Publications




Multi-Sensor Fusion for Robust Simultaneous Localization and Mapping
Cong Li
Master's Thesis, Tech. Report, CMU-RI-TR-19-60, Robotics Institute, Carnegie Mellon University, August, 2019
Active Sampling for Planetary Rover Exploration
Suhit Kodgule
Master's Thesis, Tech. Report, CMU-RI-TR-19-66, Robotics Institute, Carnegie Mellon University, August, 2019
Vision and Improved Learned-Trajectory Replay for Assistive-Feeding and Food-Plating Robots
Travers Rhodes
Master's Thesis, Tech. Report, CMU-RI-TR-19-55, Robotics Institute, Carnegie Mellon University, August, 2019
Dynamically personalized detection of Hemorrhage
Chirag Nagpal, Xinyu Li, Michael R. Pinsky, and Artur Dubrawski
Conference Paper, Proceedings of 4th Machine Learning for Healthcare Conference (MLHC '19), Vol. 106, pp. 109 - 123, August, 2019
Fast Solution of Optimal Control Problems with L1 Cost
Simon Le Cleach and Zac Manchester
Conference Paper, Proceedings of AAS/AIAA Astrodynamics Specialist Conference, August, 2019
Improved Heuristics for Multi-Agent Path Finding with Conflict-Based Search
Jiaoyang Li, Ariel Felner, Eli Boyarski, Hang Ma, and Sven Koenig
Conference Paper, Proceedings of 28th International Joint Conference on Artificial Intelligence (IJCAI '19), pp. 442 - 449, August, 2019
Improving Lesion Segmentation for Diabetic Retinopathy Using Adversarial Learning
Qiqi Xiao, Jiaxu Zou, Muqiao Yang, Alex Gaudio, Kris Kitani, Asim Smailagic, Pedro Costa, and Min Xu
Conference Paper, Proceedings of 16th International Conference on Image Analysis and Recognition (ICIAR '19), pp. 333 - 344, August, 2019
Magnetorquer-Only Attitude Control of Small Satellites using Trajectory Optimization
Andrew Gatherer and Zac Manchester
Conference Paper, Proceedings of AAS/AIAA Astrodynamics Specialist Conference, August, 2019
NavCog3 in the Wild: Large-Scale Blind Indoor Navigation Assistant with Semantic Features
Daisuke Sato, João Guerreiro, Uran Oh, Kakuya Naito, Hironobu Takagi, Kris Kitani, and Chieko Asakawa
Journal Article, ACM Transactions on Accessible Computing: Special Issue on ASSETS '17 (Part 2), Vol. 12, No. 3, August, 2019
PyCubed: An Open-Source, Radiation-Tested CubeSat Platform Programmable Entirely in Python
Max Holliday, Andrea Ramirez, Connor Settle, Tane Tatum, Debbie Senesky, and Zac Manchester
Conference Paper, Proceedings of 33rd Annual AIAA/USU Conference on Small Satellites, August, 2019
Robotics Enabled Autonomous and Closed Loop Trauma Care In A Rucksack – TRACIR
R. Poropatich, M. R. Pinsky, G. Clermont, F. Guyette, D. Salcido, L. Weiss, A. Dubrawski, H. Choset, C. Atkeson, H. Herman, and W. Fink
Conference Paper, Proceedings of Military Health System Research Symposium (MHSRS '19), August, 2019
State Estimation for Legged Robots using Proprioceptive Sensors
Naman Gupta
Master's Thesis, Tech. Report, CMU-RI-TR-19-63, Robotics Institute, Carnegie Mellon University, August, 2019
Structural Design Using Laplacian Shells
E. Ulu, J. McCann, and L. B. Kara
Journal Article, Computer Graphics Forum, Vol. 38, No. 5, pp. 85 - 98, August, 2019
A Planning Framework for Persistent, Multi-UAV Coverage with Global Deconfliction
Tushar Kusnur, Shohin Mukherjee, Dhruv Mauria Saxena, Tomoya Fukami, Takayuki Koyama, Oren Salzman, and Maxim Likhachev
Conference Paper, Proceedings of 12th International Conference on Field and Service Robotics (FSR '19), pp. 459 - 474, August, 2019
CubeSLAM: Monocular 3D Object SLAM
Shichao Yang and Sebastian Scherer
Journal Article, IEEE Transactions on Robotics, Vol. 35, No. 4, pp. 925 - 938, August, 2019
Data-Efficient Process Monitoring and Failure Detection for Robust Robotic Screwdriving
Xianyi Cheng, Zhenzhong Jia, and Matthew T. Mason
Conference Paper, Proceedings of IEEE 15th International Conference on Automation Science and Engineering (CASE '19), pp. 1705 - 1711, August, 2019
Designing a Mobility Solution for Fully Autonomous Welding of Double-Hull Blocks
Chun Fan Goh, Akshay Hinduja, Divish Ajmani, Robin Song, Lei Zhang, and Kenji Shimada
Journal Article, Journal of Mechanisms and Robotics, Vol. 11, No. 4, August, 2019
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