Publications - Robotics Institute Carnegie Mellon University

Yangsheng Xu, R. Mattikalli, and Pradeep Khosla

Conference Paper, Proceedings of IEEE International Conference on Systems, Man, and Cybernetics (SMC '91), Vol. 2, pp. 991 - 996, October, 1991

Fuzzy control of robot and compliant wrist system

Yangsheng Xu, Richard P. Paul, and Heung-Yeung Shum

Conference Paper, Proceedings of IEEE Industry Applications Society Annual Meeting, Vol. 2, pp. 1431 - 1437, September, 1991

Micro- vs. Macro-opportunistic Scheduling

Norman Sadeh-Koniecpol and Mark S. Fox

Conference Paper, Proceedings of 4th International IFIP TC5 Conference on Computer Applications in Production and Engineering (CAPE '91), pp. 651 - 658, September, 1991

Organization Modeling as a Platform for Multi-Agent Manufacturing Systems

M. Roboam, Katia Sycara, and Mark S. Fox

Conference Paper, Proceedings of 4th International IFIP TC5 Conference on Computer Applications in Production and Engineering (CAPE '91), September, 1991

A System for Fast Navigation of Autonomous Vehicles

Sanjiv Singh, D. Feng, P. Keller, Gary Shaffer, Wenfan Shi, Dong Hun Shin, J. West, and B. X. Wu

Tech. Report, CMU-RI-TR-91-20, Robotics Institute, Carnegie Mellon University, September, 1991

Caution! Robot Vehicle!

Hans Moravec

Book Section/Chapter, Artificial Intelligence and Mathematical Theory of Computation: papers in honor of John McCarthy, pp. 331 - 343, September, 1991

Cyclone: A Laser Scanner for Mobile Robot Navigation

Sanjiv Singh and Jay West

Tech. Report, CMU-RI-TR-91-18, Robotics Institute, Carnegie Mellon University, September, 1991

Manipulating Surfaces Differentially

William Welch, Michael Gleicher, and Andrew Witkin

Tech. Report, CMU-CS-91-175, Computer Science Department, Carnegie Mellon University, September, 1991

A Framework For Thermal Spray Shape Deposition: The MD* System

Lee Weiss, Fritz B. Prinz, and Daniel Siewiorek

Conference Paper, Proceedings of Solid Freeform Fabrication Symposium, August, 1991

Controlling The Microstructure of Arc Sprayed Shells

P. S. Fussell, H. O. K. Kirchner, Fritz B. Prinz, and Lee Weiss

Conference Paper, Proceedings of Solid Freeform Fabrication Symposium, August, 1991

Index Transformation Techniques for Facilitating Creative Use of Multiple Cases

Katia Sycara and Dundee Navin-Chandra

Conference Paper, Proceedings of 12th International Joint Conference on Artificial Intelligence (IJCAI '91), pp. 347 - 352, August, 1991

Neural network-based vision processing for autonomous robot guidance

Dean Pomerleau

Conference Paper, Proceedings of SPIE Conference on Aerospace Sensing, Vol. 1469, pp. 121 - 128, August, 1991

1990 Year End Report. Autonomous Planetary Rover at Carnegie Mellon

William (Red) L. Whittaker, Takeo Kanade, and Tom Mitchell

Tech. Report, CMU-RI-TR-91-19, Robotics Institute, Carnegie Mellon University, August, 1991

A Partitioned Control Scheme for Mobile Robot Navigation

Dong Hun Shin and Sanjiv Singh

Conference Paper, Proceedings of IEEE International Conference on Systems Engineering, pp. 338 - 342, August, 1991

Adaptive Control of Space Robot System with an Attitude Controlled Base

Yangsheng Xu, Heung-Yeung Shum, Ju-Jang Lee, and Takeo Kanade

Tech. Report, CMU-RI-TR-91-14, Robotics Institute, Carnegie Mellon University, August, 1991

An Application of Tool Insertion Using Model Based Vision

R. Craig Coulter, Anthony (Tony) Stentz, P. Keller, and William (Red) L. Whittaker

Conference Paper, Proceedings of IEEE International Conference on Systems Engineering, pp. 316 - 319, August, 1991

An Operation Space Approach to Robotic Excavation

Sanjiv Singh

Conference Paper, Proceedings of IEEE Symposium on Intelligent Control, pp. 481 - 486, August, 1991

Appearance Simulator for Computer Vision Research

Yoshimasa Fujiwara, S. K. Nayar, and Katsushi Ikeuchi

Tech. Report, CMU-RI-TR-91-16, Robotics Institute, Carnegie Mellon University, August, 1991

Combining artificial neural networks and symbolic processing for autonomous robot guidance

Dean Pomerleau, Jay Gowdy, and Chuck Thorpe

Journal Article, Engineering Applications of Artificial Intelligence, Vol. 4, No. 4, pp. 279 - 285, August, 1991

Dynamic Control of a Space Robot System with No Thrust Jets Controlled Base

Yangsheng Xu and Heung-Yeung Shum

Tech. Report, CMU-RI-TR-91-33, Robotics Institute, Carnegie Mellon University, August, 1991

Extracting the Orientation of a Grasped Object from Contact Information: An approach for overcoming prohibitive calibration requirements

David M. Siegel and Nancy S. Pollard

Conference Paper, Proceedings of IEEE International Symposium on Intelligent Control (ISIC '91), pp. 215 - 220, August, 1991

Mobile Robots

Chuck Thorpe

Journal Article, International Journal of Pattern Recognition and Artificial Intelligence, Vol. 5, No. 3, August, 1991

Outdoor visual navigation for autonomous robots

Chuck Thorpe

Journal Article, Robotics and Autonomous Systems: Special Issue on Intelligent Autonomous Systems, Vol. 7, No. 2, pp. 85 - 98, August, 1991

Real-Time Scheduling of Dynamically Reconfigurable Systems

David B. Stewart and Pradeep Khosla

Conference Paper, Proceedings of IEEE International Conference on Systems Engineering, pp. 139 - 142, August, 1991

Toward Autonomous Driving: The CMU Navlab. Part I: Perception

Chuck Thorpe, Martial Hebert, Takeo Kanade, and Steven Shafer

Journal Article, IEEE Expert, Vol. 6, No. 4, pp. 31 - 42, August, 1991

Toward Autonomous Driving: The CMU Navlab. Part II: System and Architecture

Chuck Thorpe, Martial Hebert, Takeo Kanade, and Steven Shafer

Journal Article, IEEE Expert, Vol. 6, No. 4, pp. 44 - 52, August, 1991

Animation of Dynamic Legged Locomotion

Marc Raibert and Jessica K. Hodgins

Journal Article, ACM SIGGRAPH Computer Graphics, Vol. 25, No. 4, pp. 349 - 358, July, 1991

Converting a Commercial Electric Direct-Drive Robot to Operate from Joint Torque Commands

Patrick Muir

Miscellaneous, July, 1991

Coping with friction for non-penetrating rigid body simulation

David Baraff

Journal Article, Computer Graphics, Vol. 25, No. 4, pp. 31 - 40, July, 1991

GA-1: A Parallel Associative Memory Processor for Rule Learning with Genetic Algorithms

H. Kitano, Stephen Smith, and T. Higuchi

Conference Paper, Proceedings 4th International Conference on Genetic Algorithms (ICGA '91), pp. 311 - 317, July, 1991

Introduction to the Special Issue on Physical Modeling in Computer Vision

Takeo Kanade and Katsushi Ikeuchi

Journal Article, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 13, No. 7, pp. 609 - 610, July, 1991

Knowledge of Knowledge and Intelligent Experimentation for Learning Control

Andrew Moore

Conference Paper, Proceedings of Seattle International Joint Conference on Neural Networks, Vol. 2, pp. 683 - 688, July, 1991

Leveling of the AMBLER Walking Machine: A Comparison of Methods

Pablo Gonzalez de Santos, Peter V. Nagy, and William (Red) L. Whittaker

Tech. Report, CMU-RI-TR-91-13, Robotics Institute, Carnegie Mellon University, July, 1991

Reaction-diffusion textures

Andrew Witkin and Michael Kass

Conference Paper, Proceedings of 18th Annual Conference on Computer Graphics and Interactive Techniques (SIGGRAPH '91), pp. 299 - 308, July, 1991

Surface reflection: physical and geometrical perspectives

S. K. Nayar, Katsushi Ikeuchi, and Takeo Kanade

Journal Article, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 13, No. 7, pp. 611 - 634, July, 1991

A Multiple Baseline Stereo

M. Okutomi and Takeo Kanade

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 63 - 69, June, 1991

Active perception of material and shape by a walking robot

Eric Krotkov

Conference Paper, Proceedings of 5th International Conference on Advanced Robotics (ICAR '91), pp. 37 - 42, June, 1991

Adaptive Robotic Visual Tracking

N. Papanikolopoulos, Pradeep Khosla, and Takeo Kanade

Conference Paper, Proceedings of American Control Conference (ACC '91), pp. 962 - 967, June, 1991

Ambler: a six-legged planetary rover

Eric Krotkov, John Bares, Takeo Kanade, Tom Mitchell, Reid Simmons, and William (Red) L. Whittaker

Conference Paper, Proceedings of 5th International Conference on Advanced Robotics (ICAR '91), pp. 717 - 722, June, 1991

An Approach for Mapping Kinematic Task Specifications into a Manipulator Design

Chris Paredis and Pradeep Khosla

Conference Paper, Proceedings of 5th International Conference on Advanced Robotics (ICAR '91), pp. 556 - 561, June, 1991

Building Object and Terrain Representation for an Autonomous Vehicle

M. Hebert

Conference Paper, Proceedings of American Control Conference (ACC '91), pp. 441 - 444, June, 1991

Design and modeling of a micromechanical surface bonding system

H. Han, Lee Weiss, and M. L. Reed

Conference Paper, Proceedings of International Conference on Solid-State Sensors and Actuators (TRANSDUCERS '91), pp. 974 - 977, June, 1991

Design and Performance Evaluation of an Actively Compliant Underwater Manipulator for Full-Ocean Depth

Hagen Schempf, D. DiPietro, and D. Yoerger

Journal Article, Journal of Field Robotics: Special Issue on Underwater Robotics, Vol. 8, No. 3, pp. 371 - 392, June, 1991

Determining 3-D Object Pose Using the Complex Extended Gaussian Image

Sing Bing Kang and Katsushi Ikeuchi

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 580 - 585, June, 1991

Differential manipulation

Michael Gleicher and Andrew Witkin

Conference Paper, Proceedings of 17th Graphics Interface Conference (GI '91), pp. 61 - 67, June, 1991

Ground Penetrating Radar Data Acquisition System

Robert Beck, Jay Cosentino, David W. Collier, and James Osborn

Tech. Report, CMU-RI-TR-91-11, Robotics Institute, Carnegie Mellon University, June, 1991

Integrated Scheduling Frameworks

Stephen Smith

Conference Paper, Proceedings Norwegian National Conference on Project Management, June, 1991

Interpolation for Polygon Texture Mapping and Shading

Paul Heckbert and Henry Moreton

Book Section/Chapter, State of the Art in Computer Graphics: Visualization and Modeling, pp. 101 - 111, June, 1991

Learning by Error-driven Decomposition

Dieter Fox, V. Heinze, K. Moeller, Sebastian Thrun, and G. Veenker

Conference Paper, Proceedings of International Conference on Artificial Neural Networks (ICANN '91), June, 1991

Model-Based Recognition of Specular Objects Using Sensor Models

K. Sato, Katsushi Ikeuchi, and Takeo Kanade

Workshop Paper, IEEE Workshop on Directions in Automated CAD-Based Vision (CADVIS '91), pp. 2 - 10, June, 1991