Publications




Adaptive Kalman Filtering Methods for Low-Cost GPS/INS Localization for Autonomous Vehicles
Adam Werries and John M. Dolan
Tech. Report, CMU-RI-TR-16-18, Robotics Institute, Carnegie Mellon University, May, 2016
Annotation of Utterances for Conversational Nonverbal Behaviors
Allison Funkhouser
Master's Thesis, Tech. Report, CMU-RI-TR-16-25, Robotics Institute, Carnegie Mellon University, May, 2016
Complementary Model Update: A Method for Simultaneous Registration and Stiffness Mapping in Flexible Environments
Arun Srivatsan Rangaprasad, Elif Ayvali, Long Wang, Rajarshi Roy, Nabil Simaan, and Howie Choset
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 924 - 930, May, 2016
Connecting Run-Time Metrics to Outcome Performance of Team Attack and Defense
Jason Blum
Master's Thesis, Tech. Report, CMU-RI-TR-16-24, Robotics Institute, Carnegie Mellon University, May, 2016
Constrained CHOMP using Dual Projected Newton Method
Sanjiban Choudhury and Sebastian Scherer
Tech. Report, CMU-RI-TR-16-17, Robotics Institute, Carnegie Mellon University, May, 2016
Convolutional Pose Machines: A Deep Architecture for Estimating Articulated Poses
Shih-En Wei
Master's Thesis, Tech. Report, CMU-RI-TR-16-22, Robotics Institute, Carnegie Mellon University, May, 2016
Design and Analysis of a Biped Leg to Survive High-Impact Falls
Roberto Shu
Master's Thesis, Tech. Report, CMU-RI-TR-16-21, Robotics Institute, Carnegie Mellon University, May, 2016
Design and Development of a Knee Prosthesis Emulator System
James C. Gabriel and Steve Collins
Tech. Report, CMU-RI-TR-16-26, Robotics Institute, Carnegie Mellon University, May, 2016
Distributed Knowledge Leader Selection for Multi-Robot Environmental Sampling
Wenhao Luo
Master's Thesis, Tech. Report, CMU-RI-TR-16-05, Robotics Institute, Carnegie Mellon University, May, 2016
Effective Non-Verbal Communication for Mobile Robots using Expressive Lights
Kim Baraka
Master's Thesis, Tech. Report, CMU-RI-TR-16-12, Robotics Institute, Carnegie Mellon University, May, 2016
Enhancing Direct Camera Tracking with Dense Feature Descriptors
Hatem Said Alismail, Brett Browning, and Simon Lucey
Conference Paper, Proceedings of Asian Conference on Computer Vision (ACCV '16), pp. 535 - 551, May, 2016
Evaluation and Optimization of Dozing Operations for Small-Scale Wheeled Vehicles with Simulation and Validation Using a Reference Platform
Gregory Colvin
Master's Thesis, Tech. Report, CMU-RI-TR-16-13, Robotics Institute, Carnegie Mellon University, May, 2016
Evaluation of a Decentralized Stance-Leg Controller on a Powered Robotic Leg
Yin Zhong
Master's Thesis, Tech. Report, CMU-RI-TR-16-15, Robotics Institute, Carnegie Mellon University, May, 2016
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