Publications




Electrically-latched compliant jumping mechanism based on a dielectric elastomer actuator
M. Duduta, F. C. J. Berlinger, R. Nagpal, D. R. Clarke, R. J. Wood, and F. Z. Temel
Journal Article, Smart Materials and Structures, Vol. 28, No. 9, August, 2019
Fast exploration using multirotors: Analysis, planning, and experimentation
K. Goel, M. Corah, C. Boirum, and N. Michael
Conference Paper, Proceedings of 12th International Conference on Field and Service Robotics (FSR '19), pp. 291 - 305, August, 2019
Gait Based on the Spring-Loaded Inverted Pendulum
Hartmut Geyer and U. Saranli
Book Section/Chapter, In Humanoid Robotics: A Reference, August, 2019
Neuromuscular Control Models of Human Locomotion
Hartmut Geyer and Andre Seyfarth
Book Section/Chapter, In Humanoid Robotics: A Reference, August, 2019
Parametric Study and Design Guidelines for Rigid Wheels for Planetary Rovers
H. Inotsume, S. Moreland, K. Skonieczny, and D. Wettergreen
Journal Article, Journal of Terramechanics, Vol. 85, pp. 39 - 57, August, 2019
Simultaneous localization and mapping of subterranean voids with Gaussian Mixture Models
W. Tabib and N. Michael
Conference Paper, Proceedings of 12th International Conference on Field and Service Robotics (FSR '19), pp. 173 - 187, August, 2019
Spatiotemporal Modeling using Recurrent Neural Processes
Sumit Kumar
Master's Thesis, Tech. Report, CMU-RI-TR-19-67, Robotics Institute, Carnegie Mellon University, July, 2019
A Study of Unsupervised Classification Techniques for Hyperspectral Datasets
Himanshi Yadav, Alberto Candela, and David Wettergreen
Conference Paper, Proceedings of IEEE International Geoscience and Remote Sensing Symposium (IGARSS '19), pp. 2993 - 2996, July, 2019
Environment Generalization in Deep Reinforcement Learning
Wenxuan Zhou
Master's Thesis, Tech. Report, CMU-RI-TR-19-59, Robotics Institute, Carnegie Mellon University, July, 2019
Soft Magnetic Skin for Continuous Deformation Sensing
Tess Hellebrekers, Oliver Kroemer, and Carmel Majidi
Journal Article, Advanced Intelligent Systems, Vol. 1, No. 4, July, 2019
Structured Representations for Behaviors of Autonomous Robots
Aaron Roth
Master's Thesis, Tech. Report, CMU-RI-TR-19-50, Robotics Institute, Carnegie Mellon University, July, 2019
Towards Safe Reinforcement Learning in the Real World
Edward Ahn
Master's Thesis, Tech. Report, CMU-RI-TR-19-56, Robotics Institute, Carnegie Mellon University, July, 2019
Using Bi-Directional Information Exchange to Improve Decentralized Schedule-Driven Traffic Control
Hsu-Chieh Hu and Stephen Smith
Conference Paper, Proceedings of 29th International Conference on Automated Planning and Scheduling (ICAPS '19), pp. 200 - 208, July, 2019
Visual Knitting Machine Programming
Vidya Narayanan, Kui Wu, Cem Yuksel, and James McCann
Journal Article, ACM Transactions on Graphics (TOG), Vol. 38, No. 4, July, 2019
POMHDP: Search-Based Belief Space Planning Using Multiple Heuristics
Sung Kyun Kim, Oren Salzman, and Maxim Likhachev
Conference Paper, Proceedings of 29th International Conference on Automated Planning and Scheduling (ICAPS '19), pp. 734 - 744, July, 2019
Human motion prediction using semi-adaptable neural networks
Yujiao Cheng, Weiye Zhao, Changliu Liu, and Masayoshi Tomizuka
Conference Paper, Proceedings of American Control Conference (ACC '19), pp. 4884 - 4890, July, 2019
Intuitive, Reliable Plans with Contingencies: Planning with Safety Nets for Landmark-Based Routing
Kalyan Vasudev Alwala, Margarita Safonova, Oren Salzman, and Maxim Likhachev
Conference Paper, Proceedings of 12th Annual Symposium on Combinatorial Search (SoCS '19), pp. 2 - 9, July, 2019
Provable Infinite-Horizon Real-Time Planning for Repetitive Tasks
Fahad Islam, Oren Salzman, and Maxim Likhachev
Conference Paper, Proceedings of 29th International Conference on Automated Planning and Scheduling (ICAPS '19), pp. 716 - 724, July, 2019
Analysis of Inching for Planetary Rover Exploration
Karen Orton
Master's Thesis, Tech. Report, CMU-RI-TR-19-41, Robotics Institute, Carnegie Mellon University, July, 2019
Deep Non-Rigid Structure from Motion
Chen Kong
PhD Thesis, Tech. Report, CMU-RI-TR-19-43, Robotics Institute, Carnegie Mellon University, July, 2019
A-MHA*: Anytime Multi-Heuristic A
Ramkumar Natarajan, Muhammad Suhail Saleem, Sandip Aine, Maxim Likhachev, and Howie Choset
Conference Paper, Proceedings of 12th International Symposium on Combinatorial Search (SoCS '19), pp. 192 - 193, July, 2019
Adversarial domain adaptation for cross data source macromolecule in situ structural classification in cellular electron cryo-tomograms
Ruogu Lin, Xiangrui Zeng, Kris Kitani, and Min Xu
Journal Article, Bioinformatics, Vol. 35, No. 14, pp. 260 - 268, July, 2019
BEACHES: Beamspace Channel Estimation for Multi-Antenna mmWave Systems and Beyond
Ramina Ghods, Alexandra Gallyas-Sanhueza, Seyed Hadi Mirfarshbafan, and Christoph Studer
Workshop Paper, IEEE 20th International Workshop on Signal Processing Advances in Wireless Communications (SPAWC '19), July, 2019
Cognitively-Inspired Agent-Based Service Composition for Mobile and Pervasive Computing
Oscar J. Romero
Conference Paper, Proceedings of International Conference on AI and Mobile Services (AIMS '19), pp. 101 - 117, July, 2019
DeepDA: LSTM-based Deep Data Association Network for Multi-Targets Tracking in Clutter
Huajun Liu, Hui Zhang, and Christoph Mertz
Conference Paper, Proceedings of 22th International Conference on Information Fusion (FUSION '19), July, 2019
Disjoint Splitting for Multi-Agent Path Finding with Conflict-Based Search
Jiaoyang Li, Daniel Harabor, Peter J. Stuckey, Hang Ma, and Sven Koenig
Conference Paper, Proceedings of 29th International Conference on Automated Planning and Scheduling (ICAPS '19), pp. 279 - 283, July, 2019
Dynamic Service Composition Orchestrated by Cognitive Agents in Mobile and Pervasive Computing
O. J. Romero
Conference Paper, Proceedings of IEEE World Congress on Services (SERVICES '19), pp. 390 - 391, July, 2019
Energy Management for Autonomous Underwater Vehicles using Economic Model Predictive Control
Niankai Yang, Dongsik Chang, Mohammad Reza Amini, M. Johnson-Roberson, and Jing Sun
Conference Paper, Proceedings of American Control Conference (ACC '19), pp. 2639 - 2644, July, 2019
Generalized lazy search for robot motion planning: Interleaving search and edge evaluation via event-based toggles
Aditya Mandalika, Sanjiban Choudhury, Oren Salzman, and Siddhartha Srinivasa
Conference Paper, Proceedings of 29th International Conference on Automated Planning and Scheduling (ICAPS '19), Vol. 29, No. 1, pp. 745 - 753, July, 2019
Guaranteed Safe Reachability-based Trajectory Design for a High-Fidelity, Autonomous Passenger Vehicle
Sean Vaskov, Utkarsh Sharma, Shreyas Kousik, M. Johnson-Roberson, and Ram Vasudevan
Conference Paper, Proceedings of American Control Conference (ACC '19), pp. 705 - 710, July, 2019
Inferring Distributions of Parameterized Controllers for Efficient Sampling-Based Locomotion of Underactuated Robots
Raghu Aditya Chavali, Nathan Kent, Michael E. Napoli, Thomas M. Howard, and Matthew Travers
Conference Paper, Proceedings of American Control Conference (ACC '19), pp. 5767 - 5773, July, 2019
Learning and Utilizing Interaction Patterns Among Neighborhood-Based Heuristics
C-Y. Chuang and S. F. Smith
Conference Paper, Proceedings 12th International Symposium on Combinatorial Search (SoCS '19), pp. 26 - 34, July, 2019
Model learning for look-ahead exploration in continuous control
Arpit Agarwal, Katharina Muelling, and Katerina Fragkiadaki
Conference Paper, Proceedings of 33rd AAAI Conference on Artificial Intelligence (AAAI '19), pp. 3151 - 3158, July, 2019
Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks
Roni Stern, Nathan R. Sturtevant, Ariel Felner, Sven Koenig, Hang Ma, Thayne T. Walker, Jiaoyang Li, Dor Atzmon, Liron Cohen, T. K. Satish Kumar, Eli Boyarski, and Roman Bartak
Conference Paper, Proceedings of 12th International Symposium on Combinatorial Search (SoCS '19), pp. 151 - 159, July, 2019
Navigating Intrinsic Triangulations
Nick Sharp, Yousuf Soliman, and Keenan Crane
Journal Article, ACM Transactions on Graphics, Vol. 38, No. 4, July, 2019
NLSC: Unrestricted Natural Language-based Service Composition through Sentence Embeddings
Oscar J. Romero, Ankit Dangi, and Sushma A. Akoju
Conference Paper, Proceedings of IEEE International Conference on Services Computing (SCC '19), pp. 126 - 135, July, 2019
Parent as a Companion for Solving Challenging Math Problems: Insights from Multi-modal Observational Data
Lujie Chen, Eva Gjekmarkaj, and Artur Dubrawski
Conference Paper, Proceedings of 12th International Conference on Educational Data Mining (EDM '19), pp. 520 - 523, July, 2019
Prokaryotic Community Structure and Metabolisms in Shallow Subsurface of Atacama Desert Playas and Alluvial Fans After Heavy Rains: Repairing and Preparing for Next Dry Period
M. Fernández-Martínez, R. dos Santos Severino, M. Moreno-Paz, I. Gallardo-Carreño, Y. Blanco, K. Warren-Rhodes, M. García-Villadangos, M. Ruiz-Bermejo, A. Barberán, D. Wettergreen, N. Cabrol, and V. Parro
Journal Article, Frontiers in Microbiology, Vol. 10, July, 2019
Simulation and Real-World Evaluation of Attack Detection Schemes
Matthew Porter, Arnav Joshi, Pedro Hespanhol, Anil Aswani, M. Johnson-Roberson, and Ram Vasudevan
Conference Paper, Proceedings of American Control Conference (ACC '19), pp. 551 - 558, July, 2019
Smartphone-based Localization for Blind Navigation in Building-Scale Indoor Environments
Masayuki Murata, Dragan Ahmetovic, Daisuke Sato, Hironobu Takagi, Kris M. Kitani, and Chieko Asakawa
Journal Article, Pervasive and Mobile Computing, Vol. 57, pp. 14 - 32, July, 2019
Speeding Up Search-Based Motion Planning via Conservative Heuristics
Ishani Chatterjee, Maxim Likhachev, Ashwin Khadke, and Manuela Veloso
Conference Paper, Proceedings of 29th International Conference on Automated Planning and Scheduling (ICAPS '19), pp. 674 - 679, July, 2019
Symmetric Moving Frames
Etienne Corman and Keenan Crane
Journal Article, ACM Transactions on Graphics, Vol. 38, No. 4, July, 2019
Take One For the Team: The Effects of Error Severity in Collaborative Tasks with Social Robots
Sanne van Waveren, Elizabeth J. Carter, and Iolanda Leite
Conference Paper, Proceedings of 19th ACM International Conference on Intelligent Virtual Agents (IVA '19), pp. 151 - 158, July, 2019
Using FastMap to Solve Graph Problems in a Euclidean Space
Jiaoyang Li, Ariel Felner, Sven Koenig, and T. K. Satish Kumar
Conference Paper, Proceedings of 29th International Conference on Automated Planning and Scheduling (ICAPS '19), pp. 273 - 278, July, 2019
Wave-based Non-line-of-sight Imaging using Fast f-k Migration
David Lindell, Gordon Wetzstein, and Matthew O’Toole
Journal Article, ACM Transactions on Graphics (TOG), Vol. 38, No. 4, July, 2019
Few-shot Learning for Segmentation
Chia Dai
Master's Thesis, Tech. Report, CMU-RI-TR-19-35, Robotics Institute, Carnegie Mellon University, July, 2019
Detailed Image Captioning
Junjiao Tian
Master's Thesis, Tech. Report, CMU-RI-TR-19-34, Robotics Institute, Carnegie Mellon University, July, 2019
Real-Time Collision Forecasting from Monocular Video
Aashi Manglik
Master's Thesis, Tech. Report, CMU-RI-TR-19-42, Robotics Institute, Carnegie Mellon University, July, 2019
Surfel-based RGB-D Reconstruction and SLAM with Global and Local Consistency
Yi Yang
Master's Thesis, Tech. Report, CMU-RI-TR-19-45, Robotics Institute, Carnegie Mellon University, July, 2019
A Monte Carlo Framework for Rendering Speckle Statistics in Scattering Media
Chen Bar, Marina Alterman, Ioannis Gkioulekas, and Anat Levin
Journal Article, ACM Transactions on Graphics (TOG), Vol. 38, No. 4, July, 2019