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FRC publications

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Manipulation Planning on Constraint Manifolds
  D. Berenson, S. Srinivasa, D. Ferguson, and J. Kuffner
  IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009. [Abstract]
  Download: pdf [1817 KB] copyrighted

• Manipulation Planning with Workspace Goal Regions
  D. Berenson, S. Srinivasa, D. Ferguson, and A. Collet Romea
  IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009. [Abstract]
  Download: pdf [1281 KB] copyrighted

• Grasp Synthesis in Cluttered Environments for Dexterous Hands
  D. Berenson and S. Srinivasa
  IEEE-RAS International Conference on Humanoid Robots (Humanoids08), December, 2008. [Abstract]
  Download: pdf [2693 KB] copyrighted

• Manipulation Planning with Caging Grasps
  R. Diankov, S. Srinivasa, D. Ferguson, and J. Kuffner
  IEEE International Conference on Humanoid Robots, December, 2008. [Abstract]
  Download: pdf [3671 KB] copyrighted

• Software Infrastructure for an Autonomous Ground Vehicle
  M. McNaughton, C. Baker, T. Galatali, B. Salesky, C. Urmson, and J. Ziglar
  JOURNAL OF AEROSPACE COMPUTING, INFORMATION, AND COMMUNICATION, Vol. 5, No. 12, December, 2008, pp. 491 - 505. [Abstract]

• CSbots: A case study in introducing educational technology to a classroom setting
  T. Lauwers, I. Nourbakhsh, and E. Hamner
  tech. report CMU-RI-TR-08-41, Robotics Institute, Carnegie Mellon University, October, 2008. [Abstract]
  Download: pdf [2174 KB] copyrighted

• A Multisensor Multiobject Tracking System for an Autonomous Vehicle Driving in an Urban Environment
  M. Darms, P. Rybski, and C. Urmson
  AVEC 2008 - 9th International Symposium on Advanced Vehicle Control, Kobe, September, 2008. [Abstract]
  Download: pdf [2145 KB] copyrighted

• A perception mechanism for supporting autonomous intersection handling in urban driving
  Y. Seo and C. Urmson
  Proceedings of IEEE International Conference Intelligent Robots and Systems, September, 2008. [Abstract]
  Download: pdf [278 KB], ps.gz [1687 KB] copyrighted

• Aligned Cluster Analysis for Temporal Segmentation of Human Motion
  F. Zhou, F. De la Torre Frade, and J.K. Hodgins
  IEEE Conference on Automatic Face and Gestures Recognition, September, 2008. [Abstract]
  Download: pdf [779 KB] copyrighted

• Fast Feature Detection and Stochastic Parameter Estimation of Road Shape using Multiple LIDAR
  K. Peterson, J. Ziglar, and P. Rybski
  IEEE/RSJ 2008 International Conference on Intelligent RObots and Systems, IEEE, September, 2008. [Abstract]
  Download: pdf [1789 KB] copyrighted

• Fast Planning for Dynamic Preferences
  B. Ziebart, A. Dey, and J. Bagnell
  ICAPS: International Conference on Automated Planning and Scheduling, September, 2008. [Abstract]
  Download: pdf [831 KB] copyrighted

• Motion Planning in Urban Environments: Part I
  D. Ferguson, T. Howard, and M. Likhachev
  Proceedings of the IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, September, 2008. [Abstract]
  Download: pdf [1947 KB] copyrighted

• Motion Planning in Urban Environments: Part II
  D. Ferguson, T. Howard, and M. Likhachev
  Proceedings of the IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, September, 2008. [Abstract]
  Download: pdf [903 KB] copyrighted

• Traffic Interaction in the Urban Challenge: Putting Boss on its Best Behavior
  C. Baker and J. Dolan
  International Conference on Intelligent Robots and Systems (IROS 2008), September, 2008, pp. 1752-1758. [Abstract]
  Download: pdf [382 KB] copyrighted

• A Graph Search Algorithm for Indoor Pursuit / Evasion
  A. Kehagias, G. Hollinger, and S. Singh
  tech. report CMU-RI-TR-08-38, Robotics Institute, Carnegie Mellon University, August, 2008. [Abstract]
  Download: pdf [963 KB] copyrighted

• Anytime Guaranteed Search using Spanning Trees
  G. Hollinger, A. Kehagias, S. Singh, D. Ferguson, and S. Srinivasa
  tech. report CMU-RI-TR-08-36, Robotics Institute, Carnegie Mellon University, August, 2008. [Abstract]
  Download: pdf [424 KB] copyrighted

• Intelligent Mapping for Autonomous Robotic Survey
  D.R. Thompson
  doctoral dissertation, tech. report CMU-RI-TR-08-33, Robotics Institute, Carnegie Mellon University, August, 2008. [Abstract]
  Download: pdf [16913 KB] copyrighted

• A Robust Method of Localization and Mapping Using Only Range
  J. Djugash and S. Singh
  International Symposium on Experimental Robotics, July, 2008. [Abstract]
  Download: pdf [1548 KB] copyrighted

• DEPTHX Autonomy Software: Design and Field Results
  N. Fairfield, G.A. Kantor, D. Jonak, and D. Wettergreen
  tech. report CMU-RI-TR-08-09, Robotics Institute, Carnegie Mellon University, July, 2008. [Abstract]
  Download: pdf [22460 KB] copyrighted

• Maximum Entropy Inverse Reinforcement Learning
  B.D. Ziebart, A. Maas, J. Bagnell, and A.K. Dey
  Proceeding of AAAI 2008, July, 2008. [Abstract]
  Download: pdf [293 KB] copyrighted

• Robust Mission Execution for Autonomous Urban Driving
  C. Baker, D. Ferguson, and J. Dolan
  10th International Conference on Intelligent Autonomous Systems (IAS 2008), July, 2008, pp. 155-163. [Abstract]
  Download: pdf [236 KB] copyrighted

• The Robotic Busboy: Steps Towards Developing a Mobile Robotic Home Assistant
  S. Srinivasa, D. Ferguson, M. Vande Weghe, R. Diankov, D. Berenson, C. Helfrich, and H. Strasdat
  International Conference on Intelligent Autonomous Systems, July, 2008. [Abstract]
  Download: pdf [5040 KB] copyrighted

• A Reasoning Framework for Autonomous Urban Driving
  D. Ferguson, C. Baker, M. Likhachev, and J. Dolan
  Proceedings of the IEEE Intelligent Vehicles Symposium (IV 2008), Eindhoven, Netherlands, June, 2008, pp. 775-780. [Abstract]
  Download: pdf [1208 KB] copyrighted

• Autonomous driving in urban environments: Boss and the Urban Challenge
  C. Urmson, J. Anhalt, H. Bae, J. Bagnell, C. Baker, R.E. Bittner, T. Brown, M.N. Clark, M. Darms, D. Demitrish, J. Dolan, D. Duggins, D. Ferguson, T. Galatali, C.M. Geyer, M. Gittleman, S. Harbaugh, M. Hebert, T. Howard, S. Kolski, M. Likhachev, B. Litkouhi, A. Kelly, M. McNaughton, N. Miller, J. Nickolaou, K. Peterson, B. Pilnick, R. Rajkumar, P. Rybski, V. Sadekar, B. Salesky, Y. Seo, S. Singh, J.M. Snider, J.C. Struble, A. Stentz, M. Taylor, W.L. Whittaker, Z. Wolkowicki, W. Zhang, and J. Ziglar
  Journal of Field Robotics Special Issue on the 2007 DARPA Urban Challenge, Part I, Vol. 25, No. 8, June, 2008, pp. 425-466. [Abstract]
  Download: pdf [1176 KB] copyrighted

• BiSpace Planning: Concurrent Multi-Space Exploration
  R. Diankov, N. Ratliff, D. Ferguson, S. Srinivasa, and J. Kuffner
  Robotics: Science and Systems, June, 2008. [Abstract]
  Download: pdf [1526 KB] copyrighted

• Classification and tracking of dynamic objects with multiple sensors for autonomous driving in urban environments.
  M. Darms, P. Rybski, and C. Urmson
  Proceedings of the 2008 IEEE Intelligent Vehicles Symposium, IEEE, June, 2008, pp. 1197-1202. [Abstract]
  Download: pdf [529 KB] copyrighted

• Detection, Prediction, and Avoidance of Dynamic Obstacles in Urban Environments
  D. Ferguson, M. Darms, C. Urmson, and S. Kolski
  Proceedings of the 2008 IEEE Intelligent Vehicles Symposium, IEEE, Eindhofen, June, 2008, pp. 1149-1154. [Abstract]
  Download: pdf [1328 KB] copyrighted

• Directional Associative Markov Network for 3-D Point Cloud Classification
  D. Munoz, N. Vandapel, and M. Hebert
  Fourth International Symposium on 3D Data Processing, Visualization and Transmission, June, 2008. [Abstract]
  Download: pdf [6724 KB] copyrighted

• Grasp Synthesis in Cluttered Environments for Dexterous Hands
  D. Berenson and S. Srinivasa
  Robotics Science and Systems (RSS) Workshop on Robot Manipulation: Intelligence in Human Environments, June, 2008. [Abstract]
  Download: pdf [2224 KB] copyrighted

• Multi-Scale Interest Regions from Unorganized Point Clouds
  R. Unnikrishnan and M. Hebert
  Workshop on Search in 3D (S3D), IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June, 2008. [Abstract]
  Download: pdf [2615 KB] copyrighted

• Proofs and Experiments in Scalable, Near-Optimal Search by Multiple Robots
  G. Hollinger and S. Singh
  Robotics: Science and Systems, June, 2008. [Abstract]
  Download: pdf [414 KB] copyrighted

• State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation in Complex Environments
  T. Howard, C. Green, D. Ferguson, and A. Kelly
  Journal of Field Robotics, Vol. 25, No. 6-7, June, 2008, pp. 325-345. [Abstract]
  Download: pdf [921 KB] copyrighted

• Decentralized Mapping of Robot-Aided Sensor Networks
  J. Djugash, S. Singh, and B.P. Grocholsky
  IEEE International Conference on Robotics and Automation, May, 2008. [Abstract]
  Download: pdf [280 KB] copyrighted

• Flying Fast and Low Among Obstacles: Methodology and Experiments
  S. Scherer, S. Singh, L.J. Chamberlain, and M. Elgersma
  The International Journal of Robotics Research, Vol. 27, No. 5, May, 2008, pp. 549-574. [Abstract]
  Download: pdf [1119 KB] copyrighted

• Information-Optimal Selective Data Return for Autonomous Rover Traverse Science and Survey
  D.R. Thompson, T. Smith, and D. Wettergreen
  IEEE Conference on Robotics and Automation, May, 2008. [Abstract]
  Download: pdf [470 KB] copyrighted

• Learning to Detect Aircraft at Low Resolutions
  S. Petridis, C.M. Geyer, and S. Singh
  Computer Vision Systems, Lecture Notes in Computer Science, Vol. 5008, May, 2008, pp. 474 - 483. [Abstract]
  Download: pdf [701 KB] copyrighted

• Planning with Uncertainty in Position Using High-Resolution Maps
  J.P. Gonzalez
  doctoral dissertation, tech. report CMU-RI-TR-08-02, Robotics Institute, Carnegie Mellon University, May, 2008. [Abstract]
  Download: pdf [4175 KB] copyrighted

• Pose Estimation Using Starfield Occlusion
  J. Kua
  master's thesis, tech. report CMU-RI-TR-08-21, Robotics Institute, Carnegie Mellon University, May, 2008. [Abstract]
  Download: pdf [4749 KB] copyrighted

• Replanning with Uncertainty in Position: Sensor Updates vs. Prior Map Updates
  J.P. Gonzalez and A. Stentz
  Proceedings of the IEEE Int. Conference on Robotics & Automation (ICRA), May, 2008. [Abstract]
  Download: pdf [1588 KB] copyrighted

• Robot Diaries Interim Project Report: Development of a Technology Program for Middle School Girls
  E. Hamner, T. Lauwers, D. Bernstein, K. Stubbs, K. Crowley, and I. Nourbakhsh
  tech. report CMU-RI-TR-08-25, Robotics Institute, Carnegie Mellon University, May, 2008. [Abstract]
  Download: pdf [1691 KB] copyrighted

• Tracking a Moving Target in Cluttered Environments with Ranging Radios
  G. Hollinger, J. Djugash, and S. Singh
  IEEE International Conference on Robotics and Automation, May, 2008. [Abstract]
  Download: pdf [349 KB] copyrighted

• Self-Driving Cars and the Urban Challenge
  C. Urmson and W.L. Whittaker
  IEEE Intelligent Systems, Vol. 23, No. 2, April, 2008, pp. 66-68. [Abstract]

• Collective Actuation
  J. Campbell and P. Pillai
  The International Journal of Robotics Research, Vol. 27, No. 3 - 4, March, 2008, pp. 299 - 314. [Abstract]
  Download: pdf [1855 KB] copyrighted

• Proceedings of Metrics for Human-Robot Interaction, a Workshop at ACM/IEEE HRI 2008
  C.R. Burghart and A. Steinfeld
  Technical Report 471, School of Computer Science, University of Hertfordshire, Hatfield, UK, March, 2008. [Abstract]
  Download: pdf [8610 KB] copyrighted

• Robot Diaries: Broadening Participation in the Computer Science Pipeline through Social Technical Exploration
  E. Hamner, T. Lauwers, D. Bernstein, I. Nourbakhsh, and C.F. DiSalvo
  AAAI Spring Symposium on Using AI to Motivate Greater Participation in Computer Science, March, 2008. [Abstract]
  Download: pdf [293 KB] copyrighted

• An adaptive model switching approach for a multisensor tracking system used for autonomous driving in an urban environment
  M. Darms, P. Rybski, and C. Urmson
  AUTOREG 2008, Steuerung und Regelung von Fahrzeugen und Motoren: 4. Fachtagung, VDI-Verlag, Duesseldorf, February, 2008, pp. 521-530. [Abstract]
  Download: pdf [1838 KB] copyrighted

• Autonomous Rover Reflectance Spectroscopy with Dozens of Targets
  F. Calderon, D.R. Thompson, and D. Wettergreen
  International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), February, 2008. [Abstract]
  Download: pdf [513 KB] copyrighted

• Design of the Scarab Rover for Mobility and Drilling in the Lunar Cold Traps
  P. Bartlett, D. Wettergreen, and W.L. Whittaker
  International Symposium on Artificial Intelligence, Robotics and Automation in Space, February, 2008. [Abstract]

• Human Supervision of Robotic Site Survey
  D. Schreckenghost, T.W. Fong, and T. Milam
  6th Conference on Human/Robotic Technology and the Vision for Space Exploration, February, 2008. [Abstract]
  Download: pdf [502 KB] copyrighted

• Intelligent Maps for Autonomous Kilometer-Scale Science Survey
  D.R. Thompson and D. Wettergreen
  International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), February, 2008. [Abstract]
  Download: pdf [758 KB] copyrighted

• Long-Distance Autonomous Survey and Mapping in the Robotic Investigation of Life in the Atacama Desert
  D. Wettergreen, M.D. Wagner, D. Jonak, V. Baskaran, M. Deans, S. Heys, D. Pane, T. Smith, J. Teza, D.R. Thompson, P. Tompkins, and C. Williams
  International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), February, 2008. [Abstract]
  Download: pdf [4990 KB] copyrighted

• Plowing for Controlled Steep Crater Descents
  J. Ziglar, D. Kohanbash, D. Wettergreen, and W.L. Whittaker
  International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), February, 2008. [Abstract]
  Download: pdf [6045 KB] copyrighted

• Robotic Site Survey at Haughton Crater
  T.W. Fong, M. Allan, X. Bouyssounouse, M.G. Bualat, M. Deans, L. Edwards, L. Flückiger, L. Keely, S.Y. Lee, D. Lees, V. To, and H. Utz
  9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space, February, 2008. [Abstract]
  Download: pdf [1570 KB] copyrighted

• Tracking a Moving Target in Cluttered Environments with Ranging Radios: Extended Results
  G. Hollinger, J. Djugash, and S. Singh
  tech. report CMU-RI-TR-08-07, Robotics Institute, Carnegie Mellon University, February, 2008. [Abstract]
  Download: pdf [632 KB] copyrighted

• Segmentation of Salient Regions in Outdoor Scenes Using Imagery and 3-D Data
  G. Kim, D. Huber, and M. Hebert
  IEEE Workshop on Applications of Computer VIsion (WACV08), IEEE Computer Society, January, 2008. [Abstract]
  Download: pdf [3158 KB] copyrighted

• 3D Mapping and Characterization of Sistema Zacatón from DEPTHX (DEep Phreatic THermal eXplorer)
  M. Gary, N. Fairfield, W.C. Stone, D. Wettergreen, G.A. Kantor, and J.M. Sharp~Jr
  Proceedings of KARST08: 11th Sinkhole Conference ASCE, 2008. [Abstract]
  Download: pdf [498 KB] copyrighted

• Active Localization on the Ocean Floor With Multibeam Sonar
  N. Fairfield and D. Wettergreen
  Proceedings of MTS/IEEE OCEANS, 2008. [Abstract]
  Download: pdf [4070 KB] copyrighted

• Cost-based Registration using A Priori Data for Mobile Robot Localization
  L. Xu and A. Stentz
  tech. report CMU-RI-TR-08-05, Robotics Institute, Carnegie Mellon University, 2008. [Abstract]
  Download: pdf [1895 KB] copyrighted

• Navigate Like a Cabbie: Probabilistic Reasoning from Observed Context-Aware Behavior
  B. Ziebart, A. Maas, A. Dey, and J. Bagnell
  UBICOMP: Ubiquitious Computation, 2008. [Abstract]
  Download: pdf [691 KB] copyrighted

• Successful User Interfaces for RADAR
  A. Faulring, K. Mohnkern, A. Steinfeld, and B.A. Myers
  CHI 2008 Workshop on Usable Artificial Intelligence, 2008. [Abstract]
  Download: pdf [149 KB] copyrighted

• Vehicle detection and tracking for the Urban Challenge
  M. Darms, C. Baker, P. Rybski, and C. Urmson
  5. Workshop Fahrerassistenzsysteme, M. Maurer & C. Stiller, ed., Freundeskreis Mess- und Regelungstechnik Karlsruhe e.V. (FMRT), Karlsruhe, 2008, pp. 57-67. [Abstract]
  Download: pdf [141 KB] copyrighted

• Imitation Learning for Locomotion and Manipulation
  N. Ratliff, J. Bagnell, and S. Srinivasa
  tech. report CMU-RI-TR-07-45, Robotics Institute, Carnegie Mellon University, December, 2007. [Abstract]
  Download: pdf [2236 KB] copyrighted

• Iterative Design of A Braille Writing Tutor to Combat Illiteracy
  N. Kalra, T. Lauwers, D. Dewey, T. Stepleton, and M.B. Dias
  Proceedings of the 2nd IEEE/ACM International Conference on Information and Communication Technologies and Development, December, 2007. [Abstract]
  Download: pdf [1875 KB] copyrighted

• Rover Configuration for Exploring Lunar Craters
  J. Ziglar
  tech. report CMU-RI-TR-07-42, Robotics Institute, Carnegie Mellon University, December, 2007. [Abstract]
  Download: pdf [6427 KB] copyrighted

• Imitation Learning for Locomotion and Manipulation
  N. Ratliff, J. Bagnell, and S. Srinivasa
  IEEE-RAS International Conference on Humanoid Robots, November, 2007. [Abstract]

• Randomized Path Planning for Redundant Manipulators without Inverse Kinematics
  M. Vande Weghe, D. Ferguson, and S. Srinivasa
  IEEE-RAS International Conference on Humanoid Robots, November, 2007. [Abstract]
  Download: pdf [7324 KB] copyrighted

• Potential Negative Obstacle Detection by Occlusion Labeling
  N. Heckman, N. Vandapel, and M. Hebert
  IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2007. [Abstract]
  Download: pdf [1933 KB] copyrighted

• Rhythmic synchrony for attractive human-robot interaction
  H. Kozima and M.P. Michalowski
  Proceedings of Entertainment Computing 2007, October, 2007. [Abstract]

• Denoising Manifold and Non-Manifold Point Clouds
  R. Unnikrishnan and M. Hebert
  18th British Machine Vision Conference (BMVC), September, 2007. [Abstract]
  Download: pdf [624 KB] copyrighted

• Analysis of High-Efficiency Solar Cells in Mobile Robot Applications
  F. Calderon, R.A. Luders, D. Wettergreen, J. Teza, and A. Guesalaga
  Journal of Solar Energy Engineering, Vol. 129, No. 3, August, 2007, pp. 343-346. [Abstract]
  Download: pdf [297 KB] copyrighted

• Data Structures for Efficient Dynamic Processing in 3-D
  J. Lalonde, N. Vandapel, and M. Hebert
  The International Journal of Robotics Research, Vol. 26, No. 8, August, 2007, pp. 777-796. [Abstract]
  Download: pdf [3253 KB] copyrighted

• Methodological issues in facilitating rhythmic play with robots
  M.P. Michalowski and H. Kozima
  Proceedings of the 16th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2007), IEEE, August, 2007, pp. 95-100. [Abstract]
  Download: pdf [1515 KB] copyrighted

• Coordinated Search in Cluttered Environments Using Range from Multiple Robots
  G. Hollinger, J. Djugash, and S. Singh
  Sixth International Conference on Field and Service Robotics, July, 2007. [Abstract]
  Download: pdf [402 KB] copyrighted

• Multi-scale Features for Detection and Segmentation of Rocks in Mars Images
  H. Dunlop, D.R. Thompson, and D. Wettergreen
  IEEE Conference on Computer Vision and Pattern Recognition, June, 2007. [Abstract]
  Download: pdf [1253 KB] copyrighted

• 2D Localization of Outdoor Mobile Robots Using 3D Laser Range Data
  T. Takahashi
  master's thesis, tech. report CMU-RI-07-11, Robotics Institute, Carnegie Mellon University, May, 2007. [Abstract]
  Download: pdf [3660 KB] copyrighted

• Autonomous Reflectance Spectroscopy by a Mobile Robot for Mineralogical Characterization
  F. Calderon
  tech. report CMU-RI-TR-07-46, Robotics Institute, Carnegie Mellon University, May, 2007. [Abstract]
  Download: pdf [13058 KB] copyrighted

• Human-Robot Teams for Large-Scale Assembly
  R. Simmons, S. Singh, F. Heger, L.M. Hiatt, S.C. Koterba, N. Melchior, and B.P. Sellner
  Proceedings of the NASA Science Technology Conference 2007 (NSTC-07), May, 2007. [Abstract]
  Download: pdf [411 KB] copyrighted

• Learning in image-guided reaching changes the representation-to-action mapping
  B. Wu, R. Klatzky, D.M. Shelton, and G.D. Stetten
  Vision Sciences Society Meeting, May, 2007. [Abstract]
  Download: pdf [4078 KB] copyrighted

• Particle RRT for Path Planning in Very Rough Terrain
  N. Melchior, J. Kwak, and R. Simmons
  Proceedings of the NASA Science Technology Conference 2007 (NSTC-07), May, 2007. [Abstract]
  Download: pdf [1019 KB], ps.gz [2299 KB] copyrighted

• Peripherally Inserted Central Catheters by Nurses using the Sonic Flashlight
  D.C. Wang, N.B. Amesur, R. Klatzky, A. Bayless, B. Mandella, C. Banks, G. Shukla, and G.D. Stetten
  Clinical and Translational Science Day,, May, 2007. [Abstract]
  Download: pdf [272 KB] copyrighted

• Socially Distributed Perception: GRACE plays Social Tag at AAAI 2005
  M.P. Michalowski, S. Sabanovic, C.F. DiSalvo, D. Busquets Font, L.M. Hiatt, N. Melchior, and R. Simmons
  Autonomous Robots, Vol. 22, No. 4, May, 2007, pp. 385-397. [Abstract]

• Design and calibration of a virtual tomographic reflection system
  D.M. Shelton, B. Wu, R. Klatzky, and G.D. Stetten
  International Symposium on Biomedical Imaging (ISBI), April, 2007. [Abstract]
  Download: pdf [372 KB] copyrighted

• Flying Fast and Low Among Obstacles
  S. Scherer, S. Singh, L.J. Chamberlain, and S. Saripalli
  Proceedings International Conference on Robotics and Automation, April, 2007. [Abstract]
  Download: pdf [685 KB] copyrighted

• Particle RRT for Path Planning with Uncertainty
  N. Melchior and R. Simmons
  2007 IEEE International Conference on Robotics and Automation, April, 2007, pp. 1617-1624. [Abstract]
  Download: pdf [866 KB], ps.gz [2095 KB] copyrighted

• Planning with Uncertainty in Position Using High-Resolution Maps
  J.P. Gonzalez and A. Stentz
  In Proceedings of the IEEE Int. Conference on Robotics & Automation (ICRA) 2007, April, 2007. [Abstract]
  Download: pdf [1400 KB] copyrighted

• Probabilistic Strategies for Pursuit in Cluttered Environments with Multiple Robots
  G. Hollinger, A. Kehagias, and S. Singh
  IEEE International Conference on Robotics and Automation, April, 2007. [Abstract]
  Download: pdf [264 KB] copyrighted

• Technologies Toward Lunar Crater Exploration
  J. Ziglar, D. Kohanbash, D. Wettergreen, and W.L. Whittaker
  tech. report CMU-RI-TR-07-40, Robotics Institute, Carnegie Mellon University, April, 2007. [Abstract]
  Download: pdf [6719 KB] copyrighted

• Undergraduate Robotics Education in Technologically Underserved Communities
  M.B. Dias, B. Browning, G.A. Mills-Tettey, N. Amanquah, and N. El-Moughny
  2007 IEEE International Conference on Robotics and Automation, April, 2007, pp. 1387-1392. [Abstract]
  Download: pdf [384 KB] copyrighted

• A dancing robot for rhythmic social interaction
  M.P. Michalowski, S. Sabanovic, and H. Kozima
  Proceedings of the 2nd Annual Conference on Human-Robot Interaction (HRI 2007), ACM, March, 2007, pp. 89 - 96. [Abstract]
  Download: pdf [2110 KB] copyrighted

• Autonomous Underwater Vehicle Navigation and Proximity Operations for Deep Phreatic Thermal Explorer (DEPTHX)
  W. Stone, N. Fairfield, and G.A. Kantor
  Masterclass in AUV Technology for Polar Science: Proceedings of an International Masterclass Held at the National Oceanography Centre, Southampton, UK, 28-39 March 2006, Society for Underwater Technology, London, March, 2007. [Abstract]

• Interactive Robot Task Training through Dialog and Demonstration
  P. Rybski, K. Yoon, J. Stolarz, and M. Veloso
  2nd ACM/IEEE International Conference on Human-Robot Interaction, March, 2007. [Abstract]
  Download: pdf [500 KB] copyrighted

• Making Friends: Building Social Robots through Interdisciplinary Collaboration
  S. Sabanovic, M.P. Michalowski, and L.R. Caporael
  Multidisciplinary Collaboration for Socially Assistive Robotics: Papers from the 2007 AAAI Spring Symposium, Technical Report SS-07-07, AAAI, March, 2007, pp. 71-77. [Abstract]
  Download: pdf [1236 KB] copyrighted

• Natural Person-Following Behavior for Social Robots
  R. Kirby, J. Forlizzi, and R. Simmons
  Proceedings of Human-Robot Interaction, March, 2007, pp. 17-24. [Abstract]
  Download: pdf [378 KB] copyrighted

• Parrots: A Range Measuring Sensor Network
  W. Zhang, J. Djugash, and S. Singh
  tech. report CMU-RI-TR-06-05, Robotics Institute, Carnegie Mellon University, March, 2007. [Abstract]
  Download: pdf [371 KB] copyrighted

• Spatial Point Process Models for the Clustering Behavior of Northern Plains Boulders
  D.R. Thompson and D. Wettergreen
  Lunar and Planetary Science Conference, March, 2007. [Abstract]
  Download: pdf [1042 KB] copyrighted

• TeRK: A Flexible Tool for Science and Technology Education
  I. Nourbakhsh, E. Hamner, T. Lauwers, C.F. DiSalvo, and D. Bernstein
  Proceedings of AAAI Spring Symposium on Robots and Robot Venues: Resources for AI Education, March, 2007. [Abstract]
  Download: pdf [3417 KB] copyrighted

• Virtual Tomographic Reflection for Psychophysical Analysis of the Sonic Flashlight
  D.M. Shelton
  doctoral dissertation, tech. report CMU-RI-TR-07-14, Robotics Institute, Carnegie Mellon University, March, 2007. [Abstract]

• A Braille Writing Tutor to Combat Illiteracy in Developing Communities
  N. Kalra, T. Lauwers, and M.B. Dias
  AI in ICT for Development Workshop, International Joint Conference on Artificial Intelligence, January, 2007. [Abstract]
  Download: pdf [1074 KB] copyrighted

• Creating Low-Cost Soil Maps for Tropical Agriculture using Gaussian Processes
  J.P. Gonzalez, S. Cook, T. Oberthur, A. Jarvis, J. Bagnell, and M.B. Dias
  Workshop on AI in ICT for Development (ICTD) at the Twentieth International Joint Conference on Artificial Intelligence (IJCAI 2007), January, 2007. [Abstract]
  Download: pdf [856 KB] copyrighted

• Teaching technical creativity through Robotics: A case study in Ghana
  G.A. Mills-Tettey, M.B. Dias, B. Browning, and N. Amanquah
  Workshop on AI in ICT for Development (ICTD) at the Twentieth International Joint Conference on Artificial Intelligence (IJCAI 2007), January, 2007. [Abstract]
  Download: pdf [392 KB] copyrighted

• Evaluation of an Integrated Multi-Task Machine Learning System with Humans in the Loop
  A. Steinfeld, S.R. Bennett, K. Cunningham, M. Lahut, P. Quinones, D. Wexler, D. Siewiorek, J. Hayes, P. Cohen, J. Fitzgerald, O. Hansson, M. Pool, and M. Drummond
  NIST Performance Metrics for Intelligent Systems Workshop (PerMIS), 2007. [Abstract]
  Download: pdf [1115 KB] copyrighted

• Experiments in Navigation and Mapping with a Hovering AUV
  G.A. Kantor, N. Fairfield, D. Jonak, and D. Wettergreen
  Intl. Conf. on Field and Service Robotics, 2007. [Abstract]
  Download: pdf [1131 KB] copyrighted

• Field Results of the Control, Navigation, and Mapping Systems of a Hovering AUV
  N. Fairfield, D. Jonak, G.A. Kantor, and D. Wettergreen
  Intl. Symp. on Unmanned Untethered Submersible Technology, 2007. [Abstract]
  Download: pdf [1988 KB] copyrighted

• Real-Time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels
  N. Fairfield, G.A. Kantor, and D. Wettergreen
  Journal of Field Robotics, 2007. [Abstract]
  Download: pdf [1867 KB] copyrighted

• Survey measures for evaluation of cognitive assistants
  A. Steinfeld, P. Quinones, J. Zimmerman, S.R. Bennett, and D. Siewiorek
  NIST Performance Metrics for Intelligent Systems Workshop (PerMIS), 2007. [Abstract]
  Download: pdf [457 KB] copyrighted

• Learning Obstacle Avoidance Parameters from Operator Behavior
  B. Hamner, S. Singh, and S. Scherer
  Special Issue on Machine Learning Based Robotics in Unstructured Environments, Journal of Field Robotics, Vol. 23, No. 11/12, December, 2006, pp. 1037-1058. [Abstract]
  Download: pdf [1812 KB] copyrighted

• 3D Field D: Improved Path Planning and Replanning in Three Dimensions
  J. Carsten, D. Ferguson, and A. Stentz
  Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 3381 - 3386. [Abstract]
  Download: pdf [1139 KB] copyrighted

• A Preliminary Study of Peer-to-Peer Human-Robot Interaction
  T.W. Fong, J. Scholtz, J. Shah, L. Flueckiger, C. Kunz, D. Lees, J. Schreiner, M. Siegel, L. Hiatt, I. Nourbakhsh, R. Simmons, R. Ambrose, R. Burridge, B. Antonishek, M. Bugajska, A. Schultz, and J.G. Trafton
  International Conference on Systems, Man, and Cybernetics, IEEE, October, 2006. [Abstract]
  Download: pdf [737 KB] copyrighted

• Anytime RRTs
  D. Ferguson and A. Stentz
  Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 5369 - 5375. [Abstract]
  Download: pdf [1108 KB] copyrighted

• Carotid Artery and Jugular Vein Tracking and Differentiation Using Spatiotemporal Analysis
  D.C. Wang, R. Klatzky, N. Amesur, and G.D. Stetten
  Medical Image Computing and Computer-Assisted Intervention (MICCAI 2006), Lecture Notes in Computer Science, Vol. 4190, October, 2006, pp. 654 - 661. [Abstract]
  Download: pdf [536 KB] copyrighted

• CMAssist: A RoboCup@Home Team
  P. Rybski, K. Yoon, J. Stolarz, and M. Veloso
  tech. report CMU-RI-TR-06-47, Robotics Institute, Carnegie Mellon University, October, 2006. [Abstract]
  Download: pdf [2573 KB] copyrighted

• Learning to Drive Among Obstacles
  B. Hamner, S. Scherer, and S. Singh
  2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2006, pp. 2663 - 2669. [Abstract]
  Download: pdf [318 KB] copyrighted

• Learning-enhanced Market-based Task Allocation for Disaster Response
  E. Jones, M.B. Dias, and A. Stentz
  tech. report CMU-RI-TR-06-48, Robotics Institute, Carnegie Mellon University, October, 2006. [Abstract]
  Download: pdf [242 KB] copyrighted

• Planning with Uncertainty in Position Using High-Resolution Maps - Thesis Proposal
  J.P. Gonzalez
  tech. report CMU-RI-TR-06-45, Robotics Institute, Carnegie Mellon University, October, 2006. [Abstract]
  Download: pdf [5971 KB] copyrighted

• Teaching technical creativity through Robotics: A case study in Ghana
  G.A. Mills-Tettey, M.B. Dias, B. Browning, and N. Amanquah
  tech. report CMU-RI-TR-06-46, Robotics Institute, Carnegie Mellon University, October, 2006. [Abstract]
  Download: pdf [155 KB] copyrighted

• Towards Proactive Replanning for Multi-Robot Teams
  B.P. Sellner and R. Simmons
  Proceedings of the 5th International Workshop on Planning and Scheduling in Space 2006, October, 2006. [Abstract]
  Download: pdf [450 KB], ps.gz [566 KB] copyrighted

• A Roadmap for Technology Literacy and a Vehicle for Getting There: Educational Robotics and the TeRK Project
  I. Nourbakhsh, E. Hamner, T. Lauwers, D. Bernstein, and C.F. DiSalvo
  Proceedings of IEEE RO-MAN 2006, September, 2006. [Abstract]
  Download: pdf [171 KB] copyrighted

• Cognitive Evaluation of Human-Robot Systems: A Method for Analyzing Cognitive Change in Human-Robot Systems
  K. Stubbs, D. Bernstein, K. Crowley, and I. Nourbakhsh
  Proceedings of the 15th International Symposium on Robot and Human Interactive Communication (RO-MAN 06), IEEE, September, 2006, pp. 59-65. [Abstract]
  Download: pdf [326 KB] copyrighted

• Cooperative air and ground surveillance
  B.P. Grocholsky, J. Keller, V. Kumar, and G. Pappas
  IEEE Robotics & Automation Magazine, Vol. 13, No. 3, September, 2006, pp. 16 - 25. [Abstract]
  Download: pdf [2432 KB] copyrighted

• Modeling Affect in Socially Interactive Robots
  R. Kirby, R. Simmons, and J. Forlizzi
  Proceedings of the 15th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN06), September, 2006, pp. 558-563. [Abstract]
  Download: pdf [289 KB] copyrighted

• Roillo: Creating a social robot for playrooms
  M.P. Michalowski, S. Sabanovic, and P. Michel
  Proceedings of the 15th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2006), IEEE, September, 2006, pp. 587 - 592. [Abstract]
  Download: pdf [368 KB] copyrighted

• Toward Human-Robot Interface Standards II: An Examination of Common Elements in Human-Robot Interaction Across the Space Enterprise
  J. Ferketic, L. Goldblatt, E. Hodgson, S. Murray, R. Wichowski, A. Bradley, T.W. Fong, J. Evans, W. Chun, R. Stiles, M.A. Goodrich, A. Steinfeld, D. King, and C. Erkorkmaz
  AIAA Space 2006, September, 2006. [Abstract]
  Download: pdf [824 KB] copyrighted

• Tracking of Moving Objects from a Moving Vehicle Using a Scanning Laser Rangefinder
  R. MacLachlan and C. Mertz
  Intelligent Transportation Systems 2006, IEEE, Vol. 2006, September, 2006, pp. 301-306. [Abstract]
  Download: pdf [431 KB] copyrighted

• A Robust Approach to High-Speed Navigation for Unrehearsed Desert Terrain
  C. Urmson, J. Anhalt, D. Bartz, M. Clark, T. Galatali, A. Gutierrez, S. Harbaugh, J. Johnston, H. Kato, P.L. Koon, W. Messner, N. Miller, A. Mosher, K. Peterson, C. Ragusa, D. Ray, B.K. Smith, J.M. Snider, S. Spiker, J.C. Struble, J. Ziglar, and W.L. Whittaker
  Journal of Field Robotics, Vol. 23, No. 8, August, 2006, pp. 467-508. [Abstract]
  Download: pdf [3058 KB] copyrighted

• Planning with Uncertainty in Position Using High-Resolution Maps
  J.P. Gonzalez and A. Stentz
  tech. report CMU-RI-TR-06-33, Robotics Institute, Carnegie Mellon University, August, 2006. [Abstract]
  Download: pdf [1061 KB] copyrighted

• Sliding Autonomy for Complex Coordinated Multi-Robot Tasks: Analysis & Experiments
  F. Heger and S. Singh
  In Proceedings, Robotics: Systems and Science, August, 2006. [Abstract]
  Download: pdf [1208 KB] copyrighted

• Automatic Three-Dimensional Point Cloud Processing for Forest Inventory
  J. Lalonde, N. Vandapel, and M. Hebert
  tech. report CMU-RI-TR-06-21, Robotics Institute, Carnegie Mellon University, July, 2006. [Abstract]
  Download: pdf [3377 KB] copyrighted

• Challenges to Grounding in Human-Robot Collaboration: Errors and Miscommunications in Remote Exploration Robotics
  K. Stubbs, P. Hinds, and D. Wettergreen
  tech. report CMU-RI-TR-06-32, Robotics Institute, Carnegie Mellon University, July, 2006. [Abstract]
  Download: pdf [3346 KB] copyrighted

• Coordinated Multi-Agent Teams and Sliding Autonomy for Large-Scale Assembly
  B.P. Sellner, F. Heger, L. Hiatt, R. Simmons, and S. Singh
  Proceedings of the IEEE - Special Issue on Multi-Robot Systems, Vol. 94, No. 7, July, 2006, pp. 1425 - 1444. [Abstract]
  Download: pdf [1022 KB] copyrighted

• Long-term motion estimation from images
  D. Strelow and S. Singh
  In Proceedings, International Symposium on Experimental Robotics, July, 2006. [Abstract]
  Download: pdf [1441 KB] copyrighted

• Market-based multirobot coordination: a survey and analysis
  M.B. Dias, R.M. Zlot, N. Kalra, and A. Stentz
  Proceedings of the IEEE, Vol. 94, No. 7, July, 2006, pp. 1257 - 1270. [Abstract]
  Download: pdf [0 KB] copyrighted

• Toward Human-Robot Interface Standards I: Use of Standardization and Intelligent Subsystems for Advancing Human-Robotic Competency in Space Exploration
  J. Ferketic, L. Goldblatt, E. Hodgson, S. Murray, R. Wichowski, A. Bradley, T.W. Fong, J. Evans, W. Chun, R. Stiles, M. Goodrich, and A. Steinfeld
  SAE 36th International Conference on Environmental Systems, No. 2006-01-2019, July, 2006. [Abstract]
  Download: pdf [592 KB] copyrighted

• A Latent Cause Model of Classical Conditioning
  A. Courville
  doctoral dissertation, Robotics Institute, Carnegie Mellon University, June, 2006. [Abstract]
  Download: pdf [26368 KB] copyrighted

• Preliminary Results in Tracking Mobile Targets Using Range Sensors from Multiple Robots
  E. Liao, G. Hollinger, J. Djugash, and S. Singh
  The 8th International Symposium on Distributed Autonomous Robotic Systems, June, 2006, pp. 125-134. [Abstract]
  Download: pdf [222 KB] copyrighted

• Constrained Exploration for Studies in Multirobot Coordination
  N. Kalra, D. Ferguson, and A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2006. [Abstract]
  Download: pdf [271 KB] copyrighted

• Data Structure for Efficient Dynamic Processing in 3-D
  J. Lalonde
  master's thesis, tech. report CMU-RI-TR-06-22, Robotics Institute, Carnegie Mellon University, May, 2006. [Abstract]
  Download: pdf [997 KB] copyrighted

• Interaction of Visual and Haptic Cues in the Image-based Perception of Depth
  B. Wu, R. Klatzky, D.M. Shelton, and G.D. Stetten
  Vision Sciences Society Meeting, May, 2006. [Abstract]

• Range-Only SLAM for Robots Operating Cooperatively with Sensor Networks
  J. Djugash, S. Singh, G.A. Kantor, and W. Zhang
  IEEE International Conference on Robotics and Automation, May, 2006, pp. 2078 - 2084. [Abstract]
  Download: pdf [272 KB] copyrighted

• Range-only SLAM with Interpolated Range Data
  A. Kehagias, J. Djugash, and S. Singh
  tech. report CMU-RI-TR-06-26, Robotics Institute, Carnegie Mellon University, May, 2006. [Abstract]
  Download: pdf [496 KB] copyrighted

• Replanning with RRTs
  D. Ferguson, N. Kalra, and A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2006, pp. 1243 - 1248. [Abstract]
  Download: pdf [351 KB] copyrighted

• The RADAR Test Methodology: Evaluating a Multi-Task Machine Learning System with Humans in the Loop
  A. Steinfeld, R. Bennett, K. Cunningham, M. Lahut, P. Quinones, D. Wexler, D. Siewiorek, P. Cohen, J. Fitzgerald, O. Hansson, J. Hayes, M. Pool, and M. Drummond
  tech. report CMU-CS-06-125, Computer Science Department, Carnegie Mellon University, May, 2006. [Abstract]
  Download: pdf [1530 KB] copyrighted

• Towards Particle Filter SLAM with Three Dimensional Evidence Grids in a Flooded Subterranean Environment
  N. Fairfield, G.A. Kantor, and D. Wettergreen
  Proceedings of ICRA 2006, May, 2006, pp. 3575 - 3580. [Abstract]
  Download: pdf [1310 KB] copyrighted

• A spatial model of engagement for a social robot
  M.P. Michalowski, S. Sabanovic, and R. Simmons
  Proceedings of the 9th International Workshop on Advanced Motion Control (AMC 2006), IEEE, March, 2006, pp. 762 - 767. [Abstract]
  Download: pdf [198 KB] copyrighted

• Attaining Situational Awareness for Sliding Autonomy
  B.P. Sellner, L.M. Hiatt, R. Simmons, and S. Singh
  Proceedings of HRI 2006, March, 2006. [Abstract]
  Download: pdf [522 KB] copyrighted

• Autonomous Detection of Novel Biologic and Geologic Features in Atacama Desert Rover Imagery
  D.R. Thompson, T. Smith, and D. Wettergreen
  Proc. of the Lunar and Planetary Science Conference, March, 2006. [Abstract]
  Download: pdf [57 KB] copyrighted

• Autonomous Rover Detection and Response Applied to the Search for Life Via Chlorophyll Fluorescence in the Atacama Desert
  T. Smith, D.R. Thompson, S. Weinstein, and D. Wettergreen
  Proc. of the Lunar and Planetary Science Conference, March, 2006. [Abstract]
  Download: pdf [388 KB] copyrighted

• Common Metrics for Human-Robot Interaction
  A. Steinfeld, T.W. Fong, D. Kaber, M. Lewis, J. Scholtz, A. Schultz, and M. Goodrich
  2006 Human-Robot Interaction Conference, ACM, March, 2006. [Abstract]
  Download: pdf [110 KB] copyrighted

• Design and Calibration of a Virtual Tomographic Reflection System
  D.M. Shelton, G.D. Stetten, B. Wu, and R. Klatzky
  IEEE Symposium on 3D User Interfaces, March, 2006. [Abstract]

• Evaluation of Autonomous Ground Vehicle Skills
  P.L. Koon
  master's thesis, tech. report CMU-RI-TR-06-13, Robotics Institute, Carnegie Mellon University, March, 2006. [Abstract]
  Download: pdf [359 KB] copyrighted

• Incremental Reconstruction of Generalized Voronoi Diagrams on Grids
  N. Kalra, D. Ferguson, and A. Stentz
  Proceedings of the International Conference on Intelligent Autonomous Systems (IAS), March, 2006. [Abstract]
  Download: pdf [4551 KB] copyrighted

• Interactions with a Moody Robot
  R. Kirby, J. Forlizzi, and R. Simmons
  Proceedings of Human-Robot Interaction, Salt Lake City, Utah, March, 2006, pp. 186-193. [Abstract]
  Download: pdf [458 KB] copyrighted

• Multi-resolution Field D*
  D. Ferguson and A. Stentz
  Proceedings of the International Conference on Intelligent Autonomous Systems (IAS), March, 2006. [Abstract]
  Download: pdf [4756 KB] copyrighted

• Multimodal person tracking and attention classification
  M.P. Michalowski and R. Simmons
  Proceedings of the 1st Annual Conference on Human-Robot Interaction (HRI 2006), ACM, March, 2006, pp. 347-348. [Abstract]
  Download: pdf [133 KB] copyrighted

• Optical Merger of Direct Vision with Virtual Images for Scaled Teleoperation
  S. Clanton, D.C. Wang, V. Chib, Y. Matsuoka, and G.D. Stetten
  IEEE Transactions on Visualization and Computer Graphics (TVCG), Vol. 12, No. 2, March, 2006, pp. 277 - 285. [Abstract]
  Download: pdf [1328 KB] copyrighted

• Robots in the wild: observing human-robot social interaction outside the lab
  S. Sabanovic, M.P. Michalowski, and R. Simmons
  Proceedings of the 9th International Workshop on Advanced Motion Control (AMC 2006), IEEE, March, 2006, pp. 596 - 601. [Abstract]
  Download: pdf [155 KB] copyrighted

• Socially Distributed Perception
  M.P. Michalowski, C.F. DiSalvo, S. Sabanovic, D. Busquets Font, L.M. Hiatt, N. Melchior, and R. Simmons
  Proceedings of the 1st Annual Conference on Human-Robot Interaction (HRI 2006), ACM, March, 2006, pp. 349-350. [Abstract]
  Download: pdf [136 KB] copyrighted

• A Formalism for Utilization of Sensor Systems and Integrated Project Models for Active Construction Quality Control
  B. Akinci, F. Boukamp, C. Gordon, D. Huber, C. Lyons, and K. Park
  Automation in Construction, Vol. 15, No. 2, February, 2006, pp. 124--138. [Abstract]
  Download: pdf [2250 KB] copyrighted

• Mission-level path planning and re-planning for rover exploration
  P. Tompkins, A. Stentz, and D. Wettergreen
  Robotics and Autonomous Systems, Intelligent Autonomous Systems, Vol. 54, No. 2, February, 2006, pp. 174 - 183. [Abstract]
  Download: pdf [1803 KB] copyrighted

• The Geometric Path Planner for Navigating Unmanned Vehicles in Dynamic Environments
  J.P. Gonzalez, B. Nagy, and A. Stentz
  Proceedings ANS 1st Joint Emergency Preparedness and Response and Robotic and Remote Systems, February, 2006. [Abstract]
  Download: pdf [973 KB] copyrighted

• Using Interpolation to Improve Path Planning: The Field D* Algorithm
  D. Ferguson and A. Stentz
  Journal of Field Robotics, Vol. 23, No. 2, February, 2006, pp. 79-101. [Abstract]
  Download: pdf [1040 KB] copyrighted

• Market-based Multirobot Coordination for Complex Tasks
  R.M. Zlot and A. Stentz
  International Journal of Robotics Research, Special Issue on the 4th International Conference on Field and Service Robotics, Vol. 25, No. 1, January, 2006, pp. 73-101. [Abstract]
  Download: pdf [2407 KB] copyrighted

• Recent Developments in Subterranean Robotics
  A.C. Morris, D. Ferguson, Z. Omohundro, D. Bradley, D. Silver, C. Baker, S. Thayer, W. Whittaker, and W.L. Whittaker
  Journal of Field Robotics, Vol. 23, No. 1, January, 2006, pp. 35-57. [Abstract]
  Download: pdf [2405 KB] copyrighted

• Accessibility and intelligent transportation systems
  A. Steinfeld
  Wheeled Mobility and Accessible Transportation 2003 Conference Proceedings, U.S. Department of Education, Interagency Committee on Disability Research (ICDR), Washington, DC, 2006, pp. 35-37.
  Download: pdf [853 KB] copyrighted

• Human-robot interaction
  A. Steinfeld
  International Encyclopedia of Ergonomics and Human Factors, 2nd Edition, W. Karwowski, ed., Taylor & Francis, London, 2006.

• Market-Based Multirobot Coordination: A Comprehensive Survey and Analysis
  N. Kalra, M.B. Dias, R.M. Zlot, and A. Stentz
  tech. report CMU-RI-TR-05-16, Robotics Institute, Carnegie Mellon University, December, 2005. [Abstract]
  Download: pdf [499 KB] copyrighted

• Preplanning for high performance autonomous traverse of desert terrain exploiting a priori knowledge to optimize speeds and to detail paths
  A. Gutierrez, T. Galatali, J.P. Gonzalez, C. Urmson, and W.L. Whittaker
  tech. report CMU-RI-TR-05-54, Robotics Institute, Carnegie Mellon University, December, 2005. [Abstract]
  Download: pdf [18575 KB] copyrighted

• First Clinical Trial of the Sonic Flashlight - Guiding Placement of Peripherally Inserted Central Catheters
  W. Chang, N. Amesur, D.C. Wang, A. Zajko, and G.D. Stetten
  2005 meeting of the Radiological Society of North America, November, 2005.

• Psychophysical Evaluation of In-Situ Ultrasound Visualization
  B. Wu, R. Klatzky, D.M. Shelton, and G.D. Stetten
  IEEE Transactions on Visualization and Computer Graphics (TVCG), Special Issue on Haptics, Virtual and Augmented Reality, Vol. 11, No. 6, November, 2005, pp. 1 - 10. [Abstract]

• A Laser Needle Guide for the Sonic Flashlight
  D.C. Wang, B. Wu, and G.D. Stetten
  Medical Image Computing and Computer-Assisted Intervention Conference, October, 2005. [Abstract]
  Download: pdf [122 KB] copyrighted

• Field D*: An Interpolation-based Path Planner and Replanner
  D. Ferguson and A. Stentz
  Proceedings of the International Symposium on Robotics Research (ISRR), October, 2005. [Abstract]
  Download: pdf [1540 KB] copyrighted

• The Sonic Penlight for Guidance of Superficial Subdermal Access
  G. Shukla, B. Wu, D. Schwartzman, and G.D. Stetten
  Medical Image Computing and Computer-Assisted Intervention Conference, October, 2005. [Abstract]
  Download: pdf [244 KB] copyrighted

• A Sun Tracker for Planetary Analog Rovers
  M.C. Deans, D. Wettergreen, and D. Villa
  8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005. [Abstract]
  Download: pdf [718 KB] copyrighted

• An Analysis of the Human Odometer
  U. Wong, C. Lyons, and S. Thayer
  tech. report CMU-RI-TR-05-47, Robotics Institute, Carnegie Mellon University, September, 2005. [Abstract]
  Download: pdf [558 KB] copyrighted

• Data Mining During Rover Traverse: From Images to Geologic Signatures
  D.R. Thompson, T. Smith, and D. Wettergreen
  8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005. [Abstract]
  Download: pdf [2740 KB] copyrighted

• Design and Control of a Passively Steered, Dual Axle Vehicle
  M.D. Wagner, S. Heys, D. Wettergreen, J. Teza, D. Apostolopoulos, G.A. Kantor, and W.L. Whittaker
  8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005. [Abstract]
  Download: pdf [4416 KB] copyrighted

• Driver-Vehicle-Interface (DVI) Development of a Drowsy Driver Detection and Warning System for Commercial Vehicles
  E.M. Ayoob, R. Grace, and A. Steinfeld
  tech. report CMU-RI-TR-05-46, Robotics Institute, Carnegie Mellon University, September, 2005. [Abstract]
  Download: pdf [7427 KB] copyrighted

• Experimental Characterization of a Robotic Inflatable Wheel
  D. Apostolopoulos, M.D. Wagner, C. Leger, and J. Jones
  8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005. [Abstract]
  Download: pdf [941 KB] copyrighted

• Model Checking of Robotic Control Systems
  S. Scherer, F. Lerda, and E.M. Clarke
  Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), September, 2005. [Abstract]
  Download: pdf [1859 KB], ps.gz [4896 KB] copyrighted

• Results in Sliding Autonomy for Multi-robot Spatial Assembly
  F. Heger, L. Hiatt, B.P. Sellner, R. Simmons, and S. Singh
  Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005. [Abstract]
  Download: pdf [1724 KB] copyrighted

• Rover Design for Polar Astrobiological Exploration
  L. Pedersen, D. Wettergreen, D. Apostolopoulos, C. McKay, M.E. DiGioia, D. Jonak, S. Heys, J. Teza, and M.D. Wagner
  8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005. [Abstract]
  Download: pdf [367 KB] copyrighted

• Second Experiments in the Robotic Investigation of Life in the Atacama Desert of Chile
  D. Wettergreen, N. Cabrol, V. Baskaran, F. Calderon, S. Heys, D. Jonak, R.A. Luders, D. Pane, T. Smith, J. Teza, P. Tompkins, D. Villa, C. Williams, and M.D. Wagner
  8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005. [Abstract]
  Download: pdf [945 KB] copyrighted

• The Peer-to-Peer Human-Robot Interaction Project
  T.W. Fong, I. Nourbakhsh, R. Ambrose, R. Simmons, A. Schultz, and J. Scholtz
  AIAA Space 2005, September, 2005. [Abstract]
  Download: pdf [642 KB] copyrighted

• Designing Robots for Long-Term Social Interaction
  R. Kirby, F. Broz, J. Forlizzi, M.P. Michalowski, A. Mundell, S. Rosenthal, B.P. Sellner, R. Simmons, K. Snipes, A. Schultz, and J. Wang
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), IEEE, August, 2005, pp. 2199 - 2204. [Abstract]
  Download: pdf [593 KB] copyrighted

• Guiding Vascular Access with the Sonic Flashlight - Preclinical Development and Validation
  W. Chang
  doctoral dissertation, Department of Bioengineering, University of Pittsburgh, August, 2005. [Abstract]

• Improving cost estimation in market-based coordination of a distributed sensing task
  M.B. Dias, B. Ghanem, and A. Stentz
  2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, August, 2005, pp. 3972 - 3977. [Abstract]
  Download: pdf [359 KB] copyrighted

• Multiple-Object Detection in Natural Scenes with Multiple-View Expectation Maximization Clustering
  D.R. Thompson and D. Wettergreen
  International Conference on Intelligent Robots and Systems (IROS '05), August, 2005, pp. 448 - 453. [Abstract]
  Download: pdf [8621 KB] copyrighted

• Planning with Uncertainty in Position: An Optimal and Efficient Planner
  J.P. Gonzalez and A. Stentz
  Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '05), August, 2005, pp. 2435 - 2442. [Abstract]
  Download: pdf [477 KB] copyrighted

• Three Dimensional Evidence Grids for SLAM in Complex Underwater Environments
  N. Fairfield, G.A. Kantor, and D. Wettergreen
  Proceedings of the 14th International Symposium of Unmanned Untethered Submersible Technology (UUST), AUSI, Lee, New Hampshire, August, 2005. [Abstract]
  Download: pdf [808 KB], ps.gz [1892 KB] copyrighted

• Assessment of visualization software for support of construction site inspection tasks using data collected from reality capture technologies
  C. Gordon, B. Akinci, F. Boukamp, and D. Huber
  Proceedings of the 2005 International Conference on Computing in Civil Engineering, American Society of Civil Engineers, July, 2005. [Abstract]
  Download: pdf [86 KB] copyrighted

• Further Results with Localization and Mapping using Range from Radio
  J. Djugash, S. Singh, and P.I. Corke
  International Conference on Field & Service Robotics (FSR '05), July, 2005. [Abstract]
  Download: pdf [500 KB] copyrighted

• Long-Term Human-Robot Interaction: The Personal Exploration Rover and Museum Docents
  K. Stubbs, D. Bernstein, K. Crowley, and I. Nourbakhsh
  Proceedings of the 12th International Conference on Artificial Intelligence in Education (AIED '05), July, 2005, pp. 621-628. [Abstract]
  Download: pdf [176 KB] copyrighted

• Results in Combined Route Traversal and Collision Avoidance
  unknown, B. Hamner, S. Singh, and M. Hwangbo
  International Conference on Field & Service Robotics (FSR '05), July, 2005. [Abstract]
  Download: pdf [385 KB] copyrighted

• Social Tag: Finding the Person with the Pink Hat
  C.F. DiSalvo, D. Busquets Font, L. Hiatt, N. Melchior, M.P. Michalowski, and R. Simmons
  Proceedings of the Twentieth National Conference on Artificial Intelligence (AAAI 2005), AAAI, July, 2005, pp. 1726-1727.
  Download: pdf [109 KB] copyrighted

• A Guide to Heuristic-based Path Planning
  D. Ferguson, M. Likhachev, and A. Stentz
  Proceedings of the International Workshop on Planning under Uncertainty for Autonomous Systems, International Conference on Automated Planning and Scheduling (ICAPS), June, 2005. [Abstract]
  Download: pdf [1806 KB] copyrighted

• Collision Warning and Sensor Data Processing in Urban Areas
  C. Mertz, D. Duggins, J. Gowdy, J. Kozar, R. MacLachlan, A. Steinfeld, A. Suppe, C. Thorpe, and C. Wang
  Proceedings of the 5th international conference on ITS telecommunications, June, 2005, pp. 73-78. [Abstract]
  Download: pdf [259 KB], ps.gz [308 KB] copyrighted

• Data Structure for Efficient Processing in 3-D
  J. Lalonde, N. Vandapel, and M. Hebert
  Robotics: Science and Systems 1, MIT Press, June, 2005. [Abstract]
  Download: pdf [425 KB] copyrighted

• Scale Selection for Classification of Point-sampled 3-D Surfaces
  J. Lalonde, R. Unnikrishnan, N. Vandapel, and M. Hebert
  Fifth International Conference on 3-D Digital Imaging and Modeling (3DIM 2005), June, 2005, pp. 285 - 292. [Abstract]
  Download: pdf [950 KB] copyrighted

• The Field D* Algorithm for Improved Path Planning and Replanning in Uniform and Non-Uniform Cost Environments
  D. Ferguson and A. Stentz
  tech. report CMU-RI-TR-05-19, Robotics Institute, Carnegie Mellon University, June, 2005. [Abstract]
  Download: pdf [1920 KB] copyrighted

• The hierarchical atlas
  B. Lisien, D. Morales, D. Silver, G.A. Kantor, I. Rekleitis, and H. Choset
  IEEE Transactions on Robotics, Vol. 21, No. 3, June, 2005, pp. 473 - 481. [Abstract]
  Download: pdf [835 KB] copyrighted

• The TechBridgeWorld Initiative: Broadening Perspectives in Computing Technology, Education and Research
  M.B. Dias, G.A. Mills-Tettey, and J. Mertz
  CWIT '05: Proceedings of the international symposium on Women and ICT: Creating Global Transformation, ACM Press, New York, NY, June, 2005. [Abstract]
  Download: pdf [233 KB] copyrighted

• Efficacy of Image-Guided Action is Controlled by Perception
  R. Klatzky, B. Wu, D.M. Shelton, and G.D. Stetten
  Vision Sciences Society conference, May, 2005. [Abstract]
  Download: pdf [385 KB] copyrighted

• Mission-Directed Path Planning for Planetary Rover Exploration
  P. Tompkins
  doctoral dissertation, tech. report CMU-RI-TR-05-20, Robotics Institute, Carnegie Mellon University, May, 2005. [Abstract]
  Download: pdf [6405 KB] copyrighted

• Navigation Regimes for Off-Road Autonomy
  C. Urmson
  doctoral dissertation, tech. report CMU-RI-TR-05-23, Robotics Institute, Carnegie Mellon University, May, 2005. [Abstract]
  Download: pdf [10951 KB] copyrighted

• The Sonic Flashlight Is Faster To Learn And Use Compared To Conventional Ultrasound Guidance: A Comparison Of Ultrasound Guided Vascular Access Devices In Phantoms
  W. Chang, N. Amesur, A. Zajko, and G.D. Stetten
  105th annual meeting of the American Roentgen Ray Society, May, 2005.
  Download: pdf [31 KB] copyrighted

• Analysis and Removal of Artifacts in 3-D LADAR Data
  J. Tuley, N. Vandapel, and M. Hebert
  IEEE International Conference on Robotics and Automation, April, 2005, pp. 2203 - 2210. [Abstract]
  Download: pdf [537 KB] copyrighted

• Complex Task Allocation For Multiple Robots
  R.M. Zlot and A. Stentz
  Proceedings of the International Conference on Robotics and Automation, IEEE, April, 2005, pp. 1515 - 1522. [Abstract]
  Download: pdf [551 KB] copyrighted

• First Experiments in the Robotic Investigation of Life in the Atacama Desert of Chile
  D. Wettergreen, N. Cabrol, J. Teza, P. Tompkins, C. Urmson, V. Verma, M.D. Wagner, and W.L. Whittaker
  International Conference on Robotics and Automation, IEEE, April, 2005. [Abstract]
  Download: pdf [526 KB] copyrighted

• Hoplites: A Market-Based Framework for Planned Tight Coordination in Multirobot Teams
  N. Kalra, D. Ferguson, and A. Stentz
  Proceedings of the International Conference on Robotics and Automation, April, 2005, pp. 1170 - 1177. [Abstract]
  Download: pdf [237 KB] copyrighted

• Intuitive intra-operative ultrasound guidance using the Sonic Flashlight, a novel ultrasound display system
  W. Chang, M. Horowitz, and G.D. Stetten
  Neurosurgery, Operative Neurosurgery Supplement 2, Vol. 56, No. 4, April, 2005, pp. 434 - 437. [Abstract]

• Market-Based Multirobot Coordination: A Survey and Analysis
  M.B. Dias, R.M. Zlot, N. Kalra, and A. Stentz
  tech. report CMU-RI-TR-05-13, Robotics Institute, Carnegie Mellon University, April, 2005. [Abstract]
  Download: pdf [71 KB] copyrighted

• Planning 3-D Path Networks in Unstructured Environments
  N. Vandapel, J. Kuffner, and O. Amidi
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), April, 2005, pp. 4624 - 4629. [Abstract]
  Download: pdf [469 KB] copyrighted

• Robotics, Education, and Sustainable Development
  M.B. Dias, G.A. Mills-Tettey, and T. Nanayakkara
  2005 IEEE International Conference on Robotics and Automation, April, 2005, pp. 4248 - 4253. [Abstract]
  Download: pdf [289 KB] copyrighted

• Automatic Detection and Classification of Geological Features of Interest
  D.R. Thompson, S. Niekum, T. Smith, and D. Wettergreen
  IEEE Aerospace Conference Proceedings, Big Sky Montana, 2005, March, 2005. [Abstract]
  Download: pdf [1355 KB] copyrighted

• Concepts for Science Autonomy During Robotic Traverse and Survey
  T. Smith, S. Niekum, D.R. Thompson, and D. Wettergreen
  IEEE Aerospace Conference Proceedings, Big Sky Montana, March, 2005. [Abstract]
  Download: pdf [521 KB] copyrighted

• Fluorescence Imager for Biological Imaging in Daylight
  S. Weinstein, D. Pane, L.A. Ernst, E. Minkley, F. Lanni, D. Wettergreen, M.D. Wagner, S. Heys, J. Teza, and A. Waggoner
  Lunar and Planetary Science Conference XXXVI, March, 2005. [Abstract]
  Download: pdf [40 KB] copyrighted

• Life in the Atacama — Year 2: Geologic Reconnaissance Through Long-Range Roving and Implications on the Search for Life
  J.M. Dohm, N.A. Cabrol, E.A. Grin, J. Moersch, G.C. Diaz, C. Cockell, P. Coppin, G. Fisher, A.N. Hock, L. Marinangeli, E. Minkley, G.G. Ori, J.L. Piatek, K. Warren-Rhodes, S. Weinstein, M. Wyatt, T. Smith, M.D. Wagner, K. Stubbs, G. Thomas, and J. Glasgow
  Lunar and Planetary Science Conference XXXVI, March, 2005. [Abstract]
  Download: pdf [106 KB] copyrighted

• Robotic Technologies for Surveying Habitats and Seeking Evidence of Life: Results from the 2004 Field Experiments of the “Life in the Atacama” Project
  D. Wettergreen, N. Cabrol, W.L. Whittaker, G.C. Diaz, F. Calderon, S. Heys, D. Jonak, R.A. Luders, J. Moersch, D. Pane, M. Smith, K. Stubbs, J. Teza, P. Tompkins, D. Villa, C. Williams, M.D. Wagner, A. Waggoner, S. Weinstein, and M. Wyatt
  Lunar and Planetary Science Conference XXXVI, March, 2005. [Abstract]

• 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
  N.A. Cabrol, D. Wettergreen, W.L. Whittaker, E.A. Grin, J. Moersch, G.C. Diaz, C. Cockell, P. Coppin, J.M. Dohm, G. Fisher, A.N. Hock, L. Marinangeli, E. Minkley, G.G. Ori, J. Piatek, A. Waggoner, K. Warren-Rhodes, S. Weinstein, M. Wyatt, F. Calderon, S. Heys, D. Jonak, R.A. Luders, D. Pane, T. Smith, K. Stubbs, J. Teza, P. Tompkins, D. Villa, C. Williams, M.D. Wagner, G. Thomas, and J. Glasgow
  Lunar and Planetary Science Conference XXXVI, March, 2005. [Abstract]
  Download: pdf [70 KB] copyrighted

• Spectroscopic Results from the Life in the Atacama (LITA) Project 2004 Field Season
  J.L. Piatek, J.E. Moersch, M. Wyatt, M. Rampey, N.A. Cabrol, D. Wettergreen, W.L. Whittaker, E.A. Grin, G.C. Diaz, C. Cockell, P. Coppin, J.M. Dohm, G. Fisher, A.N. Hock, L. Marinangeli, E. Minkley, G.G. Ori, A. Waggoner, K. Warren-Rhodes, S. Weinstein, D. Apostolopoulos, T. Smith, M.D. Wagner, K. Stubbs, G. Thomas, and J. Glasgow
  Lunar and Planetary Science Conference XXXVI, March, 2005. [Abstract]
  Download: pdf [137 KB] copyrighted

• Use of a Novel Rover-mounted Fluorescence Imager and Fluorescent Probes to Detect Biological Material in the Atacama Desert in Daylight
  S. Weinstein, D. Pane, K. Warren-Rhodes, C. Cockell, L.A. Ernst, E. Minkley, G. Fisher, S. Emani, D. Wettergreen, M.D. Wagner, N. Cabrol, and A. Waggoner
  Lunar and Planetary Science Conference XXXVI, March, 2005. [Abstract]
  Download: pdf [72 KB] copyrighted

• Using Near Real-time Mission Data for Education and Public Outreach: Strategies from the Life in the Atacama E/PO Report
  E. Myers, P. Coppin, M.D. Wagner, K. Fischer, D.L. Lu, R. McCloskey, D. Seneker, N. Cabrol, D. Wettergreen, and A. Waggoner
  Lunar and Planetary Science Conference XXXVI, March, 2005. [Abstract]
  Download: pdf [167 KB] copyrighted

• Bearings based robot homing with robust landmark matching and limited horizon view
  I. Kirigin and S. Singh
  tech. report CMU-RI-TR-05-02, Robotics Institute, Carnegie Mellon University, January, 2005. [Abstract]
  Download: pdf [377 KB] copyrighted

• Sun-Synchronous Robotic Exploration: Technical Description and Field Experimentation
  D. Wettergreen, P. Tompkins, C. Urmson, M.D. Wagner, and W.L. Whittaker
  The International Journal of Robotics Research, Vol. 24, No. 1, January, 2005, pp. 3-30. [Abstract]
  Download: pdf [11573 KB] copyrighted

• C-mode Virtual Image Display for a Matrix Array Ultrasound Sonic Flashlight
  G.D. Stetten, C.A. Cois, W. Chang, D.M. Shelton, R.J. Tamburo, J. Castellucci, and O. von Ramm
  Academic Radiology, 2005. [Abstract]

• Social Tag: Finding the Person with the Pink Hat
  M.P. Michalowski, D. Busquets Font, C.F. DiSalvo, L. Hiatt, N. Melchior, R. Simmons, and S. Sabanovic
  AAAI Mobile Robot Competition and Exhibition: Papers from the 2005 AAAI Workshop, Technical Report WS-05-11, AAAI, 2005, pp. 40-44. [Abstract]
  Download: pdf [535 KB] copyrighted

• Towards Removing Artificial Landmarks for Autonomous Exploration in Structured Environments
  A. Sharma, D. Morales, G.A. Kantor, and H. Choset
  master's thesis, Robotics Institute, Carnegie Mellon University, 2005. [Abstract]
  Download: pdf [293 KB] copyrighted

• User Modelling for Principled Sliding Autonomy in Human-Robot Teams
  B.P. Sellner, R. Simmons, and S. Singh
  Proceedings of the NRL Multirobot Workshop 2005, 2005. [Abstract]
  Download: pdf [764 KB] copyrighted

• A regional point descriptor for global localization in subterranean environments
  D. Bradley, D. Silver, and S. Thayer
  IEEE conference on Robotics Automation and Mechatronics (RAM 2005), Vol. 1, December, 2004, pp. 440 - 445. [Abstract]
  Download: pdf [167 KB] copyrighted

• Cadaveric central venous access using the Sonic Flashlight, a novel ultrasound display system
  W. Chang, N. Amesur, A. Zajko, and G.D. Stetten
  2004 meeting of the Radiological Society of North America, December, 2004.
  Download: pdf [70 KB] copyrighted

• Scan Matching for Flooded Subterranean Voids
  D. Silver, D. Bradley, and S. Thayer
  IEEE conference on Robotics Automation and Mechatronics (RAM), Vol. 1, December, 2004, pp. 422 - 427. [Abstract]
  Download: pdf [341 KB] copyrighted

• Finding Organized Structures in 3-D LADAR Data
  N. Vandapel and M. Hebert
  Army Science Conference, November, 2004. [Abstract]
  Download: pdf [3240 KB] copyrighted

• Focussed processing of MDPs for path planning
  D. Ferguson and A. Stentz
  Proceedings of the 16th IEEE International Conference on Tools with Artificial Intelligence (ICTAI '04), November, 2004, pp. 310 - 317. [Abstract]
  Download: pdf [172 KB] copyrighted

• Planning with Uncertainty in Position: an Optimal Planner
  J.P. Gonzalez and A. Stentz
  tech. report CMU-RI-TR-04-63, Robotics Institute, Carnegie Mellon University, November, 2004. [Abstract]
  Download: pdf [944 KB], ps.gz [736 KB] copyrighted

• EventScope: Bringing Remote Experience of Mars to the Public through Telepresence
  E. Myers, P. Coppin, M.D. Wagner, K. Fischer, D.L. Lu, W.R. McCloskey, and D. Seneker
  2004 IEEE Symposium on Information Visualization, October, 2004, pp. 16 - 17. [Abstract]
  Download: pdf [197 KB] copyrighted

• Framework for robust mobile robot systems
  N. Melchior and W.D. Smart
  Proceedings of the SPIE: Mobile Robots XVII, Vol. 5609, October, 2004, pp. 145-154. [Abstract]
  Download: pdf [137 KB], ps.gz [118 KB] copyrighted

• Path Planning with Hallucinated Worlds
  B. Nabbe, S. Kumar, and M. Hebert
  Proceedings: IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Vol. 4, October, 2004, pp. 3123 - 3130. [Abstract]
  Download: pdf [639 KB] copyrighted

• Robot and Sensor Networks for First Responders
  V. Kumar, D. Rus, and S. Singh
  PERVASIVE computing, October, 2004, pp. 24 - 33. [Abstract]
  Download: pdf [1886 KB] copyrighted

• An Analysis of the Intelligent Robotics Group's Experience with the Mars Exploration Rover Mission
  K. Stubbs and I. Nourbakhsh
  tech. report CMU-RI-TR-04-45, Robotics Institute, Carnegie Mellon University, September, 2004. [Abstract]
  Download: pdf [492 KB] copyrighted

• Delayed D*: The Proofs
  D. Ferguson and A. Stentz
  tech. report CMU-RI-TR-04-51, Robotics Institute, Carnegie Mellon University, September, 2004. [Abstract]
  Download: pdf [83 KB] copyrighted

• Extending the Sonic Flashlight to Real Time Tomographic Holography
  A. Nowatzyk, D.M. Shelton, J. Galeotti, and G.D. Stetten
  AMI-ARCS 2004 Workshop for Augmented Environments for Medical Imaging including Augmented Reality in Computer-aided Surgery (AMI-ARCS), September, 2004. [Abstract]
  Download: pdf [1884 KB] copyrighted

• Finding Organized Structures in 3-D Ladar Data
  N. Vandapel and M. Hebert
  IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, September, 2004, pp. 786 - 791. [Abstract]
  Download: pdf [3110 KB] copyrighted

• Analysis and removal of artifacts in 3-D LADAR data
  J. Tuley, N. Vandapel, and M. Hebert
  tech. report CMU-RI-TR-04-44, Robotics Institute, Carnegie Mellon University, August, 2004. [Abstract]
  Download: pdf [917 KB] copyrighted

• Application of robust, high-accuracy positioning for autonomous ground vehicles
  unknown and S. Singh
  AUVSI Unmanned Systems North America 2004, August, 2004. [Abstract]
  Download: pdf [551 KB] copyrighted

• A Multi-Agent System for Automatically Resolving Network Interoperability Problems
  J.A. Giampapa, K. Sycara, A. Fath, A. Steinfeld, and D. Siewiorek
  Proceedings of the Third International Joint Conference on Autonomous Agents and Multi Agent Systems (AAMAS 2004), The Association for Computing Machinery, Inc. (ACM), 1515 Broadway, New York, New York 10036 (U.S.A.), Vol. 3, July, 2004, pp. 1462 -- 1463. [Abstract]
  Download: pdf [69 KB] copyrighted

• High Speed Navigation of Unrehearsed Terrain: Red Team Technology for Grand Challenge 2004
  C. Urmson, J. Anhalt, M. Clark, T. Galatali, J.P. Gonzalez, J. Gowdy, A. Gutierrez, S. Harbaugh, M. Johnson-Roberson, H. Kato, P.L. Koon, K. Peterson, B.K. Smith, S. Spiker, E. Tryzelaar, and W.L. Whittaker
  tech. report CMU-RI-TR-04-37, Robotics Institute, Carnegie Mellon University, June, 2004. [Abstract]
  Download: pdf [5244 KB] copyrighted

• Enhancing Multi-Robot Coordinated Teams with Sliding Autonomy
  J. Brookshire
  master's thesis, tech. report CMU-RI-TR-04-40, Robotics Institute, Carnegie Mellon University, May, 2004.
  Download: pdf [1073 KB] copyrighted

• Tekkotsu: A Rapid Development Framework for Robotics
  E. Tira-Thompson
  master's thesis, Robotics Institute, Carnegie Mellon University, May, 2004. [Abstract]
  Download: pdf [4218 KB] copyrighted

• Classifier Fusion for Outdoor Obstacle Detection
  C. Dima, N. Vandapel, and M. Hebert
  International Conference on Robotics and Automation, IEEE, Vol. 1, April, 2004, pp. 665 - 671. [Abstract]
  Download: pdf [560 KB] copyrighted

• Enabling Learning From Large Datasets: Applying Active Learning to Mobile Robotics
  C. Dima, M. Hebert, and A. Stentz
  International Conference on Robotics and Automation, IEEE, Vol. 1, April, 2004, pp. 108 - 114. [Abstract]
  Download: pdf [1159 KB] copyrighted

• Natural Terrain Classification using 3-D Ladar Data
  N. Vandapel, D. Huber, A. Kapuria, and M. Hebert
  IEEE International Conference on Robotics and Automation, Vol. 5, April, 2004, pp. 5117 - 5122. [Abstract]
  Download: pdf [1390 KB] copyrighted

• PAO* for Planning with Hidden State
  D. Ferguson, A. Stentz, and S. Thrun
  Proceedings of the 2004 IEEE International Conference on Robotics and Automation, Vol. 3, April, 2004, pp. 2840 - 2847. [Abstract]
  Download: pdf [369 KB] copyrighted

• Refining the sonic flashlight for interventional procedures
  W. Chang, N. Amesur, M. Horowitz, and G.D. Stetten
  IEEE International Symposium on Biomedical Imaging, April, 2004. [Abstract]
  Download: pdf [2844 KB] copyrighted

• Robust Multirobot Coordination in Dynamic Environments
  M.B. Dias, M.B. Zinck, R.M. Zlot, and A. Stentz
  IEEE International Conference on Robotics and Automation, Vol. 4, April, 2004, pp. 3435 - 3442. [Abstract]
  Download: pdf [113 KB] copyrighted

• Market-Based Approaches for Coordination of Multi-Robot Teams at Different Granularities of Interaction
  A. Stentz, M.B. Dias, R.M. Zlot, and N. Kalra
  Proceedings of the ANS 10th International Conference on Robotics and Remote Systems for Hazardous Environments, March, 2004. [Abstract]
  Download: pdf [394 KB], ps.gz [7367 KB] copyrighted

• Preliminary Results in Sliding Autonomy for Coordinated Teams
  J. Brookshire, S. Singh, and R. Simmons
  Proceedings of The 2004 Spring Symposium Series, March, 2004. [Abstract]
  Download: pdf [414 KB] copyrighted

• A Novel Machine Interface for Scaled Telesurgery
  S. Clanton, D.C. Wang, Y. Matsuoka, D.M. Shelton, and G.D. Stetten
  SPIE Medical Imaging, Vol. 5367, February, 2004, pp. 697 - 704. [Abstract]
  Download: pdf [796 KB] copyrighted

• Development of the Side Component of the Transit Integrated Collision Warning System
  A. Steinfeld, D. Duggins, J. Gowdy, J. Kozar, R. MacLachlan, C. Mertz, A. Suppe, C. Thorpe, and C. Wang
  IEEE Conference on Intelligent Transportation Systems (ITSC), 2004, pp. 343-348. [Abstract]
  Download: pdf [187 KB] copyrighted

• Interface lessons for fully and semi-autonomous mobile robots
  A. Steinfeld
  IEEE International Conference on Robotics and Automation (ICRA), 2004. [Abstract]
  Download: pdf [339 KB] copyrighted

• Omnidirectional Visual Odometry for a Planetary Rover
  P.I. Corke, D. Strelow, and S. Singh
  Proceedings of IROS 2004, 2004. [Abstract]
  Download: pdf [338 KB] copyrighted

• Preliminary Results in Sliding Autonomy for Assembly by Coordinated Teams
  J. Brookshire, S. Singh, and R. Simmons
  2004. [Abstract]
  Download: pdf [409 KB] copyrighted

• Real Time Tomographic Reflection
  V. Chib and G.D. Stetten
  Encylcopedia of Biomaterials and Biomedical Engineering, Gary E. Wnek, Gary L. Bowlin, ed., Marcel Dekker, Inc., 2004.

• Perception for collision avoidance and autonomous driving
  R. Aufrere, J. Gowdy, C. Mertz, C. Thorpe, C. Wang, and T. Yata
  Mechatronics, Vol. 13, No. 10, December, 2003, pp. 1149-1161. [Abstract]
  Download: pdf [1186 KB] copyrighted

• A comparative study between centralized, market-based, and behavioral multirobot coordination approaches
  M.B. Dias and A. Stentz
  Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), Vol. 3, October, 2003, pp. 2279 - 2284. [Abstract]
  Download: pdf [391 KB] copyrighted

• Combining Reality Capture Technologies for Construction Defect Detection: A Case Study
  C. Gordon, F. Boukamp, D. Huber, E. Latimer, K. Park, and B. Akinci
  EIA9: E-Activities and Intelligent Support in Design and the Built Environment, 9th EuropIA International Conference, October, 2003, pp. 99-108. [Abstract]
  Download: pdf [115 KB] copyrighted

• Experimental results in range-only localization with radio
  D. Kurth, G.A. Kantor, and S. Singh
  2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), Vol. 1, October, 2003, pp. 974 - 979.
  Download: pdf [493 KB] copyrighted

• Hierarchical simultaneous localization and mapping
  B. Lisien, D. Morales, D. Silver, G.A. Kantor, I. Rekleitis, and H. Choset
  2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), Vol. 1, October, 2003, pp. 448 - 453.
  Download: pdf [538 KB] copyrighted

• Motion Planning for a Mobile Manipulator with Imprecise Locomotion
  D.H. Shin, B. Hamner, S. Singh, and M. Hwangbo
  2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), October, 2003. [Abstract]
  Download: pdf [452 KB] copyrighted

• Safe Robot Driving in Cluttered Environments
  C. Thorpe, J.D. Carlson, D. Duggins, J. Gowdy, R. MacLachlan, C. Mertz, A. Suppe, and C. Wang
  Proceedings of the 11th International Symposium of Robotics Research, October, 2003. [Abstract]
  Download: pdf [349 KB] copyrighted

• Sensor and Classifier Fusion for Outdoor Obstacle Detection: an Application of Data Fusion To Autonomous Off-Road Navigation
  C. Dima, N. Vandapel, and M. Hebert
  The 32nd Applied Imagery Recognition Workshop (AIPR2003), IEEE Computer Society, October, 2003, pp. 255 - 262. [Abstract]
  Download: pdf [234 KB] copyrighted

• Where and When to Look
  B. Nabbe and M. Hebert
  IROS 2003, IEEE, Vol. 1, October, 2003, pp. 920 - 927. [Abstract]
  Download: pdf [594 KB] copyrighted

• An Examination of Remote Access Help Desk Cases
  A. Steinfeld, R. Sanghi, J.A. Giampapa, D. Siewiorek, and K. Sycara
  tech. report CMU-CS-03-190, Computer Science Department, Carnegie Mellon University, September, 2003. [Abstract]
  Download: pdf [160 KB], ps.gz [339 KB] copyrighted

• Variable Resolution Particle Filter
  V. Verma, S. Thrun, and R. Simmons
  In Proceedings of International Joint Conference on Artificial Intelligence, AAAI, August, 2003. [Abstract]
  Download: pdf [226 KB], ps.gz [153 KB] copyrighted

• Case Studies of a Borehole Deployable Robot for Limestone Mine Profiling and Mapping
  A.C. Morris, D. Kurth, D. Huber, C. Whittaker, and S. Thayer
  International Conference on Field and Service Robotics (FSR), July, 2003. [Abstract]
  Download: pdf [1304 KB] copyrighted

• Distributed Search and Rescue with Robot and Sensor Teams
  G.A. Kantor, S. Singh, R. Peterson, D. Rus, A. Das, V. Kumar, G. Pereira, and J. Spletzer
  The 4th International Conference on Field and Service Robotics, July, 2003. [Abstract]
  Download: pdf [912 KB] copyrighted

• FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem with Unknown Data Association
  M. Montemerlo
  doctoral dissertation, tech. report CMU-RI-TR-03-28, Robotics Institute, Carnegie Mellon University, July, 2003. [Abstract]
  Download: pdf [1759 KB], ps.gz [4444 KB] copyrighted

• Market-based Multirobot Coordination Using Task Abstraction
  R.M. Zlot and A. Stentz
  International Conference on Field and Service Robotics, July, 2003. [Abstract]
  Download: pdf [489 KB] copyrighted

• Multiple Sensor Fusion for Detecting Location of Curbs, Walls, and Barriers
  R. Aufrere, C. Mertz, and C. Thorpe
  Proceedings of the IEEE Intelligent Vehicles Symposium (IV2003), June, 2003. [Abstract]
  Download: pdf [1711 KB] copyrighted

• Optimal Motion Estimation from Visual and Inertial Measurements
  D. Strelow and S. Singh
  Proceedings of the Workshop on Integration of Vision and Inertial Sensors (INERVIS 2003), June, 2003. [Abstract]
  Download: pdf [274 KB] copyrighted

• Reckless motion estimation from omnidirectional image and inertial measurements
  D. Strelow and S. Singh
  IEEE Workshop on Omnidirectional Vision and Camera Networks (OMNIVIS 2003), June, 2003. [Abstract]
  Download: pdf [179 KB] copyrighted

• Results of the Inflatable Robotic Rover Testbed
  D. Apostolopoulos, M.D. Wagner, S. Heys, and J. Teza
  tech. report CMU-RI-TR-03-18, Robotics Institute, Carnegie Mellon University, June, 2003. [Abstract]
  Download: pdf [5769 KB] copyrighted

• Efficient Monitoring for Planetary Rovers
  V. Verma, G. Gordon, and R. Simmons
  International Symposium on Artificial Intelligenceand Robotics in Space, May, 2003. [Abstract]
  Download: pdf [210 KB], ps.gz [144 KB] copyrighted

• Robotic Walker that Provides Guidance
  A.C. Morris, R.R. Donamukkala, A. Kapuria, A. Steinfeld, J. Matthews, J. Dunbar-Jacobs, and S. Thrun
  Proceedings of the 2003 IEEE Conference on Robotics and Automation (ICRA '03), May, 2003. [Abstract]
  Download: pdf [525 KB] copyrighted

• terrain classification techniques from ladar data for autonomous navigation
  M. Hebert and N. Vandapel
  Collaborative Technology Alliances conference, May, 2003. [Abstract]
  Download: pdf [341 KB] copyrighted

• A Generic Framework for Robotic Navigation
  C. Urmson, R. Simmons, and I. Nesnas
  IEEE Aerospace Conference 2003, March, 2003. [Abstract]
  Download: pdf [748 KB] copyrighted

• Progress Towards a Clinically Useful Sonic Flashlight
  G.D. Stetten, D.M. Shelton, W. Chang, R.J. Tamburo, V. Chib, C.A. Cois, R. Hollis, A. Rizzi, L. Lobes, and D. Schwartzman
  Biomedical Imaging Research Opportunities Workshop, January, 2003. [Abstract]
  Download: pdf [15 KB] copyrighted

• A user-centered drowsy driver detection and warning system
  E.M. Ayoob, R. Grace, and A. Steinfeld
  Proceedings of Designing User Experiences (DUX), 2003. [Abstract]
  Download: pdf [141 KB] copyrighted

• C-mode Virtual Image Display for a Matrix Array Ultrasound Sonic Flashlight
  G.D. Stetten, C.A. Cois, W. Chang, D.M. Shelton, R.J. Tamburo, J. Castellucci, and O. von Ramm
  Medical Image Computing and Computer-Assisted Intervention - MICCAI, Lecture Notes in Computer Science, Vol. 2879,, 2003, pp. 336 - 343. [Abstract]
  Download: pdf [1631 KB] copyrighted

• Science Autonomy in the Atacama
  T. Smith
  Proc. of ICML 2003 Workshop on Machine Learning Technologies for Autonomous Space Applications, 2003. [Abstract]
  Download: pdf [255 KB] copyrighted

• Evaluation and Comparison of Terrain Classification Techniques from LADAR Data for Autonomous Navigation
  M. Hebert, N. Vandapel, S. Keller, and R.R. Donamukkala
  23rd Army Science Conference, December, 2002. [Abstract]

• Optimal Motion Estimation from Visual and Inertial Measurements
  D. Strelow and S. Singh
  Proceedings of the Workshop on Applications of Computer Vision, December, 2002. [Abstract]
  Download: pdf [110 KB] copyrighted

• An empirical comparison of methods for image-base motion estimation
  H. Adams, S. Singh, and D. Strelow
  2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002. [Abstract]
  Download: pdf [168 KB] copyrighted

• Autonomous Coverage Operations in Semi-Structured Outdoor Environments
  P. Batavia, unknown, and S. Singh
  2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002. [Abstract]
  Download: pdf [269 KB] copyrighted

• Guidance of Retrobulbar Injection with Real Time Tomographic Reflection
  W. Chang, G.D. Stetten, L. Lobes, D.M. Shelton, and R.J. Tamburo
  Journal of Ultrasound in Medicine, Vol. 21, No. 10, October, 2002, pp. 1131 - 1135. [Abstract]
  Download: pdf [192 KB] copyrighted

• State of the Art in Automation of Earthmoving, 2002
  S. Singh
  Proceedings of the Workshop on Advanced Geomechatronics, October, 2002.
  Download: pdf [508 KB] copyrighted

• Opportunistic Optimization for Market-Based Multirobot Control
  M.B. Dias and A. Stentz
  Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), Vol. 3, September, 2002, pp. 2714 - 2720. [Abstract]
  Download: pdf [121 KB] copyrighted

• Safe Robot Driving
  C. Thorpe, R. Aufrere, J.D. Carlson, D. Duggins, T.W. Fong, J. Gowdy, J. Kozar, R. MacLachlan, C. McCabe, C. Mertz, A. Suppe, C. Wang, and T. Yata
  Proceedings of the International Conference on Machine Automation (ICMA 2002), September, 2002. [Abstract]
  Download: pdf [4130 KB] copyrighted

• Stereo Vision Based Navigation for Sun-Synchronous Exploration
  C. Urmson, M.B. Dias, and R. Simmons
  Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), Vol. 1, September, 2002, pp. 805 - 810. [Abstract]
  Download: pdf [1410 KB] copyrighted

• Enhanced Negotiation and Opportunistic Optimization for Market-Based Multirobot Coordination
  M.B. Dias and A. Stentz
  tech. report CMU-RI -TR-02-18, Robotics Institute, Carnegie Mellon University, August, 2002. [Abstract]
  Download: pdf [137 KB] copyrighted

• Ultrasound Visualization With the Sonic Flashlight
  D.M. Shelton, W. Chang, and G.D. Stetten
  Proceedings of SIGGRAPH 2002, Emerging Technologies, July, 2002.

• A Foundation for Kilorobotic Exploration
  S. Singh and S. Thayer
  Proceedings of the Congress on Evolutionary Computation at the 2002 IEEE World Congress on Computational Intelligence, May, 2002. [Abstract]
  Download: pdf [974 KB] copyrighted

• A Social Robot that Stands in Line
  Y. Nakauchi and R. Simmons
  Autonomous Robots, Vol. 12, No. 3, May, 2002, pp. 313 - 324.

• EventScope: A Telescience Interface for Internet-Based Education
  P. Coppin, M.D. Wagner, and T.E. Team
  Presented at the Workshop on Telepresence for Education, International Conference on Robotics and Automation, May, 2002. [Abstract]
  Download: pdf [715 KB] copyrighted

• First Experiment in Sun-Synchronous Exploration
  D. Wettergreen, M.B. Dias, B. Shamah, J. Teza, P. Tompkins, C. Urmson, M.D. Wagner, and W.L. Whittaker
  International Conference on Robotics and Automation, May, 2002, pp. 3501-3507. [Abstract]
  Download: pdf [1076 KB] copyrighted

• Mission Planning for the Sun-Synchronous Navigation Field Experiment
  P. Tompkins, A. Stentz, and W.L. Whittaker
  Proceedings of the 2002 IEEE International Conference on Robotics and Automation, May, 2002. [Abstract]
  Download: pdf [218 KB] copyrighted

• Multi-Robot Exploration Controlled By A Market Economy
  R.M. Zlot, A. Stentz, M.B. Dias, and S. Thayer
  IEEE International Conference on Robotics and Automation, Vol. 3, May, 2002, pp. 3016 - 3023. [Abstract]
  Download: pdf [815 KB] copyrighted

• Preliminary Results in Range-only Localization and Mapping
  G.A. Kantor and S. Singh
  Proceedings of the IEEE Conference on Robotics and Automation (ICRA '02), Vol. 2, May, 2002, pp. 1818 - 1823. [Abstract]
  Download: pdf [485 KB] copyrighted

• The Role of Expressiveness and Attention in Human-Robot Interaction
  F. Broz, I. Nourbakhsh, and R. Simmons
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA' 02), May, 2002. [Abstract]
  Download: pdf [183 KB] copyrighted

• Toward Practical Cooperative Stereo for Robotic Colonies
  B. Nabbe and M. Hebert
  2002 IEEE International Conference on Robotics and Automation, Omnipress, Vol. 4, No. 2002, May, 2002, pp. 3328-3335. [Abstract]
  Download: pdf [1195 KB] copyrighted

• Driving in Traffic: Short-Range Sensing for Urban Collision Avoidance
  C. Thorpe, D. Duggins, J. Gowdy, R. MacLachlan, C. Mertz, M. Siegel, A. Suppe, C. Wang, and T. Yata
  Proceedings of SPIE: Unmanned Ground Vehicle Technology IV, Vol. 4715, April, 2002. [Abstract]
  Download: pdf [57 KB], ps.gz [61 KB] copyrighted

• Market-Driven Multi-Robot Exploration
  R.M. Zlot, A. Stentz, M.B. Dias, and S. Thayer
  tech. report CMU-RI-TR-02-02, Robotics Institute, Carnegie Mellon University, January, 2002. [Abstract]
  Download: pdf [257 KB], ps.gz [822 KB] copyrighted

• Principles of Computer System Design for Stereo Perception
  M.D. Wagner, D. O'Hallaron, D. Apostolopoulos, and C. Urmson
  tech. report CMU-RI-TR-02-01, Robotics Institute, Carnegie Mellon University, January, 2002. [Abstract]
  Download: pdf [986 KB] copyrighted

• Scene Modeling from Motion-Free Radar Sensing
  A. Foessel
  doctoral dissertation, tech. report CMU-RI-TR-02-03, Robotics Institute, Carnegie Mellon University, January, 2002. [Abstract]
  Download: pdf [4422 KB] copyrighted

• Towards a clinically useful Sonic Flashlight
  G.D. Stetten, D.M. Shelton, W. Chang, V. Chib, R.J. Tamburo, D. Hildebrand, L. Lobes, and J. Sumkin
  IEEE International Symposium on Biomedical Imaging 2002, 2002. [Abstract]
  Download: pdf [975 KB] copyrighted

• Eye-safe Laser Line Striper for Outside Use
  C. Mertz, J. Kozar, J.R. Miller, and C. Thorpe
  IV 2002, IEEE Intelligent Vehicle Symposium, June, 2002., December, 2001. [Abstract]
  Download: pdf [1413 KB], ps.gz [582 KB] copyrighted

• Collection of Environmental Data From an Airship Platform
  G.A. Kantor, D. Wettergreen, J.P. Ostrowski, and S. Singh
  Proceedings of the SPIE Conference on Sensor Fusion and Decentralized Control in Robotic Systems IV, SPIE, Bellingham, WA, Vol. 4571, October, 2001, pp. 76-83. [Abstract]
  Download: pdf [727 KB], ps.gz [528 KB] copyrighted

• Real Time Tomographic Reflection: Phantoms for Calibration and Biopsy
  G.D. Stetten, V. Chib, D. Hildebrand, and J. Bursee
  IEEE/ACM International Symposium on Augmented Reality, October, 2001, pp. 11 - 19. [Abstract]
  Download: pdf [652 KB] copyrighted

• Steering and Control of a Passively Articulated Robot
  B. Shamah, M.D. Wagner, S. Moorehead, J. Teza, D. Wettergreen, and W.L. Whittaker
  SPIE, Sensor Fusion and Decentralized Control in Robotic Systems IV, Vol. 4571, October, 2001. [Abstract]
  Download: pdf [186 KB] copyrighted

• A Sensor Arm for Robotic Antarctic Meteorite Search
  C. Urmson, B. Shamah, J. Teza, M.D. Wagner, D. Apostolopoulos, and W.L. Whittaker
  Proceedings of the 3rd International Conference on Field and Service Robotics, Helsinki, Finland, July, 2001. [Abstract]
  Download: pdf [383 KB] copyrighted

• A Multiple Information Source Planner for Autonomous Planetary Exploration
  S. Moorehead, R. Simmons, and W.L. Whittaker
  International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), June, 2001. [Abstract]
  Download: pdf [342 KB] copyrighted

• Automated Surface Mission Planning Considering Terrain, Shadows, Resources and Time
  P. Tompkins, A. Stentz, and W.L. Whittaker
  Proceedings of the 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS '01), Montreal, Canada., June, 2001. [Abstract]
  Download: pdf [362 KB] copyrighted

• MMW-Scanning Radar for Descent Guidance and Landing Safeguard
  A. Foessel and W.L. Whittaker
  Proceedings 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space, June, 2001. [Abstract]
  Download: pdf [217 KB] copyrighted

• Non-Parametric Fault Identification for Space Rovers
  V. Verma, J. Langford, and R. Simmons
  International Symposium on Artificial Intelligence and Robotics in Space (iSAIRAS), June, 2001. [Abstract]
  Download: pdf [111 KB], ps.gz [290 KB] copyrighted

• Robotic Planetary Exploration by Sun-Synchronous Navigation
  D. Wettergreen, B. Shamah, P. Tompkins, and W.L. Whittaker
  Proceedings of the 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS '01), Montreal, Canada, June, 2001. [Abstract]
  Download: pdf [385 KB] copyrighted

• Three-Dimensional Map Building with MMW Radar
  A. Foessel, J. Bares, and W.L. Whittaker
  Proceedings of the 3rd International Conference on Field and Service Robotics, Yleisjäljennös - Painnopörssi, Helsinki, Finland, June, 2001. [Abstract]
  Download: pdf [219 KB] copyrighted

• A Data-Rate Aware Telemetry Scheduler
  P. Manavalan and M.D. Wagner
  tech. report CMU-RI-TR-01-12, Robotics Institute, Carnegie Mellon University, May, 2001. [Abstract]
  Download: pdf [299 KB] copyrighted

• Autonomous characterization of unknown environments
  L. Pedersen
  2001 IEEE International Conference on Robotics and Automation, Vol. 1, May, 2001, pp. 277 - 284. [Abstract]
  Download: pdf [625 KB] copyrighted

• Autonomous Robotic Meteorite Identification in Antarctica
  L. Pedersen, M.D. Wagner, D. Apostolopoulos, and W.L. Whittaker
  2001 IEEE International Conference on Robotics and Automation, May, 2001, pp. 4158-4165. [Abstract]
  Download: pdf [471 KB] copyrighted

• Future Directions in Multi-Robot Autonomy and Planetary Surface Construction
  T. Smith, R. Simmons, S. Singh, and D. Hershberger
  Proceedings of the 2001 Space Studies Institute Conference, May, 2001.
  Download: pdf [145 KB], ps.gz [291 KB] copyrighted

• Robotic Antarctic Meteorite Search: Outcomes
  D. Apostolopoulos, L. Pedersen, B. Shamah, K. Shillcutt, M.D. Wagner, and W.L. Whittaker
  2001 IEEE International Conference on Robotics and Automation, May, 2001, pp. 4174-4179. [Abstract]
  Download: pdf [1698 KB] copyrighted

• Skyworker: a robot for assembly, inspection and maintenance of large scale orbital facilities
  P. Staritz, S. Skaff, C. Urmson, and W.L. Whittaker
  Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA '01), Vol. 4, May, 2001, pp. 4180 - 4185. [Abstract]
  Download: pdf [465 KB] copyrighted

• Solar Navigational Planning for Robotic Explorers
  K. Shillcutt and W.L. Whittaker
  2001 IEEE International Conference on Robotics and Automation, Vol. 2, May, 2001, pp. 1421 - 1426. [Abstract]
  Download: pdf [184 KB] copyrighted

• The Science Autonomy System of the Nomad Robot
  M.D. Wagner, D. Apostolopoulos, K. Shillcutt, B. Shamah, R. Simmons, and W.L. Whittaker
  2001 IEEE International Conference on Robotics and Automation, May, 2001, pp. 1742-1749. [Abstract]
  Download: pdf [279 KB] copyrighted

• Analytical Configuration of Wheeled Robotic Locomotion
  D. Apostolopoulos
  doctoral dissertation, tech. report CMU-RI-TR-01-08, Robotics Institute, Carnegie Mellon University, April, 2001. [Abstract]
  Download: pdf [1873 KB], ps.gz [8512 KB] copyrighted

• Reality Browsing: Using Information Interaction and Robotic Autonomy for Planetary Exploration
  P. Coppin, M.D. Wagner, and S. Thayer
  Space Technology and Applications International Forum 2001 (STAIF 2001), Mohamed S. El-Genk, American Institute of Physics, Melville, NY, Vol. 552, February, 2001, pp. 64-69. [Abstract]
  Download: pdf [72 KB] copyrighted

• Extending Shape from Motion to Non-Central Omnidirectional Cameras
  D. Strelow, J.S. Mishler, S. Singh, and H. Herman
  Proceedings of IROS 2001, 2001. [Abstract]
  Download: pdf [716 KB] copyrighted

• Magnified Real-Time Tomographic Reflection
  G.D. Stetten and V. Chib
  Proceedings of MICCAI 2001, Lecture Notes in Computer Science, Vol. 2208, 2001, pp. 683 - 690. [Abstract]
  Download: pdf [309 KB] copyrighted

• Overlaying Ultrasound Images on Direct Vision
  G.D. Stetten and V. Chib
  Journal of Ultrasound in Medicine, Vol. 20, No. 3, 2001, pp. 235 - 240. [Abstract]
  Download: pdf [860 KB] copyrighted

• Skyworker: Robotics for Space Assembly, Inspection and Maintenance
  S. Skaff, P. Staritz, and W.L. Whittaker
  Space Studies Institute Conference, 2001. [Abstract]
  Download: pdf [215 KB] copyrighted

• The Role of Expressiveness and Attention in Human-Robot Interaction
  F. Broz, I. Nourbakhsh, and R. Simmons
  Proceedings, 2001 AAAI Fall Symposium, 2001. [Abstract]
  Download: pdf [45 KB] copyrighted

• Technology and Field Demonstration of Robotic Search for Antarctic Meteorites
  D. Apostolopoulos, M.D. Wagner, B. Shamah, L. Pedersen, K. Shillcutt, and W.L. Whittaker
  International Journal of Robotics Research, December, 2000. [Abstract]
  Download: pdf [963 KB] copyrighted

• Distributed Robotic Mapping of Extreme Environments
  S. Thayer, B. Digney, M.B. Dias, A. Stentz, B. Nabbe, and M. Hebert
  Proceedings of SPIE: Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, Vol. 4195, November, 2000. [Abstract]
  Download: pdf [2680 KB] copyrighted

• Radar Sensor Model for Three-Dimensional Map Building
  A. Foessel
  Proc. SPIE, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, SPIE, Vol. 4195, November, 2000. [Abstract]
  Download: pdf [272 KB] copyrighted

• Real Time Tomographic Reflection with Ultrasound: Stationary and Hand-Held Implementations.
  G.D. Stetten and V.S. Chib
  tech. report CMU-RI-TR-00-28, Robotics Institute, Carnegie Mellon University, November, 2000. [Abstract]
  Download: pdf [318 KB] copyrighted

• A Social Robot that Stands in Line
  Y. Nakauchi and R. Simmons
  Proceedings of the Conference on Intelligent Robots and Systems (IROS '00), October, 2000.
  Download: pdf [5087 KB] copyrighted

• Solar Based Navigation for Robotic Explorers
  K. Shillcutt
  doctoral dissertation, tech. report CMU-RI-TR-00-25, Robotics Institute, Carnegie Mellon University, October, 2000. [Abstract]
  Download: pdf [1181 KB], ps.gz [3648 KB] copyrighted

• EventScope: Amplifying Human Knowledge and Experience via Intelligent Robotic Systems and Information Interaction
  P. Coppin, R. Pell, M.D. Wagner, J.R. Hayes, J. Li, L. Hall, K. Fischer, D. Hirschfield, and W.L. Whittaker
  IEEE International Workshop on Robot-Human Interaction, Osaka, Japan, September 2000, September, 2000. [Abstract]
  Download: pdf [34 KB] copyrighted

• Robotics for Assembly, Inspection, and Maintenance of Space Macrofacilities
  W.L. Whittaker, C. Urmson, P. Staritz, B. Kennedy, and R. Ambrose
  AIAA Space 2000 Conference and Exposition, AIAA, 1801 Alexander Bell Drive, Suite 500, Reston, VA 20191, September, 2000. [Abstract]
  Download: pdf [331 KB] copyrighted

• Sun-Synchronous Planetary Exploration
  W.L. Whittaker, G.A. Kantor, B. Shamah, and D. Wettergreen
  AIAA Space 2000 Conference an Exposition, September, 2000. [Abstract]
  Download: pdf [203 KB] copyrighted

• A Free Market Architecture for Distributed Control of a Multirobot System
  M.B. Dias and A. Stentz
  6th International Conference on Intelligent Autonomous Systems (IAS-6), July, 2000, pp. 115-122. [Abstract]
  Download: pdf [190 KB] copyrighted

• Experimenter's Notebook: Robotic Search for Antarctic Meteorites 2000 Expedition
  M.D. Wagner
  tech. report CMU-RI-TR-00-13, Robotics Institute, Carnegie Mellon University, June, 2000. [Abstract]
  Download: pdf [3143 KB] copyrighted

• Recent Progress in Local and Global Traversability for Planetary Rovers
  S. Singh, R. Simmons, T. Smith, A. Stentz, V. Verma, A. Yahja, and K. Schwehr
  Proceedings of the IEEE International Conference on Robotics and Automation, 2000, IEEE, April, 2000. [Abstract]
  Download: pdf [493 KB] copyrighted

• Evaluation of Computer Vision Algorithms for Autonomous Navigation in Polar Terrains
  N. Vandapel, R. Chatila, S. Moorehead, S. Lacroix, D. Apostolopoulos, and W.L. Whittaker
  International Conference on Intelligent Autonomous Systems, 2000. [Abstract]

• Tomographic Reflection to Merge Ultrasound Images with Direct Vision
  G.D. Stetten, V. Chib, and R. Tamburo
  IEEE Proceedings of the 2000 Applied Imagery Pattern Recognition (AIPR) Annual Workshop, 2000, pp. 200 - 205. [Abstract]
  Download: pdf [458 KB] copyrighted

• Social Behavioral Robot that Stands in Line
  Y. Nakauchi and R. Simmons
  Proceedings of SMC '99, October, 1999.
  Download: pdf [487 KB] copyrighted

• Constructing fast hydraulic robot models for optimal motion planning
  M. Krishna and J. Bares
  1999 Field and Service Robotics Conference (FSR '99), August, 1999. [Abstract]
  Download: pdf [104 KB] copyrighted

• Effect of Tire Design and Steering Mode on Robotic Mobility in Barren Terrain
  B. Shamah, D. Apostolopoulos, M.D. Wagner, and W.L. Whittaker
  Proceeding of the International Conference on Field and Service Robots, August, 1999, pp. 287-292. [Abstract]
  Download: pdf [146 KB] copyrighted

• Short-Range Millimeter-Wave Radar Perception in a Polar Environment
  A. Foessel, S. Chheda, and D. Apostolopoulos
  Proceedings of the Field and Service Robotics Conference, August, 1999. [Abstract]
  Download: pdf [399 KB], ps.gz [2014 KB] copyrighted

• Solar Blade Nanosatellite Development: Heliogyro Deployment, Dynamics,and Control
  R. Blomquist
  Proceedings of the 13th USU / AIAA Small Satellite Conference, August, 1999.
  Download: pdf [246 KB] copyrighted

• Technology and Field Demonstration Results in the Robotic Search for Antarctic Meteorites
  D. Apostolopoulos, M. Wagner, and W.L. Whittaker
  Proceedings of the International Conference on Field and Service Robotics, August, 1999, pp. 185-190. [Abstract]
  Download: pdf [193 KB] copyrighted

• Technology and Field Demonstration Results in the Robotic Search for Antarctic Meteorites
  D. Apostolopoulos, M.D. Wagner, and W.L. Whittaker
  Proceedings of the International Conference on Field and Service Robotics, August, 1999, pp. 185-190. [Abstract]
  Download: pdf [193 KB] copyrighted

• Dante II: Technical Description, Results and Lessons Learned
  J. Bares and D. Wettergreen
  International Journal of Robotics Research, Vol. 18, No. 7, July, 1999, pp. 621-649. [Abstract]
  Download: pdf [428 KB] copyrighted

• Autonomous Navigation Field Results of a Planetary Analog Robot in Antarctica
  S. Moorehead, R. Simmons, D. Apostolopoulos, and W.L. Whittaker
  International Symposium on Artificial Intelligence, Robotics and Automation in Space, June, 1999. [Abstract]
  Download: pdf [115 KB] copyrighted

• Solar Power Expert for Remote Robotic Explorers
  K. Shillcutt and W.L. Whittaker
  International Symposium on Artificial Intelligence, Robotics and Automation in Space, June, 1999.
  Download: pdf [90 KB] copyrighted

• Big Signal: Information Interaction for Public Telerobotic Exploration
  P. Coppin, A. Morrissey, M.D. Wagner, M. Vincent, and G. Thomas
  Presented at the Workshop on Current Challenges in Internet Robotics, International Conference on Robotics and Automation, May, 1999. [Abstract]
  Download: pdf [474 KB] copyrighted

• Icebreaker: An Exploration of the Lunar South Pole
  P. Tompkins and A. Stroupe
  Proceedings of the 14th SSI Conference on Space Manufacturing, May, 1999.
  Download: pdf [222 KB], ps.gz [226 KB] copyrighted

• ARTISAN: An Integrated Scene Mapping and Object Recognition System
  V. Broz, O. Carmichael, S. Thayer, J. Osborn, and M. Hebert
  American Nuclear Society 8th Intl. Topical Meeting on Robotics and Remote Systems, American Nuclear Society, April, 1999. [Abstract]
  Download: pdf [813 KB] copyrighted

• Preliminary Results on the use of Stereo, Color Cameras and Laser Sensors in Antarctica
  N. Vandapel, S. Moorehead, W.L. Whittaker, R. Chatila, and R. Murrieta-Cid
  International Symposium on Experimental Robotics, March, 1999. [Abstract]
  Download: pdf [743 KB], ps.gz [1586 KB] copyrighted

• Virtual Reality Mapping System for Chernobyl Accident Site Assessment
  T.T. Blackmon, S. Thayer, J. Teza, V. Broz, J. Osborn, M. Hebert, and et al
  Proceedings of the SPIE, Vol. 3644, February, 1999, pp. 338-345. [Abstract]

• Radar sensor for an autonomous Antarctic explorer
  A. Foessel, D. Apostolopoulos, and W.L. Whittaker
  Proc. SPIE , Mobile Robots XIII and Intelligent Transportation Systems, Vol. 3525, January, 1999, pp. 117-124. [Abstract]
  Download: pdf [523 KB], ps.gz [679 KB] copyrighted

• Autonomous Science Decisions for Mars Sample Return
  T.L. Roush, V. Gulick, R. Morris, P. Gazis, G. Benedix, C. Glymour, J. Ramsey, L. Pedersen, M. Ruzon, W. Buntine, and J. Oliver
  Lunar and Planetary Science Conference XXX, 1999.

• Robotic Rock Classification Using Visible Light Reflectance Spectroscopy: Preliminary results from the Robotic Antarctic Meteorite Search program
  L. Pedersen, D. Apostolopoulos, W.L. Whittaker, W. Cassidy, P. Lee, and T. Roush
  Lunar and Planetary Science Conference XXX, 1999.

• Search for Meteorites at Martin Hills and Pirrit Hills, Antarctica
  P. Lee, W.A. Cassidy, D. Apostolopoulos, D. Bassi, L. Bravo, H. Cifuentes, M. Deans, A. Foessel, S. Moorehead, M. Parris, C. Puebla, L. Pedersen, M. Sibenac, F. Valdés, N. Vandapel, and W.L. Whittaker
  Lunar and Planetary Science Conference XXX, 1999.
  Download: pdf [202 KB] copyrighted

• Field Validation of Nomad's Robotic Locomotion
  B. Shamah, D. Apostolopoulos, E. Rollins, and W.L. Whittaker
  Proceedings of SPIE - The International Society of Photo-Optical Engineering, Vol. 3525, November, 1998, pp. 214-222. [Abstract]
  Download: pdf [561 KB], ps.gz [2275 KB] copyrighted

• A Task Description Language for Robot Control
  R. Simmons and D. Apfelbaum
  Proceedings Conference on Intelligent Robotics and Systems, October, 1998.
  Download: pdf [55 KB], ps.gz [75 KB] copyrighted

• Recent Results in Path Planning for Mobile Robots Operating in Vast Outdoor Environments
  A. Yahja, S. Singh, and A. Stentz
  Proc, 1998 Symposium on Image, Speech, Signal Processing and Robotics, September, 1998.
  Download: pdf [198 KB], ps.gz [405 KB] copyrighted

• A High Speed 3D Radar Scanner for Automation
  S. Boehmke, J. Bares, E. Mutschler, and K. Lay
  Proceedings of ICRA '98, Vol. 4, May, 1998, pp. 2777-2782. [Abstract]
  Download: pdf [661 KB] copyrighted

• Framed-Quadtree Path Planning for Mobile Robots Operating in Sparse Environments
  A. Yahja, A. Stentz, S. Singh, and B. Brummit
  In Proceedings, IEEE Conference on Robotics and Automation, (ICRA), Leuven, Belgium, May, 1998. [Abstract]
  Download: pdf [170 KB], ps.gz [359 KB] copyrighted

• Robotic Deployment of Electro-Magnetic Sensors for Meteorite Search
  L. Pedersen
  Proceedings of the 1998 International Conference on Robotics and Automation (ICRA '98), Vol. 1, May, 1998, pp. 618 - 623. [Abstract]
  Download: pdf [637 KB] copyrighted

• Robust Communications for High Bandwidth Real-Time Systems
  J. Pedersen
  master's thesis, tech. report CMU-RI-TR-98-13, Robotics Institute, Carnegie Mellon University, May, 1998. [Abstract]
  Download: pdf [218 KB] copyrighted

• Ground Pressure Measurement System Paper
  D. Griffiths and J. Osborn
  12th Annual International Symposium on Aerospace/Defense Sensing, Simulation, and Controls, Detection and Remediation Technologies for Mines and Minelike Targets III, SPIE, April, 1998.
  Download: pdf [629 KB], ps.gz [1371 KB] copyrighted

• Learning Hierarchical Control Structure for Multiple Tasks and Changing Environments
  B. Digney
  Proceedings of the Fifth Conference on the Simulation of Adaptive Behavior: SAB 98, 1998. [Abstract]
  Download: pdf [234 KB], ps.gz [79 KB] copyrighted

• Field Experiments with the Ames Marsokhod Rover
  D.A. Christian, D. Wettergreen, M. Bualat, K. Schwehr, D. Tucker, and E. Zbinden
  Proceedings of the 1997 Field and Service Robotics Conference, December, 1997. [Abstract]
  Download: pdf [680 KB] copyrighted

• Synergy: A Language and Framework for Robot Design
  L. Katragadda
  doctoral dissertation, tech. report CMU-RI-TR-98-16, Robotics Institute, Carnegie Mellon University, December, 1997. [Abstract]
  Download: pdf [3291 KB] copyrighted

• Initial Results from Vision-based Control of the Ames Marsokhod Rover
  D. Wettergreen, H. Thomas, and M. Bualat
  International Conference on Intelligent Robots and Systems (IROS), IEEE, September, 1997. [Abstract]
  Download: pdf [351 KB] copyrighted

• Visualization Tools for Validating Software of Autonomous Spacecraft
  R. Simmons and G. Whelan
  International Symposium on Artificial Intelligence, Robotics, and Automation in Space, July, 1997.
  Download: pdf [79 KB], ps.gz [77 KB] copyrighted

• Mechanics of Tensegrity Prisms
  I. Oppenheim and W. Williams
  14th International Symposium on Automation & Robotics in Construction, June, 1997.
  Download: pdf [19 KB] copyrighted

• BOA II: Pipe-Asbestos Insulation Removal Robot System
  H. Schempf, unknown, S. Boehmke, B. Chemel, and C. Piepgras
  Proceedings of the 1996 Environmental Technology Development Through Industry Partnership Conference, October, 1996. [Abstract]
  Download: pdf [2816 KB] copyrighted

• Laser Ranger based Hazard Detection
  L. Henriksen
  tech. report CMU-RI-TR-96-32, Robotics Institute, Carnegie Mellon University, August, 1996. [Abstract]
  Download: pdf [758 KB] copyrighted

• Developing Planning and Reactive Control for a Hexapod Robot
  D. Wettergreen and C. Thorpe
  Proceedings of ICRA '96, Vol. 3, April, 1996, pp. 2718 - 2723. [Abstract]
  Download: pdf [292 KB] copyrighted

• Perception, Planning, and Control for Autonomous Walking with the Ambler Planetary Rover
  E. Krotkov and R. Simmons
  Intl. Journal of Robotics Research, Vol. 15, No. 2, April, 1996, pp. 155-180.

• Tessellator Robot Design Document
  K. Dowling
  tech. report CMU-RI-TR-95-43, Robotics Institute, Carnegie Mellon University, January, 1996. [Abstract]
  Download: pdf [1062 KB] copyrighted

• Designing Stereo Heads Using Task Domain Constraints
  S. Thayer and C.S. Gourley
  Proceedings of ICPR, IEEE, 1996, pp. 820-824. [Abstract]

• HOUDINI: Site and Locomotion Analysis-driven Design of an In-Tank Mobile Cleanup Robot
  H. Schempf
  American Nuclear Society Winter Meeting Transactions, October, 1995. [Abstract]
  Download: pdf [1279 KB], ps.gz [1958 KB] copyrighted

• A Complete Navigation System for Goal Acquisition in Unknown Environments
  A. Stentz and M. Hebert
  Proceedings 1995 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '95), Vol. 1, August, 1995, pp. 425 - 432. [Abstract]
  Download: pdf [503 KB], ps.gz [808 KB] copyrighted

• Behavior-based Gait Execution for the Dante II Walking Robot
  D. Wettergreen, H. Pangels, and J. Bares
  Proceedings of IROS '95, Vol. 3, August, 1995, pp. 274 - 279. [Abstract]
  Download: pdf [161 KB] copyrighted

• Locomotion configuration of a robust rappelling robot
  D. Apostolopoulos and J. Bares
  Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, Human Robot Interaction and Cooperative Robots (IROS '95), Vol. 3, August, 1995, pp. 280 - 284. [Abstract]
  Download: pdf [812 KB] copyrighted

• The Focussed D* Algorithm for Real-Time Replanning
  A. Stentz
  Proceedings of the International Joint Conference on Artificial Intelligence, August, 1995. [Abstract]
  Download: pdf [82 KB], ps.gz [125 KB] copyrighted

• Operator Interfaces and Network-Based Participation for Dante II
  T.W. Fong, H. Pangels, D. Wettergreen, E. Nygren, B. Hine, P. Hontalas, and C. Fedor
  SAE 25th International Conference on Environmental Systems, July, 1995. [Abstract]
  Download: pdf [502 KB] copyrighted

• ROBOLEG: A Robotic Soccer-Ball Kicking Leg
  H. Schempf, C. Kraeuter, and M. Blackwell
  Proceedings of ICRA '95, Vol. 2, May, 1995, pp. 1314 - 1318. [Abstract]
  Download: pdf [258 KB], ps.gz [1840 KB] copyrighted

• Ambler: Performance of a Six-Legged Planetary Rover
  E. Krotkov, R. Simmons, and W.L. Whittaker
  Acta Astonautica, Vol. 35, No. 1, 1995, pp. 75-81. [Abstract]
  Download: pdf [178 KB] copyrighted

• Stereo Driving and Position Estimation for Autonomous Planetary Rovers
  E. Krotkov, M. Hebert, M. Buffa, F. Cozman, and L. Robert
  IARP Workshop on Robotics in Space, July, 1994. [Abstract]
  Download: pdf [324 KB] copyrighted

• Optimal and Efficient Path Planning for Partially-Known Environments
  A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '94), Vol. 4, May, 1994, pp. 3310 - 3317. [Abstract]
  Download: pdf [195 KB], ps.gz [252 KB] copyrighted

• Three Mobile Robots For Space Context
  W.L. Whittaker, J. Bares, K. Dowling, and L. Kattragadda
  AIAA/NASA Conference on Intelligent Robots in Field, Factory, Service and Space (CIRFFSS '94) Conference, March, 1994.
  Download: pdf [33 KB], ps.gz [32 KB] copyrighted

• Drivetrain Design, Incorporating Redundancy, for an Autonomous Walking Robot
  G. Roston and K. Dowling
  Space94: 4th International Conference and Exposition on Engineering, Construction, and Operations in Space, February, 1994.
  Download: pdf [26 KB], ps.gz [31 KB] copyrighted

• Autonomous Walking in Natural Terrain: A Retrospective on the Performance of the Ambler
  E. Krotkov and R. Simmons
  3rd International Symposium of Experimental Robotics III, October, 1993.
  Download: pdf [607 KB] copyrighted

• The Mt. Erebus Explorer Control System
  D.A. Christian
  tech. report CMU-RI-TR-93-19, Robotics Institute, Carnegie Mellon University, June, 1993. [Abstract]
  Download: pdf [1167 KB] copyrighted

• Design of Space Shuttle Tile Servicing Robot: An Application of Task Based Kinematic Design
  J. Kim and P. Khosla
  IEEE International Conference on Robotics and Automation (ICRA '93), Vol. 3, May, 1993, pp. 867 - 874. [Abstract]
  Download: pdf [722 KB] copyrighted

• Autonomous Walking Results with the Ambler Hexapod Planetary Rover
  E. Krotkov, R. Simmons, and W.L. Whittaker
  International Conference of Intelligent Autonomous Systems, 1993, pp. 46 - 53. [Abstract]
  Download: pdf [301 KB] copyrighted

• Exploring Mount Erebus by Walking Robot
  D. Wettergreen, C. Thorpe, and W.L. Whittaker
  Robotics and Autonomous Systems, 1993.
  Download: pdf [893 KB] copyrighted

• Autonomous Cargo Transport System
  K. Fitzpatrick, M. Hebert, D. Pomerleau, and H. Schempf
  Proceedings of the United States Postal Service 5th Advanced Technology Conference, December, 1992.

• A Mobile Robot for Ground Servicing Operations on the Space Shuttle
  K. Dowling, R. Bennett, M. Blackwell, T. Graham, S. Gatrall, R. O'Toole, and H. Schempf
  OE / Technology 1992 Cooperative Intelligent Robots in Space, SPIE, November, 1992.
  Download: pdf [101 KB], ps.gz [98 KB] copyrighted

• Mobile Robot System for Ground Servicing Operations on the Space Shuttle
  H. Schempf, K. Dowling, and M. Blackwell
  SPIE OE/Technology `92 Conference, November, 1992.
  Download: pdf [101 KB], ps.gz [98 KB] copyrighted

• Serpentine Manipulator Planning and Control for NASA Space-Shuttle Payload Servicing
  H. Herman and H. Schempf
  tech. report CMU-RI-TR-92-10, Robotics Institute, Carnegie Mellon University, October, 1992. [Abstract]
  Download: pdf [1059 KB] copyrighted

• Terrain Mapping For Long-duration Autonomous Walking
  R. Hoffman and E. Krotkov
  Proceedings of the 1992 IEEE/RSJ International Workshop on Intelligent Robots and Systems (IROS '92), Vol. 1, July, 1992, pp. 563 - 568.
  Download: pdf [677 KB] copyrighted

• Performance of a six-legged planetary rover: power, positioning, and autonomous walking
  E. Krotkov and R. Simmons
  IEEE International Conference on Robotics and Automation, Vol. 1, May, 1992, pp. 169 - 174. [Abstract]
  Download: pdf [603 KB] copyrighted

• 1991 Year End Report Autonomous Planetary Rover
  E. Krotkov, R. Simmons, and W.L. Whittaker
  tech. report CMU-RI-TR-92-02, Robotics Institute, Carnegie Mellon University, February, 1992. [Abstract]
  Download: pdf [2782 KB] copyrighted

• Explicit Path Tracking by Autonomous Vehicles
  D.H. Shin and S. Singh
  Robotica, Vol. 10, 1992, pp. 539 - 554.
  Download: pdf [1254 KB] copyrighted

• Dead Reckoning Navigation for Walking Robots
  G.P. Roston and E. Krotkov
  tech. report CMU-RI-TR-91-27, Robotics Institute, Carnegie Mellon University, November, 1991. [Abstract]
  Download: pdf [1091 KB] copyrighted

• Perception of rugged terrain for a walking robot: true confessions and new directions
  R. Hoffman and E. Krotkov
  Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, Intelligence for Mechanical Systems, Vol. 3, November, 1991, pp. 1505 - 1510. [Abstract]
  Download: pdf [505 KB] copyrighted

• A Partitioned Control Scheme for Mobile Robot Navigation
  D.H. Shin and S. Singh
  Proc. IEEE International Conference on Systems Engineering, August, 1991, pp. 338 - 342. [Abstract]
  Download: pdf [395 KB] copyrighted

• Leveling of the AMBLER Walking Machine: A Comparison of Methods
  P.G. de Santos, P.V. Nagy, and W.L. Whittaker
  tech. report CMU-RI-TR-91-13, Robotics Institute, Carnegie Mellon University, July, 1991. [Abstract]
  Download: pdf [1108 KB] copyrighted

• Ambler: a six-legged planetary rover
  E. Krotkov, J. Bares, T. Kanade, T. Mitchell, R. Simmons, and W.L. Whittaker
  Fifth International Conference on Advanced Robotics, 1991, Robots in Unstructured Environments (ICAR '91), Vol. 1, June, 1991, pp. 717 - 722. [Abstract]
  Download: pdf [553 KB] copyrighted

• Three Dimensional Migration and Forward Modelling of Ground Penetrating Radar Data
  R. Beck and J. Osborn
  tech. report CMU-RI-TR-91-12, Robotics Institute, Carnegie Mellon University, June, 1991. [Abstract]
  Download: pdf [701 KB] copyrighted

• A Three-Finger Gripper for Manipulation in Unstructured Environments
  C. Francois, K. Ikeuchi, and M. Hebert
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '91), April, 1991, pp. 2261 - 2265. [Abstract]
  Download: pdf [423 KB] copyrighted

• An integrated walking system for the Ambler planetary rover
  R. Simmons and E. Krotkov
  IEEE International Conference on Robotics and Automation, Vol. 3, April, 1991, pp. 2086 - 2091. [Abstract]
  Download: pdf [730 KB] copyrighted

• Laser rangefinder calibration for a walking robot
  E. Krotkov
  IEEE International Conference on Robotics and Automation, Vol. 3, April, 1991, pp. 2568 - 2573. [Abstract]
  Download: pdf [614 KB] copyrighted

• Laser Rangefinder Calibration for a Walking Robot
  E. Krotkov
  tech. report CMU-RI-TR-90-30, Robotics Institute, Carnegie Mellon University, December, 1990. [Abstract]
  Download: pdf [1060 KB] copyrighted

• Path Generation for Robot Vehicles Using Composite Clothoid Segments
  D.H. Shin and S. Singh
  tech. report CMU-RI-TR-90-31, Robotics Institute, Carnegie Mellon University, December, 1990. [Abstract]
  Download: pdf [1375 KB] copyrighted

• Assessment of joint driving configurations for body propulsion of an orthogonal legged walker
  D.J. Manko and W.L. Whittaker
  IEEE International Conference on Systems Engineering, August, 1990, pp. 204 - 207. [Abstract]
  Download: pdf [312 KB] copyrighted

• Planning Strategies for the Ambler Walking Robot
  D. Wettergreen, H. Thomas, and C. Thorpe
  Proceedings of the 1990 IEEE International Conference on Systems Engineering, August, 1990, pp. 198 - 203. [Abstract]
  Download: pdf [679 KB] copyrighted

• Walking robot with a circulating gait
  J. Bares and W.L. Whittaker
  Proceedings of the 1990 IEEE/RSJ International Conference on Intelligent Robots and Systems, Towards a New Frontier of Applications (IROS '90), Vol. 2, July, 1990, pp. 809 - 816. [Abstract]
  Download: pdf [636 KB] copyrighted

• 1989 Year End Report: Autonomous Planetary Rover at Carnegie Mellon
  W.L. Whittaker, T. Kanade, and T. Mitchell
  tech. report CMU-RI-TR-90-04, Robotics Institute, Carnegie Mellon University, February, 1990. [Abstract]
  Download: pdf [2348 KB] copyrighted

• A perception and manipulation system for collecting rock samples
  T. Choi, H. Delingette, M. DeLuise, Y. Hsin, M. Hebert, and K. Ikeuchi
  1990.
  Download: pdf [780 KB] copyrighted

• Simulation of the Ambler Environment
  H. Thomas, D. Wettergreen, and C. Thorpe
  Proceedings of 23rd Pittsburgh Conference on Modeling and Simulation, 1990.

• A Perception System for a Planetary Explorer
  M. Hebert, E. Krotkov, and T. Kanade
  Proc. of the 28th IEEE Conference on Decision and Control, Vol. 2, December, 1989, pp. 1151-1156. [Abstract]
  Download: pdf [606 KB] copyrighted

• Motion control for a novel legged robot
  P.V. Nagy and W.L. Whittaker
  Proceedings of the 1989 IEEE International Symposium on Intelligent Control, September, 1989, pp. 2 - 7. [Abstract]
  Download: pdf [546 KB] copyrighted

• Position Based Path Tracking for Wheeled Mobile Robots
  S. Singh and D.H. Shin
  Proc. IEEE Conference on Intelligent Robot Systems, September, 1989, pp. 386 - 391.
  Download: pdf [430 KB] copyrighted

• Ambler: An Autonomous Rover for Planetary Exploration
  J. Bares, M. Hebert, T. Kanade, E. Krotkov, T. Mitchell, R. Simmons, and W.L. Whittaker
  IEEE Computer, Vol. 22, No. 6, June, 1989, pp. 18-26. [Abstract]
  Download: pdf [1004 KB] copyrighted

• Terrain Mapping for a Roving Planetary Explorer
  M. Hebert, C. Caillas, E. Krotkov, I. Kweon, and T. Kanade
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '89), Vol. 2, May, 1989, pp. 997-1002. [Abstract]
  Download: pdf [511 KB] copyrighted