Publications




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
Construction and Validation of a High Fidelity Simulator for a Planar Range Sensor
Abhijeet Tallavajhula and Alonzo Kelly
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 6261 - 6266, May, 2015
Data-Driven Model for Spontaneous Smiles
Laura C. Trutoiu, Nancy Pollard, Jeffrey F. Cohn, and Jessica K. Hodgins
Conference Paper, Proceedings of 28th International Conference on Computer Animation and Social Agents (CASA '15), May, 2015
Dense 3D Face Alignment from 2D Videos in Real-Time
Laszlo A. Jeni, Jeffrey F. Cohn, and Takeo Kanade
Conference Paper, Proceedings of 11th IEEE International Conference and Workshops on Automatic Face & Gesture Recognition (FG '15), May, 2015
Distributed constraint optimization for teams of mobile sensing agents
Roi Zivan, H. Yeditsion, Steven Okamoto, Robin Glinton, and Katia Sycara
Journal Article, Autonomous Agents and Multi-Agent Systems, Vol. 29, No. 3, pp. 495 - 536, May, 2015
Dynamic Multi-Heuristic A*
Fahad Islam, Venkatraman Narayanan, and Maxim Likhachev
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2376 - 2382, May, 2015
Efficient high-quality motion planning by fast all-pairs r-nearest-neighbors
Michal Kleinbort, Oren Salzman, and Dan Halperin
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 2985 - 2990, May, 2015
Emergency Maneuver Library – Ensuring Safe Navigation in Partially Known Environments
Sankalp Arora, Sanjiban Choudhury, Daniel Althoff, and Sebastian Scherer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 6431 - 6438, May, 2015
Environment Model Adaptation for Autonomous Exploration
Erik Nelson
Master's Thesis, Tech. Report, CMU-RI-TR-15-12, Robotics Institute, Carnegie Mellon University, May, 2015
Experience Graphs: Leveraging Experience in Planning
Michael Phillips
PhD Thesis, Tech. Report, Robotics Institute, Carnegie Mellon University, May, 2015
Fast Function to Function Regression
J. Oliva, W. Neiswanger, B. Poczos, E. Xing, and J. Schneider
Conference Paper, Proceedings of 18th International Conference on Artificial Intelligence and Statistics (AISTATS '15), Vol. 38, pp. 717 - 725, May, 2015
Grounding Spatial Relations for Outdoor Robot Navigation
Abdeslam Boularias, Felix Duvallet, Jean Hyaejin Oh, and Anthony (Tony) Stentz
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1976 - 1982, May, 2015
Handheld Micromanipulator for Robot-Assisted Microsurgery
Sungwook Yang
PhD Thesis, Tech. Report, CMU-RI-TR-15-11, Robotics Institute, Carnegie Mellon University, May, 2015
How much training data for facial action unit detection?
Jeffrey M. Girard, Jeffrey F. Cohn, Laszlo A. Jeni, Simon Lucey, and Fernando De la Torre
Conference Paper, Proceedings of 11th IEEE International Conference and Workshops on Automatic Face & Gesture Recognition (FG '15), May, 2015
Improving regrasp algorithms to analyze the utility of work surfaces in a workcell
Weiwei Wan, Matthew T. Mason, R. Fukui, and Y. Kuniyoshi
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 4326 - 4333, May, 2015
IntraFace
Fernando De la Torre Frade, Wen-Sheng Chu, Xuehan Xiong, Francisco Vicente Carrasco, Xiaoyu Ding, and Jeffrey Cohn
Workshop Paper, FG '15 Workshops, May, 2015
Kinodynamic Randomized Rearrangement Planning via Dynamic Transitions Between Statically Stable States
Joshua Haustein, Jennifer King, Siddhartha Srinivasa, and Tamim Asfour
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3075 - 3082, May, 2015
Measurement of Shear and Slip with a GelSight Tactile Sensor
Wenzhen Yuan, Rui Li, Mandayam A. Srinivasan, and Edward H. Adelson
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 304 - 311, May, 2015