Home/George A. Kantor

George A. Kantor

Senior Systems Scientist
Email: gkantor@andrew.cmu.edu
Office: NSH 1101
Phone: (412) 268-7084
Personal Homepage
Administrative Assistant: Lynnetta J. Miller

The control of dynamical systems becomes increasingly important as the era of robotics research dominated by quasi-static machines rapidly comes to a close. Similarly, the importance of state estimation grows as robotic applications require robots to function in larger, more complex environments. My research addresses both of these issues by focusing on the dual problems of controlling robotic mechanisms with non-trivial dynamics and perceiving the state of world through indirect measurements. My approach is both analytical and experimental: I use mathematics to understand the physical behavior of a given system and then use that understanding to create algorithms for control or estimation. I strive to develop new theoretical concepts and translate them into real-world implementations that solve problems such as balancing an unstable robot or estimating the location of an autonomous vehicle.

Publications

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

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

Robot Farmers: Autonomous Orchard Vehicles Help Tree Fruit Production
Marcel Bergerman, Silvio Mano Maeta, Ji Zhang, Gustavo Medeiros Freitas, Bradley Hamner, Sanjiv Singh and George A. Kantor

IEEE Robotics and Automation Magazine March, 2015

Wireless Sensor Network Design for Monitoring and Irrigation
David Kohanbash, George A. Kantor, Todd Martin and Lauren Crawford

Hort Technology December, 2013

Square-Root Iterated Kalman Filter for Bearing-Only SLAM
Hyungpil Moon, Stephen T. Tully , George A. Kantor and Howie Choset

The 4th International Conference on Ubiquitous Robots and Ambient Intelligence January, 2007

Irrigation Scheduling Software Development
David Kohanbash and George A. Kantor

Irrigation Association November, 2012

Next-Generation Monitoring and Control Hardware Development
George A. Kantor, David Kohanbash and Todd Martin

Irrigation Association November, 2012

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

The 8th International Conference on Field and Service Robots (FSR 2012) November, 2012

A Low-Cost, Practical Localization System for Agricultural Vehicles
Gustavo Medeiros Freitas, Bradley Hamner, Marcel Bergerman, George A. Kantor and Ji Zhang

CMU-RI-TR- Lecture Notes in Computer Science, Springer October, 2012

An Intelligent Approach to Hysteresis Compensation while Sampling using a Fleet of Autonomous Watercraft
Abhinav Valada, Christopher Tomaszewski, Balajee Kannan, Prasanna Velagapudi, George A. Kantor and Paul Scerri

The 2012 International Conference on Intelligent Robotics and Applications (ICIRA 2012) October, 2012

Monocular Visual Navigation of an Autonomous Vehicle in Natural Scene Corridor-like Environments
Ji Zhang, George A. Kantor, Marcel Bergerman and Sanjiv Singh

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems October, 2012

A Practical Localization System for Orchard Vehicles
Gustavo Medeiros Freitas, Jacqueline Libby, Bradley Hamner, Marcel Bergerman, George A. Kantor and Ji Zhang

CMU-RI-TR- Brazilian Conference on Automatics, Campina Grande, Brazil September, 2012

Base Station Design and Architecture for Wireless Sensor Networks
David Kohanbash, Abhinav Valada and George A. Kantor

International Conference of Agricultural Engineering (CIGR) July, 2012

Automation of Hydroponic Installations using a Robot with Position Based Visual Feedback
Niels Tanke, Guoming Alex Long, Dhruv Agrawal, Abhinav Valada and George A. Kantor

Proceedings of the International Conference of Agricultural Engineering CIGR-Ageng 2012 July, 2012

Development of a Low Cost Multi-Robot Autonomous Marine Surface Platform
Abhinav Valada, Prasanna Velagapudi, Balajee Kannan, Christopher Tomaszewski, George A. Kantor and Paul Scerri

The 8th International Conference on Field and Service Robotics (FSR 2012) July, 2012

Irrigation Control Methods for Wireless Sensor Network
David Kohanbash, Abhinav Valada and George A. Kantor

American Society of Agricultural and Biological Engineers (ASABE) Annual Meeting July, 2012

Real-World Testing of a Multi-Robot Team
Paul Scerri, Prasanna Velagapudi, Balajee Kannan, Abhinav Valada, Christopher Tomaszewski, John M. Dolan, Adrian Scerri, Kumar Shaurya Shankar, Luis Lorenzo Bill-Clark and George A. Kantor

Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2012) June, 2012

Real-World Testing of a Multi-Robot Team
Paul Scerri, Prasanna Velagapudi, Balajee Kannan, Abhinav Valada, Christopher Tomaszewski, Adrian Scerri, Kumar Shaurya Shankar, Luis Lorenzo Bill-Clark and George A. Kantor

Autonomous Robots and Multi- robot Systems workshop (ARMS 2012, at AAMAS 2012) June, 2012

Autonomous Robot for Small Scale NFT Systems
Dhruv Agrawal, Guoming Alex Long, Niels Tanke, David Kohanbash and George A. Kantor

American Society of Agricultural and Biological Engineers (ASABE) Annual Meeting June, 2012

Constrained Filtering with Contact Detection Data for the Localization and Registration of Continuum Robots in Flexible Environments
Stephen T. Tully andrea Bajo, George A. Kantor, Howie Choset and Nabil Simaan

Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA) May, 2012

Integrated Planning and Control for Graceful Navigation of Shape-Accelerated Underactuated Balancing Mobile Robots
Umashankar Nagarajan, George A. Kantor and Ralph Hollis

Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) May, 2012

Multi-Agent Deterministic Graph Mapping via Robot Rendezvous
Stephen T. Tully, George A. Kantor and Howie Choset

Proceedings of the 2012 IEEE International Conference on Robotics and Automation (ICRA) May, 2012

A Unified Bayesian Framework for Global Localization and SLAM in Hybrid Metric/Topological Maps
Stephen T. Tully, George A. Kantor and Howie Choset

International Journal of Robotics Research (IJRR) March, 2012

Monte Carlo Localization using 3D Texture Maps
Yu Fu, Stephen T. Tully, George A. Kantor and Howie Choset

Proceedings of the 2011 International Conference on Intelligent Robots and Systems (IROS) September, 2011

Shape Estimation for Image-Guided Surgery with a Highly Articulated Snake Robot
Stephen T. Tully, George A. Kantor, Marco A. Zenati and Howie Choset

Proceedings of the 2011 International Conference on Intelligent Robots and Systems (IROS) September, 2011

Inequality Constrained Kalman Filtering for the Localization and Registration of a Surgical Robot
Stephen T. Tully, George A. Kantor and Howie Choset

Proceedings of the 2011 International Conference on Intelligent Robots and Systems (IROS) September, 2011

Wireless Sensor Networks and Actionable Modeling for Intelligent Irrigation
David Kohanbash, Abhinav Valada and George A. Kantor

2011 ASABE Annual International Meeting August, 2011

Incremental Construction of the Saturated-GVG for Multi-Hypothesis Topological SLAM
Tong Tao, Stephen T. Tully, George A. Kantor and Howie Choset

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

Flood Disaster Mitigation: A Real-world Challenge Problem for Multi-Agent Unmanned Surface Vehicles
Paul Scerri, Balajee Kannan, Prasanna Velagapudi, Kate Macarthur, Peter Stone, Matthew Taylor, John M. Dolan, Alessandro Farinelli, Archie Chapman, M Bernardine Dias and George A. Kantor

Proceedings of the Autonomous Robots and Multirobot Systems workshop (ARMS-11, at AAMAS-11) May, 2011

Deployment of a Point and Line Feature Localization System for an Outdoor Agriculture Vehicle
Jacqueline Libby and George A. Kantor

2011 IEEE International Conference on Robotics & Automation (ICRA 2011) May, 2011

DSRP: Distributed SensorWeb Routing Protocol
Abhinav Valada, David Kohanbash and George A. Kantor

21st International Conference on Electronics, Communications and Computers (CONIELECOMP 2011) February, 2011

Hybrid Control for Navigation of Shape-Accelerated Underactuated Balancing Systems
George A. Kantor and Ralph Hollis

Proceedings of the 49th IEEE Conference on Decision and Control December, 2010

Hybrid Control for Navigation of Shape-Accelerated Underactuated Balancing Systems
Umashankar Nagarajan, George A. Kantor and Ralph Hollis

IEEE Conference on Decision and Control (CDC) December, 2010

A Single-Step Maximum A Posteriori Update for Bearing-Only SLAM
Stephen T. Tully , George A. Kantor and Howie Choset

Proceedings of the 2010 Conference on Artificial Intelligence (AAAI) July, 2010

Comprehensive Automaton for Specialty Crops: Year 1 results and lessons learned
Sanjiv Singh, Marcel Bergerman , Jillian Cannons, Benjamin P. Grocholsky, Bradley Hamner, German Holguin, Larry Hull, Vincent Jones, George A. Kantor, Harvey Koselka, Guiqin Li, James Owen, Johnny Park, Wenfan Shi and James Teza

Journal of Intelligent Service Robotics July, 2010

Accurate GPS-free Positioning of Utility Vehicles for Specialty Agriculture
Jacqueline Libby and George A. Kantor

2010 ASABE Annual International Meeting June, 2010

Design and Development of a Wireless Sensor Network System for Precision Agriculture
Abhinav Valada, David Kohanbash and George A. Kantor

CMU-RI-TR-10-21 June, 2010

Segmented SLAM in Three-Dimensional Environments
Nathaniel Fairfield, George A. Kantor and David Wettergreen

Journal of Field Robotics February, 2010

A Multi-Hypothesis Topological SLAM Approach for Loop Closing on Edge-Ordered Graphs
Stephen T. Tully , George A. Kantor, Howie Choset and Felix Werner

Proceedings of the 2009 International Conference on Intelligent Robots and Systems (IROS) October, 2009

Topological SLAM using Neighbourhood Information of Places
Felix Werner, Frederic Maire, Joaquin Sitte, Howie Choset, Stephen T. Tully and George A. Kantor

Proceedings of the 2009 International Conference on Intelligent Robots and Systems (IROS) October, 2009

Automation for Specialty Crops: A Comprehensive Strategy, Current Results, and Future Goals
Sanjiv Singh, Tara Baugher, Marcel Bergerman , Katie Ellis, Benjamin P. Grocholsky, Bradley Hamner, Jay Harper, Gwen-Alyn Hoheisel, Larry Hull, Vincent Jones, George A. Kantor, Brian Kliethermes, Harvey Koselka, Karen Lewis, Jacqueline Libby , William Messner, Henry Ngugi, James Owen, Johnny Park, Clark Seavert, Wenfan Shi and James Teza

The 4th IFAC International Workshop on Bio-Robotics, Information Technology and Intelligent Control for Bioproduction Systems (2009 IFAC Bio-Robotics IV Workshop) September, 2009

Automation for Specialty Crops: A Comprehensive Strategy, Current Results, and Future Goals
Sanjiv Singh, Marcel Bergerman , Benjamin P. Grocholsky, Bradley Hamner, George A. Kantor, Brian Kliethermes, Jacqueline Libby , William Messner, Wenfan Shi, James Teza, Tara Baugher, Katie Ellis, Jay Harper, Gwen-Alyn Hoheisel, Larry Hull, Vincent Jones, Harvey Koselka, Karen Lewis, Henry Ngugi, James Owen, Johnny Park and Clark Seavert

CMU-RI-TR- 4th IFAC International Workshop on Bio-Robotics,Information Technology,and Intelligent Control for Bioproduction Systems September, 2009

Leap-Frog Path Design for Multi-Robot Cooperative Localization
Stephen T. Tully , George A. Kantor and Howie Choset

Proceedings of the 2009 Field and Service Robotics Conference (FSR) July, 2009

Human-Robot Physical Interaction with Dynamically Stable Mobile Robots
Umashankar Nagarajan, George A. Kantor and Ralph Hollis

Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI 2009) May, 2009

Trajectory Planning and Control of a Dynamically Stable Single Spherical Wheeled Mobile Robot
Umashankar Nagarajan, George A. Kantor and Ralph Hollis

Proceedings of the IEEE International Conference on Robotics & Automation (ICRA 2009) May, 2009

State Transition, Balancing, Station Keeping and Yaw Control for a Dynamically Stable Single Spherical Wheel Mobile Robot
Umashankar Nagarajan, Anish Mampetta, George A. Kantor and Ralph Hollis

Proceedings of the IEEE International Conference on Robotics & Automation (ICRA 2009) May, 2009

Deployment of Wireless Sensor Networks for Irrigation and Nutrient Management in Nursery and Greenhouse Operations
John D. Lea-Cox andrew G. Ristvey, David S. Ross and George A. Kantor

Proc. Southern Nursery Assoc. Res. Conf. January, 2009

3D Mapping and Characterization of Sistema Zacatón from DEPTHX (DEep Phreatic THermal eXplorer)
Marcus Gary, Nathaniel Fairfield, William C. Stone, David Wettergreen, George A. Kantor and John M. Sharp~Jr.

Proceedings of KARST08: 11th Sinkhole Conference ASCE January, 2008

DEPTHX Autonomy Software: Design and Field Results
Nathaniel Fairfield, George A. Kantor, Dominic Jonak and David Wettergreen

CMU-RI-TR-08-09 July, 2008

Iterated Filters for Bearing-Only SLAM
Stephen T. Tully , Hyungpil Moon, George A. Kantor and Howie Choset

Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA) May, 2008

Hybrid Localization using the Hierarchical Atlas
Stephen T. Tully , Hyungpil Moon, Deryck Morales, George A. Kantor and Howie Choset

Proceedings of the 2007 International Conference on Intelligent Robots and Systems (IROS) October, 2007

Field Results of the Control, Navigation, and Mapping Systems of a Hovering AUV
Nathaniel Fairfield, Dominic Jonak, George A. Kantor and David Wettergreen

Intl. Symp. on Unmanned Untethered Submersible Technology January, 2007

Experiments in Navigation and Mapping with a Hovering AUV
George A. Kantor, Nathaniel Fairfield, Dominic Jonak and David Wettergreen

Intl. Conf. on Field and Service Robotics January, 2007

Autonomous Underwater Vehicle Navigation and Proximity Operations for Deep Phreatic Thermal Explorer (DEPTHX)
William Stone, Nathaniel Fairfield and George 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 March, 2007

Real-Time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels
Nathaniel Fairfield, George A. Kantor and David Wettergreen

Journal of Field Robotics January, 2007

A Dynamically Stable Single-Wheeled Mobile Robot with Inverse Mouse-Ball Drive
Tom Lauwers, George A. Kantor and Ralph Hollis

Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06) May, 2006

Range-Only SLAM for Robots Operating Cooperatively with Sensor Networks
Joseph Djugash, Sanjiv Singh, George A. Kantor and Wei Zhang

IEEE International Conference on Robotics and Automation May, 2006

Towards Particle Filter SLAM with Three Dimensional Evidence Grids in a Flooded Subterranean Environment
Nathaniel Fairfield, George A. Kantor and David Wettergreen

Proceedings of ICRA 2006 May, 2006

One is Enough!
Tom Lauwers, George A. Kantor and Ralph Hollis

Proc. Int'l. Symp. for Robotics Research October, 2005

Design and Control of a Passively Steered, Dual Axle Vehicle
Michael D. Wagner , Stuart Heys, David Wettergreen, James Teza, Dimitrios (Dimi) Apostolopoulos , George A. Kantor and William (Red) L. Whittaker

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

Three Dimensional Evidence Grids for SLAM in Complex Underwater Environments
Nathaniel Fairfield, George A. Kantor and David Wettergreen

Proceedings of the 14th International Symposium of Unmanned Untethered Submersible Technology (UUST) August, 2005

Principles of Robot Motion: Theory, Algorithms, and Implementations
Howie Choset, Kevin M. Lynch, Seth Hutchinson, George A. Kantor, Wolfram Burgard, Lydia E. Kavraki and Sebastian Thrun

Principles of Robot Motion: Theory, Algorithms, and Implementations June, 2005

The hierarchical atlas
Brad Lisien, Deryck Morales, David Silver, George A. Kantor, Ioannis Rekleitis and Howie Choset

IEEE Transactions on Robotics June, 2005

Bearing-only landmark initialization with unknown data association
Albert Costa, George A. Kantor and Howie Choset

Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04) April, 2004

Sequential Composition for Control of Underactuated Systems
George A. Kantor and Alfred Rizzi

CMU-RI-TR-03-23 December, 2003

Experimental results in range-only localization with radio
Derek Kurth, George A. Kantor and Sanjiv Singh

2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03) October, 2003

Hierarchical simultaneous localization and mapping
Brad Lisien, Deryck Morales, David Silver, George A. Kantor, Ioannis Rekleitis and Howie Choset

2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03) October, 2003

Inertial navigation and visual line following for a dynamical hexapod robot
Sarjoun Skaff, George A. Kantor, David Maiwand and Alfred Rizzi

2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) October, 2003

Distributed Search and Rescue with Robot and Sensor Teams
George A. Kantor, Sanjiv Singh, R. Peterson, Daniela Rus, A. Das, V. Kumar, G. Pereira and J. Spletzer

The 4th International Conference on Field and Service Robotics July, 2003

Recent Results in Extensions to Simultaneous Localization and Mapping
Sanjiv Singh, George A. Kantor and Dennis Strelow

Proceedings of the International Symposium on Experimental Robotics July, 2002

Preliminary Results in Range-only Localization and Mapping
George A. Kantor and Sanjiv Singh

Proceedings of the IEEE Conference on Robotics and Automation (ICRA '02) May, 2002

Automatic railway classification using surface and subsurface measurements
George A. Kantor, Herman Herman , Sanjiv Singh, John G. Tabacchi and William Kaufman

Proceeding of the 3rd International Conference on Field and Service Robotics (FSR 2001) January, 2001

Collection of Environmental Data From an Airship Platform
George A. Kantor, David Wettergreen, James P. Ostrowski and Sanjiv Singh

Proceedings of the SPIE Conference on Sensor Fusion and Decentralized Control in Robotic Systems IV October, 2001

An application of Lie groups in distributed control networks
George A. Kantor and P.S. Krishnaprasad

Systems and Control Letters June, 2001

Sun-Synchronous Planetary Exploration
William (Red) L. Whittaker, George A. Kantor, Benjamin Shamah and David Wettergreen

AIAA Space 2000 Conference an Exposition September, 2000

Mailing Address:

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

2017-05-10T11:24:29+00:00