Publications




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
Journal Article, Innovations: Technology & Techniques in Cardiothoracic & Vascular Surgery, Vol. 1, No. 6, pp. 335 - 340, December, 2006
Functional Pelvic Orientation Measured From Lateral Standing and Sitting Radiographs
Anthony M. Digioia, M. A. Hafez, Branislav Jaramaz, T. J. Levison, and James E. Moody
Journal Article, Clinical Orthopaedics and Related Research, Vol. 453, pp. 272 - 276, December, 2006
Improving Robot Navigation Through Self-Supervised Online Learning
Boris Sofman, Ellie Lin Ratliff, J. Andrew (Drew) Bagnell, John Cole, Nicolas Vandapel, and Anthony (Tony) Stentz
Journal Article, Journal of Field Robotics: Special Issue on Machine Learning Based Robotics in Unstructured Environments, Vol. 23, No. 12, pp. 1059 - 1075, December, 2006
Learning Obstacle Avoidance Parameters from Operator Behavior
Bradley Hamner, Sanjiv Singh, and Sebastian Scherer
Journal Article, Journal of Field Robotics: Special Issue on Machine Learning Based Robotics in Unstructured Environments, Vol. 23, No. 12, pp. 1037 - 1058, December, 2006
Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
Frank Dellaert and Michael Kaess
Journal Article, International Journal of Robotics Research, Vol. 25, No. 12, pp. 1181 - 1204, December, 2006
Tactile Sensing by the Sole of the Foot Part II: Calibration and Real-time Processing
Abhinav Kalamdani, Christopher Hugh Messom, and Mel Siegel
Conference Paper, Proceedings of 3rd International Conference on Autonomous Robots and Agents (ICARA '06), pp. 437 - 442, December, 2006
Understanding Algorithm Performance on an Oversubscribed Scheduling Application
Laura Barbulescu, Adele E. Howe, Mark Roberts, and L. Darrell Whitley
Journal Article, Journal of Artificial Intelligence Research, Vol. 27, No. 1, pp. 577 - 615, December, 2006
When the Rubber Meets the Road: Lessons from the In-School Adventures of an Automated Reading Tutor that Listens
Jack Mostow and Joseph E. Beck
Book Section/Chapter, Scale-Up in Education, Vol. 2, pp. 183 - 200, December, 2006
An MDL Approach to Learning Activity Grammars
Kris M. Kitani, Yoichi Sato, and Akihiro Sugimoto
Workshop Paper, Korea-Japan Joint Workshop on Pattern Recognition (KJPR '06), November, 2006
Path Clearance Using Multiple Scout Robots
Maxim Likhachev and Anthony Stentz
Conference Paper, Proceedings of 25th Army Science Conference (ASC '06), November, 2006
Probabilistic networks for detecting signal content
Maxim Likhachev and Murat Eren
Miscellaneous, Patent 7,136,813 (issued 11/14/2006, filed 09/25/2005), Current Assignee Micron Technology Inc., Original Assignee Intel Corp., November, 2006
Alternatives to Navigation
M. A. Hafez, Branislav Jaramaz, and Anthony M. Digioia
Book Section/Chapter, Navigation and MIS in Orthopedic Surgery, pp. 574 - 581, November, 2006
CT-Based Navigation Systems
Branislav Jaramaz and Anthony M. Digioia
Book Section/Chapter, Navigation and MIS in Orthopedic Surgery, pp. 9 - 14, November, 2006
Face Refinement through a Gradient Descent Alignment Approach
Simon Lucey and Iain Matthews
Workshop Paper, HCSNet '06 Workshop on the Use of Vision in HCI (VisHCI '06), Vol. 56, pp. 43 - 49, November, 2006
LADAR-Based Mover Detection From Moving Vehicles
Daniel D. Morris, Brian R. Colonna, and Paul H. Haley
Conference Paper, Proceedings of 25th Army Science Conference (ASC '06), November, 2006
Literature Review of Teamwork Models
Katia Sycara and Gita Sukthankar
Tech. Report, CMU-RI-TR-06-50, Robotics Institute, Carnegie Mellon University, November, 2006
Measuring Cup Alignment from Radiographs after THR
Branislav Jaramaz and Kort Eckman
Book Section/Chapter, Navigation and MIS in Orthopaedic Surgery, pp. 586 - 591, November, 2006
Natural terrain classification using three-dimensional ladar data for ground robot mobility
Jean-Francois Lalonde, Nicolas Vandapel, Daniel Huber, and Martial Hebert
Journal Article, Journal of Field Robotics, Vol. 23, No. 10, pp. 839 - 861, November, 2006
Optimal Sampling In the Space of Paths: Preliminary Results
Colin Green and Alonzo Kelly
Tech. Report, CMU-RI-TR-06-51, Robotics Institute, Carnegie Mellon University, November, 2006
Predictive Mover Detection and Tracking in Cluttered Environments
Luis Ernesto Navarro-Serment, Christoph Mertz, and Martial Hebert
Conference Paper, Proceedings of 25th Army Science Conference (ASC '06), November, 2006
Tactile sensing by the sole of the foot: part I: apparatus and initial experiments toward obtaining dynamic pressure maps useful for stabilizing standing, walking, and running of humanoid robots
Abhinav Kalamdani, Christopher Hugh Messom, and Mel Siegel
Workshop Paper, IEEE International Workshop on Haptic Audio Visual Environments and their Applications (HAVE '06), pp. 147 - 151, November, 2006
"Virtual Touch": An Efficient Registration Method for Catheter Navigation in Left Atrium
Hua Zhong, Takeo Kanade, and D. Schwartzman
Conference Paper, Proceedings of International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI '06), pp. 437 - 444, October, 2006
Accessibility evaluation based on machine learning technique
Daisuke Sato, Hironobu Takagi, and Chieko Asakawa
Conference Paper, Proceedings of 8th International ACM SIGACCESS Conference on Computers and Accessibility (ASSETS '06), pp. 253 - 254, October, 2006
Autonomous Driving in Dynamic Environments
Sascha Kolski, David Ferguson, Cyrill Stachniss, and Roland Siegwart
Workshop Paper, IROS '06 Workshop on Safe Navigation in Open and Dynamic Environments - Autonomous Systems versus Driving Assistance Systems, October, 2006
Coordinate Frames in Robotic Teleoperation
Laura M. Hiatt and Reid Simmons
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1712 - 1719, October, 2006
Hierarchical Motion Planning for Self-reconfigurable Modular Robots
Preethi Srinivas Bhat, James Kuffner, Seth Goldstein, and Siddhartha Srinivasa
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 886 - 891, October, 2006
Model generation for video-based object recognition
Humera Noor, Shahid H. Mirza, Yaser Sheikh, Amit Jain, and Mubarak Shah
Conference Paper, Proceedings of 14th ACM International Conference on Multimedia (MM '06), pp. 715 - 718, October, 2006
Nanostructure dependence of conductive polymer chemical sensors
Bo Li, R. Zhang, G. Sauvé, J. Cooper, M. C. Iovu, S. Santhanam, Lawrence Schultz, Jay L. Snyder, L. E. Weiss, T. Kowalewski, G. K. Fedder, R. D. McCullough, D. N. Lambeth, and J. L. Snyder
Conference Paper, Proceedings of 5th IEEE Conference on Sensors (SENSORS '06), pp. 843 - 846, October, 2006
On the Importance of Asymmetries in Grasp Quality Metrics for Tendon Driven Hands
Jiaxin Fu and Nancy Pollard
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1068 - 1075, October, 2006
Trinetra: Assistive Technologies for Grocery Shopping for the Blind
Patrick E. Lanigan, Aaron M. Paulos, Andrew W. Williams, Dan Rossi, and Priya Narasimhan
Conference Paper, Proceedings of 10th IEEE International Symposium on Wearable Computers, pp. 147 - 148, October, 2006
Vision guided pick and place in a minifactory environment
Ralph L. Hollis, D. O’Halloran, Gary K. Fedder, N. Sarkar, and J. Red Jones
Conference Paper, Proceedings of 5th International Symposium on Microfactories, October, 2006
Scheduling with uncertain resources: Search for a near-optimal solution
E. Fink, P. M. Jennings, U. Bardak, J. Oh, S. F. Smith, and J. G. Carbonell
Conference Paper, Proceedings of IEEE International Conference on Systems, Man and Cybernetics (SMC '06), pp. 137 - 144, October, 2006
2D/3D Registration for Measurement of Implant Alignment After Total Hip Replacement
Branislav Jaramaz and Kort Eckman
Conference Paper, Proceedings of International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI '06), pp. 653 - 661, October, 2006
3D Field D: Improved Path Planning and Replanning in Three Dimensions
Joseph Carsten, David Ferguson, and Anthony (Tony) Stentz
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3381 - 3386, October, 2006
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
Conference Paper, Proceedings of IEEE International Conference on Systems, Man and Cybernetics (SMC '06), pp. 3198 - 3203, October, 2006
Accuracy of Pelvic Flexion Measurements from Lateral Radiographs
Kort Eckman, M. A. Hafez, Branislav Jaramaz, T. J. Levison, and Anthony M. Digioia
Journal Article, Clinical Orthopaedics and Related Research, No. 451, pp. 154 - 160, October, 2006
Anytime RRTs
David Ferguson and Anthony (Tony) Stentz
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5369 - 5375, October, 2006
Automatic Clustering of Faces in Meetings
Carlos Vallespi-Gonzalez, Fernando De la Torre Frade, Manuela Veloso, and Takeo Kanade
Conference Paper, Proceedings of International Conference on Image Processing (ICIP '06), pp. 1841 - 1844, October, 2006
Carotid Artery and Jugular Vein Tracking and Differentiation Using Spatiotemporal Analysis
David C. Wang, Roberta Klatzky, N. Amesur, and George D. Stetten
Conference Paper, Proceedings of International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI '06), pp. 654 - 661, October, 2006
CMAssist: A RoboCup@Home Team
Paul Rybski, Kevin Yoon, Jeremy Stolarz, and Manuela Veloso
Tech. Report, CMU-RI-TR-06-47, Robotics Institute, Carnegie Mellon University, October, 2006
Design of Android type Humanoid Robot Albert HUBO
Jun-Ho Oh, David Hanson, Won-Sup kim, Il-Young Han, Jung-Yup Kim, and Ill-Woo Park
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1428 - 1433, October, 2006
Experimental Analysis of Overhead Data Processing To Support Long Range Navigation
David Silver, Boris Sofman, Nicolas Vandapel, J. Andrew (Drew) Bagnell, and Anthony (Tony) Stentz
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2443 - 2450, October, 2006
Exploiting Spatial-temporal Constraints for Interactive Animation Control
Jinxiang Chai
PhD Thesis, Tech. Report, CMU-RI-TR-06-49, Robotics Institute, Carnegie Mellon University, October, 2006
High Performance State Lattice Planning Using Heuristic Look-Up Tables
Ross Alan Knepper and Alonzo Kelly
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3375 - 3380, October, 2006
Learning to Drive Among Obstacles
Bradley Hamner, Sebastian Scherer, and Sanjiv Singh
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2663 - 2669, October, 2006
Learning-enhanced Market-based Task Allocation for Disaster Response
Edward Jones, M. Bernardine Dias, and Anthony (Tony) Stentz
Tech. Report, CMU-RI-TR-06-48, Robotics Institute, Carnegie Mellon University, October, 2006
Mission Reliability Estimation for Multirobot Team Design
Stephen B. Stancliff, John M. Dolan, and Ashitey Trebi-Ollennu
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2206 - 2211, October, 2006
Opportunistic use of vision to push back the path-planning horizon
Bart Nabbe, Derek Hoiem, Alexei A. Efros, and Martial Hebert
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2388 - 2393, October, 2006
Panoramic Image Information Utility for Mobile Robot Exploration
Justin M. Glasgow, Geb Thomas, Erin Pudenz, Nathalie Cabrol, David Wettergreen, and Peter Coppin
Conference Paper, Proceedings of IEEE International Conference on Systems, Man and Cybernetics (SMC '06), pp. 3216 - 3221, October, 2006
Percutaneous Subxiphoid Access to the Epicardium Using a Miniature Crawling Robotic Device
Takeyoshi Ota, Nicholas Patronik, Cameron Riviere, and Marco A. Zenati
Journal Article, Innovations, Vol. 1, No. 5, pp. 227 - 231, October, 2006