Home/Illah Nourbakhsh

Illah Nourbakhsh

Professor
Email: illah@andrew.cmu.edu
Office: NSH 3105
Phone: (412) 268-2007
Personal Homepage
Administrative Assistant: Karen R. Widmaier

For more than ten years I have been exploring human-robot interaction with the aim of creating rich, effective and satisfying interactions between humans and robots. My research has focused specifically on human-robot collaboration, wherein the robotic and human agents in the system share the same unifying goal or utility function. I further sharpen my scope to human-robot collaboration for learning, in which the measurable outcomes are information gain on the part of the humans in the system. In the context of my focus on collaboration for learning, rich means a cognitively sophisticated interaction in which humans and robots communicate as peers; effective means that formal measures of human learning should yield significant outcomes; satisfying means that humans should find the interaction both useful and pleasurable.

Three key questions govern my inquiry into human-robot collaboration:

  • What enabling competencies in the areas of social perception and control are required for applicability of the resulting models?
  • What principles of robot morphology and robot behavior design have broad applicability to the design of interaction systems?
  • Can a principled interaction evaluation methodology enable us to implement complete”

One research focus has been to develop embedded solutions to the problem of semantic interpretation of events using visual sensing. Another focus has been robot navigation because it is an important prerequisite to many forms of social interaction when the robot shares the human physical space. For example visual-topological navigation and hybrid metric-topological models aim to provide navigation competency with a minimum of computational and memory demands. Because of the cross-disciplinary nature of the human-robot collaboration problem, integrative research must bring robotics together with other fields that model human cognition and social behavior. I have joined and extended models of interaction and evaluation methodology from Human Factors, HCI and Cognitive Psychology, outstanding complements to robotics since these fields already consider human relationships to physical embodiments and consider human behavioral change over time.

Most recently we have begun to study the role of a research lab in meaningful design, dissemination and scaling with communities of practice. Our working model is one in which participatory design, design-based thinking and robotic innovation are combined to achieve positive social impact on specific problems throughout societies. For specific information about these projects, all of which are dedicated to make real impact while also establishing models for laboratory-community interaction, see my CREATE Lab website.

Publications

Displaying 93 Publications
Development of an assessment for measuring middle school student attitudes towards robotics activities
Jennifer Cross, Emily Hamner, Lauren Zito, Illah Nourbakhsh , and Debra Bernstein

Proceedings of the 2016 IEEE Frontiers in Education Conference (FIE), October, 2016

Engineering and Computational Thinking talent in middle school students: A framework for defining and recognizing student affinities
Jennifer Cross, Emily Hamner, Lauren Zito, and Illah Nourbakhsh

Proceedings of the 2016 IEEE Frontiers in Education Conference (FIE), October, 2016

Industrial Smoke Detection and Visualization
Yen-Chia Hsu, Paul S. Dille, Randy Sargent, Illah Nourbakhsh

CMU-RI-TR-16-55, Robotics Institute, Carnegie Mellon University, September, 2016

Arts & Bots: Application and Outcomes of a Secondary School Robotics Program
Jennifer Cross, Emily Hamner, Christopher Bartley and Illah Nourbakhsh

In proceedings of 2015 IEEE Frontiers in Education Conference, pp. 2159-2167, October, 2015

A Visual Robot-Programming Environment for Multidisciplinary Education
Jennifer Cross, Christopher Bartley, Emily Hamner and Illah Nourbakhsh

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

Exploring Gigapixel Image Environments for Science Communication and Learning in Museums
Ahmed Ansari, Marti Louw, Christopher Bartley and Illah Nourbakhsh

April, 2013

ChargeCar Community Conversions: Practical, Custom Electric Vehicles Now!
H. Benjamin Brown, Illah Nourbakhsh, Christopher Bartley, Jennifer Cross, Paul S. Dille, Joshua Schapiro and Alexander Styler

CMU-RI-TR-, March, 2012

Terapixel Imaging of Cosmological Simulations
Yu Feng, Rupert A.C. Croft, Tiziana Di Matteo, Nishikanta Khandai, Randy Sargent, Illah Nourbakhsh, Paul S. Dille, Christopher Bartley, Volker Springel, Anirban Jana and Jeffrey Gardner

CMU-RI-TR-, July, 2011

Active Management of a Heterogeneous Energy Store for Electric Vehicles
Alexander Styler, Gregg Podnar, Paul S. Dille, Matthew Duescher, Christopher Bartley and Illah Nourbakhsh

CMU-RI-TR-, June, 2011

Timelapse GigaPan: Capturing, Sharing, and Exploring Timelapse Gigapixel Imagery
James Randal Sargent, Christopher Bartley, Paul S. Dille, Jeffrey M. Keller, Illah Nourbakhsh and Rich LeGrand

CMU-RI-TR-, November, 2010

A strategy for collaborative outreach: lessons from the CSbots project
Tom Lauwers, Emily Hamner and Illah Nourbakhsh

Proceedings of the 41st ACM technical symposium on Computer science education, pp. 315-319, March, 2010

Evaluating the Urban Electric Vehicle
Paul Dille, Matt Duescher, Illah Nourbakhsh , Gregg Podnar and Joshua Schapiro

February, 2010

First Steps: The School Introduction Process
Christopher Strebel, Clementina Acedo, Illah Nourbakhsh , Randy Sargent and Laura M. Tomokiyo

CMU-RI-TR-09-25, Robotics Institute, Carnegie Mellon University, June, 2009

CSbots: A case study in introducing educational technology to a classroom setting
Tom Lauwers, Illah Nourbakhsh and Emily Hamner

CMU-RI-TR-08-41, Robotics Institute, Carnegie Mellon University, October, 2008

Robot Diaries Interim Project Report: Development of a Technology Program for Middle School Girls
Emily Hamner, Tom Lauwers, Debra Bernstein, Kristen Stubbs, Kevin Crowley and Illah Nourbakhsh

CMU-RI-TR-08-25, Robotics Institute, Carnegie Mellon University, May, 2008

Robot Diaries: Broadening Participation in the Computer Science Pipeline through Social Technical Exploration
Emily Hamner, Tom Lauwers, Debra Bernstein, Illah Nourbakhsh and Carl Francis DiSalvo

AAAI Spring Symposium on Using AI to Motivate Greater Participation in Computer Science, March, 2008

CMUcam3: An Open Programmable Embedded Vision Sensor
Anthony Rowe, Adam G. Goode, Dhiraj Goel and Illah Nourbakhsh

CMU-RI-TR-07-13, Robotics Institute, Carnegie Mellon University, May, 2007

TeRK: A Flexible Tool for Science and Technology Education
Illah Nourbakhsh , Emily Hamner, Tom Lauwers, Carl Francis DiSalvo and Debra Bernstein

Proceedings of AAAI Spring Symposium on Robots and Robot Venues: Resources for AI Education, March, 2007

A Preliminary Study of Peer-to-Peer Human-Robot Interaction
Terrence W. Fong, Jean Scholtz, Julie Shah, Lorenzo Flueckiger, Clayton Kunz, David Lees, John Schreiner, Michael Siegel, Laura Hiatt, Illah Nourbakhsh , Reid Simmons, Robert Ambrose, Robert Burridge, Brian Antonishek, Magda Bugajska, Alan Schultz and J. Gregory Trafton

International Conference on Systems, Man, and Cybernetics, October, 2006

A Roadmap for Technology Literacy and a Vehicle for Getting There: Educational Robotics and the TeRK Project
Illah Nourbakhsh , Emily Hamner, Tom Lauwers, Debra Bernstein and Carl Francis DiSalvo

Proceedings of IEEE RO-MAN 2006, September, 2006

Cognitive Evaluation of Human-Robot Systems: A Method for Analyzing Cognitive Change in Human-Robot Systems
Kristen Stubbs, Debra Bernstein, Kevin Crowley and Illah Nourbakhsh

Proceedings of the 15th International Symposium on Robot and Human Interactive Communication (RO-MAN 06), pp. 59-65, September, 2006

A Constraint Optimization Framework for Fractured Robot Teams
Mary Koes, Katia Sycara and Illah Nourbakhsh

Proceedings of the Fifth International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), May, 2006

Constraint Optimization Coordination Architecture for Search and Rescue Robotics
Mary Koes, Illah Nourbakhsh and Katia Sycara

Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 3977-3982, May, 2006

Mobile Robot Programming in Education
Jean-Francois Lalonde, Christopher Bartley and Illah Nourbakhsh

International Conference on Robotics and Automation (ICRA), pp. 345 - 350, May, 2006

Best Laid Plans of Robots and Men
Mary Koes, Katia Sycara and Illah Nourbakhsh

SS-06-04, AAAI Spring Symposium on Distributed Plan and Schedule Management, pp. 49-56, March, 2006

The Peer-to-Peer Human-Robot Interaction Project
Terrence W. Fong, Illah Nourbakhsh , Robert Ambrose, Reid Simmons, Alan Schultz and Jean Scholtz

AIAA Space 2005, September, 2005

Long-Term Human-Robot Interaction: The Personal Exploration Rover and Museum Docents
Kristen Stubbs, Debra Bernstein, Kevin Crowley and Illah Nourbakhsh

Proceedings of the 12th International Conference on Artificial Intelligence in Education (AIED '05), pp. 621-628, July, 2005

Heterogeneous Multirobot Coordination with Spatial and Temporal Constraints
Mary Koes, Illah Nourbakhsh and Katia Sycara

Proceedings of the Twentieth National Conference on Artificial Intelligence (AAAI), pp. 1292-1297, June, 2005

Educational Results of the Personal Exploration Rover Museum Exhibit
Illah Nourbakhsh , Emily Hamner, Brian Dunlavey, D. Bernstein and K. Crowley

Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA '05), pp. 4278 - 4283, April, 2005

The Design of a Highly Reliable Robot for Unmediated Museum Interaction
Illah Nourbakhsh , Emily Hamner, E. Porter, Brian Dunlavey, Ellen M. Ayoob, T. Hsiu, M. Lotter and S. Shelly

Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA '05), pp. 3225 - 3231, April, 2005

Interaction Challenges in Human-Robot Space Exploration
Terrence W. Fong and Illah Nourbakhsh

Interactions, Vol. 12, No. 2, pp. 42-45, March, 2005

Up Close and Personal from Mars
Emily Hamner, Mark Lotter, Illah Nourbakhsh and Skip Shelly

interactions, Vol. 12, No. 2, pp. 30 - 36, March, 2005

Human-Robot Teaming for Search and Rescue
Illah Nourbakhsh , Katia Sycara, Mary Koes, Mark Yong and Steve Burion

IEEE Pervasive Computing: Mobile and Ubiquitous Systems, pp. 72-78, January, 2005

The Robotic Autonomy Mobile Robotics Course: Robot Design, Curriculum Design and Educational Assessment
Illah Nourbakhsh , Kevin Crowley, Ajinkya Bhave, Emily Hamner, Thomas Hsiu andres Santiago Perez-Bergquist, Steve Richards and Katie Wilkinson

Autonomous Robots, Vol. 18, No. 1, pp. 103-127, January, 2005

The Personal Exploration Rover: The Ground-up Design, Deployment and Educational Evaluation of an Educational Robot for Unmediated Informal Learning Sites
Illah Nourbakhsh , Emily Hamner, Debra Bernstein, Kevin Crowley, Eric Porter, Thomas Hsiu, Brian Dunlavey, Ellen M. Ayoob, Mark Lotter, Skip Shelly, Anuja Parikh and Daniel Clancy

CMU-RI-TR-04-38, Robotics Institute, Carnegie Mellon University, December, 2004

Peer-to-peer human-robot interaction for space exploration
Terrence W. Fong and Illah Nourbakhsh

AAAI Fall Symposium: The Intersection of Cognitive Science and Robotics: From interfaces to Intelligence, October, 2004

An Analysis of the Intelligent Robotics Group’s Experience with the Mars Exploration Rover Mission
Kristen Stubbs and Illah Nourbakhsh

CMU-RI-TR-04-45, Robotics Institute, Carnegie Mellon University, September, 2004

Communication Efficiency in Multi-agent Systems
Mary Koes, Illah Nourbakhsh and Katia Sycara

Proceedings of ICRA 2004, Vol. 3, pp. 2129 - 2134, May, 2004

Formal measures of learning in a secondary school mobile robotics course
Illah Nourbakhsh , Emily Hamner, K. Crowley and K. Wilkinson

Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 2, pp. 1831 - 1836, April, 2004

The educational impact of the Robotic Autonomy mobile robotics course
Illah Nourbakhsh , Kevin Crowley, Katie Wilkinson and Emily Hamner

CMU-RI-TR-03-29, Robotics Institute, Carnegie Mellon University, August, 2003

The Personal Rover Project: The comprehensive design of a domestic personal robot
Emily Hamner, R. Gockley, E. Porter and Illah Nourbakhsh

Robotics and Autonomous Systems: Special Issue on Socially Interactive Robots, Vol. 42, No. 4-Mar, pp. 245 - 258, March, 2003

A survey of socially interactive robots
Terrence W. Fong, Illah Nourbakhsh and Kerstin Dautenhahn

Robotics and Autonomous Systems, January, 2003

A Survey of Socially Interactive Robots: Concepts, Design, and Applications
Terrence W. Fong, Illah Nourbakhsh and Kerstin Dautenhahn

CMU-RI-TR-02-29, Robotics Institute, Carnegie Mellon University, December, 2002

The Role of Expressiveness and Attention in Human-Robot Interaction
Frank Broz, Illah Nourbakhsh and Reid Simmons

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

Rapid Prototyping of Small Robots
Greg Reshko, Matthew T. Mason and Illah Nourbakhsh

CMU-RI-TR-02-11, Robotics Institute, Carnegie Mellon University, March, 2002

A Low Cost Embedded Color Vision System
Anthony Rowe, Chuck Rosenberg and Illah Nourbakhsh

Proceedings of IROS 2002, January, 2002

The Personal Rover
Emily Hamner, Rachel Gockley, Eric Porter and Illah Nourbakhsh

2002 AAAI Conference Workshop Proceedings, January, 2002

The Personal Rover Project
Illah Nourbakhsh

2002 IROS Workshop on Social Robotics, January, 2002

Narrative-level visual interpretation of human motion for human-robot interaction
Adrian Hilti, Illah Nourbakhsh , Bjorn Jensen and Roland Siegwart

Proceedings of IROS 2001, November, 2001

Simultaneous localization and map-building: a global topological model with local metric maps
NicolaTomatis, Illah Nourbakhsh and Roland Siegwart

Proceedings of IROS 2001, November, 2001

A Simple Low Cost Color Vision System
A. Rowe, Chuck Rosenberg and Illah Nourbakhsh

Tech sketch paper presented at CVPR 2001, October, 2001

Combining Topological and Metric: A Natural Integration for Simultaneous Localization and Map Building
Nicola Tomatis, Illah Nourbakhsh and Roland Siegwart

Proceedings of the Fourth European Workshop on Advanced Mobile Robots (Eurobot 2001), September, 2001

A hybrid approach for robust and precise mobile robot navigation with compact environment modeling
Nicola Tomatis, Illah Nourbakhsh , Kai Arras and Roland Siegwart

Proceedings of ICRA 2001, May, 2001

Deriving and matching image fingerprint sequences for mobile robot localization
Pierre Lamon, Illah Nourbakhsh , Bjorn Jensen and Roland Siegwart

Proceedings of ICRA 2001, May, 2001

The history of the Mobot museum robot series: An Evolutionary Study
Thomas Willeke, Clay Kunz and Illah Nourbakhsh

Proceedings of FLAIRS 2001, May, 2001

Learning State Grounding for Optimal Visual Servocontrol of Dynamic Manipulation
Daniel Nikovski and Illah Nourbakhsh

Proceedings of the AAAI Spring Symposium on State Grounding and Abstraction, March, 2001

The Role of Expressiveness and Attention in Human-Robot Interaction
Frank Broz, Illah Nourbakhsh and Reid Simmons

Proceedings, 2001 AAAI Fall Symposium, January, 2001

Path Planning for the Cye Robot
Parag Batavia and Illah Nourbakhsh

Proceedings of IROS 2000, Vol. 1, pp. 15 - 20, October, 2000

Material Classification by Drilling
Diana LaBelle, John Bares and Illah Nourbakhsh

Proceedings of the 17th International Symposium on Automation and Robotics in Construction, September, 2000

Appearance-Based Place Recognition for Topological Localization
Iwan Ulrich and Illah Nourbakhsh

Proceedings of ICRA 2000, Vol. 2, pp. 1023 - 1029, April, 2000

Robot Improv: Using drama to create believable agents
Frank Broz, Jonathan Knight, Sam Listopad, Brian Magerko and Illah Nourbakhsh

Proceedings of ICRA 2000, Vol. 4, pp. 4002 - 4008, April, 2000

Appearance-Based Obstacle Detection with Monocular Color Vision
Iwan Ulrich and Illah Nourbakhsh

Proceedings of AAAI 2000, January, 2000

Firewire Untethered: High-quality images for notebook computers
Iwan Ulrich and Illah Nourbakhsh

Advanced Imaging, January, 2000

Insect Telepresence: Using robotic tele-embodiment to bring insects face-to-face with humans
Stacy All and Illah Nourbakhsh

Autonomous Robots, special issue on Personal Robotics, January, 2000

Learning Probabilistic Models for Decision-Theoretic Navigation of Mobile Robots
Daniel Nikovski and Illah Nourbakhsh

Proceedings of the International Conference on Machine Learning 2000, January, 2000

Property Mapping: A simple technique for mobile robot programming
Illah Nourbakhsh

Proceedings of AAAI 2000, January, 2000

Robotics and education in the classroom and in the museum: On the study of robots, and robots for study
Illah Nourbakhsh

Proceedings, Workshop for Personal Robotics for Education. IEEE ICRA 2000, January, 2000

Learning discrete Bayesian models for autonomous agent navigation
Daniel Nikovski and Illah Nourbakhsh

Proceedings of IEEE Conference on Computational Intelligence in Robotics and Automation (CIRA '99), pp. 137 - 143, November, 1999

An Affective Mobile Educator with a Full-time Job
Illah Nourbakhsh , Judith Bobenage, Sebastien Grange, Ron Lutz, Roland Meyer and Alvaro Soto

Artificial Intelligence, Vol. 114, No. 2-Jan, pp. 95 - 124, October, 1999

Topological Localization by Training a Vision-based Transition Detector
Dandapani Radhakrishnan and Illah Nourbakhsh

Proceedings of IROS 1999, Vol. 1, pp. 468 - 473, October, 1999

Automatic Mapping of Dynamic Office Environments
Clayton Kunz, Thomas Willeke and Illah Nourbakhsh

Autonomous Robots Journal, Vol. 7, No. 2, February, 1999

A Scenario for Planning Visual Navigation of a Mobile Robot
Alvaro Soto and Illah Nourbakhsh

American Association for Artificial Intelligence (AAAI), 1998 Fall Symposium Series, October, 1998

Playing the Numbers: Using ACD Statistics for Workforce Management
Ofer Matan and Illah Nourbakhsh

Telemarketing and Call Center Solutions, March, 1998

Robotics’ Little Instruction Book
Salvatore Desiano and Illah Nourbakhsh

In working notes, 1998 AAAI Spring Symposium on Integrating Robotics Research, March, 1998

Chapter 3
Illah Nourbakhsh

Artificial Intelligence and Mobile Robots, January, 1998

Coming to Terms with Robotics
Salvatore Desiano and Illah Nourbakhsh

Proceedings of AAAI 1998 Spring Symposium - Integrating Robotic Research: Taking the Next Leap, January, 1998

NaviGates: A Benchmark for Indoor Navigation
Ryan Knotts, Illah Nourbakhsh and Robert Morris

Proceedings, Third International Conference and Exposition on Robotics for Challenging Environments., January, 1998

Using Abstraction to Interleave Planning and Execution
Illah Nourbakhsh

Proceedings, Third Biannual World Automation Congress (WAC '98), January, 1998

Mobile Robot Obstacle Avoidance via Depth from Focus
Illah Nourbakhsh , David Andre, Carlo Tomasi and Michael Genesereth

Robotics and Autonomous Systems, Vol. 22, pp. 151-158, June, 1997

Automatic Mapping of Dynamic Office Environments
Clayton Kunz, Thomas Willeke and Illah Nourbakhsh

IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1681-1687, April, 1997

A Hybrid Human-Computer Autonomous Vehicle Architecture
Michelle Bayouth, Illah Nourbakhsh and Chuck Thorpe

Third ECPD International Conference on Advanced Robotics, Intelligent Automation and Control, January, 1997

The 1996 AAAI Mobile Robot Competition and Exhibition
David Kortenkamp, Illah Nourbakhsh and David Hinkle.

AI Magazine, Vol. 18, No. 2, January, 1997

Obstacle avoidance via depth from focus
Illah Nourbakhsh , D. Andre, C. Tomasi and M. Genesereth

Proceedings of the ARPA Image Understanding Workshop, pp. 1339 - 1344, February, 1996

A Sighted Robot
Illah Nourbakhsh

The Robot Practitioner, Vol. 2, No. 1, January, 1996

Assumptive Planning and Execution: a Simple, Working Robot Architecture
Illah Nourbakhsh and Michael Genesereth

Autonomous Robots Journal, Vol. 3, No. 1, pp. 49-67, January, 1996

Dervish: An Office-Navigating Robot
Illah Nourbakhsh , Rob Powers and Stan Birchfield.

AI Magazine, Vol. 16, No. 2, January, 1995

The Sonars of Dervish
Illah Nourbakhsh

The Robot Practitioner, Vol. 1, No. 4, January, 1995

The Real-World Navigator
Marko Balabanovic, Craig Becker, Sarah Morse and Illah Nourbakhsh

Conference on Intelligent Robots for Factory, Field, Service, and Space, January, 1994

The Winning Robots from the 1993 Robot Competition
Illah Nourbakhsh , Sarah Morse, Craig Becker, Marko Balabanovic, Erann Gat, Reid Simmons, Steven Goodridge, Harsh Potlapalli, David Hinkle, Ken Jung and David Van Vactor

AI Magazine, Vol. 14, No. 4, January, 1993

Time-Saving Tips for Problem-Solving with Incomplete Information
Michael Genesereth and Illah Nourbakhsh

Proceedings of the Eleventh National Conference on Artificial Intelligence, January, 1993

Vagabond: A Demonstration of Autonomous, Robust Outdoor Navigation
Benjamin Dugan and Illah Nourbakhsh

IEEE Robotics and Automation Video Proceedings, January, 1993

Methods and Algorithms for Statistical Analysis of Protein Sequences
Volker Brendel, Philip Bucher, Illah Nourbakhsh , Edwin Blaisdell and Samuel Karlin.

Proceedings of the National Academy of Sciences of the United States of America, Vol. 89, No. 6, January, 1992

Mailing Address:

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

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