Publications - Robotics Institute Carnegie Mellon University

On the Source of Asymmetry in Image Registration Problems

Goksel Dedeoglu and Takeo Kanade

Tech. Report, CMU-RI-TR-05-17, Robotics Institute, Carnegie Mellon University, May, 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

Book, May, 2005

Reconstruction, Registration, and Modeling of Deformable Object Shapes

Jing Xiao

PhD Thesis, Tech. Report, CMU-RI-TR-05-22, Robotics Institute, Carnegie Mellon University, May, 2005

Sensor-based Planning for a Rod-shaped Robot in Three Dimensions: Piecewise Retracts of R3 x S2

Ji Yeong Lee and Howie Choset

Journal Article, International Journal of Robotics Research, Vol. 24, No. 5, pp. 343 - 383, May, 2005

Shape-From-Silhouette Across Time Part I: Theory and Algorithms

Kong Man Cheung, Simon Baker, and Takeo Kanade

Journal Article, International Journal of Computer Vision, Vol. 62, No. 3, pp. 221 - 247, May, 2005

The Sonic Flashlight Is Faster To Learn And Use Compared To Conventional Ultrasound Guidance: A Comparison Of Ultrasound Guided Vascular Access Devices In Phantoms

Wilson Chang, N. Amesur, A. Zajko, and George D. Stetten

Conference Paper, Proceedings of 105th annual meeting of the American Roentgen Ray Society, May, 2005

Tractable Particle Filters for Robot Fault Diagnosis

Vandi Verma

PhD Thesis, Tech. Report, Robotics Institute, Carnegie Mellon University, May, 2005

Using Memory to Transform Search on the Planning Graph

Subbarao Kambhampati and Terry Lyle Zimmerman

Journal Article, Journal of Artificial Intelligence Research, Vol. 23, pp. 533 - 585, May, 2005

Game Theoretic Control for Robot Teams

R. Emery-Montemerlo, G. Gordon, J. Schneider, and S. Thrun

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1163 - 1169, April, 2005

A Robust Visual Odometry and Precipice Detection System using Consumer-grade Monocular Vision

J. Campbell, R. Sukthankar, I. Nourbakhsh, and A. Pahwa

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3421 - 3427, April, 2005

Control synthesis for dynamic contact manipulation

Siddhartha Srinivasa, Michael Erdmann, and Matthew T. Mason

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2523 - 2528, April, 2005

Dynamic Ambiguities in Frictional Rigid-body Systems with Application to Climbing via Bracing

A. Greenfield, A. Rizzi, and H. Choset

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1947 - 1952, April, 2005

Hierarchical Segmentation of Surfaces Embedded in R3 for Auto-Body Painting

P. Atkar, D. Conner, A. Greenfield, H. Choset, and A. Rizzi

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 572 - 577, April, 2005

Sensing Capacity for Discrete Sensor Network Applications

Yaron Rachlin, R. Negi, and Pradeep Khosla

Conference Paper, Proceedings of 4th International Symposium on Information Processing in Sensor Networks (IPSN '05), pp. 126 - 132, April, 2005

Sensor-based Planning for Planar Multi-Convex Rigid Bodies

J. Y. Lee and H. Choset

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3470 - 3477, April, 2005

System Design and Dynamic Walking of Humanoid Robot KHR-2

Jung-Yup Kim, Ill-Woo Park, Jungho Lee, Min Su Kim, Baek Kyu Cho, and Jun-Ho Oh

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1443 - 1448, April, 2005

A Context-Based State Estimation Technique for Hybrid Systems

Sarjoun Skaff, Alfred Rizzi, Howie Choset, and Pei-Chun Lin

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3935 - 3940, April, 2005

A Markov Chain Monte Carlo Approach to Closing the Loop in SLAM

Michael Kaess and Frank Dellaert

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 645 - 650, April, 2005

Analysis and Removal of Artifacts in 3-D LADAR Data

John Tuley, Nicolas Vandapel, and Martial Hebert

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2203 - 2210, April, 2005

Automated analysis of the configuration and timing of facial expression

Jeffrey Cohn

Book Section/Chapter, What the Face Reveals: Basic and Applied Studies of Spontaneous Expression Using the Facial Action Coding System (FACS), pp. 388 - 392, April, 2005

Complex Task Allocation For Multiple Robots

Robert Michael Zlot and Anthony (Tony) Stentz

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1515 - 1522, April, 2005

Design and control of a mobile hyper-redundant urban search and rescue robot

Alon Wolf, Howie Choset, Benjamin H. Brown, and Randall W. Casciola

Journal Article, Advanced Robotics, Vol. 19, No. 3, pp. 221 - 248, April, 2005

Dynamic Heterogeneous Robot Teams Engaged in Adversarial Tasks

M. Bernardine Dias, Brett Browning, Manuela Veloso, and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-05-14, Robotics Institute, Carnegie Mellon University, April, 2005

Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning For Robust Biped Locomotion

Michael Stilman, Chris Atkeson, James Kuffner, and Garth Zeglin

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2399 - 2404, April, 2005

Educational Results of the Personal Exploration Rover Museum Exhibit

Illah Nourbakhsh, Emily Hamner, Brian Dunlavey, D. Bernstein, and K. Crowley

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 4278 - 4283, April, 2005

Enhancing Resolution Along Multiple Imaging Dimensions Using Assorted Pixels

Srinivasa G. Narasimhan and Shree K.Nayar

Journal Article, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 27, No. 4, pp. 518 - 530, April, 2005

Entwicklung eines Kollisionswarnsystems fur Stadtbusse

Christoph Mertz

Workshop Paper, 3rd Workshop Fahrerassistenzsysteme, pp. 56 - 63, April, 2005

First Experiments in the Robotic Investigation of Life in the Atacama Desert of Chile

David Wettergreen, Nathalie Cabrol, James Teza, Paul Tompkins, Christopher Urmson, Vandi Verma, Michael D. Wagner, and William (Red) L. Whittaker

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 873 - 878, April, 2005

Footstep Planning for the Honda ASIMO Humanoid

Joel Chestnutt, Manfred Lau, Kong Man Cheung, James Kuffner, Jessica K. Hodgins, and Takeo Kanade

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 629 - 634, April, 2005

Hoplites: A Market-Based Framework for Planned Tight Coordination in Multirobot Teams

Nidhi Kalra, David Ferguson, and Anthony (Tony) Stentz

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1170 - 1177, April, 2005

Image-Based Spatio-Temporal Modeling and View Interpolation of Dynamic Events

Sundar Vedula, Simon Baker, and Takeo Kanade

Journal Article, ACM Transactions on Graphics (TOG), Vol. 24, No. 2, pp. 240 - 261, April, 2005

Intuitive intra-operative ultrasound guidance using the Sonic Flashlight, a novel ultrasound display system

Wilson Chang, M. Horowitz, and George D. Stetten

Journal Article, Neurosurgery, Operative Neurosurgery Supplement 2, Vol. 56, No. 4, pp. 434 - 437, April, 2005

Learning Opportunity Costs in Multi-Robot Market Based Planners

Jeff Schneider, David Apfelbaum, J. Andrew (Drew) Bagnell, and Reid Simmons

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1151 - 1156, April, 2005

Learning to Track Multiple People in Omnidirectional Video

Fernando De la Torre Frade, Carlos Vallespi-Gonzalez, Paul Rybski, Manuela Veloso, and Takeo Kanade

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 4150 - 4155, April, 2005

Market-Based Multirobot Coordination: A Survey and Analysis

M. Bernardine Dias, Robert Michael Zlot, Nidhi Kalra, and Anthony (Tony) Stentz

Tech. Report, CMU-RI-TR-05-13, Robotics Institute, Carnegie Mellon University, April, 2005

Natural Gait Generation Techniques for Purely Mechanical Systems

Elie A. Shammas, Karen Schmidt, and Howie Choset

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3664 - 3669, April, 2005

Planning 3-D Path Networks in Unstructured Environments

Nicolas Vandapel, James Kuffner, and Omead Amidi

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 4624 - 4629, April, 2005

Poincare-Map-Based Reinforcement Learning for Biped Walking

Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Chris Atkeson, and Garth Zeglin

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2381 - 2386, April, 2005

Robotics, Education, and Sustainable Development

M. Bernardine Dias, G. Ayorkor Korsah, and Thrishantha Nanayakkara

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 4248 - 4253, April, 2005

Sensor-based exploration for convex bodies: a new roadmap for a convex-shaped robot

Ji Yeong Lee and Howie Choset

Journal Article, IEEE Transactions on Robotics, Vol. 21, No. 2, pp. 240 - 247, April, 2005

Techniques and Directions for Building Very Large Agent Teams

Paul Scerri, Joseph Andrew Giampapa, and Katia Sycara

Conference Paper, Proceedings of International Conference on Integration of Knowledge Intensive Multi-Agent Systems (KIMAS '05), pp. 79 - 84, April, 2005

The Delayed D* Algorithm for Efficient Path Replanning

David Ferguson and Anthony (Tony) Stentz

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2045 - 2050, 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

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3225 - 3231, April, 2005

The Promise and Perils of Near-Regular Texture [pre-publication color version]

Yanxi Liu, Yanghai Tsin, and Wen-Chieh Lin

Journal Article, International Journal of Computer Vision, Vol. 62, No. 2, pp. 145 - 159, April, 2005

The Promise and Perils of Near-Regular Texture [publication grayscale version]

Yanxi Liu, Yanghai Tsin, and Wen-Chieh Lin

Journal Article, International Journal of Computer Vision, Vol. 62, No. 2, pp. 145 - 159, April, 2005

Towards Topological Exploration of Abandoned Mines

Aaron Christopher Morris, David Silver, David Ferguson, and Scott Thayer

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2117 - 2123, April, 2005

Turning Segways into Soccer Robots

Brett Browning, Jeremy Searock, Paul Rybski, and Manuela Veloso

Journal Article, Industrial Robot, Vol. 32, No. 2, pp. 149 - 156, April, 2005

Calendar Assistants that Learn Preferences

J. Oh and S. F. Smith

Conference Paper, Proceedings of AAAI '05 Spring Symposium on Persistent Assistants: Living and Working with AI, pp. 7 - 13, March, 2005

Decentralized Communication Strategies for Coordinated Multi-Agent Policies

Maayan Roth, Reid Simmons, and Manuela Veloso

Workshop Paper, 3rd International Workshop on Multi-Robot Systems, pp. 93 - 105, March, 2005

Levels of Multi-robot Coordination for Dynamic Environments

Colin McMillen, Paul Rybski, and Manuela Veloso

Workshop Paper, 3rd International Workshop on Multi-Robot Systems, pp. 53 - 64, March, 2005