Publications - Robotics Institute Carnegie Mellon University

Parallel Algorithms for Synthesis of Whole-Hand Grasps

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 1, pp. 373 - 378, April, 1997

An Experimental Study of Contact Transistion Control of a Single Flexible Link Using Positive Acceleration Feedback

Stewart Moorehead and D. Wang

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 4, pp. 2838 - 2843, April, 1997

Applying Constraint Satisfaction Techniques to Job Shop Scheduling

C. Cheng and S. F. Smith

Journal Article, Annals of Operations Research, Special Volume on Scheduling: Theory and Practice, Vol. 70, pp. 327 - 357, April, 1997

BOA II and PipeTaz: robotic pipe-asbestos insulation abatement systems

Hagen Schempf, Edward Mutschler, Brian Chemel, and Scott K. Boehmke

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 1, pp. 52 - 59, April, 1997

Context-dependent Hybrid HME/HMM Speech Recognition Using Polyphone Clustering Decision Trees

Jurgen Fritsch and Alex Waibel

Conference Paper, Proceedings of IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP '97), Vol. 3, pp. 1759 - 1762, April, 1997

Dynamic manipulation with a one joint robot

Kevin Lynch and Matthew T. Mason

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 1, pp. 359 - 366, April, 1997

Evaluation of the relationship between emotional concepts and emotional parameters on speech

T. Moriyama, Hideo Saito, and S. Ozawa

Conference Paper, Proceedings of IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP '97), Vol. 2, pp. 1431 - 1434, April, 1997

Experiments in Autonomous Underground Guidance

Steve Scheding, E. Nebot, M. Stevens, H. Durrant-Whyte, J. Roberts, P. Corke, J. Cunningham, and B. Cook

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 3, pp. 1898 - 1903, April, 1997

Finite-Element methods with local triangulation refinement for continuous Reinforcement Learning problems

Remi Munos

Conference Paper, Proceedings of 9th European Conference on Machine Learning (ECML '97), pp. 170 - 182, April, 1997

Frequency Domain Modeling of Aided GPS with application to High Speed Vehicle Navigation Systems

E. M. Nebot, H. F. Durrant-Whyte, and Steve Scheding

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 3, pp. 1892 - 1897, April, 1997

JANUS III: Speech-to-speech Translation in Multiple Languages

Alon Lavie, Alex Waibel, Lori Levin, Donna Gates, Torsten Zeppenfeld, and Puming Zhan

Conference Paper, Proceedings of IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP '97), Vol. 1, pp. 99 - 102, April, 1997

Locally controllable polygons by stable pushing

Kevin Lynch

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 2, pp. 1442 - 1447, April, 1997

Multimodal Interfaces for Multimedia Information Agents

Alex Waibel, Bernhard Suhm, Minh Tue Vo, and Jie Yang

Conference Paper, Proceedings of IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP '97), Vol. 1, pp. 167 - 170, April, 1997

Recognition of Conversational Telephone Speech Using the JANUS Speech Engine

Thorsten Zeppenfeld, Klaus Ries, Martin Westphal, and Alex Waibel

Conference Paper, Proceedings of IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP '97), Vol. 3, pp. 1815 - 1818, April, 1997

RMMS: Reconfigurable Modular Manipulator System Project

Chris Paredis and Pradeep Khosla

Conference Paper, Video Proceedings of the 1997 IEEE International Conference on Robotics and Automation, April, 1997

Scoring discriminative capability of data attributes using Bayesian classifier and Monte Carlo integration

A. Dubrawski and A. W. Moore

Conference Paper, Proceedings of 9th European Conference on Machine Learning (ECML ’97), pp. 39 - 46, April, 1997

Sensor-Based Planning with the Freespace Assumption

Sven Koenig and Y. Smirnov

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 4, pp. 3540 - 3545, April, 1997

Slip Modeling and Aided Inertial Navigation of an LHD

Steve Scheding, G. Dissanayake, E. Nebot, and H. Durrant-Whyte

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 3, pp. 1904 - 1909, April, 1997

A Quasi-Linear Method for Computing and Projecting onto C-Surfaces: Planar Case

George Paul and Katsushi Ikeuchi

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 3, pp. 2032 - 2037, April, 1997

A Theory of Catadioptric Image Formation

S. K. Nayar and Simon Baker

Miscellaneous, April, 1997

A Visual/Haptic Interface to Virtual Environment: WYSIWYF Display

Yasuyoshi Yokokohji, Ralph Hollis, and Takeo Kanade

Journal Article, Transactions of the Virtual Reality Society of Japan, Vol. 2, No. 4, pp. 17 - 26, April, 1997

Agent-Based Design of Fault Tolerant Manipulators for Satellite Docking

Chris Paredis and Pradeep Khosla

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 4, pp. 3473 - 3480, April, 1997

Agile Assembly Architecture: An Agent-Based Approach to Modular Precision Assembly Systems

Alfred Rizzi, Jay Gowdy, and Ralph Hollis

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 2, pp. 1511 - 1516, April, 1997

Analysis of Requirements for High Speed Rough Terrain Autonomous Mobility: I - Throughput and Response

Alonzo Kelly and Anthony (Tony) Stentz

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 4, pp. 3318 - 3325, April, 1997

Analysis of Requirements for High Speed Rough Terrain Autonomous Mobility: II - Resolution and Accuracy

Alonzo Kelly and Anthony (Tony) Stentz

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 4, pp. 3326 - 3333, April, 1997

Augmenting the human-machine interface: improving manual accuracy

Cameron Riviere and Pradeep Khosla

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 4, pp. 3546 - 3550, April, 1997

Automatic Mapping of Dynamic Office Environments

Clayton Kunz, Thomas Willeke, and Illah Nourbakhsh

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 2, pp. 1681 - 1687, April, 1997

Automatic Mountain Detection and Pose Estimation for Teleoperation of Lunar Rovers

Fabio Cozman and Eric Krotkov

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 3, pp. 2452 - 2457, April, 1997

Coalition Formation in a Power Transmission Planning Environment

F. Wu, Matthias Klusch, J. Contreras, and Onn Shehory

Conference Paper, Proceedings of 2nd International Conference on Practical Applications of Multi-Agent Systems (PAAM '97), pp. 21 - 23, April, 1997

Collaborative Calibration: Extending Shape from Motion Calibration

Richard Voyles and Pradeep Khosla

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 4, pp. 2795 - 2800, April, 1997

Computational Complexity of Terrain Mapping Perception in Autonomous Mobility

Alonzo Kelly and Anthony (Tony) Stentz

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 2, pp. 1047 - 1052, April, 1997

Configurability and Reuse in Scheduling System Design

Stephen Smith and Marcel Becker

Workshop Paper, ICRA '97 Workshop on Object-Oriented Methods for Distributed Control Architectures, April, 1997

Control of Polygonal Mesh Resolution for 3-D Computer Vision

Andrew Johnson and Martial Hebert

Tech. Report, CMU-RI-TR-96-20, Robotics Institute, Carnegie Mellon University, April, 1997

Cooperation of Multiple Manipulators with Passive Joints

Yanxi Liu and Yangsheng Xu

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 2, pp. 1478 - 1483, April, 1997

Dynamically Equivalent Manipulator for Space Manipulator Systems: Part 1

Bin Liang, Yangsheng Xu, and Marcel Bergerman

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 4, pp. 2765 - 2770, April, 1997

Error-Responsive Feedback Mechanisms for Speech Recognizers

Lin Chase

PhD Thesis, Tech. Report, CMU-RI-TR-97-18, Robotics Institute, Carnegie Mellon University, April, 1997

Evolving an Intelligent Vehicle for Tactical Reasoning in Traffic

Rahul Sukthankar, Shumeet Baluja, and John Hancock

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 1, pp. 519 - 524, April, 1997

Force Characterization and Commutation of Planar Linear Motors

Arthur Quaid, Yangsheng Xu, and Ralph Hollis

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 2, pp. 1202 - 1207, April, 1997

Indexing and Search of Multimodal Information

Alex Hauptmann and Howard Wactlar

Conference Paper, Proceedings of IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP '97), Vol. 1, pp. 195 - 198, April, 1997

Integrating Force and Vision Feedback Within Virtual Environments for Telerobotic Systems

Bradley Nelson and Pradeep Khosla

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 2, pp. 1588 -1593, April, 1997

Manipulation Task Primitives for Composing Robot Skills

James Morrow and Pradeep Khosla

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 4, pp. 3354 - 3359, April, 1997

Mechanics for Vibratory Manipulation

Wesley Huang and Matthew T. Mason

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 3, pp. 2391 - 2396, April, 1997

Modular Precision Assembly Systems

Ralph Hollis

Journal Article, SPIE Newsletter, April, 1997

Natural Terrain Hazard Detection with a Laser Rangefinder

Lars Henriksen and Eric Krotkov

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 2, pp. 968 - 973, April, 1997

Nonprehensile Manipulation for Orienting Parts in the Plane

Nina Zumel and Michael Erdmann

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 3, pp. 2433 - 2439, April, 1997

On the Parameter Estimation Accuracy of Model-Matching Feature Detectors

Simon Baker

Miscellaneous, April, 1997

Optimal Stereo Mast Configuration for Mobile Robots

Wesley Huang and Eric Krotkov

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 3, pp. 1946 - 1951, April, 1997

Parcel Manipulation and Dynamics with a Distributed Actuator Array: The Virtual Vehicle

Jonathan E. Luntz, William Messner, and Howie Choset

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 2, pp. 1541 - 1546, April, 1997

Planning Collision-Free Motions for Underactuated Manipulators in Constrained Configuration Space

Marcel Bergerman and Yangsheng Xu

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 1, pp. 549 - 555, April, 1997

Sensor Based Planning for a Planar Rod Robot: Incremental Construction of the Planar Rod-HGVG

Howie Choset, Brian Mirtich, and Joel Burdick

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 4, pp. 3427 - 3434, April, 1997