Publications - Robotics Institute Carnegie Mellon University

Fast radiation mapping and multiple source localization using topographic contour map and incremental density estimation

Abdullah Al Redwan Newaz, Sungmoon Jeong, Hosun Lee, Hyejeong Ryu, Nak Young Chong, and Matthew T. Mason

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1515 - 1521, May, 2016

High-Fidelity Planetary Route Determination Using Computationally Efficient Monocular Fisheye Odometry and Sun Compass

Eugene Fang

Master's Thesis, Tech. Report, CMU-RI-TR-16-14, Robotics Institute, Carnegie Mellon University, May, 2016

Instance selection for efficient and reliable camera calibration

Humphrey Hu and George Kantor

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 4335 - 4340, May, 2016

List Prediction Applied To Motion Planning

Abhijeet Tallavajhula, Sanjiban Choudhury, Sebastian Scherer, and Alonzo Kelly

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 213 - 220, May, 2016

Long-range GPS-denied Aerial Inertial Navigation

Garrett Hemann

Master's Thesis, Tech. Report, CMU-RI-TR-16-11, Robotics Institute, Carnegie Mellon University, May, 2016

On Degeneracy of Optimization-based State Estimation Problems

Ji Zhang, Michael Kaess, and Sanjiv Singh

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 809 - 816, May, 2016

Optimization Models for a Real-World Snow Plow Routing Problem

Joris Kinable, W. van Hoeve, and Stephen Smith

Conference Paper, Proceedings 13th International Conference on Integration of Artificial Intelligence and Operations Research Techniques in Constraint Programming (CPAIOR '16), pp. 229 - 245, May, 2016

PERCH: Perception via Search for Multi-Object Recognition and Localization

Venkatraman Narayanan and Maxim Likhachev

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 5052 - 5059, May, 2016

Photometric Bundle Adjustment for Vision-Based SLAM

Hatem Said Alismail, Brett Browning, and Simon Lucey

Conference Paper, Proceedings of Asian Conference on Computer Vision (ACCV '16), pp. 324 - 341, May, 2016

Planning for Grasp Selection of Partially Occluded Objects

Sung Kyun Kim and Maxim Likhachev

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3971 - 3978, May, 2016

Predictable behavior during contact simulation: a comparison of selected physics engines

Se-Joon Chung and Nancy Pollard

Conference Paper, Proceedings of Computer Animation and Virtual Worlds, Vol. 27, No. 3, pp. 262 - 270, May, 2016

Questimator: Generating Knowledge Assessments for Arbitrary Topics

Qi Guo

Master's Thesis, Tech. Report, CMU-RI-TR-16-04, Robotics Institute, Carnegie Mellon University, May, 2016

Real-time 3D Scene Layout from a Single Image Using Convolutional Neural Networks

Shichao Yang, Daniel Maturana, and Sebastian Scherer

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2183 - 2189, May, 2016

Rearrangement planning using object-centric and robot-centric action spaces

Jennifer King, Marco Cognetti, and Siddhartha Srinivasa

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3940 - 3947, May, 2016

Regionally Accelerated Batch Informed Trees (RABIT*): A Framework to Integrate Local Information into Optimal Path Planning

Sanjiban Choudhury, Jonathan D. Gammell, Timothy D. Barfoot, Siddhartha Srinivasa, and Sebastian Scherer

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 4207 - 4214, May, 2016

Robot Brachiation With Energy Control

Zongyi Yang

Master's Thesis, Tech. Report, CMU-RI-TR-16-19, Robotics Institute, Carnegie Mellon University, May, 2016

Robust single-view instance recognition

David Held, Devin Guillory, Brice Rebsamen, Sebastian Thrun, and Silvio Savarese

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2152 - 2159, May, 2016

Stretchable, High‐k Dielectric Elastomers through Liquid‐Metal Inclusions

Michael D. Bartlett, Andrew Fassler, Navid Kazem, Eric Markvicka, Pratiti Mandal, and Carmel Majidi

Journal Article, Advanced Materials, Vol. 28, No. 19, pp. 3726 - 3731, May, 2016

Symbiotic Planning for Planetary Exploration

Joseph Amato

Master's Thesis, Tech. Report, CMU-RI-TR-16-09, Robotics Institute, Carnegie Mellon University, May, 2016

Texture-based Fruit Detection via Images using the Smooth Patterns on the Fruit

Zania Pothen and Stephen T. Nuske

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 5171 - 5176, May, 2016

The 1,000-km challenge: Insights and quantitative and qualitative results

Joydeep Biswas and Manuela Veloso

Journal Article, IEEE Intelligent Systems, Vol. 31, No. 3, pp. 86 - 96, May, 2016

Toward balance recovery with leg prostheses using neuromuscular model control

Nitish Thatte and Hartmut Geyer

Journal Article, IEEE Transactions on Biomedical Engineering, Vol. 63, No. 5, pp. 904 - 913, May, 2016

Traffic Control with Connected Vehicle Routes in SURTRAC

Allen Hawkes

Master's Thesis, Tech. Report, CMU-RI-TR-16-20, Robotics Institute, Carnegie Mellon University, May, 2016

Truncated incremental search

Sandip Aine and Maxim Likhachev

Journal Article, Artificial Intelligence, Vol. 234, pp. 49 - 77, May, 2016

Using Planned View Trajectories to Build Good Models of Planetary Features under Transient Illumination

Heather Jones

PhD Thesis, Tech. Report, CMU-RI-TR-16-23, Robotics Institute, Carnegie Mellon University, May, 2016

Systems and methods for determining interaction states of wireless tags based on probability distributions

J. McCann, A. Spielberg, S. Hudson, A. Sample, and J. Mankoff

Miscellaneous, U. S. Patent US10127417B2, April, 2016

Robots and Romeo and Juliet: Studying Teacher Integration of Robotics Into Middle School Curricula

Debra Bernstein, Karen Mutch-Jones, Emily Hamner, and Jennifer Cross

Conference Paper, Proceedings of American Educational Research Association Annual Meeting, April, 2016

3-D Printed Haptic Devices for Educational Applications

M. Orta Martinez, T. K. Morimoto, A. T. Taylor, A. C. Barron, J. D. A. Pultorak, J. Wang, A. Calasanz-Kaiser, R. Lee Davis, P. Bilkstein, and A. M. Okamura

Conference Paper, Proceedings of IEEE Haptics Symposium (HAPTICS '16), pp. 126 - 133, April, 2016

Incremental distributed inference from arbitrary poses and unknown data association: Using collaborating robots to establish a common reference

V. Indelman, E. Nelson, J. Dong, N. Michael, and F. Dellaert

Journal Article, IEEE Control Systems Magazine, Vol. 36, No. 2, pp. 41 - 74, April, 2016

Detection of Radioactive Sources in Urban Scenes Using Bayesian Aggregation of Data from Mobile Spectrometers

Prateek Tandon, Peter Huggins, Robert A. MacLachlan, Artur Dubrawski, Karl Nelson, and Simon Labov

Journal Article, Information Systems, Vol. 57, pp. 195 - 206, April, 2016

Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planning

Kiril Solovey, Oren Salzman, and Dan Halperin

Journal Article, International Journal of Robotics Research: Special Issue on WAFR '14, Vol. 35, No. 5, pp. 501 - 513, April, 2016

Fuel-Optimal Spacecraft Guidance for Landing in Planetary Pits

Neal S. Bhasin

Master's Thesis, Tech. Report, CMU-RI-TR-16-10, Robotics Institute, Carnegie Mellon University, April, 2016

Learning a Predictable and Generative Vector Representation for Objects

Rohit Girdhar

Master's Thesis, Tech. Report, CMU-RI-TR-16-06, Robotics Institute, Carnegie Mellon University, April, 2016

Manifold Representations for State Estimation Contact Manipulation

Michael C. Koval, Nancy Pollard, and Siddhartha S. Srinivasa

Conference Paper, Proceedings of International Symposium of Robotics Research (ISRR '16), pp. 375 - 391, April, 2016

Optical Linear Algebra for Computational Light Transport

Matthew O'Toole

Miscellaneous, PhD Thesis, Department of Computer Science, University of Toronto, April, 2016

Towards Scalable Visual Navigation of Micro Aerial Vehicles

Shreyansh Daftry

Master's Thesis, Tech. Report, CMU-RI-TR-16-07, Robotics Institute, Carnegie Mellon University, April, 2016

Can computational thinking practices be taught in robotics classrooms?

R. Shoop, J. Flot, T. Friez, C. Schunn, and E. Witherspoon

Conference Paper, Proceedings of International Technology and Engineering Education Conference, pp. 1 - 15, March, 2016

Categorizing Cubes: Revisiting Pose Normalization

M. Hejrati and D. Ramanan

Conference Paper, Proceedings of IEEE Winter Conference on Applications of Computer Vision (WACV '16), March, 2016

Compliant Synergies in Locomotion

Matthew Travers and Howie Choset

Conference Paper, Proceedings of APS March Meeting, March, 2016

Electricity Trading and Negative Prices: Storage vs. Disposal

Y. Zhou, A. Scheller-Wolf, N. Secomandi, and S. F. Smith

Journal Article, Management Science, Vol. 62, No. 3, pp. 880 - 898, March, 2016

Extendable Pantograph Arms

Rick Goldstein and Manuela Veloso

Conference Paper, Proceedings of AAAI '16 Spring Symposium on Enabling Computing Research in Socially Intelligent Human-Robot Interaction: A Community-Driven Modular Research Platform, March, 2016

Feature and Region Selection for Visual Learning

Ji Zhao, Liantao Wang, Ricardo Cabral, and Fernando De la Torre

Journal Article, IEEE Transactions on Image Processing, Vol. 25, No. 3, pp. 1084 - 1094, March, 2016

Geometric Mechanics for Continuous Swimmers on Granular Material

Jin Dai, Hossein Faraji, Perrin Schiebel, Chaohui Gong, Matthew Travers, Ross Hatton, Daniel Goldman, and Howie Choset

Conference Paper, Proceedings of APS March Meeting, March, 2016

Geometric Mechanics Reveals Optimal Complex Terrestrial Undulation Patterns

Chaohui Gong, Henry Astley, Perrin Schiebel, Jin Dai, Matthew Travers, Daniel Goldman, and Howie Choset

Conference Paper, Proceedings of APS March Meeting, March, 2016

Minimizing user cost for shared autonomy

Shervin Javdani, J. Andrew Bagnell, and Siddhartha S. Srinivasa

Conference Paper, Proceedings of 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI '16), pp. 621 - 622, March, 2016

Robotic assistance in indoor navigation for people who are blind

Aditi Kulkarni, Allan Wang, Lynn Urbina, Aaron Steinfeld, and M. Bernardine Dias

Conference Paper, Proceedings of 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI '16), pp. 461 - 462, March, 2016

Slithering on sand: kinematics and controls for success on granular media

Perrin E. Schiebel, Tingnan Zhang, Jin Dai, Chaohui Gong, Miao Yu, Henry C. Astley, Matthew Travers, Howie Choset, and Daniel I. Goldman

Conference Paper, Proceedings of APS March Meeting, March, 2016

Vision-based counting of pedestrians and cyclists

Mehmet Kemal Kocamaz, Jian Gong, and Bernardo R. Pires

Conference Paper, Proceedings of IEEE Winter Conference on Applications of Computer Vision (WACV '16), March, 2016

Robot nonverbal behavior improves task performance in difficult collaborations

Henny Admoni, Thomas Weng, Bradley Hayes, and Brian Scassellati

Conference Paper, Proceedings of 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI '16), pp. 51 - 58, March, 2016

A Unifying Formalism for Shortest Path Problems with Expensive Edge Evaluations via Lazy Best-First Search over Paths with Edge Selectors

Christopher Dellin and Siddhartha Srinivasa

Conference Paper, Proceedings of 26th International Conference on Automated Planning and Scheduling (ICAPS '16), pp. 459 - 467, March, 2016