Publications




The Warp Computer: Architecture, Implementation, and Performance
M. Annaratone, E. Arnould, T. Gross, H. T. Kung, M. Lam, O. Menzilcioglu, and J. Webb
Tech. Report, CMU-RI-TR-87-18, Robotics Institute, Carnegie Mellon University, July, 1987
Two Design Principles for Knowledge-Based Systems
P. S. Ow and Stephen Smith
Journal Article, Decision Sciences, Vol. 18, No. 3, pp. 430 - 447, July, 1987
Using a Color Reflection Model to Separate Highlights from Object Color
G. Klinker, Steven Shafer, and Takeo Kanade
Conference Paper, Proceedings of (ICCV) International Conference on Computer Vision, pp. 145 - 150, June, 1987
A Feasibility Study for Long Range Autonomous Underwater Vehicle
Martial Hebert, Chuck Thorpe, S. Dunn, J. Cushieri, P. Rushfeldt, W. Girodet, and P. Schweitzer
Conference Paper, Proceedings of 5th International Symposium on Unmanned Untethered Submersible Technology (UUST '87), June, 1987
Dual Gradient Thick-Film Metal Oxide Gas Sensors
Mel Siegel, L. Wong, R. J. Lauf, and B. S. Hoffheins
Conference Paper, Proceedings of 4th International Conference on Solid-State Sensors and Actuators (Transducers '87), pp. 599 - 604, June, 1987
End of the Year Report for Parallel Vision Algorithm Design and Implementation, January 1986-January 1987
Takeo Kanade and Jon A. Webb
Tech. Report, CMU-RI-TR-87-15, Robotics Institute, Carnegie Mellon University, June, 1987
Error Modeling in Stereo Navigation
L. Matthies and Steven Shafer
Journal Article, IEEE Journal of Robotics and Automation, Vol. RA-3, No. 3, pp. 239 - 250, June, 1987
Implementation and Performance of a Complex Vision System on a Systolic Array Machine
E. Clune, J. D. Crisman, G. J. Klinker, and J. A. Webb
Tech. Report, CMU-RI-TR-87-16, Robotics Institute, Carnegie Mellon University, June, 1987
LISP as a Rapid Prototyping Environment: The Chinese Tutor
Dario Guise
Tech. Report, CMU-RI-TR-87-14, Robotics Institute, Carnegie Mellon University, June, 1987
Management of Temporal Constraints for Factory Scheduling
Claude le Pape and Stephen Smith
Tech. Report, CMU-RI-TR-87-13, Robotics Institute, Carnegie Mellon University, June, 1987
1986 Year End Report for Road Following at Carnegie Mellon
Chuck Thorpe and Takeo Kanade
Tech. Report, CMU-RI-TR-87-11, Robotics Institute, Carnegie Mellon University, May, 1987
A Torque Sensor for Direct-Drive Manipulators
C. W. deSilva, T. E. Price, and Takeo Kanade
Journal Article, Journal of Engineering for Industry, Vol. 109, No. 2, pp. 122 - 127, May, 1987
Book review: Robot Vision
Chuck Thorpe
Journal Article, American Scientist, May, 1987
From Linear Algebraic Equations to Wheeled Mobile Robot Modeling
C. P. Neuman and Patrick Muir
Workshop Paper, 5th Yale Workshop on Applications of Adaptive Systems Theory, May, 1987
Automatic Robot Initialization Using a Planar Target Scanned by an Optical Reflection Sensor
R. Q. Yang and Mel Siegel
Tech. Report, CMU-RI-TR-87-09, Robotics Institute, Carnegie Mellon University, April, 1987
Kinematic Modeling of Wheeled Mobile Robots
Patrick Muir and C. P. Neuman
Journal Article, Journal of Field Robotics, Vol. 4, No. 2, pp. 281 - 340, April, 1987
Optimal Design of Robotic Manipulator Trajectories: A Nonlinear Programming Approach
Mark L. Nagurka and Vincent Yen
Tech. Report, CMU-RI-TR-87-12, Robotics Institute, Carnegie Mellon University, April, 1987
Petri Net Synthesis for Conflict Free Resource Allocation in Discrete State Systems
Ramavarapu S. Sreenivas
Miscellaneous, Master's Thesis, Electrical and Computer Engineering, Carnegie Mellon University, April, 1987
Robot Path Planning Using Intersecting Convex Shapes: Analysis and Simulation
Sanjiv Singh and M. D. Wagh
Journal Article, IEEE Journal of Robotics and Automation, Vol. 3, No. 2, pp. 101 - 108, April, 1987
Ten Unsolved Problems in Rendering
Paul Heckbert
Workshop Paper, GI '87 Workshop on Rendering Algorithms and Systems, April, 1987
Using General Goal Interactions to Guide Planning: The Program Model
Caroline Hayes
Tech. Report, CMU-RI-TR-87-10, Robotics Institute, Carnegie Mellon University, April, 1987
An architecture and two cases in range-based modeling and planning
W. Whittaker, G. Turkiyyah, and M. Hebert
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1991 - 1997, March, 1987
Kinematic Modeling for Feedback Control of an Omnidirectional Wheeled Mobile Robot
Patrick Muir and C. P. Neuman
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1772 - 1778, March, 1987
Manufacturing: Acquiring Craft Skills Through Dialogs
David A. Bourne
Conference Paper, Proceedings of SPIE Intelligent Robots and Computer Vision V, Vol. 0726, pp. 481 - 489, March, 1987
Modeling Impact Dynamics for Robotic Operations
Yu Wang and Matthew T. Mason
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 678 - 685, March, 1987
A Noncontact Optical Proximity Sensor for Measuring Surface Shape
Takeo Kanade and M. Fuhrman
Book Section/Chapter, Three-Dimensional Machine Vision, pp. 151 - 194, March, 1987
A prototype arm signature identification system
H. W. Stone and Arthur C. Sanderson
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 175 - 182, March, 1987
An Algorithm to Estimate Manipulator Dynamics Parameters
Pradeep Khosla and Takeo Kanade
Tech. Report, CMU-RI-TR-87-07, Robotics Institute, Carnegie Mellon University, March, 1987
Book review: Walking Machines: an Introduction to Legged Robots
Chuck Thorpe
Journal Article, American Scientist, March, 1987
Choosing Sampling Rates for Robot Control
Pradeep Khosla
Tech. Report, CMU-RI-TR-87-05, Robotics Institute, Carnegie Mellon University, March, 1987
Determining a Depth Map using a Dual Photometric Stereo
Katsushi Ikeuchi
Journal Article, lnternational Journal of Robotics Research, Vol. 6, No. 1, pp. 15 - 31, March, 1987
Efficient representation of reflecting structures for a sonar navigation model
R. Kuc and Mel Siegel
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1916 - 1923, March, 1987
Estimation of Robot Dynamics Parameters: Theory and Application
Pradeep Khosla
Tech. Report, CMU-RI-TR-87-08, Robotics Institute, Carnegie Mellon University, March, 1987
Experimental Evaluation of Nonlinear Feedback and Feedforward Control Schemes for Manipulators
Pradeep Khosla and Takeo Kanade
Tech. Report, CMU-RI-TR-87-04, Robotics Institute, Carnegie Mellon University, March, 1987
Planning robotic manipulation strategies for sliding objects
M. A. Peshkin and Arthur C. Sanderson
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 696 - 701, March, 1987
Real-Time Implementation and Evaluation of Computed-Torque Scheme
Pradeep Khosla and Takeo Kanade
Tech. Report, CMU-RI-TR-87-06, Robotics Institute, Carnegie Mellon University, March, 1987
Three-Dimensional Machine Vision
Takeo Kanade
Book, March, 1987
Arbitration of Multiple Control Strategies for Mobile Robots
Hans Moravec, M. Kadonoff, F. Benayad-Cherif, A. Franklin, J. Maddox, L. Muller, and B. Sert
Conference Paper, Proceedings of SPIE Mobile Robots I, Vol. 0727, pp. 90 - 99, February, 1987
Framework for Describing Troubleshooting Behavior Using Default Reasoning and Functional Abstraction
Robert Michael Young
Conference Paper, Proceedings of 3rd International IEEE Conference on AI Applications, pp. 260 - 265, February, 1987
Precompiling a Geometrical Model into an Interpretation Tree for Object Recognition in Bin-picking Tasks
Katsushi Ikeuchi
Workshop Paper, DARPA Image Understanding Workshop (IUW '87), February, 1987
Prototype Software for Automatic generation of On-Line Control Programs for Discrete Manufacturing Processes
Gregg Ekberg and Bruce Krogh
Tech. Report, CMU-RI-TR-87-03, Robotics Institute, Carnegie Mellon University, February, 1987
The CMU Navigational Architecture
Anthony (Tony) Stentz and Y. Goto
Workshop Paper, DARPA Image Understanding Workshop (IUW '87), February, 1987
Tools and Experiments in the Knowledge-Directed Interpretation of Road Scenes
B. Draper, Robert Collins, J. Brolio, J. Griffith, A. Hanson, and E. Riseman
Workshop Paper, DARPA Image Understanding Workshop (IUW '87), pp. 178 - 193, February, 1987
A Constraint-Based Framework for Reactive Management of Factory Schedules
Stephen Smith
Book Section/Chapter, Intelligent Manufacturing, 1987
A Metastability Tester
Andreas Nowatzyk
Tech. Report, CMU-SCS-TR-87-164, Computer Science Department, Carnegie Mellon University, 1987
Certainty Grids for Mobile Robots
Hans Moravec
Workshop Paper, NASA/JPL Space Telerobotics Workshop, pp. 307 - 312, 1987
Coupling Symbolic and Numeric Programs in Large-Scale Software Organizations
Sarosh Talukdar, E. Cardozo, and Gregg Podnar
Tech. Report, Research Report, Engineering Design Research Center, Carnegie Mellon University, 1987
Distributed Problem Solving Kernel, Users Guide
Gregg Podnar
Miscellaneous, 1987
Dynamic Direct Subspaces for Robot Path Planning
W. E. Red and Harry K. H. Kim
Journal Article, Robotica, Vol. 5, No. 1, pp. 29 - 36, 1987
Effect of Sampling Rates on the Performance of Model-Based Control Schemes
Pradeep Khosla
Miscellaneous, 1987