Publications - Robotics Institute Carnegie Mellon University

Long-Distance Autonomous Survey and Mapping in the Robotic Investigation of Life in the Atacama Desert

David Wettergreen, Michael D. Wagner, Dominic Jonak, Vijayakumar Baskaran, Matthew Deans, Stuart Heys, David Pane, Trey Smith, James Teza, David R. Thompson, Paul Tompkins, and Chris Williams

Conference Paper, Proceedings of 9th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '08), February, 2008

Plowing for Controlled Steep Crater Descents

Jason Ziglar, David Kohanbash, David Wettergreen, and William (Red) L. Whittaker

Conference Paper, Proceedings of 9th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '08), February, 2008

Life in the Atacama: Science Autonomy for Improving Data Quality

T. Smith, D. Thompson, D. Wettergreen, N. A. Cabrol, Kimberley A. Warren-Rhodes, and Susan P. Weinstein

Journal Article, AGU Journal of Geophysical Research - Biogeosciences, Vol. 112, No. 4, December, 2007

Life in the Atacama: Searching for Life with Rovers

Nathalie A. Cabrol, David Wettergreen, Kim Warren‐Rhodes, and et al.

Journal Article, AGU Journal of Geophysical Research - Biogeosciences, Vol. 112, No. 4, December, 2007

Generating Exponentially Smaller POMDP Models Using Conditionally Irrelevant Variable Abstraction

Trey Smith, David R. Thompson, and David Wettergreen

Conference Paper, Proceedings of 17th International Conference on Applied Planning and Scheduling (ICAPS '07), pp. 304 - 311, September, 2007

Analysis of High-Efficiency Solar Cells in Mobile Robot Applications

Francisco Calderon, Rolf Allan Luders, David Wettergreen, James Teza, and Andres Guesalaga

Journal Article, Journal of Solar Energy Engineering, Vol. 129, No. 3, pp. 343 - 346, August, 2007

Field Results of the Control, Navigation, and Mapping Systems of a Hovering AUV

Nathaniel Fairfield, Dominic Jonak, George A. Kantor, and David Wettergreen

Conference Paper, Proceedings of 15th International Symposium on Unmanned Untethered Submersible Technology (UUST '07), pp. 20 - 31, August, 2007

Experiments in Navigation and Mapping with a Hovering AUV

George A. Kantor, Nathaniel Fairfield, Dominic Jonak, and David Wettergreen

Conference Paper, Proceedings of 6th International Conference on Field and Service Robotics (FSR '07), pp. 115 - 124, July, 2007

Multi-scale Features for Detection and Segmentation of Rocks in Mars Images

Heather Dunlop, David R. Thompson, and David Wettergreen

Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, June, 2007

Technologies Toward Lunar Crater Exploration

Jason Ziglar, David Kohanbash, David Wettergreen, and William (Red) L. Whittaker

Tech. Report, CMU-RI-TR-07-40, Robotics Institute, Carnegie Mellon University, April, 2007

Autonomy and Common Ground in Human-Robot Interaction: A Field Study

K. Stubbs, P. Hinds, and D. Wettergreen

Journal Article, IEEE Intelligent Systems, Vol. 22, No. 2, pp. 42 - 50, March, 2007

Spatial Point Process Models for the Clustering Behavior of Northern Plains Boulders

David R. Thompson and David Wettergreen

Conference Paper, Proceedings of 38th Lunar and Planetary Science Conference (LPSC '07), March, 2007

Real-Time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels

Nathaniel Fairfield, George A. Kantor, and David Wettergreen

Journal Article, Journal of Field Robotics, Vol. 24, No. 1, pp. 3 - 22, February, 2007

Panoramic Image Information Utility for Mobile Robot Exploration

Justin M. Glasgow, Geb Thomas, Erin Pudenz, Nathalie Cabrol, David Wettergreen, and Peter Coppin

Conference Paper, Proceedings of IEEE International Conference on Systems, Man and Cybernetics (SMC '06), pp. 3216 - 3221, October, 2006

Challenges to Grounding in Human-Robot Collaboration: Errors and Miscommunications in Remote Exploration Robotics

Kristen Stubbs, Pamela Hinds, and David Wettergreen

Tech. Report, CMU-RI-TR-06-32, Robotics Institute, Carnegie Mellon University, July, 2006

Robotic Astrobiology: Searching for Life with Rovers

N. Cabrol and D. Wettergreen

Conference Paper, Proceedings of American Geophysical Union Meeting, May, 2006

Towards Particle Filter SLAM with Three Dimensional Evidence Grids in a Flooded Subterranean Environment

Nathaniel Fairfield, George A. Kantor, and David Wettergreen

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3575 - 3580, May, 2006

Searching for a Quantitative Proxy for Rover Science Effectiveness

E. Pudenz, G. Thomas, J. Glasgow, P. Coppin, D. Wettergreen, and N. Cabrol

Conference Paper, Proceedings of 1st ACM SIGCHI/SIGART Conference on Human-Robot Interaction (HRI '06), pp. 18 - 25, March, 2006

Autonomous Detection of Novel Biologic and Geologic Features in Atacama Desert Rover Imagery

David R. Thompson, Trey Smith, and David Wettergreen

Conference Paper, Proceedings of 37th Lunar and Planetary Science Conference (LPSC '06), March, 2006

Autonomous Rover Detection and Response Applied to the Search for Life Via Chlorophyll Fluorescence in the Atacama Desert

Trey Smith, David R. Thompson, S. Weinstein, and David Wettergreen

Conference Paper, Proceedings of 37th Lunar and Planetary Science Conference (LPSC '06), March, 2006

Mission-level path planning and re-planning for rover exploration

Paul Tompkins, Anthony (Tony) Stentz, and David Wettergreen

Journal Article, Robotics and Autonomous Systems: Special Issue on Intelligent Autonomous Systems, Vol. 54, No. 2, pp. 174 - 183, February, 2006

A Sun Tracker for Planetary Analog Rovers

Matthew C. Deans, David Wettergreen, and Daniel Villa

Conference Paper, Proceedings of 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '05), September, 2005

Data Mining During Rover Traverse: From Images to Geologic Signatures

David R. Thompson, Trey Smith, and David Wettergreen

Conference Paper, Proceedings of 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '05), September, 2005

Design and Control of a Passively Steered, Dual Axle Vehicle

Michael D. Wagner, Stuart Heys, David Wettergreen, James Teza, Dimitrios (Dimi) Apostolopoulos, George A. Kantor, and William (Red) L. Whittaker

Conference Paper, Proceedings of 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '05), September, 2005

Rover Design for Polar Astrobiological Exploration

Liam Pedersen, David Wettergreen, Dimitrios (Dimi) Apostolopoulos, Chris McKay, Matthew E. DiGioia, Dominic Jonak, Stuart Heys, James Teza, and Michael D. Wagner

Conference Paper, Proceedings of 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '05), September, 2005

Second Experiments in the Robotic Investigation of Life in the Atacama Desert of Chile

David Wettergreen, Nathalie Cabrol, Vijayakumar Baskaran, Francisco Calderon, Stuart Heys, Dominic Jonak, Rolf Allan Luders, David Pane, Trey Smith, James Teza, Paul Tompkins, Daniel Villa, Chris Williams, and Michael D. Wagner

Conference Paper, Proceedings of 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS '05), September, 2005

Multiple-Object Detection in Natural Scenes with Multiple-View Expectation Maximization Clustering

David R. Thompson and David Wettergreen

Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 448 - 453, August, 2005

Observations of a science team during an advanced planetary rover prototype field test

J. Glasgow, E. Pudenz, G. Thomas, P. Coppin, N. Cabrol, and D. Wettergreen

Workshop Paper, IEEE Workshop on Robot and Human Interactive Communication (RO-MAN '05), pp. 137 - 142, August, 2005

Three Dimensional Evidence Grids for SLAM in Complex Underwater Environments

Nathaniel Fairfield, George A. Kantor, and David Wettergreen

Conference Paper, Proceedings of 14th International Symposium of Unmanned Untethered Submersible Technology (UUST '05), August, 2005

Collaborative Virtual Environments for Control of Planetary Exploration Rovers

G. Thomas, P. Coppin, N. Cabrol, D. Wettergreen, E. Pudenz, and J. Glasgow

Conference Paper, Proceedings of 11th International Human-Computer Interaction / Virtual Reality Conference: Special Session on Human Robot Interaction, July, 2005

First Experiments in the Robotic Investigation of Life in the Atacama Desert of Chile

David Wettergreen, Nathalie Cabrol, James Teza, Paul Tompkins, Christopher Urmson, Vandi Verma, Michael D. Wagner, and William (Red) L. Whittaker

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 873 - 878, April, 2005

Automatic Detection and Classification of Geological Features of Interest

David R. Thompson, Scott Niekum, Trey Smith, and David Wettergreen

Conference Paper, Proceedings of IEEE Aerospace Conference, pp. 366 - 377, March, 2005

Concepts for Science Autonomy During Robotic Traverse and Survey

Trey Smith, Scott Niekum, David R. Thompson, and David Wettergreen

Conference Paper, Proceedings of IEEE Aerospace Conference, pp. 347 - 355, March, 2005

Fluorescence Imager for Biological Imaging in Daylight

Shmuel Weinstein, David Pane, Lauren A. Ernst, Edwin Minkley, Fred Lanni, David Wettergreen, Michael D. Wagner, Stuart Heys, James Teza, and Alan Waggoner