference Paper, International Conference of Intelligent Autonomous Systems, pp. 46 - 53, January, 1993
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
Autonomous Cargo Transport System
Kerien Fitzpatrick, Martial Hebert, Dean Pomerleau and Hagen Schempf

Conference Paper, Proceedings of the United States Postal Service 5th Advanced Technology Conference, December, 1992
A Mobile Robot for Ground Servicing Operations on the Space Shuttle
Kevin Dowling, R. Bennett, Mike Blackwell, Todd Graham, S. Gatrall, R. O and Hagen Schempf

Conference Paper, OE / Technology 1992 Cooperative Intelligent Robots in Space, November, 1992
Mobile Robot System for Ground Servicing Operations on the Space Shuttle
Hagen Schempf, Kevin Dowling and Mike Blackwell

Conference Paper, SPIE OE/Technology `92 Conference, November, 1992
Serpentine Manipulator Planning and Control for NASA Space-Shuttle Payload Servicing
Herman Herman and Hagen Schempf

Tech. Report, CMU-RI-TR-92-10, Robotics Institute, Carnegie Mellon University, October, 1992
Terrain Mapping For Long-duration Autonomous Walking
R. Hoffman and Eric Krotkov

Conference Paper, Proceedings of the 1992 IEEE/RSJ International Workshop on Intelligent Robots and Systems (IROS '92), Vol. 1, pp. 563 - 568, July, 1992
Performance of a six-legged planetary rover: power, positioning, and autonomous walking
Eric Krotkov and Reid Simmons

Conference Paper, 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

Tech. Report, CMU-RI-TR-92-02, Robotics Institute, Carnegie Mellon University, February, 1992
Explicit Path Tracking by Autonomous Vehicles
Dong Hun Shin and Sanjiv Singh

Journal Article, Robotica, Vol. 10, pp. 539 - 554, January, 1992
Dead Reckoning Navigation for Walking Robots
G. P. Roston and Eric Krotkov

Tech. Report, CMU-RI-TR-91-27, Robotics Institute, Carnegie Mellon University, November, 1991
Perception of rugged terrain for a walking robot: true confessions and new directions
R. Hoffman and Eric Krotkov

Conference Paper, Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, Intelligence for Mechanical Systems, Vol. 3, pp. 1505 - 1510, November, 1991
A Partitioned Control Scheme for Mobile Robot Navigation
Dong Hun Shin and Sanjiv Singh

Conference Paper, Proc. IEEE International Conference on Systems Engineering, pp. 338 - 342, August, 1991
Leveling of the AMBLER Walking Machine: A Comparison of Methods
Pablo Gonzalez de Santos, Peter V. Nagy and William (Red) L. Whittaker

Tech. Report, CMU-RI-TR-91-13, Robotics Institute, Carnegie Mellon University, July, 1991
Ambler: a six-legged planetary rover
Eric Krotkov, John Bares, Takeo Kanade, Tom Mitchell, Reid Simmons and William (Red) L. Whittaker

Conference Paper, Fifth International Conference on Advanced Robotics, 1991, Robots in Unstructured Environments (ICAR '91), Vol. 1, pp. 717 - 722, June, 1991
Three Dimensional Migration and Forward Modelling of Ground Penetrating Radar Data
Robert Beck and James Osborn

Tech. Report, CMU-RI-TR-91-12, Robotics Institute, Carnegie Mellon University, June, 1991
A Three-Finger Gripper for Manipulation in Unstructured Environments
C. Francois, Katsushi Ikeuchi and Martial Hebert

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '91), pp. 2261 - 2265, April, 1991
An integrated walking system for the Ambler planetary rover
Reid Simmons and Eric Krotkov

Conference Paper, IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2086 - 2091, April, 1991
Laser rangefinder calibration for a walking robot
Eric Krotkov

Conference Paper, IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2568 - 2573, April, 1991
Laser Rangefinder Calibration for a Walking Robot
Eric Krotkov

Tech. Report, CMU-RI-TR-90-30, Robotics Institute, Carnegie Mellon University, December, 1990
Path Generation for Robot Vehicles Using Composite Clothoid Segments
Dong Hun Shin and Sanjiv Singh

Tech. Report, CMU-RI-TR-90-31, Robotics Institute, Carnegie Mellon University, December, 1990
Assessment of joint driving configurations for body propulsion of an orthogonal legged walker
D.J. Manko and William (Red) L. Whittaker

Conference Paper, IEEE International Conference on Systems Engineering, pp. 204 - 207, August, 1990
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
Walking robot with a circulating gait
John Bares and William (Red) L. Whittaker

Conference Paper, Proceedings of the 1990 IEEE/RSJ International Conference on Intelligent Robots and Systems, Towards a New Frontier of Applications (IROS '90), Vol. 2, pp. 809 - 816, July, 1990
1989 Year End Report: Autonomous Planetary Rover at Carnegie Mellon
William (Red) L. Whittaker, Takeo Kanade and Tom Mitchell

Tech. Report, CMU-RI-TR-90-04, Robotics Institute, Carnegie Mellon University, February, 1990
A perception and manipulation system for collecting rock samples
T. Choi, H. Delingette, M. DeLuise, Y. Hsin, Martial Hebert and Katsushi Ikeuchi

Miscellaneous, January, 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
A Perception System for a Planetary Explorer
Martial Hebert, Eric Krotkov and Takeo Kanade

Conference Paper, Proc. of the 28th IEEE Conference on Decision and Control, Vol. 2, pp. 1151-1156, December, 1989
Motion control for a novel legged robot
Peter V. Nagy and William (Red) L. Whittaker

Conference Paper, Proceedings of the 1989 IEEE International Symposium on Intelligent Control, September, 1989
Position Based Path Tracking for Wheeled Mobile Robots
Sanjiv Singh and Dong Hun Shin

Conference Paper, Proc. IEEE Conference on Intelligent Robot Systems, pp. 386 - 391, September, 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

Journal Article, IEEE Computer, Vol. 22, No. 6, pp. 18-26, June, 1989
Terrain Mapping for a Roving Planetary Explorer
Martial Hebert, C. Caillas, Eric Krotkov, In So Kweon and Takeo Kanade

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '89), Vol. 2, pp. 997-1002, May, 1989
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