Publications




Pose estimation for planar contact manipulation with manifold particle filters
Michael Koval, Nancy Pollard, and Siddhartha Srinivasa
Journal Article, International Journal of Robotics Research, Vol. 34, No. 7, pp. 922 - 945, June, 2015
Real-time Visual Analysis of Microvascular Blood Flow for Critical Care
C. Liu, H. Gomez, S. G. Narasimhan, A. Dubrawski, B. Zuckerbraun, and M. R. Pinsky
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 2217 - 2225, June, 2015
Registering Surgical Tool to a Soft Body using Mechanical Palpation
Arun Srivatsan Rangaprasad, Rajarshi Roy, Long Wang, Nabil Simaan, and Howie Choset
Tech. Report, CMU-RI-TR-15-13, Robotics Institute, Carnegie Mellon University, June, 2015
Sense Discovery via Co-Clustering on Images and Text
Xinlei Chen, Alan Ritter, Abhinav Gupta, and Tom Mitchell
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 5298 - 5306, June, 2015
Shape-Constrained Whole-Body Adaptivity
M. Travers, P. Schiebel, C. Gong, H. Astley, D. Goldman, and H. Choset
Conference Paper, Proceedings of 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM '15), June, 2015
Towards technology with a global heart through compassionate engineering
M. Bernardine Dias, Ermine A. Teves, and Mary Beatrice Dias
Conference Paper, Proceedings of Conference on Raising Awareness for the Societal and Environmental Role of Engineering and (Re)Training Engineers for Participatory Design (Engineering4Society '15), pp. 96 - 100, June, 2015
Usability of a wearable camera system for dementia family caregivers
Judith T. Matthews, Jennifer H. Lingler, Grace B. Campbell, Amanda E. Hunsaker, Lu Hu, Bernardo R. Pires, Martial Hebert, and Richard Schulz
Journal Article, Journal of Healthcare Engineering, Vol. 6, No. 2, pp. 213 - 238, June, 2015
Video Co-summarization: Video Summarization by Visual Co-occurrence
Wen-Sheng Chu, Yale Song, and Alejandro Jaimes
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 3584 - 3592, June, 2015
Vision and Learning for Deliberative Monocular Cluttered Flight
Debadeepta Dey, Kumar Shaurya Shankar, Sam Zeng, Rupesh Mehta, M. Talha Agcayazi, Christopher Eriksen, Shreyansh Daftry, Martial Hebert, and J. Andrew (Drew) Bagnell
Conference Paper, Proceedings of 10th International Conference on Field and Service Robotics (FSR '15), pp. 391 - 409, June, 2015
Watch and Learn: Semi-Supervised Learning of Object Detectors from Videos
Ishan Misra, Abhinav Shrivastava, and Martial Hebert
Conference Paper, Proceedings of (CVPR) Computer Vision and Pattern Recognition, pp. 3593 - 3602, June, 2015
A Scalable Approach for Understanding the Visual Structures of Hand Grasps
Minjie Cai, Kris M. Kitani, and Yoichi Sato
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1360 - 1366, May, 2015
A Web-based Infrastructure for Recording User Demonstrations of Mobile Manipulation Tasks
Ellis Ratner, Benjamin Cohen, Mike Phillips, and Maxim Likhachev
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 5523 - 5530, May, 2015
Composition-Aware Scene Optimization for Product Images
Tianqiang Liu, James McCann, Wilmot Li, and Thomas A. Funkhouser
Journal Article, Computer Graphics Forum, Vol. 34, No. 2, pp. 13 - 24, May, 2015
Lazy Validation of Experience Graphs
Victor Hwang, Mike Phillips, Siddhartha Srinivasa, and Maxim Likhachev
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 912 - 919, May, 2015
Limbless Locomotors That Turn in Place
C. Gong, M. Travers, H. Astley, D. Goldman, and H. Choset
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3747 - 3754, May, 2015
Locomotive Reduction for Snake Robots
Xuesu Xiao, Ellen Cappo, Weikun Zhen, Jin Dai, Ke Sun, Chaohui Gong, Matthew Travers, and Howie Choset
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3735 - 3740, May, 2015
Planning for multi-agent teams with leader switching
Siddharth Swaminathan, Mike Phillips, and Maxim Likhachev
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 5403 - 5410, May, 2015
Robot-Inspired Biology: The Compound-Wave Control Template
Jin Dai, Matthew Travers, Tony Dear, Chaohui Gong, Henry C. Astley, Daniel I. Goldman, and Howie Choset
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 5879 - 5884, May, 2015
Snakeboard Motion Planning with Viscous Friction and Skidding
Tony Dear, Scott David Kelly, Matthew Travers, and Howie Choset
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 670 - 675, May, 2015
Speeding up heuristic computation in planning with Experience Graphs
Mike Phillips and Maxim Likhachev
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 893 - 899, May, 2015
Use of the Nonlinear Observability Rank Condition for Improved Parametric Estimation
M. Travers and H. Choset
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1029 - 1035, May, 2015
Modulation of Orthogonal Body Waves Enables High Maneuverability in Sidewinding Locomotion
H. Astley, C. Gong, J. Dai, M. Travers, M. Serrano, P. Vela, H. Choset, J. R. Mendelson, D. L. Hu, and D. I. Goldman
Journal Article, National Academy of Sciences of the United States of America, Vol. 112, No. 19, pp. 6200 - 6205, May, 2015
3D Convolutional Neural Networks for Landing Zone Detection from LiDAR
Daniel Maturana and Sebastian Scherer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3471 - 3478, May, 2015
A Position Generation Algorithm Utilizing A Biomechanical Model For Robot-Human Object Handover
Halit Bener Suay and Emrah Akin Sisbot
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3776 - 3781, May, 2015
Active pointillistic pattern search
Y. Ma, D. Sutherland, R. Garnett, and J. Schneider
Conference Paper, Proceedings of 18th International Conference on Artificial Intelligence and Statistics (AISTATS '15), Vol. 38, pp. 672 - 680, May, 2015
Building with Drones: Accurate 3D Facade Reconstruction using MAVs
Shreyansh Daftry, Christof Hoppe, and Horst Bischof
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3487 - 3494, May, 2015
Connected Invariant Sets for High-Speed Motion Planning in Partially-Known Environments
Daniel Althoff and Sebastian Scherer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3279 - 3285, May, 2015
Detecting and correcting model anomalies in subspaces of robot planning domains
Juan Pablo Mendoza, Manuela Veloso, and Reid Simmons
Conference Paper, Proceedings of International Conference on Autonomous Agents and MultiAgent Systems (AAMAS '15), pp. 1587 - 1595, May, 2015
Gaussian reconstruction of swarm behavior from partial data
Glenn Wagner and Howie Choset
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 5864 - 5870, May, 2015
High Level Visual Features for Underwater Place Recognition
Jie Li, Ryan Eustice, and M. Johnson-Roberson
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3652 - 3659, May, 2015
Incorporating Information from Trusted Sources to Enhance Urban Navigation for Blind Travelers
Byung-Cheol Min, Suryansh Saxena, Aaron Steinfeld, and M. Bernardine Dias
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 4511 - 4518, May, 2015
Learning models for following natural language directions in unknown environments
Sachithra Hemachandra, Felix Duvallet, Thomas M. Howard, Nicholas Roy, Anthony Stentz, and Matthew R. Walter
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 5608 - 5615, May, 2015
Modeling Rolling Gaits of a Snake Robot
Weikun Zhen, Chaohui Gong, and Howie Choset
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3741 - 3746, May, 2015
Operation of the ballbot on slopes and with center-of-mass offsets
Bhaskar Vaidya, Michael Shomin, Ralph Hollis, and George Kantor
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2383 - 2388, May, 2015
Pareto models for discriminative multiclass linear dimensionality reduction
K. Abou-Moustafa, F. De la Torre, and P. F. Ferrie
Journal Article, Pattern Recognition, Vol. 48, No. 5, pp. 1863 - 1877, May, 2015
Plan execution monitoring through detection of unmet expectations about action outcomes
Juan Pablo Mendoza, Manuela Veloso, and Reid Simmons
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3247 - 3252, May, 2015
Planning Routes of Continuous Illumination and Traversable Slope using Connected Component Analysis
Nathan D. Otten, Heather L. Jones, David S. Wettergreen, and William L. Whittaker
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3953 - 3958, May, 2015
Robust Spring Mass Model Running for a Physical Bipedal Robot
William Martin, Albert Wu, and Hartmut Geyer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 6307 - 6312, May, 2015
Sit-to-stand assistance with a balancing mobile robot
Michael Shomin, Jodi Forlizzi, and Ralph Hollis
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3795 - 3800, May, 2015
Six-stator spherical induction motor for balancing mobile robots
Ankit Bhatia, Masaaki Kumagai, and Ralph Hollis
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 226 - 231, May, 2015
The Artemis Jr. rover: Mobility Platform for lunar ISRU mission simulation
Ewan Reid, Peter Iles, Jason Muise, Nick Cristello, Brad Jones, Michele Faragalli, Peter Visscher, Dale Boucher, Vincent Simard-Bilodeau, Dimi Apostolopoulos, Paul Rocco, and Martin Picard
Journal Article, Advances in Space Research, Vol. 55, No. 10, pp. 2472 - 2483, May, 2015
Touch-down angle control for spring-mass walking
Hamid Reza Vejdani, Albert Wu, Hartmut Geyer, and Jonathan Hurst
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 5101 - 5106, May, 2015
Towards Learning Hierarchical Skills for Multi-Phase Manipulation Tasks
Oliver Kroemer, Christian Daniel, Gerhard Neumann, Herke van Hoof, and Jan Peters
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1503 - 1510, May, 2015
A General Framework for Open-Loop Pivoting
Anne Holladay, Robert Paolini, and Matthew T. Mason
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3675 - 3681, May, 2015
A General Technique for Fast Comprehensive Multi-Root Planning on Graphs by Coloring Vertices and Deferring Edges
Christopher Dellin and Siddhartha Srinivasa
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 5433 - 5440, May, 2015
A General‐purpose System for Teleoperation of the DRC‐HUBO Humanoid Robot
Matt Zucker, Sungmoon Joo, Michael X. Grey, Christopher Rasmussen, Eric Huang, Michael Stilman, and Aaron F. Bobick
Journal Article, Journal of Field Robotics: Special Issue: DARPA Robotics Challenge (DRC), pp. 336 - 351, May, 2015
Active Antenna Tracking System with Directional Antennas for Enhancing Wireless Communication Capabilities of a Networked Robotic System
Byung-Cheol Min, Eric T. Matson, and Jin-Woo Jung
Journal Article, Journal of Field Robotics, May, 2015
Batch Informed Trees (BIT*): Sampling-based Optimal Planning via the Heuristically Guided Search of Implicit Random Geometric Graphs
Jonathan Gammell, Siddhartha Srinivasa, and Timothy Barfoot
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3067 - 3074, May, 2015
Building 3D Mosaics from an Autonomous Underwater Vehicle, Doppler Velocity Log, and 2D Imaging Sonar
Paul Ozog, Giancarlo Troni, Michael Kaess, Ryan M. Eustice, and Matthew Johnson-Roberson
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1137 - 1143, May, 2015
Constraint Manifold Subsearch for multirobot path planning with cooperative tasks
Glenn Wagner, Jae Il Kim, Konrad Urban, and Howie Choset
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 6094 - 6100, May, 2015