Home/John M. Dolan

John M. Dolan

Principal Systems Scientist, RI
Email: jdolan@andrew.cmu.edu
Office: NSH 3109
Phone: (412) 268-7988
Personal Homepage
Administrative Assistant: Karen R. Widmaier

My research goal is to create systems and methodologies that allow groups of robots and humans to collaborate with one another to perform useful tasks. My research is motivated by an interest in the modeling and control of physical systems on the one hand, and in the creation of effective human-machine interfaces on the other. Given continuing technological advances in computing, sensing, actuation, and miniaturization, I believe that the nexus of these two interests is an increasingly exciting area to explore.

The pursuit of this research involves two complementary thrusts. On the one hand, robot systems should be endowed with maximal autonomy. Perception, actuation, planning, and even tasking should be performed with the smallest amount of human intervention possible. Human attention and intelligence are then freed for supervisory and remedial actions that transcend the current competence of the robot or group of robots being controlled. On the other hand, human users should have increasingly effective means of tasking, controlling, and communicating with robots. Human control of robots then becomes less burdensome and more intuitive, and users are able to oversee more complex tasks with greater numbers of robots.

Autonomous Driving. We are developing algorithms for urban and highway driving that enable more anthropomorphic autonomous behaviors than previously possible, and we are seeking to combine these with safety guarantees for a result that combines human-like fluidity with the higher safety potential of rapid-response computing and actuation. We are also investigating shared human-vehicle autonomy strategies.

Telesupervisory human-robot systems. I want to build systems that allow maximally intuitive human input in controlling large numbers of machines with variable autonomy. The focus of my earlier NASA project “Wide-Area Prospecting Using Supervised Autonomous Robots” was to create a telesupervision system allowing a single astronaut in a “shirtsleeve” environment to control multiple rovers performing a prospecting task, increasing astronaut safety and productivity. The resultant telesupervision architecture is applicable to a wide variety of tasks, to include exploration, space assembly, inspection, and maintenance. Subsequent projects have applied the telesupervision architecture to multiple robot surface craft detecting Harmful Algal Blooms (HAB) and performing water quality assessment.

Robot reliability. Mobile robots are typically unreliable. NASA has expressed interest in using modular self-repairable robotic teams for the exploration and colonization of Mars. The use of modular, self-repairing robot teams adds new complexity to the mission design process for robotic exploration. Decisions must be made about how to divide tasks among multiple robots and how to configure the robots and teams to accomplish both individual tasks and overall mission goals. We are using systems engineering reliability principles to answer questions like: “What is the lowest-cost configuration of robots that will accomplish a given set of mission tasks with a given probability of success?” This analysis allows comparison of teams of repairable vs. non-repairable robots, teams where the robots use components with different reliabilities, and teams with different numbers of robots and different numbers of spare parts.

Publications

Adaptive Kalman Filtering Methods for Low-Cost GPS/INS Localization for Autonomous Vehicles
Adam Werries, John M. Dolan

CMU-RI-TR-16-18 May, 2016

Adaptive Kalman Filtering Methods for Low-Cost GPS/INS Localization for Autonomous Vehicles
Adam Werries, John M. Dolan

CMU-RI-TR-16-18 May, 2016

Learning-Based Algal Bloom Event Recognition for Oceanographic Decision Support System Using Remote Sensing Data
Weilong Song, John M. Dolan, Danelle Cline and Guangming Xiong

Remote Sensing October, 2015

Learning-Based Algal Bloom Event Recognition for Oceanographic Decision Support System Using Remote Sensing Data
Weilong Song, John M. Dolan, Danelle Cline and Guangming Xiong

Remote Sensing October, 2015

A Lightweight Simulator for Autonomous Driving Motion Planning Development
Tianyu Gu and John M. Dolan

Proceedings of the 4th International Conference on Intelligent Systems and Applications (INTELLI 2015) October, 2015

COLREGS-Compliant Target Following for an Unmanned Surface Vehicle in Dynamic Environments
Pranay Agrawal and John M. Dolan

Proceedings of the 2015 IEEE International Conference on Intelligent Robots and Systems (IROS) September, 2015

Tunable and Stable Real-Time Trajectory Planning for Urban Autonomous Driving
Tianyu Gu, Jason Atwood, Chiyu Dong, John M. Dolan and Jin-Woo Lee

Proceedings of the 2015 IEEE International Conference on Intelligent Robots and Systems (IROS) September, 2015

Context-Aware Tracking of Moving Objects for Distance Keeping
Wenda Xu, Jarrod M. Snider, Junqing Wei and John M. Dolan

Proceedings of the 2015 IEEE Intelligent Vehicles Symposium June, 2015

Online Verification of Automated Road Vehicles Using Reachability Analysis
Matthias Althoff and John M. Dolan

IEEE Transactions on Robotics August, 2014

On-Road Trajectory Planning for General Autonomous Driving with Enhanced Tunability
Tianyu Gu, John M. Dolan and Jin-Woo Lee

Proceedings of the 13th International Conference on Intelligent Autonomous Systems (IAS-13) July, 2014

Motion Planning under Uncertainty for On-Road Autonomous Driving
Wenda Xu, Jiantao Pan, Junqing Wei and John M. Dolan

Proceedings of the International Conference on Robotics and Automation (ICRA 2014) June, 2014

A Behavioral Planning Framework for Autonomous Driving
Junqing Wei, Jarrod M. Snider, Tianyu Gu, John M. Dolan and Bakhtiar Litkouhi

Proceedings of the 2014 IEEE Intelligent Vehicles Symposium June, 2014

Toward Human-like Motion Planning in Urban Environments
Tianyu Gu and John M. Dolan

Proceedings of the 2014 IEEE Intelligent Vehicles Symposium June, 2014

Preliminary Assessment of Optimal Longitudinal-Mode Control for Drag Reduction through Distributed Aeroelastic Shaping
Corey Ippolito, Nhan Nguyen, Jason Lohn and John M. Dolan

AIAA SciTech 2014 January, 2014

A Reliability Analysis Technique for Estimating Sequentially Coordinated Multirobot Mission Performance
John Porter, Kawa Cheung, Joseph Andrew Giampapa and John M. Dolan

Proceedings of the 2013 International Conference on Principles and Practice of Multi-Agent Systems (PRIMA), Springer Verlag Lecture Notes in Computer Science December, 2013

Learning-based Event Response for Marine Robotics
Matthew Bernstein, Rishi Graham, Danelle Cline, John M. Dolan and Kanna Rajan

Proceedings of the 2013 IEEE International Conference on Intelligent Robots and Systems (IROS) November, 2013

Autonomous Vehicle Social Behavior for Highway Entrance Ramp Management
Junqing Wei, John M. Dolan and Bakhtiar Litkouhi

Proceedings of the 2013 IEEE Intelligent Vehicles Symposium June, 2013

Focused Trajectory Planning or Autonomous On-Road Driving
Tianyu Gu, Jarrod M. Snider, John M. Dolan and Jin-woo Lee

Proceedings of the 2013 IEEE Intelligent Vehicles Symposium June, 2013

Toward A Quantitative Method for Assuring Coordinated Autonomy
Sagar Chaki, John M. Dolan and Joseph Andrew Giampapa

CMU-RI-TR-13-12 June, 2013

Towards a Viable Autonomous Driving Research Platform
Junqing Wei, Jarrod M. Snider, Junsung Kim, John M. Dolan, Raj Rajkumar and Bakhtiar Litkouhi

Proceedings of the 2013 IEEE Intelligent Vehicles Symposium, pp. 763-770 June, 2013

Multi-Robot Informative Path Planning for Active Sensing of Spatial Environmental Phenomena
Nannan Cao, Kian Hsiang Low and John M. Dolan

Proceedings of the 12th International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS 2013) May, 2013

Toward a Quantitative Method for Assuring Coordinated Autonomy
Sagar Chaki, John M. Dolan and Joseph Andrew Giampapa

Proceedings of the AAMAS 2013 Workshop on Autonomous Robots and Multirobot Systems (ARMS) May, 2013

On-Road Motion Planning for Autonomous Vehicles
Tianyu Gu and John M. Dolan

Proceedings of the 5th International Conference on Intelligent Robotics and Applications (ICIRA 2012) October, 2012

Decentralized Data Fusion and Active Sensing with Mobile Sensors for Modeling and Predicting Spatiotemporal Traffic Phenomena
Jie Chen, Kian Hsiang Low, Colin Keng-Yan Tan, Ali Oran, Patrick Jalliet, John M. Dolan and Gaurav S Sukhatme

Proceedings of the 28th Conference on Uncertainty in Artificial Intelligence (UAI-12) August, 2012

Reachability Computation of Low-Order Models for the Safety Verification of High-Order Road Vehicle Models
Matthias Althoff and John M. Dolan

Proceedings of the American Control Conference June, 2012

Decentralized Active Robotic Exploration and Mapping for Probabilistic Field Classification in Environmental Sensing
Kian Hsiang Low, Jie Chen, John M. Dolan, Steve Chien and David R. Thompson

Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems (AAMAS-12) June, 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

A Real-Time Motion Planner with Trajectory Optimization for Autonomous Vehicles
Wenda Xu and John M. Dolan

Proceedings of the International Conference on Robotics and Automation May, 2012

Set-Based Computation of Vehicle Behaviors for the Online Verification of Autonomous Vehicles
Matthias Althoff and John M. Dolan

Proceedings of the IEEE Intelligent Transportation Systems Conference (ITSC) October, 2011

A Point-based MDP for Robust Single-Lane Autonomous Driving Behavior under Uncertainties
Junqing Wei, John M. Dolan, Jarrod M. Snider and Bakhtiar Litkhouhi

Proceedings of the International Conference on Robotics and Automation May, 2011

Active Markov Information-Theoretic Path Planning for Robotic Environmental Sensing
Kian Hsiang Low, John M. Dolan and Pradeep Khosla

Proceedings of the 10th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS-11) 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

Motion Planning for Autonomous Driving with a Conformal Spatiotemporal Lattice
Matthew McNaughton, Christopher Urmson, John M. Dolan and Jin-Woo Lee

Proceedings of the International Conference on Robotics and Automation May, 2011

Toward Adaptation and Reuse of Advanced Robotic Software
Christopher R. Baker, John M. Dolan, Bakhtiar Litkouhi and Shige Wang

Proceedings of the International Conference on Robotics and Automation May, 2011

Telesupervised Robotic Systems and the Human Exploration of Mars
Gregg Podnar, John M. Dolan and Alberto Elfes

Journal of Cosmology October, 2010

Reliability Impact on Planetary Robotic Missions
David Asikin and John M. Dolan

2010 IEEE Intelligent Robots and Systems (IROS) October, 2010

A Prediction- and Cost Function-Based Algorithm for Robust Autonomous Freeway Driving
Junqing Wei, John M. Dolan and Bakhtiar Litkouhi

2010 IEEE Intelligent Vehicles Symposium June, 2010

Planning to Fail-Using Reliability to Improve Multirobot Task Allocation
Stephen B. Stancliff and John M. Dolan

Proceedings of the SPIE Defense, Security, and Sensing Conference, Unmanned Systems Technology April, 2010

Polymorphic Control of an Autonomous Ground Vehicle over Wireless Mobile Networks
Corey Ippolito, Khalid Al-Ali and John M. Dolan

AIAA Infotech@Aerospace April, 2010

A Learning-Based Autonomous Driver: Emulating a Human Driver’s Intelligence in Low-speed Car Following
Junqing Wei, John M. Dolan and Bakhtiar Litkouhi

Proceedings of the SPIE Defense, Security, and Sensing Conference, Unmanned Systems Technology April, 2010

Telesupervised Remote Surface Water Quality Sensing
Gregg Podnar, John M. Dolan, Kian Hsiang Low and Alberto Elfes

2010 IEEE Aerospace Conference March, 2010

Planning to Fail – Reliability Needs to Be Considered a Priori in Multirobot Task Allocation
Stephen B. Stancliff, John M. Dolan and A. Trebi-Ollennu

2009 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2009) October, 2009

A Mission Taxonomy-Based Approach to Planetary Rover Cost-Reliability Tradeoffs
David Asikin and John M. Dolan

Proceedings of the 9th Performance Metrics for Intelligent Systems (PerMIS) Workshop September, 2009

A multi-level collaborative driving framework for autonomous vehicles
Junqing Wei and John M. Dolan

The 18th IEEE International Symposium on Robot and Human Interactive Communication September, 2009

Cooperative Aquatic Sensing using the Telesupervised Adaptive Ocean Sensor Fleet.
John M. Dolan, Gregg Podnar, Stephen B. Stancliff, Kian Hsiang Low, Alberto Elfes, John Higinbotham, Jeffrey Hosler, Tiffany Moisan and John Moisan.

Proceedings of the SPIE Conference on Remote Sensing of the Ocean, Sea Ice, and Large Water Regions. September, 2009

Information-Theoretic Approach to Efficient Adaptive Path Planning for Mobile Robotic Environmental Sensing
Kian Hsiang Low, John M. Dolan and Pradeep Khosla

Proceedings of the 19th International Conference on Automated Planning and Scheduling (ICAPS-09) September, 2009

Mobile Robotic Surveying Performance for Planetary Surface Site Characterization
Edward Tunstel, John M. Dolan, Terrence W. Fong and Debra Schreckenghost

Performance Evaluation and Benchmarking of Intelligent Systems August, 2009

Autonomous Driving in Traffic: Boss and the Urban Challenge
Christopher Urmson, Christopher R. Baker, John M. Dolan, Paul Rybski, Bryan Salesky, William (Red) L. Whittaker, David Ferguson and Michael Darms

AI Magazine June, 2009

A Robust Autonomous Freeway Driving Algorithm
Junqing Wei and John M. Dolan

2009 IEEE Intelligent Vehicles Symposium June, 2009

Information-Theoretic Multi-Robot Adaptive Exploration and Mapping of Environmental Hotspot Fields
Kian Hsiang Low, John M. Dolan and Pradeep Khosla

2009 International Conference on Information Processing in Sensor Networks (IPSN) Workshop on Sensor Networks for Earth and Space Science Applications: ESSA 2009 April, 2009

Robot Boats as a Mobile Aquatic Sensor Network
Kian Hsiang Low, Gregg Podnar, Stephen B. Stancliff, John M. Dolan and Alberto Elfes

2009 International Conference on Information Processing in Sensor Networks (IPSN) Workshop on Sensor Networks for Earth and Space Science Applications: ESSA 2009 April, 2009

A Case Study in Behavioral Subsystem Engineering for the Urban Challenge
Christopher R. Baker and John M. Dolan

IEEE/RAS Robotics and Automation Magazine (RAM), Special Issue on Software Engineering in Robotics March, 2009

Networked Architecture for Robotic Environmental Ocean Science Sensors
Gregg Podnar, John M. Dolan and Alberto Elfes

Workshop Proceedings Sensing a Changing World November, 2008

Traffic Interaction in the Urban Challenge: Putting Boss on its Best Behavior
Christopher R. Baker and John M. Dolan

International Conference on Intelligent Robots and Systems (IROS 2008) September, 2008

Robust Mission Execution for Autonomous Urban Driving
Christopher R. Baker, David Ferguson and John M. Dolan

10th International Conference on Intelligent Autonomous Systems (IAS 2008) July, 2008

Autonomous driving in urban environments: Boss and the Urban Challenge
Christopher Urmson, Joshua Anhalt, Hong Bae, J. Andrew (Drew) Bagnell, Christopher R. Baker, Robert E. Bittner, Thomas Brown, M. N. Clark, Michael Darms, Daniel Demitrish, John M. Dolan, David Duggins, David Ferguson, Tugrul Galatali, Christopher M. Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Sascha Kolski, Maxim Likhachev, Bakhtiar Litkouhi, Alonzo Kelly, Matthew McNaughton, Nick Miller, Jim Nickolaou, Kevin Peterson, Brian Pilnick, Raj Rajkumar, Paul Rybski, Varsha Sadekar, Bryan Salesky, Young-Woo Seo, Sanjiv Singh, Jarrod M. Snider, Joshua C. Struble, Anthony (Tony) Stentz, Michael Taylor, William (Red) L. Whittaker, Ziv Wolkowicki, Wende Zhang and Jason Ziglar

Journal of Field Robotics Special Issue on the 2007 DARPA Urban Challenge, Part I June, 2008

Smart Ocean Sensing Using the Telesupervised Adaptive Ocean Sensor Fleet
John M. Dolan, Gregg Podnar, Stephen B. Stancliff, Ellie Lin Ratliff, Alberto Elfes, John HIginbotham, Jeff Hosler, John Moisan and Tiffany Moisan

Proc. 2008 NASA Earth Science Technology Conference (ESTC 2008) June, 2008

A Reasoning Framework for Autonomous Urban Driving
David Ferguson , Christopher R. Baker, Maxim Likhachev and John M. Dolan

Proceedings of the IEEE Intelligent Vehicles Symposium (IV 2008) June, 2008

Adaptive Multi-Robot Wide-Area Exploration and Mapping
Kian Hsiang Low, John M. Dolan and Pradeep Khosla

Proceedings of the 7th International Conference on Autonomous Agents and Multiagent Systems (AAMAS-08) May, 2008

Multi-Level Autonomy Robot Telesupervision
Gregg Podnar, John M. Dolan, Alberto Elfes and Marcel Bergerman

Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA '08) May, 2008

Multi-level autonomy robot telesupervision
Gregg Podnar, John M. Dolan, Alberto Elfes and Marcel Bergerman

CMU-RI-TR- Workshop on New Vistas and Challenges in Telerobotics, IEEE International Conference on Robotics and Automation May, 2008

Operation of Robotic Science Boats Using the Telesupervised Adaptive Ocean Sensor Fleet System
Gregg Podnar, John M. Dolan, Alberto Elfes, Stephen B. Stancliff, Ellie Lin Ratliff, Jeff Hosler, T. Ames, John Moisan, Tiffany Moisan, J. Higinbotham and E.A. Kulczycki

Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA '08) May, 2008

The Telesupervised Adaptive Ocean Sensor Fleet (TAOSF) Architecture: Coordination of Multiple Oceanic Robot Boats
Alberto Elfes, Gregg Podnar, John M. Dolan, Stephen B. Stancliff, Ellie Lin Ratliff, Jeffrey Hosler, Troy Ames, John Higinbotham, John Moisan, Tiffany Moisan and Eric Kulczycki

Aerospace Conference, 2008 IEEE March, 2008

Scheduling for Humans in Multirobot Supervisory Control
Sandra Mau and John M. Dolan

Proceedings of the International Conference on Intelligent Robots and Systems (IROS '07) October, 2007

Human Telesupervision of Very Heterogeneous Planetary Robot Teams
Gregg Podnar, John M. Dolan, Alberto Elfes and Marcel Bergerman

Proceedings of the 45th AIAA Aerospace Sciences Meeting (AIAA 2007) September, 2007

The Telesupervised Adaptive Ocean Sensor Fleet
Alberto Elfes, Gregg Podnar, John M. Dolan, Stephen B. Stancliff, Ellie Lin Ratliff, Jeff Hosler, T. Ames, John Moisan, Tiffany Moisan, J. Higinbotham and E. Kulczycki

Proceedings of the SPIE Conference on Atmospheric and Environmental Remote Sensing Data Processing and Utilization III: Readiness for GEOSS August, 2007

Planning to Fail – Reliability as a Design Parameter for Planetary Rover Missions
Stephen B. Stancliff, John M. Dolan and A. Trebi-Ollennu

Proceedings of the 2007 Workshop on Measuring Performance and Intelligence of Intelligent Systems (PerMIS '07) August, 2007

Harmful Algal Bloom Characterization Via the Telesupervised Adaptive Ocean Sensor Fleet
John M. Dolan, Gregg Podnar, Stephen B. Stancliff, Ellie Lin Ratliff, John Higinbotham, Jeff Hosler, Troy Ames, John Moisan, Tiffany Moisan and Alberto Elfes

Proc. NASA Science Technology Conference 2007 (NSTC-07) May, 2007

Adaptive Sampling for Multi-Robot Wide-Area Exploration
Kian Hsiang Low, Geoffrey Gordon, John M. Dolan and Pradeep Khosla

Proceedings of the IEEE 2007 International Conference on Robotics and Automation (ICRA '07) April, 2007

Tartan Racing: A Multi-Modal Approach to the DARPA Urban Challenge
Christopher Urmson, Joshua Anhalt, J. Andrew (Drew) Bagnell, Christopher R. Baker, Robert E. Bittner, John M. Dolan, David Duggins, David Ferguson , Tugrul Galatali, Hartmut Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert , Thomas Howard, Alonzo Kelly , David Kohanbash, Maxim Likhachev , Nick Miller, Kevin Peterson, Raj Rajkumar, Paul Rybski, Bryan Salesky, Sebastian Scherer, Young-Woo Seo, Reid Simmons, Sanjiv Singh, Jarrod M. Snider, Anthony (Tony) Stentz , William (Red) L. Whittaker and Jason Ziglar

CMU-RI-TR- DARPA Grand Challenge Tech Report April, 2007

Mission Reliability Estimation for Multirobot Team Design
Stephen B. Stancliff, John M. Dolan and Ashitey Trebi-Ollennu

Proc. 2006 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems October, 2006

Scheduling to Minimize Downtime in Human-Multirobot Supervisory Control
Sandra Mau and John M. Dolan

Workshop on Planning and Scheduling for Space October, 2006

Mission Reliability Estimation for Repairable Robot Teams
Stephen B. Stancliff, John M. Dolan and Ashitey Trebi-Ollenu

International Journal of Advanced Robotic Systems June, 2006

Efficient Mapping Through Exploitation of Spatial Dependencies
Yaron Rachlin, John M. Dolan and Pradeep Khosla

Proceedings of the International Conference on Intelligent Robots and Systems (IROS '05) January, 2005

A Robot Supervision Architecture for Safe and Efficient Space Exploration and Operation
Ehud Halberstam, Luis Ernesto Navarro-Serment, Ronald Conescu, Sandra Mau, Gregg Podnar, Alan D. Guisewite, H. Benjamin Brown, Alberto Elfes, John M. Dolan and Marcel Bergerman

Tenth Biennial International Conference on Engineering, Construction, and Operations in Challenging Environments: Earth & Space 2006 Conference March, 2006

A Robot Supervision Architecture for Safe and Efficient Space Exploration and Operation
Ehud Halberstam, Luis Ernesto Navarro-Serment, Ronald Conescu, Sandra Mau, Gregg Podnar, Alan D. Guisewite, H. Benjamin Brown, Alberto Elfes, John M. Dolan and Marcel Bergerman

PowerPoint Presentation at the Earth & Space 2006 Conference March, 2006

Human Telesupervision of a Fleet of Autonomous Robots for Safe and Efficient Space Exploration
Gregg Podnar, John M. Dolan, Alberto Elfes, Marcel Bergerman , H. Benjamin Brown and Alan D. Guisewite

Proceedings of the 1st Annual Conference on Human-Robot Interaction March, 2006

Safe and Efficient Robotic Space Exploration with Tele-Supervised Autonomous Robots
Alberto Elfes, John M. Dolan, Gregg Podnar, Sandra Mau and Marcel Bergerman

Proceedings of the AAAI Spring Symposium March, 2006

Adaptive Sampling for Multi-Robot Wide Area Prospecting
Kian Hsiang Low, Geoffrey Gordon, John M. Dolan and Pradeep Khosla

CMU-RI-TR-05-51 October, 2005

Mission Reliability Estimation for Repairable Robot Teams
Stephen B. Stancliff, John M. Dolan and Ashitey Trebi-Ollennu

Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - MARS 2005 September, 2005

Planning to Fail: Mission Design for Modular Repairable Robot Teams
Stephen B. Stancliff, John M. Dolan and Ashitey Trebi-Ollennu

Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space (ISAIRAS 2005) September, 2005

Towards a Predictive Model of Mobile Robot Reliability
Stephen B. Stancliff, John M. Dolan and Ashitey Trebi-Ollennu

CMU-RI-TR-05-38 August, 2005

Crucial Factors in Cooperative Multirobot Learning
Poj Tangamchit, John M. Dolan and Pradeep Khosla

Journal of Intelligent Automation and Soft Computing January, 2004

Predictive Robot Programming: Theoretical and Experimental Analysis
Kevin Dixon, John M. Dolan and Pradeep Khosla

International Journal of Robotics Research January, 2004

Learning to Detect Partially Labeled People
Yaron Rachlin, John M. Dolan and Pradeep Khosla

Proceedings of the 2003 International Conference on Intelligent Robots and Systems (IROS'03) January, 2003

Towards a Telesupervisory Multi- Robot Lunar and Planetary Exploration Architecture
John M. Dolan, Gregg Podnar and Alberto Elfes

Proceedings of the AIAA Space Automation & Robotics Symposium March, 2005

Optimal Sensor Placement for Cooperative Distributed Vision
Luis Ernesto Navarro-Serment, John M. Dolan and Pradeep Khosla

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

Crucial Factors Affecting Cooperative Multirobot Learning
Poj Tangamchit, John M. Dolan and Pradeep Khosla

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

Crucial Factors Affecting Decentralized Multirobot Learning in an Object Manipulation Task
Poj Tangamchit, John M. Dolan and Pradeep Khosla

ACM/SIGART Workshop on Agent Swarm Programming 2003 (WASP'03) September, 2003

Distributed Surveillance and Reconnaissance Using Multiple Autonomous ATVs: CyberScout
Mahesh Saptharishi, C. Spence Oliver, Christopher P. Diehl, Kiran Bhat, John M. Dolan, Ashitey Trebi-Ollennu and Pradeep Khosla

IEEE Transactions on Robotics and Automation: Special Issue on Multi-Robot Systems October, 2002

The Necessity of Average Rewards in Cooperative Multirobot Learning
Poj Tangamchit, John M. Dolan and Pradeep Khosla

IEEE Conference on Robotics and Automation 2002 May, 2002

Adaptive fuzzy throttle control for an all-terrain vehicle
Ashitey Trebi-Ollennu, John M. Dolan and Pradeep Khosla

Journal of Systems and Control Engineering, Proceedings of the Institution of Mechanical Engineers September, 2001

Learning-Based Task Allocation in Decentralized Multirobot Systems
Poj Tangamchit, John M. Dolan and Pradeep Khosla

Proceedings of the 5th International Symposium on Distributed Autonomous Robotic Systems (DARS 2000) October, 2000

CyberScout: Distributed Agents for Autonomous Reconnaissance and Surveillance
Mahesh Saptharishi, Christopher Diehl, Kiran Bhat, John M. Dolan and Pradeep Khosla

Mechatronics and Machine Vision 2000 September, 2000

Multi-robot Path Planning by Predicting Structure in a Dynamic Environment
Spence Oliver, Mahesh Saptharishi, John M. Dolan, Ashitey Trebi-Ollennu and Pradeep Khosla

Proceedings of the First IFAC Conference on Mechatronic Systems September, 2000

Recent Advances in Distributed Tactical Surveillance
Mahesh Saptharishi, Kiran Bhat, Chris Diehl, Spence Oliver, Marios Savvides, Alvaro Soto, John M. Dolan and Pradeep Khosla

SPIE Proceedings on Unattended Ground Sensor Technologies and Applications (AeroSense 2000) April, 2000

RAVE: A Real and Virtual Environment for Multiple Mobile Robot Systems
K. Dixon, John M. Dolan, Wesley Huang, Chris Paredis and Pradeep Khosla

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

Adaptive Fuzzy Throttle Control for an All Terrain Vehicle
Ashitey Trebi-Ollennu, John M. Dolan and Pradeep Khosla

Proceedings of the IASTED International Conference on Intelligent Systems and Control October, 1999

Cyber-ATVs: Dynamic and Distributed Reconnaissance and Surveillance Using All-Terrain UGVs
Alvaro Soto, Mahesh Saptharishi, Ashitey Trebi-Ollennu, John M. Dolan and Pradeep Khosla

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

An Autonomous Ground Vehicle for Distributed Surveillance: CyberScout
Ashitey Trebi-Ollennu and John M. Dolan

ICES-04-09-99 July, 1999

Distributed Tactical Surveillance with ATVs
John M. Dolan, Ashitey Trebi-Ollennu, Alvaro Soto and Pradeep Khosla

SPIE Proceedings on Unmanned Ground Vehicle Technology (AeroSense '99) April, 1999

Adaptive Fuzzy Throttle Control for an All-Terrain Vehicle
Ashitey Trebi-Ollennu and John M. Dolan

ICES-04-10-99 April, 1999

Asynchronous Teams (A-Teams) and the A-Teams Toolkit: An Agent-Based Problem-Solving Architecture and Software Framework
Philip Chang, John M. Dolan, James Hemmerle, Michael Terk and Sarosh Talukdar

Proceedings of the Artificial Neural Networks in Engineering (ANNIE '97) November, 1997

Asynchronous Teams: An Agent-Based Problem-Solving Architecture
P. Chang, John M. Dolan, J. Hemmerle, Sarosh Talukdar and M. Terk

Artificial Neural Networks in Engineering November, 1997

A Modified Reactive Control Framework for Cooperative Mobile Robots
Jesus Salido-Tercero, John M. Dolan, John B. Hampshire and Pradeep Khosla

SPIE International Symposium on Sensor Fusion and Decentralized Control in Autonomous Robotic Systems October, 1997

Real-time vision-based detection of wire gapping on a rotating transformer core
C.J. Taylor, E. Evans, John M. Dolan and Pradeep Khosla

SPIE Proceedings on Industrial Optical Sensors for Industrial Optical Sensors for Metrology and Inspection November, 1994

A Novel Gravity Compensation System for Space Robots
H. Benjamin Brown and John M. Dolan

Proceedings of the ASCE Specialty Conference on Robotics for Challenging Environments (Space94) February, 1994

Surface-Closure Algorithms for Filament Winding of Non-Axisymmetric Cylindrical Parts
John M. Dolan, Pradeep Khosla and Sarosh Talukdar

Proceedings of the 25th International SAMPE Technical Conference October, 1993

Dynamic and Loaded Impedance Components in the Maintenance of Human Arm Posture
John M. Dolan, Mark Friedman and Mark Nagurka

IEEE Transactions on Systems, Man, and Cybernetics June, 1993

Filament Winding Algorithms for Arbitrary Convex Mandrel Shapes
John M. Dolan, M. Gatenholm, Pradeep Khosla and Sarosh Talukdar

July, 1992

A Testbed for Measurement of Human Arm Impedance Parameters
John M. Dolan, Mark Friedman and Mark Nagurka

Proceedings of the IEEE Conference on Systems Engineering August, 1990

Mailing Address:

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

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