Publications




Robust Autonomous Flight in Constrained and Visually Degraded Shipboard Environments
Zheng Fang, Shichao Yang, Sezal Jain, Geetesh Dubey, Stephan Roth, Silvio Mano Maeta, Stephen T. Nuske, Yuzhang Wu, and Sebastian Scherer
Journal Article, Journal of Field Robotics, Vol. 34, No. 1, pp. 25 - 52, January, 2017
Semantic Monocular Plane SLAM for Low-Texture Structured Environments
Michael Kaess, Daniel Maturana, Sebastian Scherer, and Shichao Yang
Miscellaneous, Invention Disclosure 2017-065, January, 2017
A Variable Forward-Sweep Wing Design for Enhanced Perching in Micro Aerial Vehicles
Zac Manchester, Jeffery Lipton, Robert Wood, and Scott Kuindersma
Conference Paper, Proceedings of 55th AIAA Aerospace Sciences Meeting, AIAA SciTech Forum, January, 2017
Designing Extensible, Domain-Specific Languages for Mathematical Diagrams
Katherine Ye, Keenan Crane, Jonathan Aldrich, and Joshua Sunshine
Workshop Paper, POPL '17 Off the Beaten Track Workshop, January, 2017
Recursive Inertia Estimation With Semidefinite Programming
Zac Manchester and Mason Peck
Conference Paper, Proceedings of AIAA Guidance, Navigation, and Control Conference (GNC '17), January, 2017
Scalable Approaches to Home Health Care Scheduling Problems Uncertainty
C. Chen, Z. B. Rubinstein, S. F. Smith, and H. C. Lau
Workshop Paper, AAAI '17 Workshop on AI and OR for Social Good, January, 2017
Generating an image that affords slant perception from stereo, without pictorial cues
J. Galeotti, K. Macdonald, J. Wang, S. Horvath, A. Zhang, and R. Klatzky
Journal Article, Displays, Vol. 46, pp. 16 - 24, January, 2017
A Multi-Sensor Fusion MAV State Estimation from Long-Range Stereo, IMU, GPS and Barometric Sensors
Yu Song, Stephen T. Nuske, and Sebastian Scherer
Journal Article, Sensors: Special Issue: Vision-Based Sensors in Field Robotics, Vol. 17, No. 1, pp. 11 - 36, 2017
A Real-time Method for Depth Enhanced Monocular Odometry
Ji Zhang, Michael Kaess, and Sanjiv Singh
Journal Article, Autonomous Robots, Vol. 41, No. 1, pp. 31 - 43, 2017
Analysis of Trends in Bus Dwell Time Data for Real-Time Predictive Modeling
Isaac Isukapati, Hana Rudova, Gregory Barlow, and Stephen Smith
Journal Article, Journal of the Transportation Research Board, Vol. 2619, No. 1, pp. 64 - 74, 2017
Demonstrated benefits of using sensor networks for automated irrigation control in nursery and greenhouse production systems
J. D. Lea-Cox, B. E. Belayneh, J. Majsztrik, A. G. Ristvey, E. Lichtenberg, M. W. van Iersel, M. Chappell, W. L. Bauerle, G. Kantor, D. Kohanbash, T. Martin, and L. Crawford
Journal Article, ISHS Acta Horticulturae: Special Issue: 8th International Symposium on Irrigation of Horticultural Crops, 2017
Episodic non-Markov localization
Joydeep Biswas and Manuela M. Veloso
Journal Article, Robotics and Autonomous Systems, Vol. 87, pp. 162 - 176, 2017
Learning Temporal Rules to Forecast Instability in Continuously Monitored Patients
Mathieu Guillame-Bert, Artur Dubrawski, Donghan Wang, Marilyn Hravnak, Gilles Clermont, and Michael R. Pinsky
Journal Article, Journal of American Medical Informatics Association, Vol. 24, No. 1, pp. 47 - 53, 2017
Mapping underwater ship hulls using a model-assisted bundle adjustment framework
Paul Ozog, Matthew Johnson-Roberson, and Ryan M. Eustice
Journal Article, Robotics and Autonomous Systems: Special Issue on Localization and Mapping in Challenging Environments, Vol. 87, pp. 329 - 347, 2017
Robust Rearrangement Planning Using Nonprehensile Interaction
Jennifer E. King
PhD Thesis, Tech. Report, CMU-RI-TR-16-65, Robotics Institute, Carnegie Mellon University, December, 2016
Dynamical mass measurements of contaminated galaxy clusters using machine learning
M. Ntampaka, H. Trac, D. J. Sutherland, S. Fromenteau, B. Poczos, and J. Schneider
Journal Article, Astrophysical Journal, Vol. 831, No. 2, pp. 135, December, 2016
Gaussian Process Bandit Optimisation with Multi-fidelity Evaluations
K. Kandasamy, G. Dasarathy, J. Oliva, J. Schneider, and B. Poczos
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, pp. 1000 - 1008, December, 2016
The Multi-fidelity Multi-armed Bandit
K. Kandasamy, G. Dasarathy, J. Schneider, and B. Poczos
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, pp. 1785 - 1793, December, 2016
A 2-DOF manipulator for micro-assembly in a minifactory
Jun Zhang and Ralph Hollis
Conference Paper, Proceedings of IEEE International Conference on Robotics and Biomimetics (ROBIO '16), pp. 1582 - 1587, December, 2016
A Linear-Time Variational Integrator for Multibody Systems
Jeongseok Lee, C. Karen Liu, Frank C. Park, and Siddhartha Srinivasa
Workshop Paper, 12th Workshop on the Algorithmic Foundations of Robotics (WAFR '16), pp. 352 - 367, December, 2016
Automated help system for novice older users from touchscreen gestures
Daisuke Sato, Tetsuro Morimura, Takayuki Katsuki, Yosuke Toyota, Tsuneo Kato, and Hironobu Takagi
Conference Paper, Proceedings of 23rd International Conference on Pattern Recognition (ICPR '16), pp. 3073 - 3078, December, 2016
Derivative-Free Trajectory Optimization with Unscented Dynamic Programming
Zac Manchester and Scott Kuindersma
Conference Paper, Proceedings of IEEE 55th Conference on Decision and Control (CDC '16), pp. 3642 - 3647, December, 2016
Identification of Sufferers of Rare Diseases Using Medical Claims Data
Jieshi Chen and Artur Dubrawski
Conference Paper, Proceedings of Annual Conference of the International Society for Disease Surveillance (ISDS '16), December, 2016
Joint Embeddings of Hierarchical Categories and Entities
Yuezhang Li, Ronghuo Zheng, Tian Tian, Zhiting Hu, Rahul Iyer, and Katia Sycara
Conference Paper, Proceedings of 26th International Conference on Computational Linguistics (COLING '16), pp. 2678 - 2688, December, 2016
Large Scale Deep Learning for Robotically Gathered Imagery for Science
Katherine Skinner, Jie Li, and M. Johnson-Roberson
Conference Paper, Proceedings of American Geophysical Union Fall Meeting Abstracts, December, 2016
Using latent variable autoregression to monitor the health of individuals with congestive heart failure
Robert Fisher, Asim Smailagic, Reid Simmons, and Kimitake Mizobe
Conference Paper, Proceedings of 15th IEEE International Conference on Machine Learning and Applications (ICMLA '16), pp. 1016 - 1019, December, 2016
A Computational Model Based on Human Performance for Fluid Management in Critical Care
Anqi Li, Michael Lewis, Christian Lebiere, Katia Sycara, Shehzaman Salim Khatib, Yuqing Tang, Matthew Siedsma, and Don Morrison
Conference Paper, Proceedings of IEEE Symposium Series on Computational Intelligence (SSCI '16), December, 2016
A dynamical systems approach to obstacle navigation for a series-elastic hexapod robot
M. Travers, A. Ansari, and H. Choset
Conference Paper, Proceedings of IEEE 55th Conference on Decision and Control (CDC '16), pp. 5152 - 5157, December, 2016
A Physical Parameter-Based Skidding Model for the Snakeboard
H. Salman, T. Dear, S. Babikian, E. Shammas, and H. Choset
Conference Paper, Proceedings of IEEE 55th Conference on Decision and Control (CDC '16), pp. 7555 - 7560, December, 2016
Calibration and Characterization of Low-Cost Fine Particulate Monitors and their Effect on Individual Empowerment
Michael D. Taylor
PhD Thesis, Tech. Report, CMU-RI-TR-16-61, Robotics Institute, Carnegie Mellon University, December, 2016
Configuration Lattices for Planar Contact Manipulation Under Uncertainty
Michael Koval, David Hsu, Nancy Pollard, and Siddhartha Srinivasa
Workshop Paper, 12th Workshop on the Algorithmic Foundations of Robotics (WAFR '16), pp. 768 - 783, December, 2016
Detection of Subtle Context-Dependent Model Inaccuracies in High-Dimensional Robot Domains
Juan Pablo Mendoza, Reid Simmons, and Manuela Veloso
Journal Article, Journal of Big Data, Vol. 4, No. 4, pp. 269 - 285, December, 2016
Evaluation of Coded Aperture Radiation Detectors using a Bayesian Approach
Keith Edwin Miller, P. Huggins, A. Dubrawski, Simon Labov, and Kelly Nelson
Journal Article, Nuclear Instruments and Methods in Physics Research Section A: Accelerators Spectrometers Detectors and Associated Equipment, Vol. 839, pp. 29 - 38, December, 2016
Learning from Small Sample Sets by Combining Unsupervised Meta-Training with CNNs
Yuxiong Wang and Martial Hebert
Conference Paper, Proceedings of (NeurIPS) Neural Information Processing Systems, pp. 244 - 252, December, 2016
Locomotive analysis of a single-input three-link snake robot
T. Dear, S. D. Kelly, M. Travers, and H. Choset
Conference Paper, Proceedings of IEEE 55th Conference on Decision and Control (CDC '16), pp. 7542 - 7547, December, 2016
Machine learning can pre-identify patients at risk for cardiorespiratory instability before a medical emergency team call
Marilyn Hravnak, Lujie Chen, Artur Dubrawski, Gilles Clermont, and Michael Pinsky
Journal Article, Critical Care Medicine, Vol. 44, No. 12, pp. 102, December, 2016
Multiple Start Branch and Prune Filtering Algorithm for Nonconvex Optimization
Arun Srivatsan Rangaprasad and Howie Choset
Workshop Paper, 12th Workshop on the Algorithmic Foundations of Robotics (WAFR '16), pp. 1 - 16, December, 2016
PalmSight: an assistive technology helping the blind to locate and grasp objects
Zhixuan Yu, Samantha J. Horvath, Alexandra Delazio, Jihang Wang, Rebeka Almasi, Roberta Klatzky, John Galeotti, and George D. Stetten
Tech. Report, CMU-RI-TR-16-59, Robotics Institute, Carnegie Mellon University, December, 2016
Rapid Fabrication of Soft, Multilayered Electronics for Wearable Biomonitoring
Eric Markvicka, Michael D. Bartlett, and Carmel Majidi
Journal Article, Advanced Functional Materials, Vol. 26, No. 46, pp. 8496 - 8504, December, 2016
Real Alerts and Artifact Classification in Archived Multi-signal Vital Sign Monitoring Data—Implications for Mining Big Data
Marilyn Hravnak, Lujie Chen, Artur W. Dubrawski, Eliezer Bose, Gilles Clermont, and Michael R. Pinsky
Journal Article, Journal of Clinical Monitoring and Computing, Vol. 30, No. 6, pp. 875 - 888, December, 2016
Robust Planar Dynamic Pivoting by Regulating Inertial and Grip Forces
Yifan Hou, Zhenzhong Jia, Aaron M. Johnson, and Matthew T. Mason
Workshop Paper, 12th Workshop on the Algorithmic Foundations of Robotics (WAFR '16), pp. 464 - 479, December, 2016
Rover Localization in Sparsely-Featured Environments
Samuel Yim
Master's Thesis, Tech. Report, CMU-RI-TR-16-33, Robotics Institute, Carnegie Mellon University, December, 2016
Shape-based compliant control with variable coordination centralization on a snake robot
J. Whitman, F. Ruscelli, M. Travers, and H. Choset
Conference Paper, Proceedings of IEEE 55th Conference on Decision and Control (CDC '16), pp. 5165 - 5170, December, 2016
Continuous Supervised Descent Method for Facial Landmark Localisation
Ciprian Corneanu, Marc Oliu, Sergio Escalera, Laszlo A. Jeni, Jeffrey F. Cohn, and Takeo Kanade
Conference Paper, Proceedings of 13th Asian Conference on Computer Vision (ACCV '16), pp. 121 - 135, November, 2016
Long-Term Activity Forecasting using First-Person Vision
Syed Zahir Bokhari and Kris M. Kitani
Conference Paper, Proceedings of 13th Asian Conference on Computer Vision (ACCV '16), pp. 346 - 360, November, 2016
Predicting user intent through eye gaze for shared autonomy
Henny Admoni and Siddhartha S. Srinivasa
Conference Paper, Proceedings of AAAI '16 Fall Symposium on Shared Autonomy in Research and Practice, pp. 298 - 303, November, 2016
A Framework for Visual Tracking of Risk and its Drivers in Monitoring Patients Susceptible for Cardiorespiratory Instability
Lujie Chen, Gilles Clermont, Marilyn Hravnak, Michael R. Pinsky, and Artur Dubrawski
Conference Paper, Proceedings of American Medical Informatics Association Annual Symposium (AMIA '16), November, 2016
Camera-Only Kinematics for Small Lunar Rovers
E. Fang, S. Suresh, and W. Whittaker
Conference Paper, Proceedings of Annual Meeting of the Lunar Exploration Analysis Group (LEAG '16), November, 2016
Learning Spatial Preconditions of Manipulation Skills using Random Forests
Oliver Kroemer and Gaurav S. Sukhatme
Conference Paper, Proceedings of IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids '16), pp. 676 - 683, November, 2016
A Review on Locomotion Robophysics: The Study of Movement at the Intersection of Robotics, Soft Matter and Dynamical Systems
J. Aguilar, T. Zhang, F. Qian, M. Kingsbury, B. McInroe, N. Mazouchova, C. Li, R. Maladen, C. Gong, M. Travers, R. L. Hatton, H. Choset, P. B. Umbanhowar, and D. I. Goldman
Journal Article, Reports on Progress in Physics, Vol. 79, No. 11, November, 2016