Publications




Probabilistic Surface Classification for Rover Instrument Targeting
Greydon Foil, David R. Thompson, William Abbey, and David Wettergreen
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 775 - 782, November, 2013
Kernel-Based Traffic Sign Tracking to Improve Highway Workzone Recognition for Reliable Autonomous Driving
Jong Ho Lee, Young-Woo Seo, Wende Zhang, and David Wettergreen
Conference Paper, Proceedings of 16th International IEEE Conference on Intelligent Transportation Systems (ITSC '13), pp. 1131 - 1136, October, 2013
Effect of bucket-wheel scale on excavation forces and soil motion
G. F. D. Lankenau, K. Skonieczny, W. L. Whittaker, and D. Wettergreen
Journal Article, Journal of Terramechanics, Vol. 49, No. 6, pp. 341 - 348, December, 2012
Exploiting Publicly Available Cartographic Resources for Aerial Image Analysis
Young-Woo Seo, Christopher Urmson, and David Wettergreen
Conference Paper, Proceedings of 20th International Conference on Advances in Geographic Information Systems (SIGSPATIAL '12), pp. 109 - 118, November, 2012
Ortho-Image Analysis for Producing Lane-Level Highway Maps
Young-Woo Seo, Christopher Urmson, and David Wettergreen
Conference Paper, Proceedings of 20th International Conference on Advances in Geographic Information Systems (SIGSPATIAL '12), pp. 506 - 509, November, 2012
A Grouser Spacing Equation for Determining Appropriate Geometry of Planetary Rover Wheels
Krzysztof Skonieczny, Scott Jared Moreland, and David Wettergreen
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5065 - 5070, October, 2012
Recognizing Temporary Changes on Highways for Reliable Autonomous Driving
Young-Woo Seo, David Wettergreen, and Wende Zhang
Conference Paper, Proceedings of IEEE International Conference on Systems, Man, and Cybernetics (SMC '12), pp. 3027 - 3032, October, 2012
Developing a Framework for Reliable Autonomous Surface Mobility
David Wettergreen and Michael D. Wagner
Conference Paper, Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '12), September, 2012
Ortho-Image Analysis for Producing Lane-Level Highway Maps
Young-Woo Seo, Christopher Urmson, and David Wettergreen
Tech. Report, CMU-RI-TR-12-26, Robotics Institute, Carnegie Mellon University, September, 2012
Visual Odometry for the Lunar Analogue Rover Artemis
M. Wagner, D. Wettergreen, and P. Iles
Conference Paper, Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '12), September, 2012
Lightweight Laser Scan Registration in Underground Mines with Band-based Downsampling Method
J. S. Lee, D. Wettergreen, and G. Kantor
Conference Paper, Proceedings of 8th International Conference on Field and Service Robotics (FSR '12), pp. 555 - 567, July, 2012
Plowing for Rover Control on Extreme Slopes
David Kohanbash, Scott Jared Moreland, and David Wettergreen
Conference Paper, Proceedings of 8th International Conference on Field and Service Robotics (FSR '12), pp. 399 - 413, July, 2012
Motion Analysis System for Robot Traction Device Evaluation and Design
Scott Jared Moreland, Krzysztof Skonieczny, and David Wettergreen
Conference Paper, Proceedings of 8th International Conference on Field and Service Robotics (FSR '12), pp. 449 - 463, June, 2012
Novel Experimental Technique for Visualizing and Analyzing Robot-Soil Interactions
Krzysztof Skonieczny, Scott Jared Moreland, Colin Creager, and David Wettergreen
Conference Paper, Proceedings of Earth and Space Conference, pp. 495 - 504, April, 2012
Rover mobility on granular soil: Marrying multi-scale modeling and high fidelity experiments to infer soil stresses under the moving wheel
Ivan Vlahinic, Jose Andrade, Krzysztof Skonieczny, Scott Jared Moreland, and David Wettergreen
Conference Paper, Proceedings of Earth and Space Conference, pp. 250 - 255, April, 2012
Planetary Lake Lander: Using Technology Relevant to Titan's Exploration to Investigate the Impact of Deglaciation on Past and Present Planetary Lakes
Nathalie Cabrol, Edmund Grin, Chris Haberle, Jeff Moersch, Robert Jacobsen, Ruben Sommaruga, Erich Fleming, Angela Detweiler, Alex Echeverria, Yolanda Blanco, Luis Rivas, Liam Pedersen, Trey Smith, David Wettergreen, Cecilia Demergasso, Victor Parro, Terrence W. Fong, and Lee Bebout
Conference Paper, Proceedings of 43rd Lunar and Planetary Science Conference (LPSC '12), March, 2012
Soil Behavior of Wheels with Grousers for Planetary Rovers
Scott Jared Moreland, Krzysztof Skonieczny, Hiroaki Inotsume, and David Wettergreen
Conference Paper, Proceedings of IEEE Aerospace Conference, March, 2012
Advantageous bucket-wheel configuration for lightweight planetary excavators
Krzysztof Skonieczny, Scott Jared Moreland, David Wettergreen, and William (Red) L. Whittaker
Conference Paper, Proceedings of 17th International Society for Terrain-Vehicle Systems Conference (ISTVS '11), November, 2011
Soil Motion Analysis System for Examining Wheel-Soil Shearing
Scott Jared Moreland, Krzysztof Skonieczny, David Wettergreen, Colin Creager, and Vivake Asnani
Conference Paper, Proceedings of 17th International Society for Terrain-Vehicle Systems Conference (ISTVS '11), November, 2011
Experiments for Autonomously Guided Vehicles for Antarctic Traverse
David Wettergreen, Dominic Jonak, and James Lever
Tech. Report, Robotics Institute, Carnegie Mellon University, September, 2011
Control of a passively steered rover using 3-D kinematics
Neal Seegmiller and David Wettergreen
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 607 - 612, September, 2011
Optical Flow Odometry with Robustness to Self-shadowing
Neal Seegmiller and David Wettergreen
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 613 - 618, September, 2011
Autonomous Science during Large-Scale Robotic Survey
D. Thompson, D. Wettergreen, and F. Calderon
Journal Article, Journal of Field Robotics, Vol. 28, No. 4, pp. 542 - 564, July, 2011
Inching Locomotion for Planetary Rover Mobility
Scott Jared Moreland, Krzysztof Skonieczny, and David Wettergreen
Conference Paper, Proceedings of IEEE Aerospace Conference, March, 2011
Adapting to Intra-Class Variations using Incremental Retraining with Exploratory Sampling
Young-Woo Seo, Christopher Urmson, David Wettergreen, and Rahul Sukthankar
Tech. Report, CMU-RI-TR-10-36, Robotics Institute, Carnegie Mellon University, October, 2010
Building lane-graphs for autonomous parking
Young-Woo Seo, Christopher Urmson, David Wettergreen, and Jin-Woo Lee
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 6052 - 6057, October, 2010
Design and field experimentation of a prototype Lunar prospector
David Wettergreen, Scott Jared Moreland, Krzysztof Skonieczny, Dominic Jonak, David Kohanbash, and James Teza
Journal Article, International Journal of Robotics Research, Vol. 29, No. 12, pp. 1550 - 1564, October, 2010
Aesthetic Image Classification for Autonomous Agents
Mark Desnoyer and David Wettergreen
Conference Paper, Proceedings of 20th International Conference on Pattern Recognition (ICPR '10), pp. 3452 - 3455, August, 2010
Autonomous Exploration and Mapping of Flooded Sinkholes
N. Fairfield, G. Kantor, D. Jonak, and D. Wettergreen
Journal Article, International Journal of Robotics Research, Vol. 29, No. 6, pp. 748 - 774, May, 2010
Other Analogs to Mars: High Altitude, Subsurface, Desert, and Polar Environments
N. Cabrol, D. Anderson, C. Stoker, P. Lee, C. McKay, and D. Wettergreen
Book Section/Chapter, Life in Antarctic Deserts and other Cold Dry Environments, pp. 258 - 305, April, 2010
Novel Microbial Diversity Retrieved by Autonomous Robotic Exploration of the World's Deepest Vertical Phreatic Sinkhole
J. Sahl, N. Fairfield, J. Harris, D. Wettergreen, W. Stone, and J. Spear
Journal Article, Astrobiology, Vol. 10, No. 2, pp. 201 - 213, March, 2010
Parameters governing regolith site work by small robots
Krzysztof Skonieczny, David Wettergreen, and William (Red) L. Whittaker
Conference Paper, Proceedings of Earth and Space '10: Exploration and Utilization of Extraterrestrial Bodies, pp. 1326 - 1333, March, 2010
Segmented SLAM in Three-Dimensional Environments
Nathaniel Fairfield, George A. Kantor, and David Wettergreen
Journal Article, Journal of Field Robotics, Vol. 27, No. 1, pp. 85 - 103, February, 2010
Augmenting cartographic resources for autonomous driving
Young-Woo Seo, Christopher Urmson, David Wettergreen, and Jin-Woo Lee
Conference Paper, Proceedings of 17th ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems (GIS '09), pp. 13 - 22, November, 2009
Active SLAM and Loop Prediction with the Segmented Map Using Simplified Models
N. Fairfield and D. Wettergreen
Conference Paper, Proceedings of 7th International Conference on Field and Service Robotics (FSR '09), pp. 173 - 182, July, 2009
Field Experiments in Mobility and Navigation with a Lunar Rover Prototype
David Wettergreen, Dominic Jonak, David Kohanbash, Scott Jared Moreland, Spencer Spiker, and James Teza
Conference Paper, Proceedings of 7th International Conference on Field and Service Robotics (FSR '09), pp. 489 - 498, July, 2009
Model Predictive Control for Mobile Robots with Actively Reconfigurable Chassis
P. M. Furlong, T. M. Howard, and D. Wettergreen
Conference Paper, Proceedings of 7th International Conference on Field and Service Robotics (FSR '09), pp. 469 - 478, July, 2009
Evidence grid-based methods for 3D map matching
N. Fairfield and D. Wettergreen
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1637 - 1642, May, 2009
Configuring innovative regolith moving techniques for lunar outposts
Krzysztof Skonieczny, Matthew E. DiGioia, Raymond L Barsa, David Wettergreen, and William (Red) L. Whittaker
Conference Paper, Proceedings of IEEE Aerospace Conference, March, 2009
Design and Experimentation of a Rover Concept for Lunar Crater Resource Survey
David Wettergreen, Dominic Jonak, David Kohanbash, Scott Jared Moreland, Spencer Spiker, James Teza, and William (Red) L. Whittaker
Conference Paper, Proceedings of 47th AIAA Aerospace Sciences Meeting, 2009
3D Mapping and Characterization of Sistema Zacatón from DEPTHX (DEep Phreatic THermal eXplorer)
Marcus Gary, Nathaniel Fairfield, William C. Stone, David Wettergreen, George A. Kantor, and John M. Sharp, Jr.
Conference Paper, Proceedings of ASCE 11th Sinkhole Conference (KARST '08), September, 2008
Active Localization on the Ocean Floor With Multibeam Sonar
Nathaniel Fairfield and David Wettergreen
Conference Paper, Proceedings of MTS/IEEE OCEANS Conference and Exhibition (OCEANS '08), September, 2008
Control Strategies for a Multi-Legged Hopping Robot
Rolf Allan Luders, Dimitrios (Dimi) Apostolopoulos, and David Wettergreen
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1519 - 1524, September, 2008
DEPTHX Autonomy Software: Design and Field Results
Nathaniel Fairfield, George A. Kantor, Dominic Jonak, and David Wettergreen
Tech. Report, CMU-RI-TR-08-09, Robotics Institute, Carnegie Mellon University, July, 2008
Information-Optimal Selective Data Return for Autonomous Rover Traverse Science and Survey
David R. Thompson, Trey Smith, and David Wettergreen
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 968 - 973, May, 2008
Optimizing Information Value: Improving Rover Sensor Data Collection
J. Glasgow, G. Thomas, E. Pudenz, N. Cabrol, D. Wettergreen, and P. Coppin
Journal Article, IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans, Vol. 38, No. 3, pp. 593 - 604, May, 2008
Using a Robot Proxy to Create Common Ground in Exploration Tasks
Kristen Stubbs, David Wettergreen, and Illah Nourbakhsh
Conference Paper, Proceedings of 3rd ACM/IEEE International Conference on Human-Robot Interaction (HRI '08), pp. 375 - 382, March, 2008
Autonomous Rover Reflectance Spectroscopy with Dozens of Targets
Francisco Calderon, David R. Thompson, and David Wettergreen
Conference Paper, Proceedings of 9th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '08), February, 2008
Design of the Scarab Rover for Mobility and Drilling in the Lunar Cold Traps
Paul Bartlett, David Wettergreen, and William (Red) L. Whittaker
Conference Paper, Proceedings of 9th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '08), February, 2008
Intelligent Maps for Autonomous Kilometer-Scale Science Survey
David R. Thompson and David Wettergreen
Conference Paper, Proceedings of 9th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '08), February, 2008