Lab Papers (GRASP)

 
The General Robotics, Automation, Sensing and Perception (GRASP) Lab is a multidisciplinary research laboratory at the University of Pennsylvania. Founded in 1979, the lab has grown to be one of the premier research labs focusing on fundamental research in robotics, vision, perception, control and automation.

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Papers from 2014

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Navigation of Distinct Euclidean Particles via Hierarchical Clustering, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek

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A Recursive, Distributed Minimum Spanning Tree Algorithm for Mobile Ad Hoc Networks, Omur Arslan and Daniel E. Koditschek

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The Penn Haptic Texture Toolkit for Modeling, Rendering, and Evaluating Haptic Virtual Textures, Heather Culbertson, Juan Jose Lopez Delgado, and Katherine J. Kuchenbecker

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Active Sensing for Dynamic, Non-holonomic, Robust Visual Servoing, Avik De, Karl S. Bayer, and Daniel E. Koditschek

Papers from 2013

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Toward Dynamical Sensor Management for Reactive Wall-following, Avik De and Daniel Koditschek

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Convergence of Bayesian Histogram Filters for Location Estimation, Avik De, Alejandro Ribeiro, William Moran, and Daniel E. Koditschek

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Clifford Algebras, Clifford Groups, and a Generalization of the Quaternions: The Pin and Spin Groups, Jean H. Gallier

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Notes on Convex Sets, Polytopes, Polyhedra, Combinatorial Topology, Voronoi Diagrams and Delaunay Triangulations, Jean H. Gallier

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Variable Stiffness Legs for Robust, Efficient, and Stable Dynamic Running, Kevin C. Galloway, Jonathan E. Clark, and Daniel E. Koditschek

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Legged Self-Manipulation, Aaron Johnson and Daniel E. Koditschek

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Free-Standing Leaping Experiments with a Power-Autonomous, Elastic-Spined Quadruped, Jason L. Pusey, Jeffrey M. Duperret, G. Clark Haynes, Ryan Knopf, and D. E. Koditschek

Papers from 2012

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Hierarchically Clustered Navigation of Distinct Euclidean Partlces, Omur Arslan, Dan P. Guralnik, Yuliy M. Baryshnikov, and Daniel E. Koditschek

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Refined Methods for Creating Realistic Haptic Virtual Textures from Tool-Mediated Contact Acceleration Data, Heather Culbertson, Joseph M. Romano, Pablo Castillo, Max Mintz, and Katherine J. Kuchenbecker

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Consensus Over Martingale Graph Processes, Arastoo Fazeli and Ali Jadbabaie

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Duopoly Pricing Game in Networks With Local Coordination Effects, Arastoo Fazeli and Ali Jadbabaie

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Game Theoretic Analysis of a Strategic Model of Competitive Contagion and Product Adoption in Social Networks, Arastoo Fazeli and Ali Jadbabaie

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Targeted Marketing and Seeding Products with Positive Externality, Arastoo Fazeli and Ali Jadbabaie

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Toward a Memory Model for Autonomous Topological Mapping and Navigation: the Case of Binary Sensors and Discrete Actions, Dan P. Guralnik and Daniel E. Koditschek

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Laboratory on Legs: An Architechture for Adjustable Morphology with Legged Robots, G. Clark Haynes, Jason Pusey, Ryan Knopf, Aaron M. Johnson, and Daniel E. Koditschek

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Standing Self-Manipulation for a Legged Robot, Aaron M. Johnson, G. Clark Haynes, and Daniel E. Koditschek

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Tail Assisted Dynamic Self Righting, Aaron M. Johnson, Thomas Libby, Evan Chang-Siu, Masayoshi Tomizuka, Robert J. Full, and Daniel E. Koditschek

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Spectral Subtraction of Robot Motion Noise for Improved Event Detection in Tactile Acceleration Signals, Katherine J. Kuchenbecker and William McMahan

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Recreating the Feel of the Human Chest in a CPR Manikin via Programmable Pneumatic Damping, Katherine J. Kuchenbecker, Andrew A. Stanley, Simon K. Healey, and Matthew R. Maltese

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HALO: Haptic Alerts for Low-hanging Obstacles in White Cane Navigation, Katherine J. Kuchenbecker and Yunqing Wang

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Towards a terramechanics for bio-in spired locomotion in granular environments, Chen Li, Yang Ding, Ryan D. Maladen, Andrew Masse, Paul B. Umbanhowar, Haldun Kimsuoglu, Daniel Koditschek, and Daniel I. Goldman

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A Bioinspired Dynamical Vertical Climbing Robot, Goran A. Lynch, Jonathan E. Clark, Pei-Chun Lei, and Daniel E. Koditschek

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Multi-agent Flocking With Random Communication Radius, Samuel Martin, Arastoo Fazeli, Ali Jadbabaie, and Antoine Girard

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Time-triggered Implementations of Dynamic Controllers, Truong X. Nghiem, George J. Pappas, Rajeev Alur, and Antoine Girard

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Dynamical Trajectory Replanning for Uncertain Environments, Shai Revzen, B. Deniz Ilhan, and Daniel Koditschek

Papers from 2011

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Motor Sizing for Legged Robots Using Dynamic Task Specification, Avik De, Goran Lynch, Aaron Johnson, and Daniel E. Koditschek

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On Consensus in a Correlated Model of Network Formation Based on a Polya Urn Process, Arastoo Fazeli and Ali Jadbabaie

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Experimental Investigations into the Role of Passive Variable Compliant Legs for Dynamic Robot Locomotion, Kevin C. Galloway, Jonathan E. Clark, Mark Yim, and Daniel E. Koditschek

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Multistable Phase Regulation for Robust Steady and Transitional Legged Gaits, G. C. Haynes, Alfred A. Rizzi, and Daniel E. Koditschek

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Autonomous Legged Hill and Stairwell Ascent, Aaron M. Johnson, Matthew T. Hale, G. C. Haynes, and Daniel E. Koditschek

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Lessons in Using Vibrotactile Feedback to Guide Fast Arm Motions, Katherine J. Kuchenbecker, Karlin Bark, Preeya Khanna, Rikki Irwin, Pulkit Kapur, Steven A. Jax, and Laurel J. Buxbaum

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Haptically Assisted Golf Putting Through a Planar Four-Cable System, Katherine J. Kuchenbecker, Peter Y. Huang, Jacquelyn A. Kunkel, and Jordan Brindza

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Haptography: Capturing and Recreating the Rich Feel of Real Surfaces, Katherine J. Kuchenbecker, Joseph Romano, and William McMahan

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Design of Body-Grounded Tactile Actuators for Playback of Human Physical Contact, Katherine J. Kuchenbecker and Andrew A. Stanley

Papers from 2010

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Optimal Robust Multihop Routing for Wireless Networks of Mobile Micro Autonomous Systems, Jonathan Fink, Alejandro Ribeiro, Vijay Kumar, and Brian M. Sadler

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Learning Tractable Word Alignment Models with Complex Constraints, João V. Graça, Kuzman Ganchev, and Ben Taskar

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On the Comparative Analysis of Locomotory Systems with Vertical Travel, G. C. Haynes and Daniel E. Koditschek

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Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots, Aaron M. Johnson, Galen Clark Haynes, and Daniel E. Koditschek

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Spatially Distributed Tactile Feedback for Kinesthetic Motion Guidance, Pulkit Kapur, Mallory Jensen, Laurel J. Buxbaum, Steven A. Jax, and Katherine J. Kuchenbecker

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Characterization of Dynamic Behaviors in a Hexapod Robot, Haldun Komsuoglu, Anirudha Majumdar, Yasemin Aydin, and Daniel E. Koditschek

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VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery, Katherine J. Kuchenbecker, Jamie Gewirtz, William McMahan, Dorsey Standish, Pierre J. Mendoza, and David I. Lee

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Dimensional Reduction of High-Frequencey Accelerations for Haptic Rendering, Katherine J. Kuchenbecker, William McMahan, Nils Landin, and Joseph M. Romano

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Automatic Filter Design for Synthesis of Haptic Textures from Recorded Acceleration Data, Katherine J. Kuchenbecker, Takashi Yoshioka, and Joseph M. Romano

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Geometric Programming and Mechanism Design for Air Traffic Conflict Resolution, Jerome Le Ny and George J. Pappas

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Sprawl Angle in Simplified Models of Vertical Climbing: Implications for Robots and Roaches, Goran A. Lynch, Lawrence Rome, and Daniel E. Koditschek

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High Frequency Acceleration Feedback Significantly Increases the Realism of Haptically Rendered Textured Surfaces, William McMahan, Joseph M. Romano, Amal M. Abdul Rahuman, and Katherine J. Kuchenbecker

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Variance Analysis of Randomized Consensus in Switching Directed Networks, Victor M. Preciado, Alireza Tahbaz-Salehi, and Ali Jadbabaie

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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

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On the Time Complexity of Information Dissemination via Linear Iterative Strategies, Shreyas Sundaram and Christoforos N. Hadjicostis

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Control of Quantized Multi-Agent Systems with Linear Nearest Neighbor Rules: A Finite Field Approach, Shreyas Sundaram and Christosforos N. Hadjicostis

Papers from 2009

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Multi-vehicle path planning in dynamically changing environments, Ali Ahmadzadeh, Nader Motee, Ali Jadbabaie, and George J. Pappas

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Target Enumeration via Euler Characteristic Integrals, Yury Baryshnikov and Robert Ghrist

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Optimized Stochastic Policies for Task Allocation in Swarms of Robots, Spring Berman, Adam Halasz, M. Ani Hsieh, and Vijay Kumar

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Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion, Kevin C. Galloway, Jonathan E. Clark, and Daniel E. Koditschek

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Dependency Grammar Induction via Bitext Projection Constraints, Kuzman Ganchev, Jennifer Gillenwater, and Ben Taskar

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Target Enumeration via Integration over Planar Sensor Networks, Robert Ghrist and Yuliy Barishnikov

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March of the Sandbots, Daniel Goldman, Haldun Komsuoglu, and Daniel Koditschek

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Stiffness Discrimination with Visual and Proprioceptive Cues, Netta Gurari, Katherine J. Kuchenbecker, and Allison M. Okamura

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Gait Transitions for Quasi-Static Hexapedal Locomotion on Level Ground, Galen C. Haynes, Fred Cohen, and Daniel E. Koditschek

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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

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Approximations of Stochastic Hybrid Systems, A Agung Julius and George J. Pappas

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Trajectory Based Verification Using Local Finite-Time Invariance, A. Agung Julius and George J. Pappas

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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

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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

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Genetic network identification using convex programming, A Julius, Michael Zavlanos, S Boyd, and George J. Pappas

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Dynamic Legged Mobility---an Overview, Haldun Komsuoglu

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Time-bounded Lattice for Efficient Planning in Dynamic Environments, Aleksandr Kushleyev and Maxim Likhachev

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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

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Path Clearance, Maxim Likhachev and Anthony Stentz

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A Self-Exciting Controller for High-Speed Vertical Running, Goran A. Lynch, Jonathan E. Clark, and Daniel E. Koditschek

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Haptic Displayof Realistic Tool Contact via Dynamically Compensated Control of a Dedicated Actuator, William McMahan and Katherine J. Kuchenbecker

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Control of Locomotion with Shape-Changing Wheels, Daniel Mellinger, Vijay Kumar, and Mark Yim

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Maintaining Connectivity in Mobile Robot Networks, Nathan Michael, Michael M. Zavlanos, Vijay Kumar, and George J. Pappas

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Vision-Based, Distributed Control Laws for Motion Coordination of Nonholonomic Robots, Nima Moshtagh, Nathan D. Michael, Ali Jadbabaie, and Kostas Daniilidis

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Incremental Phi*: Incremental Any-Angle Path Planning on Grids, Alex Nash, Sven Koenig, and Maxim Likhachev

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Joint covariate selection and joint subspace selection for multiple classification problems, Guillaume Obozinski, Ben Taskar, and Michael I. Jordan

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Modeling and Analysis of Multi-hop Control Networks, Alur Rajeev, Alessandro D'Innocenzo, Karl H. Johansson, George James Pappas, and Gera Weiss

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Toward tactilely transparent gloves: Collocated slip sensing and vibrotactile actuation, Joseph M. Romano, Steven R. Gray, Nathan T. Jacobs, and Katherine J. Kuchenbecker

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The AirWand: Design and Characterization of a Large-Workspace Haptic Device, Joseph M. Romano and Katherine J. Kuchenbecker

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Shape-based object recognition in videos using 3D synthetic object models, Alexander Toshev, Ameesh Makadia, and Kostas Daniilidis

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Search-based Planning for a Legged Robot over Rough Terrain, Paul Vernaza, Maxim Likhachev, Subhrajit Bhattacharya, Sachin Chitta, Aleksandr Kushleyev, and Daniel D. Lee

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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

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GPU Methods for Real-Time Haptic Interaction with 3D Fluids, Meng Yang, Jingwan Lu, Alla Safonova, and Katherine J. Kuchenbecker

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A Distributed Dynamical Scheme for Fastest Mixing Markov Chains, Michael M. Zavlanos, Daniel E. Koditschek, and George J. Pappas

Papers from 2008

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Elastic Multi-Particle Systems for Bounded-Curvature Path Planning, Ali Ahmadzadeh, Ali Jadbabaie, George J. Pappas, and Vijay Kumar

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Determining interconnections in biochemical networks using linear programming, Elias August, Antonius Papachristodoulou, Ben Recht, Mark Roberts, and Ali Jadbabaie

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Graph Cuts via l1 Norm Minimization, Arvind Bhusnurmath and Camillo J. Taylor

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Effects of Proprioceptive Motion Feedback on Sighted and Non-Sighted Control of a Virtual Hand Prosthesis, Amy Blank, Allison M. Okamura, and Katherine J. Kuchenbecker

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Movie/Script: Alignment and Parsing of Video and Text Transcription, Timothee Cour, Chris Jordan, Eleni Miltsakaki, and Ben Taskar

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A Reasoning Framework for Autonomous Urban Driving, Dave Ferguson, Christopher Baker, Maxim Likhachev, and John Dolan

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Motion Planning in Urban Environments: Part I, Dave Ferguson, Thomas M. Howard, and Maxim Likhachev

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Motion Planning in Urban Environments: Part II, Dave Ferguson, Thomas M. Howard, and Maxim Likhachev

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Efficiently Using Cost Maps For Planning Complex Maneuvers, Dave Ferguson and Maxim Likhachev

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Logarithms and Square Roots of Real Matrices, Jean H. Gallier

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Multi-View Learning over Structured and Non-Identical Outputs, Kuzman Ganchev, Joao V. Graca, John Blitzer, and Ben Taskar

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Better Alignments = Better Translations?, Kuzman Ganchev, Joao V. Graca, and Ben Taskar