/National Robotics Engineering Center (NREC)

National Robotics Engineering Center (NREC)

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NREC works closely with government and industry clients to develop and mature robotic technologies from concept to commercialization. A typical NREC project includes a rapid proof-of-concept demonstration followed by an in-depth development and testing phase that produces a robust prototype with intellectual property for licensing and commercialization. Throughout this process, NREC applies best practices for software development, system integration, and field testing.

Displaying 313 Publications
Game-Theoretic Modeling of Human Adaptation in Human-Robot Collaboration
Stefanos Nikolaidis, Swaprava Nath, Ariel Procaccia and Siddhartha Srinivasa

Conference Paper, Human-Robot Interaction, March, 2017
Human-Robot Mutual Adaptation in Shared Autonomy
Stefanos Nikolaidis, Yu Xiang Zhu, David Hsu and Siddhartha Srinivasa

Conference Paper, Human-Robot Interaction, March, 2017
A System for Multi-Step Mobile Manipulation: Architecture, Algorithms, and Experiments
Siddhartha Srinivasa, Aaron M. Johnson, Gilwoo Lee, Michael Koval, Shushman Choudhury, Jennifer King, Christopher Dellin, Matthew Harding, David Butterworth, Prasanna Velagapudi and Allison Thackston

Conference Paper, 2016 International Symposium on Experimental Robotics, October, 2016
Distance Metrics and Algorithms for Task Space Path Optimization
Rachel Holladay and Siddhartha Srinivasa

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2016
Human-Robot Shared Workspace Collaboration via Hindsight Optimization
Stefania Pellegrinelli, Henny Admoni, Shervin Javdani and Siddhartha Srinivasa

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2016
Pareto-Optimal Search over Configuration Space Beliefs for Anytime Motion Planning
Shushman Choudhury, Christopher Dellin and Siddhartha Srinivasa

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2016
A Linear-Time Variational Integrator for Multibody Systems
Jeongseok Lee, C. Karen Liu, Frank C. Park and Siddhartha Srinivasa

Conference Paper, The 12th International Workshop on the Algorithmic Foundations of Robotics (WAFR 2016), September, 2016
Completing Manipulation Tasks Efficiently in Complex Environments
Christopher Dellin

PhD Thesis, Tech. Report, CMU-RI-TR-16-53, Robotics Institute, Carnegie Mellon University, September, 2016
Spatial references and perspective in natural language instructions for collaborative manipulation
Shen Li, Rosario Scalise, Henny Admoni, Siddhartha Srinivasa and Stephanie Rosenthal

Conference Paper, IEEE International Symposium on Robot and Human Interactive Communication, August, 2016
Automatically Tracking and Calibrating Robot Arms using SLAM Techniques
Matthew Klingensmith

PhD Thesis, Tech. Report, CMU-RI-TR-16-36, Robotics Institute, Carnegie Mellon University, July, 2016
Convergent Planning
Aaron M. Johnson, Jennifer King and Siddhartha Srinivasa

Journal Article, IEEE Robotics and Automation Letters, Vol. 1, No. 2, pp. 1044-1051, July, 2016
Functional Gradient Motion Planning in Reproducing Kernel Hilbert Spaces
Zita Alexandra Magalhaes Marinho, Anca Dragan, Arunkumar Byravan, Byron Boots, Geoffrey Gordon and Siddhartha Srinivasa

Conference Paper, Proceedings of Robotics: Science and Systems (RSS-2016), July, 2016
Active Comparison Based Learning Incorporating User Uncertainty and Noise
Rachel Holladay, Shervin Javdani, Anca Dragan and Siddhartha Srinivasa

Conference Paper, RSS Workshop on Model Learning for Human-Robot Communication, June, 2016
Rearrangement planning using object-centric and robot-centric action spaces
Jennifer King, Marco Cognetti and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Robotics and Automation, May, 2016
Regionally Accelerated Batch Informed Trees (RABIT*): A Framework to Integrate Local Information into Optimal Path Planning
Sanjiban Choudhury, Jonathan D. Gammell, Timothy D. Barfoot, Siddhartha Srinivasa and Sebastian Scherer

Conference Paper, 2016 IEEE International Conference on Robotics and Automation (ICRA), May, 2016
A Unifying Formalism for Shortest Path Problems with Expensive Edge Evaluations via Lazy Best-First Search over Paths with Edge Selectors
Christopher Dellin and Siddhartha Srinivasa

Conference Paper, Proceedings of the 26th International Conference on Automated Planning and Scheduling, March, 2016
Blending of brain-machine interface and vision-guided autonomous robotics improves neuroprosthetic arm performance during grasping
John E. Downey, Jeffrey M. Weiss, Katharina Muelling, Arun Venkatraman, Jean-Sebastien Valois, Martial Hebert, J. Andrew (Drew) Bagnell, Andrew B. Schwartz and Jennifer L. Collinger

Journal Article, Journal of Neuro Engineering and Rehabilitation, Vol. 13, No. 1, March, 2016
Formalizing Human-Robot Mutual Adaptation via a Bounded Memory Based Model
Stefanos Nikolaidis, Anton Kuznetsov, David Hsu and Siddhartha Srinivasa

Conference Paper, Human-Robot Interaction, March, 2016
RoGuE: Robot Gesture Engine
Rachel Holladay and Siddhartha Srinivasa

Conference Paper, AAAI Spring Symposium Series, March, 2016
Viewpoint-Based Legibility Optimization
Stefanos Nikolaidis, Anca Dragan and Siddhartha Srinivasa

Conference Paper, Human-Robot Interaction, March, 2016
Report from Dagstuhl Seminar 15411: Multimodal Manipulation Under Uncertainty
Jan Peters, Justus Piater, Robert Platt and Siddhartha Srinivasa

Miscellaneous, Dagstuhl Reports, Vol. 5, No. 10, February, 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
Inferring door locations from a teammate’s trajectory in stealth human-robot team operations
Jean Hyaejin Oh, Luis Ernesto Navarro-Serment, Arne Suppe, Anthony (Tony) Stentz and Martial Hebert

Conference Paper, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2015
Robust Trajectory Selection for Rearrangement Planning as a Multi-Armed Bandit Problem
Michael Koval, Jennifer King, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, September, 2015
Benchmarking in Manipulation Research: The YCB Object and Model Setand Benchmarking Protocols
Berk Calli, Aaron Walsman, Arjun Singh, Siddhartha Srinivasa, Pieter Abbeel and Aaron Dollar

Conference Paper, IEEE Robotics and Automation Magazine (IEEE RAM), August, 2015
Perceived Robot Capability
Elizabeth Cha, Anca Dragan and Siddhartha Srinivasa

Conference Paper, International Symposium on Human-Robot Communication, August, 2015
Autonomy Infused Teleoperation with Application to BCI Manipulation
Katharina Muelling, Arun Venkatraman, Jean-Sebastien Valois, John Downey, Jeffrey Weiss, Shervin Javdani, Martial Hebert, Andrew B. Schwartz, Jennifer L. Collinger and J. Andrew (Drew) Bagnell

Conference Paper, Proceedings of Robotics: Science and Systems, July, 2015
Chisel: Real Time Large Scale 3D Reconstruction Onboard a Mobile Device
Matthew Klingensmith, Ivan Dryanovski, Siddhartha Srinivasa and Jizhong Xiao

Conference Paper, Robotics Science and Systems 2015, July, 2015
Deceptive Robot Motion: Synthesis, Analysis and Experiments
Anca Dragan, Rachel Holladay and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, Autonomous Robots, July, 2015
Shared Autonomy via Hindsight Optimization
Shervin Javdani, Siddhartha Srinivasa and J. Andrew (Drew) Bagnell

Conference Paper, Proceedings of Robotics: Science and Systems, July, 2015
The YCB Object and Model Set: Towards Common Benchmarks for Manipulation Research
Berk Calli, Arjun Singh, Aaron Walsman, Siddhartha Srinivasa, Pieter Abbeel and Aaron Dollar

Conference Paper, IEEE International Conference on Advanced Robotics (ICAR), July, 2015
Legible Robot Motion Planning
Anca Dragan

PhD Thesis, Tech. Report, CMU-RI-TR-15-15, Robotics Institute, Carnegie Mellon University, June, 2015
Pose estimation for planar contact manipulation with manifold particle filters
Michael Koval, Nancy Pollard and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 34, No. 7, pp. 922-945, June, 2015
A General Technique for Fast Comprehensive Multi-Root Planning on Graphs by Coloring Vertices and Deferring Edges
Christopher Dellin and Siddhartha Srinivasa

Conference Paper, 2015 IEEE International Conference on Robotics and Automation (ICRA), May, 2015
Batch Informed Trees (BIT*): Sampling-based Optimal Planning via the Heuristically Guided Search of Implicit Random Geometric Graphs
Jonathan Gammell, Siddhartha Srinivasa and Timothy Barfoot

Conference Paper, 2015 IEEE International Conference on Robotics and Automation (ICRA), May, 2015
Kinodynamic Randomized Rearrangement Planning via Dynamic Transitions Between Statically Stable States
Joshua Haustein, Jennifer King, Siddhartha Srinivasa and Tamim Asfour

Conference Paper, International Conference on Robotics and Automation, May, 2015
Movement Primitives via Optimization
Anca Dragan, Katharina Muelling, J. Andrew (Drew) Bagnell and Siddhartha Srinivasa

Conference Paper, International Conference on Robotics and Automation (ICRA), May, 2015
Nonprehensile Whole Arm Rearrangement Planning on Physics Manifolds
Jennifer King, Joshua Haustein, Siddhartha Srinivasa and Tamim Asfour

Conference Paper, International Conference on Robotics and Automation, May, 2015
Effects of Robot Motion on Human-Robot Collaboration
Anca Dragan, Shira Bauman, Jodi Forlizzi and Siddhartha Srinivasa

Conference Paper, Human-Robot Interaction, March, 2015
Efficient Model Learning from Joint-Action Demonstrations for Human-Robot Collaborative Tasks
Stefanos Nikolaidis, Ramya Ramakrishnan, Keren Gu and Julie Shah

Conference Paper, Human-Robot Interaction, March, 2015
Omnidirectional Visual Place Recognition using Rotation Invariant Sequence Matching
Peter Hansen and Brett Browning

Tech. Report, CMU-RI-TR-15-103, CMU-CS-QTR-126, Robotics Institute, Carnegie Mellon University, March, 2015
Visual mapping for natural gas pipe inspection
Peter Hansen, Hatem Said Alismail, Peter Rander and Brett Browning

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research (IJRR), November, 2014
Direct Disparity Space: Robust and Real-time Visual Odometry
Hatem Said Alismail and Brett Browning

Tech. Report, CMU-RI-TR-14-20, Robotics Institute, Carnegie Mellon University, October, 2014
An Analysis of Deceptive Robot Motion
Anca Dragan, Rachel Holladay and Siddhartha Srinivasa

Conference Paper, Robotics: Science and Systems, July, 2014
Legible Robot Pointing
Rachel Holladay, Anca Dragan and Siddhartha Srinivasa

Conference Paper, Robotics: International Symposium on Robot and Human Interactive Communication (Ro-Man), July, 2014
Chapter 11: Probabilistic Plan Recognition for Proactive Assistant Agents
Jean Hyaejin Oh, Felipe Meneguzzi and Katia Sycara

Book Section/Chapter, Carnegie Mellon University, Plan, Activity, and Intent Recognition: Theory and Practice, February, 2014
Coping with real-world challenges in real-time urban traffic control
Xiao-Feng Xie, Stephen Smith, Gregory Barlow and Tingwei Chen

Conference Paper, Transportation Research Board (TRB) Annual Meeting, January, 2014
Manifold Representations for State Estimation in Contact Manipulation
Michael Koval, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, International Symposium on Robotics Research, December, 2013
Pipe Mapping with Monocular Fisheye Imagery
Peter Hansen, Hatem Said Alismail, Peter Rander and Brett Browning

Conference Paper, IEEE/RSJ International Conference of Intelligent Robots and Systems, November, 2013
Pose Estimation for Contact Manipulation with Manifold Particle Filters
Michael Koval, Mehmet Dogar, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, November, 2013
Object Search by Manipulation
Mehmet Dogar, Michael Koval, Abhijeet Tallavajhula and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, Autonomous Robots, October, 2013
Generating Legible Motion
Anca Dragan and Siddhartha Srinivasa

Conference Paper, Robotics: Science and Systems, June, 2013
Perceiving, Learning, and Exploiting Object Affordances for Autonomous Pile Manipulation
Dov Katz, Arun Venkatraman, Moslem Kazemi, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Conference Paper, Robotics: Science and Systems Conference, June, 2013
A Policy Blending Formalism for Shared Control
Anca Dragan and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, May, 2013
CHOMP: Covariant Hamiltonian Optimization for Motion Planning
Matthew Zucker, Nathan Ratliff, Anca Dragan, Mihail Pivtoraiko, Matthew Klingensmith, Christopher Dellin, J. Andrew (Drew) Bagnell and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, May, 2013
Closed-loop Servoing using Real-time Markerless Arm Tracking
Matthew Klingensmith, Thomas Galluzzo, Christopher Dellin, Moslem Kazemi, J. Andrew (Drew) Bagnell and Nancy Pollard

Conference Paper, International Conference on Robotics And Automation (Humanoids Workshop), May, 2013
Efficient Touch Based Localization through Submodularity
Shervin Javdani, Matthew Klingensmith, J. Andrew (Drew) Bagnell, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), May, 2013
Enhancing robot perception using human teammates
Jean Hyaejin Oh, Arne Suppe, Anthony (Tony) Stentz and Martial Hebert

Conference Paper, Proceedings of the 12th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2013), May, 2013
Exploiting Domain Knowledge for Object Discovery
Alvaro Collet Romea, Bo Xiong, Corina Gurau, Martial Hebert and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), May, 2013
Interactive Segmentation, Tracking, and Kinematic Modeling of Unknown 3D Articulated Objects
Dov Katz, Moslem Kazemi, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation, May, 2013
Object Search by Manipulation
Mehmet Dogar, Michael Koval, Abhijeet Tallavajhula and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Robotics and Automation, May, 2013
Physics-Based Manipulation in Human Environments
Mehmet Dogar and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, Journal of the Robotics Society of Japan, Vol. 31, No. 4, pp. 353-357, May, 2013
Pose Estimation for Contact Manipulation with Manifold Particle Filters
Michael Koval, Mehmet Dogar, Nancy Pollard and Siddhartha Srinivasa

Tech. Report, CMU-RI-TR-13-11, Robotics Institute, Carnegie Mellon University, May, 2013
Clearing a Pile of Unknown Objects using Interactive Perception
Dov Katz, Moslem Kazemi, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation, March, 2013
Effects of Robot Capability on User Acceptance
Elizabeth Cha, Anca Dragan and Siddhartha Srinivasa

Conference Paper, Human-Robot Interaction 2013, Late Breaking Report Proceedings, March, 2013
Legibility and Predictability of Robot Motion
Anca Dragan, Kenton Lee and Siddhartha Srinivasa

Conference Paper, Human-Robot Interaction, March, 2013
Visual Pipe Mapping with a Fisheye Camera
Peter Hansen, Hatem Said Alismail, Peter Rander and Brett Browning

Tech. Report, CMU-RI-TR-13-02, Robotics Institute, Carnegie Mellon University, February, 2013
Teleoperation with Intelligent and Customizable Interfaces
Anca Dragan, Kenton Lee and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, Journal of Human-Robot Interaction, Special Issue on "Technical and Social Advances in HRI: An Invitational Issue of JHRI", Vol. 1, No. 3, January, 2013
Towards Seamless Human-Robot Handovers
Kyle Strabala, Min Kyung Lee, Anca Dragan, Jodi Forlizzi, Siddhartha Srinivasa, Maya Cakmak and Vincenzo Micelli

Journal Article, Journal of Human-Robot Interaction, January, 2013
Assistive Teleoperation: A New Domain for Interactive Learning
Anca Dragan and Siddhartha Srinivasa

Conference Paper, AAAI Fall Symposium on Robots Learning Interactively from Human Teachers, November, 2012
Clearing a Pile of Unknown Objects using Interactive Perception
Dov Katz, Moslem Kazemi, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-12-34, Robotics Institute, Carnegie Mellon University, November, 2012
Learning How to Program via Robot Simulation
Jesse Flot, Chris Schunn, Allison Lui and Robin Shoop

Journal Article, Carnegie Mellon University, Robot Magazine, No. 37, pp. 68 - 70, November, 2012
Policy Feedback for the Refinement of Learned Motion Control on a Mobile Robot
Brenna Argall, Brett Browning and Manuela Veloso

Journal Article, Carnegie Mellon University, International Journal of Social Robotics, Vol. 4, No. 4, pp. 383-395, November, 2012
Semi-Autonomous Manipulation of Natural Objects
Dov Katz, Moslem Kazemi, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-12-33, Robotics Institute, Carnegie Mellon University, November, 2012
3D Mapping for high-fidelity unmanned ground vehicle lidar simulation
Brett Browning, Jean-Emmanuel Deschaud, David Prasser and Peter Rander

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 31, No. 12, pp. 1349-1376, October, 2012
A Generic Robot Database and its Application in Fault Analysis and Performance Evaluation
Tim D. Niemueller, Gerhard Lakemeyer and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Intelligent Robots and Systems, October, 2012
Aiding Off-Road Inertial Navigation with High Performance Models of Wheel Slip
Forrest Rogers-Marcovitz, Michael George, Neal Seegmiller and Alonzo Kelly

Conference Paper, Intelligent Robots and Systems (IROS), October, 2012
An Integrated System for Autonomous Robotics Manipulation
J. Andrew (Drew) Bagnell, Felipe Cavalcanti, Lei Cui, Thomas Galluzzo, Martial Hebert, Moslem Kazemi, Matthew Klingensmith, Jacqueline Libby, Tommy Liu, Nancy Pollard, Mikhail Pivtoraiko, Jean-Sebastien Valois and Ranqi Zhu

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2955-2962, October, 2012
Automatic Calibration of a Range Sensor and Camera System
Hatem Said Alismail, L. Douglas Baker and Brett Browning

Conference Paper, 2012 Second Joint 3DIM/3DPVT Conference: 3D Imaging, Modeling, Processing, Visualization & Transmission (3DIMPVT 2012), October, 2012
Unsupervised Temporal Commonality Discovery
Wen-Sheng Chu, Feng Zhou and Fernando De la Torre Frade

Conference Paper, European Conference on Computer Vision (ECCV), October, 2012
Learning the Communication of Intent Prior to Physical Collaboration
Kyle Strabala, Min Kyung Lee, Anca Dragan, Jodi Forlizzi and Siddhartha Srinivasa

Conference Paper, 21st IEEE International Symposium on Robot and Human Interactive Communication, September, 2012
Online Customization of Teleoperation Interfaces
Anca Dragan and Siddhartha Srinivasa

Conference Paper, 21st IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man), September, 2012
Efficient Touch Based Localization through Submodularity
Shervin Javdani, Matthew Klingensmith, J. Andrew (Drew) Bagnell, Nancy Pollard and Siddhartha Srinivasa

Tech. Report, CMU-RI-TR-12-25, Robotics Institute, Carnegie Mellon University, August, 2012
A Vector Algebra Formulation of Mobile Robot Velocity Kinematics
Alonzo Kelly and Neal Seegmiller

Conference Paper, Field and Service Robotics, July, 2012
Continuous Vehicle Slip Model Identification on Changing Terrains
Forrest Rogers-Marcovitz, Neal Seegmiller and Alonzo Kelly

Conference Paper, RSS 2012 Workshop on Long-term Operation of Autonomous Robotic Systems in Changing Environments, July, 2012
Formalizing Assistive Teleoperation
Anca Dragan and Siddhartha Srinivasa

Conference Paper, Robotics: Science and Systems, July, 2012
HERB 2.0: Lessons Learned from Developing a Mobile Manipulator for the Home
Siddhartha Srinivasa, Dmitry Berenson, Maya Cakmak, Alvaro Collet Romea, Mehmet Dogar, Anca Dragan, Ross Alan Knepper, Tim D. Niemueller, Kyle Strabala, J Michael Vandeweghe and Julius Ziegler

Journal Article, Carnegie Mellon University, Proceedings of the IEEE, Vol. 100, No. 8, July, 2012
Physics-Based Grasp Planning Through Clutter
Mehmet Dogar, Kaijen Hsiao, Matei Ciocarlie and Siddhartha Srinivasa

Conference Paper, Robotics: Science and Systems VIII, July, 2012
Robust Object Grasping using Force Compliant Motion Primitives
Moslem Kazemi, Jean-Sebastien Valois, J. Andrew (Drew) Bagnell and Nancy Pollard

Conference Paper, Robotics: Science and Systems, July, 2012
A Planning Framework for Non-Prehensile Manipulation under Clutter and Uncertainty
Mehmet Dogar and Siddhartha Srinivasa

Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 33, No. 3, pp. 217-236, June, 2012
Online Continuous Stereo Extrinsic Parameter Estimation
Peter Hansen, Hatem Said Alismail, Peter Rander and Brett Browning

Conference Paper, International conference on Computer Vision and Pattern Recognition, June, 2012
The Roles of Badges in the Computer Science Student Network
Ross Higashi, Samuel Abramovich, Robin Shoop and Chris Schunn

Conference Paper, 2012 Games+Learning+Society Conference, 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
Automatic data driven vegetation modeling for lidar simulation
Jean-Emmanuel Deschaud, David Prasser, Malcolm Frederick Dias, Brett Browning and Peter Rander

Conference Paper, IEEE International Conference on Robotics and Automation, May, 2012
Constellation – An Algorithm for Finding Robot Configurations that Satisfy Multiple Constraints
Peter Kaiser, Dmitry Berenson, Nikolaus Vahrenkamp, Tamim Asfour, Rudiger Dillmann and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '12), May, 2012
Online Calibration of Vehicle Powertrain and Pose Estimation Parameters using Integrated Dynamics
Neal Seegmiller, Forrest Rogers-Marcovitz and Alonzo Kelly

Conference Paper, IEEE International Conference on Robotics and Automation, May, 2012
Assistive Teleoperation for Manipulation Tasks
Anca Dragan and Siddhartha Srinivasa

Conference Paper, ACM/IEEE International Conference on Human-Robot Interaction (Late-Breaking Report), March, 2012
Interactive Segmentation, Tracking, and Kinematic Modeling of Unknown Articulated Objects
Dov Katz, Moslem Kazemi, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-12-06, Robotics Institute, Carnegie Mellon University, March, 2012
Toward a deeper understanding of motion alternatives via an equivalence relation on local paths
Ross Alan Knepper, Siddhartha Srinivasa and Matthew T. Mason

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 31, No. 2, pp. 168-187, February, 2012
Programming and Multi-Robot Communications
Robert Avanzato, Howie Choset, Timothy Friez, Robin Shoop and Manuela Veloso

Journal Article, Carnegie Mellon University, Robot Magazine, No. 31, pp. 74 - 77, December, 2011
Stereo visual odometry for pipe mapping
Peter Hansen, Hatem Said Alismail, Brett Browning and Peter Rander

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2011
Task Space Regions: A Framework for Pose-Constrained Manipulation Planning
Dmitry Berenson, Siddhartha Srinivasa and James Kuffner

Journal Article, Carnegie Mellon University, International Journal of Robotics Research (IJRR), Vol. 30, No. 12, pp. 1435 - 1460, October, 2011
Human Preferences for Robot-Human Hand-over Configurations
Maya Cakmak, Siddhartha Srinivasa, Min Kyung Lee, Jodi Forlizzi and Sara Kiesler

Conference Paper, IEEE/RSJ 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
A Unified Perturbative Dynamics Approach to Online Vehicle Model Identification
Neal Seegmiller, Forrest Rogers-Marcovitz, Gregory A. Miller and Alonzo Kelly

Conference Paper, International Symposium on Robotics Research, August, 2011
A Framework for Push-grasping in Clutter
Mehmet Dogar and Siddhartha Srinivasa

Conference Paper, Robotics: Science and Systems VII, July, 2011
Achievement Systems to Boost Achievement Motivation
Samuel Abramovich, Ross Higashi, Timothy Hunkele, Chris Schunn and Robin Shoop

Conference Paper, 2011 Games+Learning+Society Conference, July, 2011
Learning Message-Passing Inference Machines for Structured Prediction
Stephane Ross, Daniel Munoz, Martial Hebert and J. Andrew (Drew) Bagnell

Conference Paper, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June, 2011
Perception and Control Challenges for Effective Human-Robot Handoffs
Vincenzo Micelli, Kyle Strabala and Siddhartha Srinivasa

Conference Paper, RSS 2011 RGB-D Workshop, June, 2011
Addressing Cost-Space Chasms in Manipulation Planning
Dmitry Berenson, Thierry Simeon and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '11), May, 2011
FIRE Unveils Robot Virtual World Games
Robin Shoop

Journal Article, Carnegie Mellon University, Robot Magazine, No. 28, pp. 78 - 81, May, 2011
Manipulation Planning with Goal Sets Using Constrained Trajectory Optimization
Anca Dragan, Nathan Ratliff and Siddhartha Srinivasa

Conference Paper, 2011 IEEE International Conference on Robotics and Automation, May, 2011
Monocular visual odometry for robot localization in LNG pipes
Peter Hansen, Hatem Said Alismail, Peter Rander and Brett Browning

Conference Paper, IEEE International Conference on Robotics and Automation, 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
A Reduction of Imitation Learning and Structured Prediction to No-Regret Online Learning
Stephane Ross, Geoffrey Gordon and J. Andrew (Drew) Bagnell

Conference Paper, Proceedings of the 14th International Conference on Artifical Intelligence and Statistics (AISTATS), April, 2011
Learning to Provide Better Examples for Our Robots
Anca Dragan and Siddhartha Srinivasa

Miscellaneous, Carnegie Mellon University, Proceedings of the Human-Robot Interaction Pioneers Workshop, March, 2011
The need for high fidelity robotic sensor models
P. Durst, C. Goodin, B. Gates, C. Cummins, B. McKinley, J. Priddy, Peter Rander and Brett Browning

Journal Article, Journal of Robotics, Vol. 2011, January, 2011
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
On-line Mobile Robot Model Identification using Integrated Perturbative Dynamics
Forrest Rogers-Marcovitz and Alonzo Kelly

Conference Paper, 12th International Symposium on Experimental Robotics, December, 2010
Carnegie Mellon Launches a Mega Million Dollar Robotics Education Initiative
Tom Atwood and Robin Shoop

Journal Article, Carnegie Mellon University, Robot Magazine, No. 25, pp. 70 - 71, November, 2010
Learning from Demonstration for Autonomous Navigation in Complex Unstructured Terrain
David Silver, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 29, No. 12, pp. 1565 - 1592, October, 2010
Push-Grasping with Dexterous Hands: Mechanics and a Method
Mehmet Dogar and Siddhartha Srinivasa

Conference Paper, Proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October, 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
Towards a Visual Perception System for Pipe Inspection: Monocular Visual Odometry
Peter Hansen, Hatem Said Alismail, Peter Rander and Brett Browning

Tech. Report, CMU-RI-TR-10-22, Robotics Institute, Carnegie Mellon University, July, 2010
Learning for Autonomous Navigation: Advances in Machine Learning for Rough Terrain Mobility
J. Andrew (Drew) Bagnell, David Bradley, David Silver, Boris Sofman and Anthony (Tony) Stentz

Magazine Article, Carnegie Mellon University, IEEE Robotics & Automation Magazine, Vol. 17, No. 2, pp. 74-84, June, 2010
Efficient Multi-View Object Recognition and Full Pose Estimation
Alvaro Collet Romea and Siddhartha Srinivasa

Conference Paper, 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), May, 2010
Efficient Reductions for Imitation Learning
Stephane Ross and J. Andrew (Drew) Bagnell

Conference Paper, Proceedings of the 13th International Conference on Artificial Intelligence and Statistics (AISTATS), May, 2010
Interaction of Pose Estimation and Online Dynamic Modeling for a Small Inspector Spacecraft
Mishari Alarfaj and Forrest Rogers-Marcovitz

Conference Paper, ESA Small Satellites Systems and Services - 4S Symposium, May, 2010
MOPED: A Scalable and Low Latency Object Recognition and Pose Estimation System
Manuel Martinez Torres, Alvaro Collet Romea and Siddhartha Srinivasa

Conference Paper, Proceedings of ICRA 2010, May, 2010
On-line Mobile Robotic Dynamic Modeling using Integrated Perturbative Dynamics
Forrest Rogers-Marcovitz

Master's Thesis, Tech. Report, CMU-RI-TR-10-15, Robotics Institute, Carnegie Mellon University, May, 2010
Planning pre-grasp manipulation for transport tasks
Lillian Y. Chang, Siddhartha Srinivasa and Nancy Pollard

Conference Paper, "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)", May, 2010
Probabilistically Complete Planning with End-Effector Pose Constraints
Dmitry Berenson and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '10), May, 2010
Designing technology activities that teach mathematics
Eli Silk, Ross Higashi, Robin Shoop and Chris Schunn

Journal Article, Carnegie Mellon University, The Technology Teacher, Vol. 69, No. 4, pp. 21 - 27, April, 2010
Exploiting Passthrough Information for Multi-view Object Reconstruction with Sparse and Noisy Laser Data
Martin Herrmann and Siddhartha Srinivasa

Tech. Report, CMU-RI-TR-10-07, Robotics Institute, Carnegie Mellon University, February, 2010
Gracefully Mitigating Breakdowns in Robotic Services
Min Kyung Lee, Sara Kiesler, Jodi Forlizzi, Siddhartha Srinivasa and Paul Rybski

Conference Paper, Proceedings of HRI 2010, February, 2010
Proprioceptive Localization for Mobile Manipulators
Mehmet Dogar, Vishal Hemrajani, Daniel Leeds, Breelyn Melissa Kane Styler and Siddhartha Srinivasa

Tech. Report, CMU-RI-TR-10-05, Robotics Institute, Carnegie Mellon University, February, 2010
HERB: a home exploring robotic butler
Siddhartha Srinivasa, David Ferguson, Casey Helfrich, Dmitry Berenson, Alvaro Collet Romea, Rosen Diankov, Garratt Gallagher, Geoffrey Hollinger, James Kuffner and J Michael Vandeweghe

Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 28, No. 1, January, 2010
Addressing Pose Uncertainty in Manipulation Planning Using Task Space Regions
Dmitry Berenson, Siddhartha Srinivasa and James Kuffner

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '09), October, 2009
Online Dynamic Modeling and Localization for Small-Spacecraft Proximity Operations
Forrest Rogers-Marcovitz

Conference Paper, 23rd AIAA/USU Conference on Small Satellites, 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
Learning to search: Functional gradient techniques for imitation learning
Nathan Ratliff, David Silver and J. Andrew (Drew) Bagnell

Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 27, No. 1, pp. 25-53, July, 2009
Synchronized robot dancing: Motivating efficiency & meaning in problem-solving with robotics
Eli Silk, Chris Schunn and Robin Shoop

Journal Article, Carnegie Mellon University, Robot Magazine, No. 17, pp. 74 - 77, July, 2009
Development and Implementation of a Team of Robotic Tractors for Autonomous Peat Moss Harvesting
David A. Johnson, David J. Naffin, Jeffrey S. Puhalla, Julian Sanchez and Carl Wellington

Journal Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 26, No. 7-Jun, pp. 549-571, June, 2009
CHOMP: Gradient Optimization Techniques for Efficient Motion Planning
Nathan Ratliff, Matthew Zucker, J. Andrew (Drew) Bagnell and Siddhartha Srinivasa

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), May, 2009
Combining Search and Action for Mobile Robots
Geoffrey Hollinger, David Ferguson, Siddhartha Srinivasa and Sanjiv Singh

Conference Paper, IEEE International Conference on Robotics and Automation, May, 2009
GATMO: a Generalized Approach to Tracking Movable Objects
Garratt Gallagher, Siddhartha Srinivasa, J. Andrew (Drew) Bagnell and David Ferguson

Conference Paper, IEEE International Conference on Robotics and Automation, May, 2009
Manipulation Planning on Constraint Manifolds
Dmitry Berenson, Siddhartha Srinivasa, David Ferguson and James Kuffner

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009
Manipulation Planning with Workspace Goal Regions
Dmitry Berenson, Siddhartha Srinivasa, David Ferguson, Alvaro Collet Romea and James Kuffner

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009
Object Recognition and Full Pose Registration from a Single Image for Robotic Manipulation
Alvaro Collet Romea, Dmitry Berenson, Siddhartha Srinivasa and David Ferguson

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009
Grasp Synthesis in Cluttered Environments for Dexterous Hands
Dmitry Berenson and Siddhartha Srinivasa

Conference Paper, IEEE-RAS International Conference on Humanoid Robots (Humanoids08), December, 2008
Manipulation Planning with Caging Grasps
Rosen Diankov, Siddhartha Srinivasa, David Ferguson and James Kuffner

Conference Paper, 2008 IEEE International Conference on Humanoid Robots, December, 2008
Aligned Cluster Analysis for Temporal Segmentation of Human Motion
Feng Zhou, Fernando De la Torre Frade and Jessica K. Hodgins

Conference Paper, IEEE Conference on Automatic Face and Gestures Recognition, 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
Coordinated Control and Range Imaging for Mobile Manipulation
Dean Anderson, Thomas Howard, David Apfelbaum, Herman Herman and Alonzo Kelly

Conference Paper, Proceedings of the 11th International Symposium on Experimental Robotics 2008 (ISER '08), August, 2008
The Robotic Busboy: Steps Towards Developing a Mobile Robotic Home Assistant
Siddhartha Srinivasa, David Ferguson, J Michael Vandeweghe, Rosen Diankov, Dmitry Berenson, Casey Helfrich and K=Hauke Strasdat

Conference Paper, International Conference on Intelligent Autonomous Systems, July, 2008
BiSpace Planning: Concurrent Multi-Space Exploration
Rosen Diankov, Nathan Ratliff, David Ferguson, Siddhartha Srinivasa and James Kuffner

Conference Paper, Robotics: Science and Systems, June, 2008
Grasp Synthesis in Cluttered Environments for Dexterous Hands
Dmitry Berenson and Siddhartha Srinivasa

Conference Paper, Robotics Science and Systems (RSS) Workshop on Robot Manipulation: Intelligence in Human Environments, 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
FCS UGV Safe Operations
Scott Fish, Joshua Ruedin, Mike Perschbacher and John Bares

Conference Paper, SPIE Defense and Security Conference, Unmanned Systems Technology X, March 19, 2008, March, 2008
Field Experiments in Rover Navigation via Model-Based Trajectory Generation and Nonholonomic Motion Planning in State Lattices
Mikhail Pivtoraiko, Thomas Howard, Issa Nesnas and Alonzo Kelly

Conference Paper, Proceedings of the 9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS '08), February, 2008
Remote Operation of the Black Knight Unmanned Ground Combat Vehicle
Jean-Sebastien Valois, Herman Herman, John Bares and David P. Rice

Conference Paper, SPIE, January, 2008
Imitation Learning for Locomotion and Manipulation
Nathan Ratliff, J. Andrew (Drew) Bagnell and Siddhartha Srinivasa

Tech. Report, CMU-RI-TR-07-45, Robotics Institute, Carnegie Mellon University, December, 2007
Imitation Learning for Locomotion and Manipulation
Nathan Ratliff, J. Andrew (Drew) Bagnell and Siddhartha Srinivasa

Conference Paper, IEEE-RAS International Conference on Humanoid Robots, November, 2007
Randomized Path Planning for Redundant Manipulators without Inverse Kinematics
J Michael Vandeweghe, David Ferguson and Siddhartha Srinivasa

Conference Paper, IEEE-RAS International Conference on Humanoid Robots, November, 2007
Learning the Forward Predictive Model for an Off-Road Skid-Steer Vehicle
Michael W. Bode

Tech. Report, CMU-RI-TR-07-32, Robotics Institute, Carnegie Mellon University, September, 2007
State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Highly Constrained Environments
Thomas Howard, Colin Green and Alonzo Kelly

Conference Paper, Proceedings of the 6th International Conferences on Field and Service Robotics, July, 2007
Terrain Aware Inversion of Predictive Models for Planetary Rovers
Alonzo Kelly and Thomas Howard

Conference Paper, Proceedings of the Nasa Science and Technology Conference, June, 2007
Identifying Trajectory Classes in Dynamic Tasks
Stuart Anderson and Siddhartha Srinivasa

Conference Paper, International Symposium on Approximate Dynamic Programming and Reinforcement Learning, April, 2007
Planar batting under shape, pose, and impact uncertainty
Jiaxin Fu, Siddhartha Srinivasa, Nancy Pollard and Bart Nabbe

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), April, 2007
Planar batting under shape, pose, and impact uncertainty
Jiaxin Fu, Siddhartha Srinivasa, Nancy Pollard and Bart Nabbe

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, Rome, Italy, 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
Terrain Aware Inversion of Predictive Models for High Performance UGVs
Alonzo Kelly, Thomas Howard and Colin Green

Conference Paper, Proceedings of the SPIE Defense and Security Symposium, pp. 6561-6566, April, 2007
Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots
Thomas Howard and Alonzo Kelly

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 26, No. 2, pp. 141-166, February, 2007
An Infrastructure-Free Automated Guided Vehicle Based on Computer Vision
Alonzo Kelly, Bryan Nagy, David Stager and Ranjith Unnikrishnan

Miscellaneous, IEEE Robotics and Automation Magazine, January, 2007
Boosting Structured Prediction for Imitation Learning
Nathan Ratliff, David Bradley, J. Andrew (Drew) Bagnell and Joel Chestnutt

Conference Paper, Advances in Neural Information Processing Systems 19, January, 2007
Experimental Analysis of Overhead Data Processing To Support Long Range Navigation
David Silver, Boris Sofman, Nicolas Vandapel, J. Andrew (Drew) Bagnell and Anthony (Tony) Stentz

Conference Paper, IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 2443 - 2450, October, 2006
High Performance State Lattice Planning Using Heuristic Look-Up Tables
Ross Alan Knepper and Alonzo Kelly

Conference Paper, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3375 - 3380, October, 2006
Trajectory and Spline Generation for All-Wheel Steering Mobile Robots
Thomas Howard and Alonzo Kelly

Conference Paper, Proceedings of the the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), pp. 4827 - 4832, October, 2006
Physics-Based Motion Retiming
James McCann, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, Eurographics/ ACM SIGGRAPH Symposium on Computer Animation, September, 2006
Constrained Optimization Path Following of Wheeled Robots in Natural Terrain
Thomas Howard, Ross Alan Knepper and Alonzo Kelly

Conference Paper, Proceedings of the 10th International Symposium on Experimental Robotics 2006 (ISER '06), July, 2006
Toward Human-Robot Interface Standards I: Use of Standardization and Intelligent Subsystems for Advancing Human-Robotic Competency in Space Exploration
Jeffrey Ferketic, Loel Goldblatt, Edward Hodgson, Sean Murray, Robert Wichowski, Arthur Bradley, Terrence W. Fong, John Evans, Wendell Chun, Randy Stiles, Michael Goodrich and Aaron Steinfeld

Conference Paper, SAE 36th International Conference on Environmental Systems, No. 2006-01-2019, July, 2006
Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments
Alonzo Kelly, Anthony (Tony) Stentz, Omead Amidi, Michael W. Bode, David Bradley, Antonio Diaz-Calderon, Michael Happold, Herman Herman, Robert Mandelbaum, Thomas Pilarski, Peter Rander, Scott Thayer, Nicholas M. Vallidis and Randon Warner

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 25, No. 6-May, pp. 449-483, May, 2006
Physics-Based Motion Retiming
James McCann, Nancy Pollard and Siddhartha Srinivasa

Conference Paper, ACM SIGGRAPH / Eurographics Symposium on Computer Animation, January, 2006
Learning a Terrain Model for Autonomous Navigation in Rough Terrain
Carl Wellington

PhD Thesis, Tech. Report, CMU-RI-TR-05-59, Robotics Institute, Carnegie Mellon University, December, 2005
Experimental Characterization of Commercial Flash Ladar Devices
Dean Anderson, Herman Herman and Alonzo Kelly

Conference Paper, International Conference of Sensing and Technology, November, 2005
OnLine Stability Margin and Attitude Estimation for Dynamic Articulating Mobile Robots
Antonio Diaz-Calderon and Alonzo Kelly

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, October, 2005
Interacting Markov Random Fields for Simultaneous Terrain Modeling and Obstacle Detection
Carl Wellington, Aaron Courville and Anthony (Tony) Stentz

Conference Paper, Proceedings of Robotics: Science and Systems, June, 2005
Robust Supervised Learning
J. Andrew (Drew) Bagnell

Conference Paper, Proceedings of AAAI, 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
Interactive Multimodal Robot Programming
Soshi Iba, Chris Paredis and Pradeep Khosla

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 24, No. 1, pp. 83-104, January, 2005
A Study of Polynomial Curvature Clothoid Paths for Motion Planning for Car-like Robots
Mikhail Pivtoraiko

Tech. Report, CMU-RI-TR-04-68, Robotics Institute, Carnegie Mellon University, December, 2004
Application of robust, high-accuracy positioning for autonomous ground vehicles
Stephan Roth and Sanjiv Singh

Conference Paper, Proceedings AUVSI Unmanned Systems North America, August, 2004
Expanded Field Testing Results from Spinner, a High Mobility Hybrid UGCV
John Bares and David Stager

Conference Paper, Proceedings of the AUVSI Unmanned Systems 2004 Conference, August, 2004
Interactive Multi-Modal Robot Programming
Soshi Iba, Chris Paredis and Pradeep Khosla

Conference Paper, 9th International Symposium on Experimental Robotics, June, 2004
Development and deployment of a line of sight virtual sensor for heterogeneous teams
Robert Grabowski, Pradeep Khosla and Howie Choset

Conference Paper, Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 3, pp. 3024 - 3029, May, 2004
Interactive Multi-Modal Robot Programming
Soshi Iba

PhD Thesis, Tech. Report, CMU-RI-TR-04-50, 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
Online Adaptive Rough-Terrain Navigation in Vegetation
Carl Wellington and Anthony (Tony) Stentz

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 96 - 101, April, 2004
Optimal Sensor Placement for Cooperative Distributed Vision
Luis Ernesto Navarro-Serment, John M. Dolan and Pradeep Khosla

Conference Paper, Proceedings of the International Conference on Robotics and Automation (ICRA), pp. 939-944, April, 2004
Linearized Error Propagation in Odometry
Alonzo Kelly

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 23, No. 2, pp. 179 - 218, February, 2004
Vegetation Detection for Mobile Robot Navigation
David Bradley, Scott Thayer, Anthony (Tony) Stentz and Peter Rander

Tech. Report, CMU-RI-TR-04-12, Robotics Institute, Carnegie Mellon University, February, 2004
Efficient Construction of Globally Consistent Ladar Maps using Pose Network Topology and Nonlinear Programming
Alonzo Kelly and Ranjith Unnikrishnan

Conference Paper, Proceedings of the 11th International Symposium of Robotics Research (ISRR '03), November, 2003
A Review: Pattern Formation and Adaptation in Multi-Robot Systems
Erkin Bahceci, Onur Soysal and Erol Sahin

Tech. Report, CMU-RI-TR-03-43, Robotics Institute, Carnegie Mellon University, October, 2003
Autonomous exploration via regions of interest
Robert Grabowski, Pradeep Khosla and Howie Choset

Conference Paper, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'03), Vol. 2, pp. 1691 - 1696, October, 2003
Intention aware interactive multi-modal robot programming
Soshi Iba, Chris Paredis and Pradeep Khosla

Conference Paper, Proceedings. 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 4, pp. 3479 - 3484, 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
A Semi-Autonomous Robot for Stripping Paint from Large Vessels
John Bares and Christopher Fromme

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 22, No. 8-Jul, pp. 617 - 626, July, 2003
Initial Field Testing Results from Spinner, a High Mobility Hybrid UGCV.
John Bares, David Stager, S. McFadden and C. Richards

Conference Paper, Proceedings of the AUVSI Unmanned Systems 2003 Conference, July, 2003
Learning Predictions of the Load-Bearing Surface for Autonomous Rough-Terrain Navigation in Vegetation
Carl Wellington and Anthony (Tony) Stentz

Conference Paper, International Conference on Field and Service Robotics, pp. 49-54, July, 2003
Reactive Nonholonomic Trajectory Generation via Parametric Optimal Control
Alonzo Kelly and Bryan Nagy

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 22, No. 8-Jul, pp. 583 - 601, July, 2003
Real-Time, Multi-Perspective Perception for Unmanned Ground Vehicles
Anthony (Tony) Stentz, Alonzo Kelly, Peter Rander, Herman Herman, Omead Amidi, Robert Mandelbaum, Garbis Salgian and Jorgen Pedersen

Conference Paper, Proc. of AUVSI Unmanned Systems Symposium 2003, July, 2003
Ultra-rugged Soldier-Robot for Urban Conflict Missions
Hagen Schempf

Conference Paper, Unmanned Systems 2003 Conference - AUVSI 30th Annual Symposium and Exhibition, July, 2003
Explorer: Untethered Real-time Gas Main Assessment Robot System
Hagen Schempf, E. Mutschler, Vitaly Goltsberg, George Skoptsov, Alan Gavaert and G. Vradis

Conference Paper, 1st International Workshop on Advances in Service Robotics, ASER’03, March, 2003
Belt Vision System For Monitoring Mechanical Splices
B. Bancroft, Christopher Fromme and Thomas Pilarski

Conference Paper, Longwall USA International Exhibition and Conference 2003, January, 2003
Millibot trains for enhanced mobility
H. Benjamin Brown, J Michael Vandeweghe, Curt Bererton and Pradeep Khosla

Journal Article, Carnegie Mellon University, IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 4, pp. 452 - 461, December, 2002
Millibot Trains for Enhanced Mobility
H. Benjamin Brown, J. Michael VANDE WEGHE, Curt A. BERERTON and Pradeep K. KHOSLA

Journal Article, Carnegie Mellon University, IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 4, pp. 452-461, December, 2002
Millibots
Luis Ernesto Navarro-Serment, Robert Grabowski, Chris Paredis and Pradeep Khosla

Journal Article, Carnegie Mellon University, IEEE Robotics & Automation Magazine, pp. 31 - 40, December, 2002
A Constrained Optimization Approach to Globally Consistent Mapping
Ranjith Unnikrishnan and Alonzo Kelly

Conference Paper, 2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems (IROS '02), Vol. 1, pp. 564-569, October, 2002
A Probabilistic Approach for the Adaptive Integration of Multiple Visual Cues Using an Agent Framework
Alvaro Soto

PhD Thesis, Tech. Report, CMU-RI-TR-02-30, Robotics Institute, Carnegie Mellon University, 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
Distributed Surveillance and Reconnaissance Using Multiple Autonomous ATVs: CyberScout
Mahesh Saptharishi, C. Spence Oliver, Christopher P. Diehl, Kiran Bhat, John M. Dolan, Ashitey Trebi-Ollennu and Pradeep Khosla

Journal Article, Carnegie Mellon University, IEEE Transactions on Robotics and Automation: Special Issue on Multi-Robot Systems, Vol. 18, No. 5, pp. 826 - 836, October, 2002
Junior: a robot for outdoor container nurseries
Hagen Schempf and Todd Graham

Conference Paper, Proceedings of the 2002 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS '02), Vol. 1, pp. 750 - 755, October, 2002
Globally Consistent Mosaicking for Autonomous Visual Navigation
Ranjith Unnikrishnan

Master's Thesis, Tech. Report, CMU-RI-TR-02-22, Robotics Institute, Carnegie Mellon University, September, 2002
A System for Semi-Autonomous Tractor Operations
Anthony (Tony) Stentz, Cristian Dima, Carl Wellington, Herman Herman and David Stager

Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 13, No. 1, pp. 87-103, July, 2002
Designing Crash-Survivable Unmanned Vehicles
John Bares, S. McFadden, Anthony (Tony) Stentz, C. Richards and S. Murray

Carnegie Mellon University, Proceedings of the AUVSI Unmanned Systems 2002 Conference, July, 2002
Evaluating Path Tracker Performance for Outdoor Mobile Robots
Stephan A Roth and Parag Batavia

Conference Paper, Automation Technology for Off-Road Equipment, July, 2002
Integrated Air/Ground Vehicle System for Semi-Autonomous Off-Road Navigation
Anthony (Tony) Stentz, Alonzo Kelly, Herman Herman, Peter Rander, Omead Amidi and Robert Mandelbaum

Conference Paper, Proc. of AUVSI Unmanned Systems Symposium 2002, July, 2002
Stereo perception on an off-road vehicle
A. Rieder, B. Southall, G. Salgian, R. Mandelbaum, Herman Herman, Peter Rander and Anthony (Tony) Stentz

Conference Paper, IEEE 2002 Intelligent Vehicle Symposium, Vol. 1, pp. 221 - 226, June, 2002
Mosaicing Large Cyclic Environments for Visual Navigation in Autonomous Vehicles
Ranjith Unnikrishnan and Alonzo Kelly

Conference Paper, IEEE International Conference on Robotics and Automation, 2002 (ICRA '02), Vol. 4, pp. 4299-4306, May, 2002
Obstacle Detection in Smooth High Curvature Terrain
Parag Batavia and Sanjiv Singh

Conference Paper, Proceedings of the IEEE Conference on Robotics and Automation (ICRA '02), May, 2002
Behavioral model composition in simulation-based design
Rajarishi Sinha, Chris Paredis and Pradeep Khosla

Conference Paper, Proceedings of the 35th Annual Simulation Symposium, pp. 308 - 315, April, 2002
Localization Techniques for a Team of Small Robots
Robert Grabowski and Pradeep Khosla

Conference Paper, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'01), Vol. 2, pp. 1067 - 1072, October, 2001
Adaptive fuzzy throttle control for an all-terrain vehicle
Ashitey Trebi-Ollennu, John M. Dolan and Pradeep Khosla

Journal Article, Carnegie Mellon University, Journal of Systems and Control Engineering, Proceedings of the Institution of Mechanical Engineers, Vol. 215, pp. 189-198, September, 2001
Iterative X-ray/CT Registration Using Accelerated Volume Rendering
David LaRose

PhD Thesis, Tech. Report, CMU-RI-TR-01-10, Robotics Institute, Carnegie Mellon University, May, 2001
Obstacle Detection Using Adaptive Color Segmentation and Color Stereo Homography
Parag Batavia and Sanjiv Singh

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, May, 2001
Automated container-handling system for container production nurseries
Hagen Schempf, Todd Graham, Robert Fuchs and C. Gasior

Conference Paper, IEEE Int. Conf. on Robotics and Automation (ICRA '01), Vol. 1, pp. 755 - 760, April, 2001
Residue Detection for Real-time Removal of Paint from Metallic Surfaces
Y. Bar-Chen, Xiaoqi Bao and B.P. Dolgin

Conference Paper, SPIE - The International Society for Optical Engineering, No. 4335, pp. 115-120, January, 2001
Mobile Robot Localization from Large Scale Appearance Mosaics
Alonzo Kelly

Tech. Report, CMU-RI-TR-00-21, Robotics Institute, Carnegie Mellon University, December, 2000
Mobile Robot Localization from Large-Scale Appearance Mosaics
Alonzo Kelly

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 19, No. 11, pp. 1104 - 1125, November, 2000
Trident Sensing System: A Configuration of Sensors to Aid Alignment of an Intelligent Grasping Device Used for Field-container Handling
M Bernardine Dias and Hagen Schempf

Tech. Report, CMU-RI-TR-00-26, Robotics Institute, Carnegie Mellon University, November, 2000
Control of the Gyrover: a single-wheel gyroscopically stabilized robot
Enrique Ferreira, Shu-Jen Tsai, Chris Paredis and H. Benjamin Brown

Journal Article, Carnegie Mellon University, Advanced Robotics, Vol. 14, No. 6, pp. 459 - 475, June, 2000
Methods for Cropline Following
Michael Happold

Tech. Report, CMU-RI-TR-00-14, Robotics Institute, Carnegie Mellon University, May, 2000
Millibots: Small Distributed Robots for Surveillance and Mapping
Curt Bererton, Luis Ernesto Navarro-Serment, Robert Grabowski, Chris Paredis and Pradeep Khosla

Conference Paper, Government Microcircuit Applications Conference, March, 2000
An Architecture for Gesture Based Control of Mobile Robots
Soshi Iba, J Michael Vandeweghe, Chris Paredis and Pradeep Khosla

Conference Paper, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Vol. 2, pp. 851 - 857, October, 1999
Control of the Gyrover: A Single-Wheel Gyroscopically Stabilized Robot
Shu-Jen Tsai, Enrique Ferreira and Chris Paredis

Conference Paper, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Vol. 1, pp. 179 - 184, October, 1999
Decoupled dynamics and stabilization of single wheel robot
K.W. Au and Yangsheng Xu

Conference Paper, Proceedings of the 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS '99), Vol. 1, pp. 197 - 203, October, 1999
Modeling human strategy in controlling a dynamically stabilized robot
Yangsheng Xu, Wai-Kuen Yu and K.W. Au

Conference Paper, Proceedings of the 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS '99), Vol. 1, pp. 507 - 512, October, 1999
RAVE: A Real and Virtual Environment for Multiple Mobile Robot Systems
K. Dixon, John M. Dolan, Wesley Huang, Chris Paredis and Pradeep Khosla

Conference Paper, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Vol. 3, pp. 1360-1367, October, 1999
A Robotic Excavator for Autonomous Truck Loading
Anthony (Tony) Stentz, John Bares, Sanjiv Singh and Patrick Rowe

Journal Article, Autonomous Robots, Vol. 7, No. 2, pp. 175-186, September, 1999
Modularity in Small Distributed Robots
Luis Ernesto Navarro-Serment, Robert Grabowski, Chris Paredis and Pradeep Khosla

Conference Paper, Proceedings of the SPIE conference on Sensor Fusion and Decentralized Control in Robotic Systems II, September, 1999
A Beacon System for the Localization of Distributed Robotic Teams
Luis Ernesto Navarro-Serment, Chris Paredis and Pradeep Khosla

Conference Paper, Proceedings of the International Conference on Field and Service Robotics (FSR '99), August, 1999
Combining Information Technology Components and Symbolic Equation Manipulation in Modeling and Simulation of Mechatronic Systems
Antonio Diaz-Calderon, Chris Paredis and Pradeep Khosla

Conference Paper, Proceedings of the 1999 IEEE International Symposium on Computer Aided Control System Design, pp. 144 - 150, August, 1999
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
On-Line Planning of Flexible Assembly Systems: An Agent-Based Approach
Cheng-Hua Wang and Chris Paredis

Conference Paper, Proceedings of the 15th ISPE / IEE International Conference on CAD/CAM, Robotics and Factories of the Future, August, 1999
Position Measurement for Automated Mining Machinery
Anthony (Tony) Stentz, Mark Ollis, Steve Scheding, Herman Herman, Christopher Fromme, Jorgen Pedersen, Timothy Hegadorn, Robert McCall, John Bares and Richard Moore

Conference Paper, Proceedings of the 1999 International Conference on Field and Service Robotics, pp. 299 - 304, August, 1999
Dynamic mobility with single-wheel configuration
Yangsheng Xu, H. Benjamin Brown and Kwok Wai Au

Conference Paper, International Journal of Robotics Research, Vol. 18, No. 7, pp. 728 - 738, July, 1999
On the Synthesis of the System Graph for 3D Mechanics
Antonio Diaz-Calderon, Chris Paredis and Pradeep Khosla

Conference Paper, Proceedings of the 18th American Control Conference, Vol. 5, pp. 3137 - 3141, June, 1999
Agent-Based Planning and Control of a Multi-Manipulator Assembly System
J.-C. Fraile, Chris Paredis, Cheng-Hua Wang and Pradeep Khosla

Conference Paper, Proceedings of the 1999 IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1219 - 1225, May, 1999
Collaborative Surveillance using Both Fixed and Mobile Unattended Sensor Platforms
Diehl Chris, Saptharishi Mahesh, Hampshire John and Khosla Pradeep

Conference Paper, Proceedings of SPIE's 13th Annual International Conference on Aerospace/Defense Sensing, Simulation, and Controls, Vol. 3693, April, 1999
Collaborative Surveillance using Both Fixed and Mobile Unattended Sensor Platforms
Christopher Diehl, Mahesh Saptharishi, John B. Hampshire and Pradeep Khosla

Conference Paper, SPIE's 13th Annual International Conference on Aerospace/Defense Sensing, Simulation, and Controls, Vol. 3713, pp. 178-185, April, 1999
Constructing Hydraulic Robot Models using Memory-based Learning
Murali Krishna and John Bares

Journal Article, ASCE Journal of Aerospace Engineering, Vol. 12, No. 2, pp. 34-42, April, 1999
The Demeter System for Automated Harvesting
Thomas Pilarski, Michael Happold, Henning Pangels, Mark Ollis, Kerien Fitzpatrick and Anthony (Tony) Stentz

Conference Paper, Proceedings of the 8th International Topical Meeting on Robotics and Remote Systems, April, 1999
Continuous Probabilistic Mapping by Autonomous Robots
Jesus Salido-Tercero, Chris Paredis and Pradeep Khosla

Conference Paper, Proceedings of the 1999 International Symposium on Experimental Robotics, March, 1999
A composable simulation environment for mechatronic systems
Antonio Diaz-Calderon, Chris Paredis and Pradeep Khosla

Conference Paper, SCS 1999 European Simulation Symposium, January, 1999
Heterogeneous Teams of Modular Robots for Mapping and Exploration
Luis Ernesto Navarro-Serment, Robert Grabowski, Chris Paredis and Pradeep Khosla

Tech. Report, ICES 04-11-99, ICES, Carnegie Mellon University, January, 1999
Heterogeneous Teams of Modular Robots for Mapping and Exploration
Robert Grabowski, Luis Ernesto Navarro-Serment, Chris Paredis and Pradeep Khosla

Journal Article, Autonomous Robots - Special Issue on Heterogeneous Multirobot Systems, January, 1999
Explorations in Asynchronous Teams
Sanjay Sachdev

PhD Thesis, Tech. Report, Electrical and Computer Engineering, Carnegie Mellon University, December, 1998
Obstacle detection and safeguarding for a high-speed autonomous hydraulic excavator
Patrick (Chris) Leger, Patrick Rowe, John Bares, Scott Boehmke and Anthony (Tony) Stentz

Conference Paper, Proceedings of SPIE Mobile Robots XIII, Vol. 3525, pp. 146-156, November, 1998
Analysis of actuation and dynamic balancing for a single-wheel robot
Yangsheng Xu, Kwok Wai Au, G. C. Nandy and H. Benjamin Brown

Conference Paper, Intelligent Robots and Systems, Vol. 3, pp. 1789 -1794, October, 1998
A Modular Composable Software Architecture for the Simulation of Mechatronic Systems
Antonio Diaz-Calderon, Chris Paredis and Pradeep Khosla

Conference Paper, ASME Computers in Engineering Conference, September, 1998
Capturing Articulation in Assemblies from Component Geometry
Rajarishi Sinha, Chris Paredis and Satyandra Gupta

Conference Paper, ASME Design Automation Conference, September, 1998
Capturing Articulation in Assemblies from Component Geometry
Rajarishi Sinha, Chris Paredis, Satyandra Gupta and Pradeep Khosla

Conference Paper, Proceedings of DETC98, Computers in Engineering Conference, September, 1998
Generating 3D Spatial Layouts using A-Teams
Sanjay Sachdev, Chris Paredis, Satyandra Gupta and Sarosh Talukdar

Conference Paper, ASME Design Automation Conference, September, 1998
Dynamic model of a gyroscopic wheel
G.C. Nandy and Yangsheng Xu

Conference Paper, Proc. 1998 IEEE Int'l Conference on Robotics and Automation (ICRA '98), Vol. 3, pp. 2683 - 2688, 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
A single-wheel, gyroscopically stabilized robot
H. Benjamin Brown and Yangsheng Xu

Journal Article, IEEE Robotics and Automation Magazine, Vol. 4, No. 3, pp. 39-44, September, 1997
Vision-Based Perception for an Autonomous Harvester
Mark Ollis and Anthony (Tony) Stentz

Conference Paper, Proceedings of the IEEE/RSJ International Conference on Intelligent Robotic Systems, Vol. 3, pp. 1838 - 1844, September, 1997
Perception Algorithms for a Harvesting Robot
Mark Ollis

PhD Thesis, Tech. Report, CMU-RI-TR-97-43, Robotics Institute, Carnegie Mellon University, August, 1997
Toward Gesture-Based Programming: Agent-Based Haptic Skill Acquisition and Interpretation
Richard Voyles

PhD Thesis, Tech. Report, CMU-RI-TR-97-36, Robotics Institute, Carnegie Mellon University, August, 1997
Sensorimotor Primitives for Programming Robotic Assembly Skills
James Morrow

PhD Thesis, Tech. Report, CMU-RI-TR-97-23, Robotics Institute, Carnegie Mellon University, May, 1997
An Approach to Rough Terrain Autonomous Mobility
Alonzo Kelly and Anthony (Tony) Stentz

Conference Paper, International Conference on Mobile Planetary Robots, January, 1997
Increasing Productivity for Autonomous Mass Excavation
Patrick Rowe

Tech. Report, January, 1997
Electro-Mechanical Transducer for Rail Car Onboard Power
John G. Tabacchi, M.L. Nagurka, W. Kaufman and S. Simizu

Conference Paper, Proceedings of the ASME Dynamic Systems and Control Division, 1996 International Mechanical Engineering Congress & Exposition, Vol. 58, pp. 133 - 140, November, 1996
The Chimera Methodology: Designing Dynamically Reconfigurable and Reusable Real-Time Software using Port-Based Objects
David B. Stewart and Pradeep Khosla

Journal Article, International Journal of Software Engineering and Knowledge Engineering, Vol. 6, No. 2, pp. 249-277, June, 1996
A rapidly deployable manipulator system
Chris Paredis, H. Benjamin Brown and Pradeep Khosla

Conference Paper, Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1434 - 1439, April, 1996
A single wheel, gyroscopically stabilized robot
H. Benjamin Brown and Yangsheng Xu

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 4, pp. 3658-3663, April, 1996
First Results in Vision-Based Crop Line Tracking
Mark Ollis and Anthony (Tony) Stentz

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 951 - 956, April, 1996
TILEBOT: Mobile Robot for Automatic Installation of Floor Tiles
Hagen Schempf, Dimitrios (Dimi) Apostolopoulos and J. West

Conference Paper, IEEE Int. Conf. on Robotics and Automation (ICRA '96), April, 1996
Carbon Dioxide/Oxygen Monitor for Cost Effective Field Use
John G. Tabacchi, J. Hibner, J. Jarrett, M. Portnoff, P. Prusko and T. Toth

Conference Paper, Sixth West Coast Conference on Contaminated Soils and Groundwater, March, 1996
An Intelligent Predictive Control Approach to the High-Speed Cross-Country Autonomous Navigation Problem
Alonzo Kelly

PhD Thesis, Tech. Report, Robotics Institute, Carnegie Mellon University, September, 1995
An Intelligent Predictive Control Approach to the High-Speed Cross-Country Autonomous Navigation Problem
Alonzo Kelly

Tech. Report, CMU-RI-TR-95-33, Robotics Institute, Carnegie Mellon University, September, 1995
Developing a Soil Gas Survey Instrument for Cost Effective Field Use
John G. Tabacchi, J. Hibner, J. Jarrett, M. Portnoff, P. Prusko and T. Toth

Conference Paper, Fourth International Symposium on Field Screening Methods for Hazardous Wastes and Toxic Chemicals, February, 1995
Real-time vision-based detection of wire gapping on a rotating transformer core
C.J. Taylor, E. Evans, John M. Dolan and Pradeep Khosla

Journal Article, SPIE Proceedings on Industrial Optical Sensors for Industrial Optical Sensors for Metrology and Inspection, Vol. 2349, pp. 235-246, November, 1994
The Chimera Methodology: Designing Dynamically Reconfigurable Real-Time Software using Port-Based Objects
David B. Stewart and Pradeep Khosla

Conference Paper, The First Workshop on Object-Oriented Real-Time Dependable Systems, pp. 46-53, October, 1994
Vision Enhancement Research and Technology Guide
John G. Tabacchi, Richard Grace, Louis J. Denes, A.M. Guzman and D.A. Purta

Miscellaneous, July, 1994
Evaluation of a Nitric-Oxide-Compensated Carbon Monoxide Fire Sensor
John G. Tabacchi, C.D. Litton, R.S. Conti and Richard Grace

Miscellaneous, Bureau of Mines Report IC-9339, October, 1993
Surface-Closure Algorithms for Filament Winding of Non-Axisymmetric Cylindrical Parts
John M. Dolan, Pradeep Khosla and Sarosh Talukdar

Conference Paper, Proceedings of the 25th International SAMPE Technical Conference, Vol. 25, pp. 680-691, October, 1993
A Practical Stereo Vision System
Bill Ross

Conference Paper, IEEE Conference on Computer Vision and Pattern Recognition, pp. 148 - 153, June, 1993
Chimera 3.1: The Real-Time Operating System for Reconfigurable Sensor-Based Control Systems
D. B. Stewart and Pradeep Khosla

Miscellaneous, Advanced Manipulators Laboratory, The Robotics Institute and Department of Electrical and Computer Engineering, Carnegie Mellon University, January, 1993
Locomotive Magnetic Sweepers for Auto Transport Protection
John G. Tabacchi, A.M. Guzman, H. Jenkins and R.R. Newman

Journal Article, Rail Transportation, Vol. 6, pp. 229 - 235, January, 1993
The Chimera II Real-Time Operating System for Advanced Sensor-Based Control Applications
David B. Stewart, Donald E. Schmitz and Pradeep Khosla

Journal Article, IEEE Trans. on Systems, Man, and Cybernetics, Vol. 22, No. 6, pp. 1282-1295, December, 1992
Implementing Real-Time Robotic Systems Using CHIMERA II
David B. Stewart, Donald E. Schmitz and Pradeep Khosla

Conference Paper, IEEE International Conference on Systems Engineering, pp. 252 - 257, August, 1990
Hot Bearing Detection with the “SMART-BOLT”
John G. Tabacchi, R.R. Newman, R.C. Leedham, D.A. Purta, G.G. Madered and R. Galli

Conference Paper, Proceedings of the 1990 ASME/IEEE Joint Railroad Conference, pp. 105 - 110, April, 1990
CHIMERA II: A Real-Time Multiprocessing Environment For Sensor-Based Robot Control
David B. Stewart, Donald E. Schmitz and Pradeep Khosla

Conference Paper, Proceedings of the IEEE International Symposium on Intelligent Control, pp. 265-271, September, 1989
CHIMERA II: A Real-Time UNIX-Compatible Multiprocessor Operating System for Sensor-based Control Applications
D. B. Stewart, D. E. Schmitz and P. K. Kousla

Tech. Report, CMU-RI-TR-89-24, Robotics Institute, Carnegie Mellon University, September, 1989
CHIMERA: a real-time programming environment for manipulator control
D.E. Schmitz, Pradeep Khosla, R. Hoffman and Takeo Kanade

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '89),, Vol. 2, pp. 846 - 852, May, 1989
Automatic generation of kinematics for a reconfigurable modular manipulator system
L. Kelmar and Pradeep Khosla

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '88), Vol. 2, pp. 663 - 668, April, 1988
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