Home/Howie Choset

Howie Choset

Professor
Email: choset@andrew.cmu.edu
Office: NSH 3205
Personal Homepage
Administrative Assistant: Peggy A. Martin

My goal has been, and remains, to bring the precision of computer science and applied mathematics to the realities and uncertainties of mechanical systems. I will continue to make fundamental contributions in design, motion planning, path planning, and estimation.

Mechanism Design. My group has designed and constructed a variety of snake robots, highly articulated mechanisms that can exploit their shape and many degrees of freedom to thread through tightly packed regions, accessing locations that people and conventional machinery otherwise could not. Working with practitioners in their respective fields, my group has been active in applying these mechanisms toward minimally invasive surgery, urban search and rescue, and the manufacturing of aircraft wing assemblies with Boeing. One notable example is our surgical snake robot; in collaboration with Dr. Marco Zenati at the University of Pittsburgh, we have developed a small 11mm cross-sectional diameter snake robot for use in minimally invasive surgery. This device can reach deep into the body without the need for large incisions, thereby reducing both post-operative patient discomfort and medical costs. I am now working with Dr. Shyam Thakkar at Allegheny General Hospital and Dr. Lee Swanstrom at the Oregon Clinic to develop technology to conduct natural orifice transluminal endoscopic surgery (NOTES). NOTES uses the natural orifices to provide access to the abdominal cavity through the walls of a luminal space in order to perform surgical procedures, thereby avoiding invasive abdominal wall incisions. Even more than conventional minimally invasive surgery, NOTES has the potential to produce better outcomes and quicker recovery as well as less post-operative discomfort and fewer complications.

We are also active in developing locomoting snake robots that use their internal degrees of freedom to interact with the environment in order to propel themselves in any desired direction. Our locomoting devices, based on Mark Yim’s earlier work, have a modular design where each module comprises its own actuator, onboard sensing and custom electronics, all contained within a novel mechatronic architecture. In the last two years alone, we have deployed this robot in many locations: Southwest Research Institute, Texas Task Force I’s Disaster City, power plants, and the House of Representatives’ Rayburn Building. Finally, included in Figure 2b-e, are other mechanisms my group has worked on over the past 10 years.

Motion Planning. Simple algorithms alone are not sufficient to coordinate all of the degrees of freedom needed to produce purposeful motion for a complex robot. Motion planning for snake robots is difficult because they have many degrees of freedom and they are also underactuated, meaning that we can only control the internal degrees of freedom of the robot; the net motion cannot be directly controlled. Therefore, we designed motion planners to coordinate the internal degrees of freedom so that the induced shape changes propel the snake robot in a desired direction. Already, we have been able to derive and implement a wide variety of snake robot gaits, including climbing, gap crossing, swimming, and stair climbing. These gaits have been demonstrated in field tests, both inside and outside. We are currently looking at the fundamental mechanics to derive optimal gaits for a broad class of dynamic systems with nonholonomic constraints. Finally, Prof. Jeff Schneider and I have started a collaboration to develop multi-objective learning techniques that search the parameter space of our gait model for a set of “equally” optimal (pareto optimal) parameters, rather than optimizing a single weighted sum of the objectives.

Through collaboration with Prof. Matt Mason and our co-advised students we have developed a single degree-of-freedom robot which uses dynamic motion to climb between two parallel vertical walls. This work introduces minimalism in climbing, using dynamic motions to enable open loop control with a single motor. We derive the nonlinear, piecewise smooth dynamical equations of motion in an eight dimensional state space, derive its Poincaré map, and use it to reduce the dynamics to three dimensions.

Path planning. Whereas motion planners specify a sequence of configurations, velocities and perhaps higher order derivatives to produce net motion, a path planner determines a sequence of robot configurations between a start and goal. Although the two tasks are distinct, they both contend with the complexity of high dimensional configuration spaces. To deal with this complexity for path planning, our approach uses a topological map of the space, which reduces planning from a multi-dimensional search problem to a one-dimensional search.

Our work in topological mapping led to developing a coverage path planner that directs a robot to pass over every point in a target region, for application in robotic demining. This work represents the first provably complete sensor-based coverage algorithm for a broad class of patterns. Dr. Rizzi and I then applied this coverage technology to the application of autobody painting with the Ford Motor Company to expedite the painting operation while minimizing hazardous waste. Spray deposition is not just a coverage problem in three dimensions but a uniform coverage one; we must regulate the path and speed of the applicator to account for the paint deposition process and the impact of surface curvature to ensure uniform coverage.

Estimation. One of the issues in exploring unknown spaces is localization while mapping, often referred to as simultaneous localization and mapping (SLAM). One of the critical challenges of SLAM deals with the computational complexity of mapping large spaces. We developed a hierarchical SLAM technique to address this problem that uses a topological map to divide the space into smaller regions, each represented by a high resolution map. Therefore, instead of trying to localize in a large map, our hybrid technique instead uses the topological map to select on which local map to localization. In collaboration with Dr. George Kantor, we recently derived a multi-hypothesis, probabilistically grounded method for detecting loop closure when exploring unknown environments [23, 24]. This work further improves the computational efficiency and success rate of our topological SLAM algorithm.

Finally, undulatory motion planners require a technique to estimate the robot’s state so as to more effectively control the robot’s gait. In collaboration with Dr. Rizzi, we developed techniques to estimate the state of a highly dynamic robot, RHex. This technique employs a multi-modal estimator to selectively disable and enable the appropriate filters at the appropriate time. This leads to improved scalability, because fewer filters are running simultaneously, as well as improved accuracy, because “averaging” is not corrupted by incorrect filter outputs [26, 27].

Hybrid Controls. Recall that path planning directs the robot where to go, whereas motion planning determines how to go. In other words, path planning typically assumes full control over all the configuration variables and respects obstacles, while underactuated motion planning assumes no obstacles and only has control over a subset of the configuration variables. Ultimately, we seek to combine our path planning and motion planning work by using our estimation techniques to produce feedback for the system. As a first step toward this goal, Dr. Rizzi and I have combined his prior control work with my path planning efforts to form a new hybrid controls framework that combines discrete and continuous planning where an arbitrator selects which continuous feedback control law to invoke. Specifically, we define a series of controllers that are valid over simple domains such that one controller in the sequence brings the robot into the domain of the next controller, and therefore the sequence collectively brings the robot to a goal state. In a sense, instead of using path planning to determine a “thin” path, we now have a procedure that determines a “fat” path or vector field along which the robot “flows” from a start location to a goal. This extends sequential composition in two ways: i) our controllers flow into the next policy, as opposed to converging to a single state in the next domain, and ii) our controllers respect non-holonomic constraints.

It is the excitement of working with students that continues to draw me to academia. I am certain that a casual tour of my lab reveals a feeling of energy and productivity. My students, both graduate and undergraduate, work hard to provide fresh new insights within the framework of mathematical and experimental rigor endowed by my research program. This philosophy of theoretic and applied rigor has been the cornerstone of my graduate course, Robotic Motion Planning (16-735), which has resulted in a co-authored textbook on motion planning. Also, guided by this philosophy of mathematical and experimental rigor, I designed and continue to teach an undergraduate class, Introduction to Robotics (16-311), that makes use of LEGO robots to reinforce basic principles taught in class. This course provides the basis for the Undergraduate Robotics Minor, which I founded in 1998 and have directed since its inception. This minor is one of the first undergraduate certifications for robotics in the world. Building off the success of the minor, I introduced a fifth year Robotics Masters Program for Carnegie Mellon undergraduates.

Publications

Multimodal Registration Using Stereo Imaging and Contact Sensing
Rangaprasad Arun Srivatsan, Prasad Vagdargi, Nicolas Zevallos, Howie Choset

Robotics: Science and Systems, workshop on 'Revisiting Contact - Turning a Problem into a Solution' July, 2017

Bingham Distribution-Based Linear Filter for Online Pose Estimation
Arun Srivatsan Rangaprasad, Mengyun Xu, Nicolas Zevallos, Howie Choset

Robotics: Science and Systems, 2017 July, 2017

Multiple Start Branch and Prune Filtering Algorithm for Nonconvex Optimization
Arun Srivatsan Rangaprasad, Howie Choset

The 12th International Workshop on The Algorithmic Foundations of Robotics December, 2016

Simultaneous Registration and Stiffness mapping of a Flexible Environment using Stiffness and Geometric Prior
Arun Srivatsan Rangaprasad, Long Wang, Elif Ayvali, Nabil Simaan, Howie Choset

The Hamlyn Symposium on Medical Robotics, 2016 June, 2016

Estimating SE(3) elements using a dual quaternion based linear Kalman filter
Arun Srivatsan Rangaprasad, Gillian T. Rosen, Feroze Naina Mohamed Dheen Mohamed Ismail, Howie Choset

Robotics: Science and Systems June, 2016

Complementary Model Update: A Method for Simultaneous Registration and Stiffness Mapping in Flexible Environments
Arun Srivatsan Rangaprasad, Elif Ayvali, Long Wang, Rajarshi Roy, Nabil Simaan, Howie Choset

2016 IEEE International Conference on Robotics and Automation (ICRA) May, 2016

Modularity for Maximum Mobility and Manipulation: Control of a Reconfigurable Legged Robot with Series-Elastic Actuators
Simon Kalouche, David Rollinson and Howie Choset

IEEE/Safety, Security, and Rescue Robotics 2015, (Awarded Best Paper) October, 2015

Using Bayesian Optimization to Guide Probing of a Flexible Environment for Simultaneous Registration and Stiffness Mapping
Elif Ayvali, Arun Srivatsan Rangaprasad, Long Wang, Rajarshi Roy, Nabil Simaan and Howie Choset

arXiv preprint arXiv:1509.05830 September, 2015

Using Lie algebra for shape estimation of medical snake robots
Arun Srivatsan Rangaprasad, Matthew J. Travers and Howie Choset

IEEE/RSJ International Conference on Intelligent Robots and Systems September, 2015

Registering Surgical Tool to a Soft Body using Mechanical Palpation
Arun Srivatsan Rangaprasad, Rajarshi Roy, Long Wang, Nabil Simaan and Howie Choset

CMU-RI-TR-15-13 June, 2015

Constraint Manifold Subsearch for multirobot path planning with cooperative tasks
Glenn Wagner, Jae Il Kim, Konrad Urban and Howie Choset

IEEE International Conference on Robotics and Automation (ICRA) May, 2015

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

Gaussian reconstruction of swarm behavior from partial data
Glenn Wagner and Howie Choset

IEEE International Conference on Robotics and Automation (ICRA) March, 2015

Subdimensional Expansion for Multirobot Path Planning
Glenn Wagner and Howie Choset

Artificial Intelligence February, 2015

The Feasible Transition Graph: Encoding Topology and Manipulation Constraints for Multirobot Push-Planning
Laura Lindzey, Ross Alan Knepper, Howie Choset and Siddhartha Srinivasa

The Eleventh International Workshop on the Algorithmic Foundations of Robotics (WAFR) August, 2014

Visual Sensing for Developing Autonomous Behavior in Snake Robots
Hugo Ponte, Max Queenan,, Christoph Mertz, Matthew J. Travers, Florian Enner, Martial Hebert and Howie Choset

2014 IEEE International Conference on Robotics and Automation (ICRA 2014) June, 2014

Snakeboard motion planning with local trajectory information
Tony Dear, Ross L. Hatton, Matthew J. Travers and Howie Choset

October, 2013

Mechanics and control of a terrestrial vehicle exploiting a nonholonomic constraint for fishlike locomotion
Tony Dear, Scott David Kelly, Matthew J. Travers and Howie Choset

October, 2013

Learning Stochastic Binary Tasks using Bayesian Optimization with Shared Task Knowledge
Matthew Tesch, Jeff Schneider and Howie Choset

International Conference on Machine Learning: Workshop on Robot Learning (Atlanta, June 16-21 2013) June, 2013

Expensive Function Optimization with Stochastic Binary Outcomes
Matthew Tesch, Jeff Schneider and Howie Choset

International Conference on Machine Learning (Atlanta, June 16-21 2013) June, 2013

ODrM* optimal multirobot path planning in low dimensional search spaces
Cornelia Ferner, Glenn Wagner and Howie Choset

IEEE International Conference on Robotics and Automation (ICRA) May, 2013

Expensive Multiobjective Optimization for Robotics
Matthew Tesch, Jeff Schneider and Howie Choset

International Conference on Robotics and Automation (Karlsruhe, Germany, May 6-10 2013) May, 2013

Expensive Multiobjective Optimization and Validation with a Robotics Application
Matthew Tesch, Jeff Schneider and Howie Choset

Neural Information Processing Systems: Workshop on Bayesian Optimization & Decision Making December, 2012

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

Using Kinesthetic Input to Overcome Obstacles with Snake Robots
Matthew Tesch, Alexander ONeill and Howie Choset

IEEE International Symposium on Safety, Security, and Rescue Robotics November, 2012

Virtual Chassis for Snake Robots: Definition and Applications
David Rollinson, Austin Buchan and Howie Choset

Advanced Robotics October, 2012

Coordinates Matter: Virtual Chassis and Minimum Perturbation Coordinate Representations
David Rollinson, Ross Hatton and Howie Choset

Proceedings of the International Conference on Climbing and Walking Robots (CLAWAR) July, 2012

Subdimensional Expansion and Optimal Task Reassignment.
Glenn Wagner, Howie Choset and Nora Ayanian

Symposium on Combinatorial Search July, 2012

Environmentally adaptive control policies for expensive systems
Matthew Tesch, Jeff Schneider and Howie Choset

International Conference on Climbing and Walking Robots July, 2012

Multirobot Pushing — How Many Robots are Sufficient?
Laura Lindzey, Howie Choset, Siddhartha Srinivasa and Ross Alan Knepper

CMU-RI-TR-12-15 May, 2012

Probabilistic path planning for multiple robots with subdimensional expansion
Glenn Wagner, Minsu Kang and Howie Choset

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

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

Design and architecture of the unified modular snake robot
Cornell Wright III, Austin Buchan, H. Benjamin Brown, Jason Geist, Michael Schwerin, David Rollinson, Matthew Tesch and Howie Choset

IEEE International Conference on Robotics and Automation 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

Adapting Control Policies for Expensive Systems to Changing Environments
Matthew Tesch, Jeff Schneider and Howie Choset

Neural Information Processing Systems: Workshop on Bayesian Optimization, Experimental Design, and Bandits December, 2011

Programming and Multi-Robot Communications
Robert Avanzato, Howie Choset, Timothy Friez, Robin Shoop and Manuela Veloso

Robot Magazine December, 2011

Using Response Surfaces and Expected Improvement to Optimize Snake Robot Gait Parameters
Matthew Tesch, Jeff Schneider and Howie Choset

IEEE/RSJ 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

State Estimation for Snake Robots
David Rollinson, Austin Buchan and Howie Choset

IEEE International Conference on Intelligent Robots and Systems (IROS) September, 2011

Adapting Control Policies for Expensive Systems to Changing Environments
Matthew Tesch, Jeff Schneider and Howie Choset

IEEE/RSJ 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

Virtual Chassis for Snake Robots
David Rollinson and Howie Choset

IEEE International Conference on Intelligent Robots and Systems (IROS) September, 2011

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

M*: A complete multirobot path planning algorithm with performance bounds
Glenn Wagner and Howie Choset

IEEE/RSJ International Conference on Intelligent Robots and Systems September, 2011

A Novel Architecture for Modular Snake Robots
Aaron M. Johnson, Cornell Wright III, Matthew Tesch, Kevin Lipkin and Howie Choset

CMU-RI-TR-11-29 August, 2011

Simplified Motion Modeling for Snake Robots
Florian Enner, David Rollinson and Howie Choset

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

Context Identification for Efficient Multiple-Model State Estimation of Systems With Cyclical Intermittent Dynamics
Sarjoun Skaff, Alfred Rizzi, Howie Choset and Matthew Tesch

IEEE Transactions on Robotics February, 2011

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

Minimalistic, Dynamic, Tube Climbing Robot – Video Submission
Amir Degani, Siyuan Feng, Howie Choset and Matthew T. Mason

IEEE International Conference on Robotics and Automation May, 2010

DSAC – Dynamic, Single Actuated Climber. Local Stability and Bifurcations
Amir Degani, Howie Choset and Matthew T. Mason

Proc. of the 2010 IEEE International Conference on Robotics and Automation (ICRA) May, 2010

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

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

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

Parameterized and Scripted Gaits for Modular Snake Robots
Matthew Tesch, Kevin Lipkin, Isaac Brown, Ross Hatton, Aaron Peck, Justine M. Rembisz and Howie Choset

Advanced Robotics June, 2009

A Highly Articulated Robotic Surgical System for Minimally Invasive Surgery
Takeyoshi Ota, Amir Degani, David Schwartzman, Brett Zubiate, Jeremy McGarvey, Howie Choset and Marco A. Zenati

The Annals of Thoracic Surgery April, 2009

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

An Optimization Approach to Planning for Mobile Manipulation
Dmitry Berenson, Howie Choset and James Kuffner

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

A Dynamic Single Actuator Vertical Climbing Robot
Amir Degani, Amir Shapiro, Howie Choset and Matthew T. Mason

Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on November, 2007

Context Identification for Efficient Multiple-Model State Estimation
Sarjoun Skaff, Howie Choset and Alfred Rizzi

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) November, 2007

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

Valet Parking Without a Valet
David C. Conner, Hadas Kress-Gazit, Howie Choset, Alfred Rizzi and George J. Pappas

Proceedings of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007) October, 2007

Epicardial Atrial Ablation Using a Novel Articulated Robotic Medical Probe Via a Percutaneous Subxiphoid Approach
Takeyoshi Ota, Amir Degani, Brett Zubiate, Alon Wolf, Howie Choset, David Schwartzman and Marco A. Zenati

nnovations: Technology & Techniques in Cardiothoracic & Vascular Surgery December, 2006

Integrated Planning and Control for Convex-bodied Nonholonomic systems using Local Feedback Control Policies
David C. Conner, Howie Choset and Alfred Rizzi

CMU-RI-TR-06-34 August, 2006

Integrated Planning and Control for Convex-bodied Nonholonomic Systems Using Local Feedback
David C. Conner, Howie Choset and Alfred Rizzi

Proceedings of Robotics: Science and Systems II August, 2006

Motion Planning for Variable Inertia Mechanical Systems
Elie A. Shammas, Howie Choset and Alfred Rizzi

In Proceedings of the International Workshop on the Algorithmic Foundations of Robotics July, 2006

A Unified Approach to Gait Analysis and Generation for a General Class of Under-actuated Mechanical Systems
Elie A. Shammas, Howie Choset and Alfred Rizzi

International Journal of Robotics Research May, 2006

Highly Articulated Robotic Probe for Minimally Invasive Surgery
Amir Degani, Howie Choset, Alon Wolf and Marco A. Zenati

Proceedings of the 2006 IEEE International Conference on Robotics and Automation May, 2006

Geometric Gait Analysis and Generation for Two Classes of Under-actuated Mechanical Systems
Elie A. Shammas, Howie Choset and Alfred Rizzi

International Journal of Robotics Research May, 2006

Towards Provable Navigation and Control of Nonholonomically Constrained Convex-BodiedSystems
David C. Conner, Howie Choset and Alfred Rizzi

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

Towards Automated Gait Generation for Dynamic Systems with Non-holonomic Constraints
Elie A. Shammas, Howie Choset and Alfred Rizzi

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

Percutaneous Intrapericardial Interventions Using a Highly Articulated Robotic Probe
Amir Degani, Howie Choset, Alon Wolf, Takeyoshi Ota and Marco A. Zenati

Proceedings of the 2006 IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics February, 2006

Uniform Coverage of Automotive Surface Patches
Prasad Atkar, Aaron L. Greenfield, David C. Conner, Howie Choset and Alfred Rizzi

The International Journal of Robotics Research November, 2005

Paint Deposition Modeling for Trajectory Planning on Automotive Surfaces
David C. Conner, Aaron L. Greenfield, Prasad Atkar, Alfred Rizzi and Howie Choset

IEEE Transactions on Automation Science and Engineering October, 2005

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

IEEE Transactions on Robotics June, 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

Natural Gait Generation Techniques for Principally Kinematic Systems
Elie A. Shammas, Howie Choset and Alfred Rizzi

Proceedings of Robotics: Science and Systems June, 2005

Sensor-based Planning for a Rod-shaped Robot in Three Dimensions: Piecewise Retracts of R3 x S2
Ji Yeong Lee and Howie Choset

The International Journal of Robotics Research May, 2005

Three Degrees-of-freedom joint for spatial hyper-redundant robots
Elie A. Shammas, Alon Wolf and Howie Choset

Journal of Mechanism and Machine Theory April, 2005

Natural Gait Generation Techniques for Purely Mechanical Systems
Elie A. Shammas, Karen Schmidt and Howie Choset

In Proceedings of International Conference on Robotics and Automation (ICRA '05) April, 2005

A Context-Based State Estimation Technique for Hybrid Systems
Sarjoun Skaff, Alfred Rizzi, Howie Choset and Pei-Chun Lin

Proceedings of the 2005 IEEE International Conference on Robotics and Automation April, 2005

Orientation Preserving Angular Swivel Joint
Elie A. Shammas and Howie Choset

US Patent Number 6,871,563 March, 2005

Development and deployment of a line of sight virtual sensor for heterogeneous teams
Robert Grabowski, Pradeep Khosla and Howie Choset

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

Arc carving: obtaining accurate, low latency maps from ultrasonic range sensors
David Silver, Deryck Morales, Ioannis Rekleitis, Brad Lisien and Howie Choset

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

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

Experimental Verification of Deposition Models for Automotive Painting with Electrostatic Rotating Bell Atomizers
David C. Conner, Alfred Rizzi and Howie Choset

Experimental Robotics VIII (proceedings of ISER '02) January, 2003

Construction and Automated Deployment of Local Potential Functions for Global Robot Control and Navigation
David C. Conner, Alfred Rizzi and Howie Choset

CMU-RI-TR-03-22 November, 2003

An enhanced occupancy map for exploration via pose separation
Robert Grabowski, Pradeep Khosla and Howie Choset

Proceedings of the 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

A mobile hyper redundant mechanism for search and rescue tasks
Alon Wolf, H. Benjamin Brown, Randy Casciola, Albert Costa, Michael Schwerin, E. Shamas and Howie Choset

Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems October, 2003

New Joint Design for Three-dimensional Hyper Redundant Robots
Elie A. Shammas, Alon Wolf, H. Benjamin Brown and Howie Choset

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

Towards optimal coverage of 2-dimensional surfaces embedded in IR/sup 3/: choice of start curve
Prasad Atkar, Howie Choset and Alfred Rizzi

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

Autonomous exploration via regions of interest
Robert Grabowski, Pradeep Khosla and Howie Choset

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

Composition of local potential functions for global robot control and navigation
David C. Conner, Alfred Rizzi and Howie Choset

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

Path Planning for Robotic Demining and Development of a Test Platform
Ercan Acar, Yangang Zhang, Howie Choset, Mark Schervish, Albert Costa, Renata Melamud, David Lean and Amy Graveline

Proceedings of the 2001 International Conference on Field and Service Robotics January, 2001

Coverage of Known Spaces: The Boustrophedon Cellupdar Decomposition
Howie Choset

Autonomous Robots January, 2000

Mobile Robot Navigation: Implementing the GVG in the Presence of Sharp Corners
Ilhan Konukseven and Howie Choset

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '97) January, 1997

Mobile Robot Navigation: Implementing the GVG in the Presence of Sharp Corners
Ilhan Konukseven and Howie Choset

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '97) January, 1997

Coverage for robotics – A survey of recent results
Howie Choset

Annals of Mathematics and Artificial Intelligence January, 2001

Path Planning for Robotic Demining: Robust Sensor-Based Coverage of Unstructured Environments and Probabilistic Methods
Ercan Acar, Howie Choset, Yangang Zhang and Mark Schervish

The International Journal of Robotics Research July, 2003

Probabilistic hierarchical spatial model for mine locations and its application in robotic landmine search
Yangang Zhang, Mark Schervish and Howie Choset

Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02) October, 2002

Deposition Modeling for Paint Application on Surfaces Embedded in R^3
David C. Conner, Prasad Atkar, Alfred Rizzi and Howie Choset

CMU-RI-TR-02-08 October, 2002

Development of Deposition Models for Paint Application on Surfaces Embedded in R^3 for Use in Automated Path Planning
David C. Conner, Prasad Atkar, Alfred Rizzi and Howie Choset

Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02) September, 2002

Exploiting Critical Points to Reduce Positioning Error for Sensor-based Navigation
Ercan Acar and Howie Choset

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

Sensor-Based Exploration for Convex-Bodies: A New Roadmap for a Convex-shaped Robot
Ji Yeong Lee and Howie Choset

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

Towards sensor based coverage with robot teams
DeWitt Talmadge Latimer, Siddhartha Srinivasa, Vincent Lee Shue, Samuel Sonne, Howie Choset and Aaron Hurst

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

Robust Sensor-based Coverage of Unstructured Environments
Ercan Acar and Howie Choset

Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01) October, 2001

Probabilistic Methods for Robotic Landmine Search
Yangang Zhang, Mark Schervish, Ercan Acar and Howie Choset

Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01) October, 2001

Complete Sensor-based Coverage with Extended-range Detectors: A Hierarchical Decomposition in Terms of Critical Points and Voronoi Diagrams
Ercan Acar and Howie Choset

Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01) October, 2001

Sensor-Based Construction of a Retract-Like Structure for a Planar Rod Robot
Howie Choset and Ji Yeong Lee

IEEE Transactions of Robotics and Automation August, 2001

Distributed Manipulation Using Discrete Actuator Arrays
Jon Luntz, William Messner and Howie Choset

The International Journal of Robotics Research July, 2001

Exact Cellular Decomposition of Closed Orientable Surfaces Embedded in R^3
Prasad Atkar, Howie Choset, Alfred Rizzi and Ercan Acar

Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA '01) May, 2001

Sensor Based Planning for Rod Shaped Robots in Three Dimensions: Piece-wise Retracts of R^3 x S^2
Ji Yeong Lee, Howie Choset and Alfred Rizzi

Proceedings of the 2001 IEEE International Conference on Robotics & Automation (ICRA '01) May, 2001

Topological simultaneous localization and mapping (SLAM): toward exact localization without explicit localization
Howie Choset and K. Nagatani

IEEE Transactions on Robotics and Automation April, 2001

Designing and implementing hands-on robotics labs
Michael Rosenblatt and Howie Choset

IEEE Intelligent Systems November, 2000

Critical Point Sensing in Unknown Environments
Ercan Acar and Howie Choset

Proceedings of IEEE International Conference on Robotics and Automation (ICRA '00) April, 2000

Closed-Loop Operation of Actuator Arrays
Jon Luntz, William Messner and Howie Choset

Proceedings of IEEE International Conference on Robotics and Automation (ICRA '00) April, 2000

Exact Cellular Decompositions in Terms of Critical Points of Morse Functions
Howie Choset, Ercan Acar, Alfred Rizzi and Jon Luntz

Proceedings of IEEE International Conference on Robotics and Automation (ICRA '00) April, 2000

Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph
Howie Choset and Joel Burdick

The International Journal of Robotics Research February, 2000

Sensor-Based Exploration: Incremental Construction of the Hierarchical Generalized Voronoi Graph
Howie Choset, Sean Walker, Kunnayut Eiamsa-Ard and Joel Burdick

The International Journal of Robotics Research February, 2000

Toward Robust Sensor Based Exploration by Constructing Reduced Generalized Voronoi Graph
Keiji Nagatani and Howie Choset

Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '99) October, 1999

Velocity Field Design for the Modular Distributed Manipulator System
Jon Luntz, W. Messner and Howie Choset

Proceedings of the 1998 Workshop on the Algorithmic Fundamentals of Robotics January, 1998

Nonsmooth Analysis, Convex Analysis, and their Applications to Motion Planning
Howie Choset

Special Issue of the International Journal of Computational Geometry and Applications January, 1997

A Follow-the-Leader Approach to Serpentine Robot Motion Planning
Howie Choset and W. Henning

ASCE Journal of Aerospace Engineering January, 1999

Path Planning between Two Points for a Robot Experiencing Localization Error in Known and Unknown Environments
Howie Choset, Marco La Civita and Jong Chul Park

FSR'99 Proceedings of the International Conference on Field and Service Robotics August, 1999

Virtual Vehicle: Parcel Manipulation and Dynamics with a Distributed Actuator Array
Jonathan Luntz, William Messner and Howie Choset

Proceedings of the SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, Sensors and Controls for Advanced Manufacturing January, 1997

Sensor Based Planning: Using a Honing Strategy and Local Map Method to Implement the Generalized Voronoi Graph
Howie Choset, Keiji Nagatani and Alfred Rizzi

SPIE Mobile Robotics January, 1997

Sensor Based Motion Planning: The Hierarchical Generalized Voronoi Graph
Howie Choset and J. Burdick

Workshop on Algorithmic Foundations of Robotics January, 1996

Motion Planning for Serpentine Robots
W. Henning, F. Hickman and Howie Choset

Proceedings of ASCE Space and Robotics January, 1998

Coverage Path Planning: The Boustrophedon Decomposition
Howie Choset and Philippe Pignon

International Conference on Field and Service Robotics January, 1997

Extensibility in Local Sensor Based Planning For Hyper Redundant Manipulators (Robot Snakes)
Howie Choset and J. Burdick

Proceedings of the 1994 Conference on Intelligent Robots for Field, Factory, Service, and Space (CIRFFSS '94) January, 1994

Open Loop Orientability of Objects on Actuator Arrays
Jon Luntz, W. Messner and Howie Choset

Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA '99) May, 1999

Discrete Actuator Array Vectorfield Design for Distributed Manipulation
Jon Luntz, W. Messner and Howie Choset

Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA '99) May, 1999

The Arc-Transversal Median Algorithm: an Approach to Increasing Ultrasonic Sensor Accuracy
Howie Choset, Keiji Nagatani and Nicole Lazar

Proceedings of ICRA '99 May, 1999

Path Planning and Control for AERCam, a Free-flying Inspection Robot in Space
Howie Choset and D. Kortenkamp

ASCE Journal of Aerospace Engineering April, 1999

Path Planning and Control for AERCam, a Free-flying Inspection Robot in Space
Howie Choset and D. Kortenkamp

ASCE Journal of Aerospace Engineering April, 1999

Stick-Slip Operation of The Modular Distributed Manipulated System
Jon Luntz, W. Messner and Howie Choset

Proceedings of the 1998 AACC American Controls Conference June, 1998

Towards Exact Location without Explicit Localization
Keiji Nagatani, Howie Choset and Sebastian Thrun

Proceedings of the 1998 IEEE International Conference on Robotics and Automation (ICRA '98) May, 1998

Towards Exact Localization without Explicit Localization with the Generalized Voronoi Graph
Keiji Nagatani, Howie Choset and Sebastian Thrun

Proceedings of ICRA '99 May, 1998

Incremental Construction of the Generalized Voronoi Diagram, the Generalized Voronoi Graph, and the Hierarchical Generalized Voronoi Graph
Howie Choset

Proceedings of the First CGC Workshop on Computational Geometry October, 1997

Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph
Howie Choset, Ilhan Konukseven and Alfred Rizzi

Proceedings of ICAR '97 July, 1997

Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph
Howie Choset, Ilhan Konukseven and Alfred Rizzi

Proceedings of ICAR '97 July, 1997

Sensor Based Planning for a Planar Rod Robot: Incremental Construction of the Planar Rod-HGVG
Howie Choset, Brian Mirtich and Joel Burdick

Proceedings of the 1997 IEEE International Conference on Robotics and Automation (ICRA '97) April, 1997

Parcel Manipulation and Dynamics with a Distributed Actuator Array: The Virtual Vehicle
Jonathan E. Luntz, William Messner and Howie Choset

Proceedings of the 1997 IEEE International Conference on Robotics and Automation (ICRA '97) April, 1997

Mobile Robot Navigation: Issues in Implementation the Generalized Voronoi Graph in the Plane
Howie Choset, Ilhan Konukseven and Joel Burdick

Proceedings of the IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems December, 1996

Sensor Based Planning for a Rod Robot
Howie Choset and J. Burdick

Proceedings of the 1996 IEEE International Conference on Robotics and Automation (ICRA '96) April, 1996

Sensor Based Planning, Part II: Incremental Construction of the Generalized Voronoi Graph
Howie Choset and J. Burdick

Proceedings of the 1995 IEEE International Conference on Robotics and Automation (ICRA '95) May, 1995

Sensor Based Planning, Part I: The Generalized Voronoi Graph
Howie Choset and J. Burdick

Proceedings of the 1995 IEEE International Conference on Robotics and Automation (ICRA '95) May, 1995

Sensor Based Planning and Nonsmooth Analysis
Howie Choset and J. Burdick

Proceedings of the 1994 IEEE International Conference on Robotics and Automation (ICRA '94) May, 1994

Experimental Results for Sensor Based Planning for Hyper-redundant Manipulators
N. Takanashi, Howie Choset and J. Burdick

Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) October, 1993

Mailing Address:

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

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