Lab Papers (GRASP)
Papers from 2010
Learning Tractable Word Alignment Models with Complex Constraints, João V. Graça, Kuzman Ganchev, and Ben Taskar
Single Cell Manipulation using Ferromagnetic Composite Microtransporters, Mahmut Selman Sakar, Edward B. Steager, Dal Hyung Kim, Min Jun Kim, George J. Pappas, and Vijay Kumar
On the Time Complexity of Information Dissemination via Linear Iterative Strategies, Shreyas Sundaram and Christoforos N. Hadjicostis
Control of Quantized Multi-Agent Systems with Linear Nearest Neighbor Rules: A Finite Field Approach, Shreyas Sundaram and Christosforos N. Hadjicostis
Papers from 2009
Multi-vehicle path planning in dynamically changing environments, Ali Ahmadzadeh, Nader Motee, Ali Jadbabaie, and George J. Pappas
Target Enumeration via Euler Characteristic Integrals, Yury Baryshnikov and Robert Ghrist
Optimized Stochastic Policies for Task Allocation in Swarms of Robots, Spring Berman, Adam Halasz, M. Ani Hsieh, and Vijay Kumar
Learning from Ambiguously Labeled Images, Timothee Cour, Benjamin Sapp, Chris Jordan, and Ben Taskar
Discrete Mathematics, Some Notes, Jean H. Gallier
Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion, Kevin C. Galloway, Jonathan E. Clark, and Daniel E. Koditschek
Dependency Grammar Induction via Bitext Projection Constraints, Kuzman Ganchev, Jennifer Gillenwater, and Ben Taskar
Target Enumeration via Integration over Planar Sensor Networks, Robert Ghrist and Yuliy Barishnikov
March of the Sandbots, Daniel Goldman, Haldun Komsuoglu, and Daniel Koditschek
Gait Transitions for Quasi-Static Hexapedal Locomotion on Level Ground, Galen C. Haynes, Fred Cohen, and Daniel E. Koditschek
Rapid Pole Climbing with a Quadrupedal Robot, G C. Haynes, Alex Khripin, Goran Lynch, Jon Amory, Aaron Saunders, Alfred A. Rizzi, and Daniel E. Koditschek
Approximations of Stochastic Hybrid Systems, A Agung Julius and George J. Pappas
Trajectory Based Verification Using Local Finite-Time Invariance, A. Agung Julius and George J. Pappas
Harnessing bacterial power in microscale actuation, A. Agung Julius, M. Selman Sakar, Edward Steager, U Kei Cheang, MinJun Kim, Vijay Kumar, and George J. Pappas
Stochastic Modeling and Control of Biological Systems: The Lactose Regulation System of Escherichia Coli, Agung Julius, Ádám Halász, M Selman Sakar, Harvey Rubin, Vijay Kumar, and George J. Pappas
Genetic network identification using convex programming, A Julius, Michael Zavlanos, S Boyd, and George J. Pappas
Time-bounded Lattice for Efficient Planning in Dynamic Environments, Aleksandr Kushleyev and Maxim Likhachev
Sensitive dependence of the motion of a legged robot on granular media, Chen Li, P B. Umbanhowar, Haldun Komsuoglu, Daniel E. Koditschek, and Daniel Goldman
Path Clearance, Maxim Likhachev and Anthony Stentz
Control of Locomotion with Shape-Changing Wheels, Daniel Mellinger, Vijay Kumar, and Mark Yim
Maintaining Connectivity in Mobile Robot Networks, Nathan Michael, Michael M. Zavlanos, Vijay Kumar, and George J. Pappas
Vision-Based, Distributed Control Laws for Motion Coordination of Nonholonomic Robots, Nima Moshtagh, Nathan D. Michael, Ali Jadbabaie, and Kostas Daniilidis
Incremental Phi*: Incremental Any-Angle Path Planning on Grids, Alex Nash, Sven Koenig, and Maxim Likhachev
Joint covariate selection and joint subspace selection for multiple classification problems, Guillaume Obozinski, Ben Taskar, and Michael I. Jordan
Modeling and Analysis of Multi-hop Control Networks, Alur Rajeev, Alessandro D'Innocenzo, Karl H. Johansson, George James Pappas, and Gera Weiss
Toward tactilely transparent gloves: Collocated slip sensing and vibrotactile actuation, Joseph M. Romano, Steven R. Gray, Nathan T. Jacobs, and Katherine J. Kuchenbecker
Shape-based object recognition in videos using 3D synthetic object models, Alexander Toshev, Ameesh Makadia, and Kostas Daniilidis
Search-based Planning for a Legged Robot over Rough Terrain, Paul Vernaza, Maxim Likhachev, Subhrajit Bhattacharya, Sachin Chitta, Aleksandr Kushleyev, and Daniel D. Lee
A high fidelity ungrounded torque feedback device: The iTorqU 2.0, Kyle N. Winfree, Jamie E. Gewirtz, Thomas Mather, Jonathan Fiene, and Katherine J. Kuchenbecker
Papers from 2008
Elastic Multi-Particle Systems for Bounded-Curvature Path Planning, Ali Ahmadzadeh, Ali Jadbabaie, George J. Pappas, and Vijay Kumar
Determining interconnections in biochemical networks using linear programming, Elias August, Antonius Papachristodoulou, Ben Recht, Mark Roberts, and Ali Jadbabaie
Graph Cuts via l1 Norm Minimization, Arvind Bhusnurmath and Camillo J. Taylor
Robust and Scalable Transmission of Arbitrary 3D Models over Wireless Networks, Irene Wan Cheng, Lihang Ying, Kostas Daniilidis, and Anup Basu
Movie/Script: Alignment and Parsing of Video and Text Transcription, Timothee Cour, Chris Jordan, Eleni Miltsakaki, and Ben Taskar
A Reasoning Framework for Autonomous Urban Driving, Dave Ferguson, Christopher Baker, Maxim Likhachev, and John Dolan
Motion Planning in Urban Environments: Part I, Dave Ferguson, Thomas M. Howard, and Maxim Likhachev
Motion Planning in Urban Environments: Part II, Dave Ferguson, Thomas M. Howard, and Maxim Likhachev
Efficiently Using Cost Maps For Planning Complex Maneuvers, Dave Ferguson and Maxim Likhachev
Logarithms and Square Roots of Real Matrices, Jean H. Gallier
Multi-View Learning over Structured and Non-Identical Outputs, Kuzman Ganchev, Joao V. Graca, John Blitzer, and Ben Taskar
Better Alignments = Better Translations?, Kuzman Ganchev, Joao V. Graca, and Ben Taskar
BARCODES: THE PERSISTENT TOPOLOGY OF DATA, Robert Ghrist
Three examples of applied and computational homology, Robert Ghrist
From Discrete to Continuous and Back: Abstractions and Mesoscopic Phenomena in Cells, Ádám M. Halász, A. Agung Julius, George J. Pappas, and R. Vijay Kumar
Grassmann Discriminant Analysis: a Unifying View on Subspace-Based Learning, Jihun Hamm and Daniel D. Lee
Maintaining network connectivity and performance in robot teams, M. Ani Hsieh, Anthony Cowley, R. Vijay Kumar, and Camillo J. Taylor
Metabolic Networks Analysis using Convex Optimization, A. Agung Julius, Marcin Imielinski, and George J. Pappas
Probabilistic Testing for Stochastic Hybrid Systems, A. Agung Julius and George J. Pappas
Pareto optimal multi-robot coordination with acceleration constraints, Jae Bum Jung and Robert Ghrist
A Physical Model for Dynamical Arthropod Running on Level Ground, Haldun Komsuoglu, Kiwon Sohn, Robert J. Full, and Daniel E. Koditschek
Recycling controllers, Hadas Kress-Gazit, Nora Ayanian, George J. Pappas, and Vijay Kumar
Courteous Cars: Decentralized Multiagent Traffic Coordination, Hadas Kress-Gazit, David C. Connor, Howie Choset, Alfred A. Rizzi, and George J. Pappas
Automatically synthesizing a planning and control subsystem for the DARPA urban challenge, Hadas Kress-Gazit and George J. Pappas
Haptography: capturing the feel of real objects to enable authentic haptic rendering (invited paper), Katherine J. Kuchenbecker
The Touch Thimble: Providing Fingertip Contact Feedback During Point-Force Haptic Interaction, Katherine J. Kuchenbecker, David Ferguson, Michael Kutzer, Matthew Moses, and Allison M. Okamura
Planning Long Dynamically-Feasible Maneuvers For Autonomous Vehicles, Maxim Likhachev and Dave Ferguson
Anytime search in dynamic graphs, Maxim Likhachev, Dave Ferguson, Geoff Gordon, Anthony Stentz, and Sebastian Thrun
Information Value-Driven Approach to Path Clearance with Multiple Scout Robots, Maxim Likhachev and Anthony Stentz
Probabilistic Planning with Clear Preferences on Missing Information, Maxim Likhachev and Anthony Stentz
R* Search, Maxim Likhachev and Anthony Stentz
Density Functions for Navigation-Function-Based Systems, Savvas G. Loizou and Ali Jadbabaie
Steering laws for distributed motion coordination of kinematic agents in three dimensions, Nima Moshtagh and Ali Jadbabaie
Bearing-Only Control Laws For Balanced Circular, Nima Moshtagh, Nathan Michael, Ali Jadbabaie, and Kostas Daniilidis
Optimal Control of Spatially Distributed Systems, Nader Motee and Ali Jadbabaie
Effects of Delay on the Functionality of Large-scale Networks, Antonis Papachristodoulou and Ali Jadbabaie
Approximation of the joint spectral radius using sum of squares, Pablo A. Parillo and Ali Jadbabaie
Automatic Configuration Recognition Methods in Modular Robots, Michael Park, Sachin Chitta, Alex Teichman, and Mark Yim
Towards Testable Neuromechanical Control of Architectures for Running, Shai Revzen, Daniel E. Koditschek, and R J. Full
Topological Repairing of 3D Digital Images, Marcelo Siqueira, Longin Jan Latecki, Nicholas Tustisin, Jean H. Gallier, and James C. Gee
Construction of C∞ Surfaces from Triangular Meshes Using Parametric Pseudo-Manifolds, Marcelo Siqueira, Dianna Xu, and Jean H. Gallier
Integrating a Hierarchy of Simulation Tools for Legged Robot Locomotion, Andrew Slatton, Yang Ding, P B. Umbanhowar, Daniel Goldman, Galen C. Haynes, Haldun Komsuoglu, Daniel E. Koditschek, and Daniel Cohen
Biologically Inspired Climbing with a Hexapedal Robot, M. J. Spenko, G. C. Haynes, J. A. Sanders, M. R. Cutkosky, Alfred A. Rizzi, R. J. Full, and Daniel E. Koditschek
Approximate Reduction of Dynamical Systems, Paulo Tabuada, Aaron D. Ames, Agung Julius, and George J. Pappas
A Necessary and Sufficient Condition for Consensus Over Random Networks, Alireza Tahbaz-Salehi and Ali Jadbabaie
A Necessary and Sufficient Condition for Consensus Over Random Networks, Alireza Tahbaz-Salehi and Ali Jadbabaie
Distributed coverage verification in sensor networks without location information, Alireza Tahbaz-Salehi and Ali Jadbabaie
Distributed coverage verification in sensor networks without location information, Alireza Tahbaz-Salehi and Ali Jadbabaie
On the Optimal Assignment of Conference Papers to Reviewers, Camillo J. Taylor
Solving Image Registration Problems Using Interior Point Methods, Camillo J. Taylor and Arvind Bhusnurmath
Solving Stereo Matching Problems Using Interior Point Methods, Camillo J. Taylor and Arvind Bhusnurmath
Online, self-supervised terrain classification via discriminatively trained submodular Markov random fields, Paul Vernaza, Ben Taskar, and Daniel D. Lee
Identification of stable genetic networks using convex programming, Michael M. Zavlanos, A. Agung Julius, Stephen P. Boyd, and George J. Pappas
Distributed Connectivity Control of Mobile Networks, Michael M. Zavlanos and George J. Pappas
A Distributed Auction Algorithm for the Assignment Problem, Michael M. Zavlanos, Leonid Spesivtsev, and George J. Pappas
Distributed Topology Control of Dynamic Networks, Michael M. Zavlanos, Alireza Tahbaz-Salehi, Ali Jadbabaie, and George J. Pappas
Dynamic Assignment in Distributed Motion Planning With Local Coordination, Michael Zavlanos and George J. Pappas
Papers from 2007
Symbolic Control and Planning of Robotic Motion [Grand Challenges of Robotics], Calin Belta, Antonio Bicci, Magnus Egerstedt, Emilio Frazzoli, Eric Klavins, and George J. Pappas
Bio-Inspired Group Behaviors for the Deployment of a Swarm of Robots to Multiple Destinations, Spring Berman, Ádám Halász, R. Vijay Kumar, and Stephen Pratt
Solving the Graph Cut Problem via l1 Norm Minimization, Arvind Bhusnurmath and Camillo J. Taylor
Proprioceptive localization for a quadrupedal robot on known terrain, Sachin Chitta, Paul Vernaza, Roman Geykhman, and Daniel D. Lee
Robust Sampling for MITL Specifications, Georgios E. Fainekos and George J. Pappas
Clifford Algebras, Clifford Groups, and a Generalization of the Quaternions: The Pin and Spin Groups , Jean H. Gallier
Discrete Mathematics for Computer Science Some Notes, Jean H. Gallier
Notes on Convex Sets, Polytopes, Polyhedra, Combinatorial Topology, Voronoi Diagrams and Delaunay Triangulations, Jean H. Gallier
The Classification Theorem for Compact Surfaces and a Detour on Fractals, Jean H. Gallier
Approximate Bisimulation Relations for Constrained Linear Systems, Antoine Girard and George J. Pappas