Publications




Dynamic Direct Subspace Approach for Robot Task Planning in Three Dimensions
Harry K. H. Kim
Master's Thesis, Tech. Report, Robotics Institute, Carnegie Mellon University, August, 1985
Optimal Algorithms for Finding the Symmetries of a Planar Point Set
P. T. Highnam
Tech. Report, CMU-RI-TR-85-13, Robotics Institute, Carnegie Mellon University, August, 1985
Pulsewidth Modulation Control of Brushless DC Motors for Robotic Applications
Patrick Muir and C. P. Neuman
Journal Article, IEEE Transactions on Industrial Electronics, Vol. 32, No. 3, pp. 222 - 229, August, 1985
The Use of Multiple Problem Decompositions in Time-Constrained Planning Tasks
Stephen Smith and P. S. Ow
Conference Paper, Proceedings 9th International Joint Conference on Artificial Intelligence (IJCAI '85), Vol. 2, pp. 1013 - 1015, August, 1985
Experiences with SRL: An Analysis of a Frame-based Knowledge Representation
Mark S. Fox, Mark Wright, and David Adam
Tech. Report, CMU-RI-TR-85-10, Robotics Institute, Carnegie Mellon University, July, 1985
Modeling and Control of Assembly tasks and Systems
Bruce Krogh and Arthur C. Sanderson
Tech. Report, CMU-RI-TR-86-01, Robotics Institute, Carnegie Mellon University, July, 1985
Planning Robot Grasping Motions in the Presence of Uncertainty
Randy C. Brost
Tech. Report, CMU-RI-TR-85-12, Robotics Institute, Carnegie Mellon University, July, 1985
The Use of Multiple Problem Decompositions in Time Constrained Planning Tasks
Stephen Smith and Peng Si Ow
Tech. Report, CMU-RI-TR-85-11, Robotics Institute, Carnegie Mellon University, July, 1985
An Architecture for Autonomous Vehicle Navigation
Anthony (Tony) Stentz and Chuck Thorpe
Conference Paper, Proceedings of 4th International Symposium on Unmanned Untethered Submersible Technology (UUST '85), June, 1985
Robots that Rove
Hans Moravec
Miscellaneous, ACM SIGBIO Newsletter, Vol. 7, No. 2, pp. 13 - 15, June, 1985
Robust Trajectory Control of Underwater Vehicles
Hagen Schempf, J.-J. Slotine, J. Newman, and D. Yoerger
Conference Paper, Proceedings of 4th International Symposium on Unmanned Untethered Submersible Technology (UUST '85), June, 1985
The 3-D Profile Method for Object Recognition
Martial Hebert and Takeo Kanade
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 458 - 464, June, 1985
Robot Hands and the Mechanics of Manipulation
Matthew T. Mason and J. Kenneth Salisbury
Book, May, 1985
A Perturbation Approach to Robot Calibration
H. O. K. Kirchner, B. Gurumoorthy, and Fritz B. Prinz
Tech. Report, CMU-RI-TR-85-09, Robotics Institute, Carnegie Mellon University, April, 1985
Accurate Trajectory Control of Robotic Manipulators
J. C. Van Winssen and C. W. de Silva
Tech. Report, CMU-RI-TR-85-15, Robotics Institute, Carnegie Mellon University, April, 1985
Reachable Grasps on a Polygon: The Convex Rope Algorithm
M. A. Peshkin and Arthur C. Sanderson
Tech. Report, CMU-RI-TR-85-06, Robotics Institute, Carnegie Mellon University, April, 1985
Kinematics and open-loop control of an ilonator-based mobile platform
D. Daniel, Bruce Krogh, and M. Friedman
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 346 - 351, March, 1985
The Mechanics of Manipulation
Matthew T. Mason
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 544 - 548, March, 1985
Development of CMU Direct-Drive Arm II
Takeo Kanade and Donald Schmitz
Tech. Report, CMU-RI-TR-85-05, Robotics Institute, Carnegie Mellon University, March, 1985
Dynamic visual servo control of robots: An adaptive image-based approach
Lee Weiss, Arthur C. Sanderson, and C. P. Neuman
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 662 - 668, March, 1985
Experiments and Thoughts on Visual Navigation
Chuck Thorpe, L. Matthies, and Hans Moravec
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 830 - 835, March, 1985
High Resolution Maps from Wide Angle Sonar
Hans Moravec and A. E. Elfes
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 116 - 121, March, 1985
Identifying Solution Paths in Cognitive Diagnosis
Stellan Ohlsson and Pat Langley
Tech. Report, CMU-RI-TR-85-02, Robotics Institute, Carnegie Mellon University, March, 1985
Robotic Inspection by Database Matching
Henry Thorne, Fritz B. Prinz, and H. O. K. Kirchner
Tech. Report, CMU-RI-TR-85-04, Robotics Institute, Carnegie Mellon University, March, 1985
Stereo by Intra- and Inter-Scanline Search Using Dynamic Programming
Y. Ohta and Takeo Kanade
Journal Article, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 7, No. 2, pp. 139 - 154, March, 1985
Autonomous Mobile Robots, Annual Report
Hans Moravec, Alberto Elfes, Chuck Thorpe, L. Matthies, R. S. Wallace, Patrick Muir, Dong Hun Shin, and Gregg Podnar
Tech. Report, CMU-RI-TR-86-04, Robotics Institute, Carnegie Mellon University, February, 1985
The Role of Databases in Knowledge-Based Systems
Mark S. Fox and John McDermott
Tech. Report, CMU-RI-TR-86-03, Robotics Institute, Carnegie Mellon University, February, 1985
Fast Evaluation of Arithmetic Functions
Andreas Nowatzyk
Tech. Report, CMU-SCS-TR-85-169, Computer Science Department, Carnegie Mellon University, 1985
First Results on Outdoor Scene Analysis Using Range Data
Martial Hebert and Takeo Kanade
Workshop Paper, DARPA Image Understanding Workshop (IUW '85), pp. 224 - 231, 1985
Machines with Mobility
Hans Moravec
Book Section/Chapter, Robots, pp. 66 - 79, 1985
Physical System of a Mobile Robot: Pluto
Gregg Podnar
Miscellaneous, 1985
Sensor Fusion of Range and Reflectance Data for Outdoor Scene Analysis
In So Kweon, Martial Hebert, and Takeo Kanade
Miscellaneous, 1985
The NEPTUNE Mobile Robot
Gregg Podnar
Miscellaneous, Autonomous Mobile Robots, Annual Report, pp. 149 - 152, 1985
The Rovers
Hans Moravec
Book Section/Chapter, Robotics, pp. 123 - 145, 1985
The URANUS Mobile Robot
Gregg Podnar
Miscellaneous, Autonomous Mobile Robots, Annual Report, pp. 153 - 158, 1985
Three Dimensional Sensing and Interpretation
Gerald J. Agin, Martin J. Uram, and Peter T. Highnam
Tech. Report, CMU-RI-TR-85-01, Robotics Institute, Carnegie Mellon University, 1985
Trinocular Vision Using Photometric and Edge Orientation Constraints
V. Milenkovic and Takeo Kanade
Workshop Paper, DARPA Image Understanding Workshop (IUW '85), pp. 163 - 175, 1985
Vision and Navigation for the Carnegie Mellon Navlab
Chuck Thorpe and Takeo Kanade
Workshop Paper, DARPA Image Understanding Workshop (IUW '85), pp. 143 - 152, 1985
Dynamic World Modeling for an Intelligent Mobile Robot Using a Rotating Ultra-Sonic Ranging Device
James L. Crowley
Tech. Report, CMU-RI-TR-84-27, Robotics Institute, Carnegie Mellon University, December, 1984
FIDO: Vision and Navigation for a Mobile Robot
Chuck Thorpe
Miscellaneous, PhD Thesis, Computer Science Department, Carnegie Mellon University, December, 1984
Multiple Resolution Representation and Probabilistic Matching of 2-D Gray-Scale Shape
James L. Crowley and Arthur C. Sanderson
Tech. Report, CMU-RI-TR-84-29, Robotics Institute, Carnegie Mellon University, December, 1984
PSRL: A SRL-Based Production Rule System
Michael D. Rychener
Tech. Report, CMU-RI-TR-85-07, Robotics Institute, Carnegie Mellon University, December, 1984
Real-Time Control of CMU Direct Drive Arm II Using Customized Inverse Dynamics
Takeo Kanade, Pradeep Khosla, and N. Tanaka
Conference Paper, Proceedings of 23rd IEEE Conference on Decision and Control (CDC '84), pp. 1345 - 1352, December, 1984
The Man-Machine Interface
Robert U. Ayres
Tech. Report, CMU-RI-TR-84-26, Robotics Institute, Carnegie Mellon University, December, 1984
A Computer Package for Temperature Distributions
M. G. Stevenson
Tech. Report, CMU-RI-TR-85-03, Robotics Institute, Carnegie Mellon University, November, 1984
The Role of Intelligent Reactive Processing in Production Management
Mark S. Fox and Stephen Smith
Conference Paper, Proceedings 13th Annual CAMI Technical Conference, November, 1984
The State of the Art in Printed Wiring Board Inspection
Robert H. Thibadeau
Tech. Report, CMU-RI-TR-84-25, Robotics Institute, Carnegie Mellon University, November, 1984
Adaptive Learning Systems
Stephen Smith
Book Section/Chapter, Expert Systems: Principles and Case Studies, October, 1984
Optical Proximity Sensor Using Multiple Cones of Light for Measuring Surface Shape
M. Fuhrman and Takeo Kanade
Journal Article, Optical Engineering, Vol. 23, No. 5, pp. 546 - 553, October, 1984
Techniques for Real-Time Frame Buffer Animation
Paul Heckbert
Conference Paper, Proceedings of Computer FX '84, pp. 57 - 67, October, 1984