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.

Follow

Papers from 2009

PDF

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

PDF

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

PDF

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

PDF

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

Papers from 2008

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

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

PDF

BARCODES: THE PERSISTENT TOPOLOGY OF DATA, Robert Ghrist

PDF

Three examples of applied and computational homology, Robert Ghrist

PDF

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

PDF

Grassmann Discriminant Analysis: a Unifying View on Subspace-Based Learning, Jihun Hamm and Daniel D. Lee

PDF

Maintaining network connectivity and performance in robot teams, M. Ani Hsieh, Anthony Cowley, R. Vijay Kumar, and Camillo J. Taylor

PDF

Decentralized Controllers for Shape Generation with Robotic Swarms, Mong-Ying Ani Hsieh, Vijay Kumar, and Luiz Chaimowicz

PDF

Metabolic Networks Analysis using Convex Optimization, A. Agung Julius, Marcin Imielinski, and George J. Pappas

PDF

Probabilistic Testing for Stochastic Hybrid Systems, A. Agung Julius and George J. Pappas

PDF

Pareto optimal multi-robot coordination with acceleration constraints, Jae Bum Jung and Robert Ghrist

PDF

A Physical Model for Dynamical Arthropod Running on Level Ground, Haldun Komsuoglu, Kiwon Sohn, Robert J. Full, and Daniel E. Koditschek

PDF

Recycling controllers, Hadas Kress-Gazit, Nora Ayanian, George J. Pappas, and Vijay Kumar

PDF

Courteous Cars: Decentralized Multiagent Traffic Coordination, Hadas Kress-Gazit, David C. Connor, Howie Choset, Alfred A. Rizzi, and George J. Pappas

PDF

Automatically synthesizing a planning and control subsystem for the DARPA urban challenge, Hadas Kress-Gazit and George J. Pappas

PDF

Haptography: capturing the feel of real objects to enable authentic haptic rendering (invited paper), Katherine J. Kuchenbecker

PDF

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

PDF

Planning Long Dynamically-Feasible Maneuvers For Autonomous Vehicles, Maxim Likhachev and Dave Ferguson

PDF

Anytime search in dynamic graphs, Maxim Likhachev, Dave Ferguson, Geoff Gordon, Anthony Stentz, and Sebastian Thrun

PDF

Information Value-Driven Approach to Path Clearance with Multiple Scout Robots, Maxim Likhachev and Anthony Stentz

PDF

Probabilistic Planning with Clear Preferences on Missing Information, Maxim Likhachev and Anthony Stentz

PDF

R* Search, Maxim Likhachev and Anthony Stentz

PDF

Density Functions for Navigation-Function-Based Systems, Savvas G. Loizou and Ali Jadbabaie

PDF

Experimental Testbed for Large Multirobot Teams, Nathan Michael, Jonathan Fick, and Vijay Kumar

PDF

Experimental Testbed for Large Multirobot Teams, Nathan Michael, Jonathan Fink, and R. Vijay Kumar

PDF

Steering laws for distributed motion coordination of kinematic agents in three dimensions, Nima Moshtagh and Ali Jadbabaie

PDF

Bearing-Only Control Laws For Balanced Circular, Nima Moshtagh, Nathan Michael, Ali Jadbabaie, and Kostas Daniilidis

PDF

Optimal Control of Spatially Distributed Systems, Nader Motee and Ali Jadbabaie

PDF

Effects of Delay on the Functionality of Large-scale Networks, Antonis Papachristodoulou and Ali Jadbabaie

PDF

Approximation of the joint spectral radius using sum of squares, Pablo A. Parillo and Ali Jadbabaie

PDF

Automatic Configuration Recognition Methods in Modular Robots, Michael Park, Sachin Chitta, Alex Teichman, and Mark Yim

PDF

Towards Testable Neuromechanical Control of Architectures for Running, Shai Revzen, Daniel E. Koditschek, and R J. Full

PDF

Construction of C Surfaces From Triangular Meshes Using Parametric Pseudo-Manifolds, Marcelo Siqueira, Dianna Xu, and Jean H. Gallier

PDF

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

PDF

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

PDF

Approximate Reduction of Dynamical Systems, Paulo Tabuada, Aaron D. Ames, Agung Julius, and George J. Pappas

PDF

A Necessary and Sufficient Condition for Consensus Over Random Networks, Alireza Tahbaz-Salehi and Ali Jadbabaie

PDF

A Necessary and Sufficient Condition for Consensus Over Random Networks, Alireza Tahbaz-Salehi and Ali Jadbabaie

PDF

Distributed coverage verification in sensor networks without location information, Alireza Tahbaz-Salehi and Ali Jadbabaie

PDF

Distributed coverage verification in sensor networks without location information, Alireza Tahbaz-Salehi and Ali Jadbabaie

PDF

On the Optimal Assignment of Conference Papers to Reviewers, Camillo J. Taylor

PDF

Solving Image Registration Problems Using Interior Point Methods, Camillo J. Taylor and Arvind Bhusnurmath

PDF

Solving Stereo Matching Problems Using Interior Point Methods, Camillo J. Taylor and Arvind Bhusnurmath

PDF

Online, self-supervised terrain classification via discriminatively trained submodular Markov random fields, Paul Vernaza, Ben Taskar, and Daniel D. Lee

PDF

Identification of stable genetic networks using convex programming, Michael M. Zavlanos, A. Agung Julius, Stephen P. Boyd, and George J. Pappas

PDF

Distributed Connectivity Control of Mobile Networks, Michael M. Zavlanos and George J. Pappas

PDF

A Distributed Auction Algorithm for the Assignment Problem, Michael M. Zavlanos, Leonid Spesivtsev, and George J. Pappas

PDF

Distributed Topology Control of Dynamic Networks, Michael M. Zavlanos, Alireza Tahbaz-Salehi, Ali Jadbabaie, and George J. Pappas

PDF

Dynamic Assignment in Distributed Motion Planning With Local Coordination, Michael Zavlanos and George J. Pappas

Papers from 2007

PDF

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

PDF

Solving the Graph Cut Problem via l1 Norm Minimization, Arvind Bhusnurmath and Camillo J. Taylor

PDF

Heterogeneous Leg Stiffness and Roll in Dynamic Running, Samuel Burden, Jonathan Clark, Joel Weingarten, Haldun Komsuoglu, and Daniel E. Koditschek

PDF

Proprioceptive localization for a quadrupedal robot on known terrain, Sachin Chitta, Paul Vernaza, Roman Geykhman, and Daniel D. Lee

PDF

Robust Sampling for MITL Specifications, Georgios E. Fainekos and George J. Pappas

PDF

Shaping Event-Based Haptic Transients Via an Improved Understanding of Real Contact Dynamics, Jonathan P. Fiene and Katherine J. Kuchenbecker

PDF

Discrete Mathematics for Computer Science Some Notes, Jean H. Gallier

PDF

The Classification Theorem for Compact Surfaces and a Detour on Fractals, Jean H. Gallier

PDF

DESIGN OF A MULTI-DIRECTIONAL VARIABLE STIFFNESS LEG FOR DYNAMIC RUNNING, Kevin C. Galloway, Jonathan E. Clark, and Daniel E. Koditschek

PDF

Approximate Bisimulation Relations for Constrained Linear Systems, Antoine Girard and George J. Pappas

PDF

Stabilization of Multiple Robots on Stable Orbits via Local Sensing, Mong-Ying A. Hsieh, Savvas Loizou, and R. Vijay Kumar

PDF

Controlling Biological Systems: The Lactose Regulation System of Escherichia Coli, Anak Agung Julius, Ádam Halasz, Vijay Kumar, and George Pappas

PDF

Effects of Visual and Proprioceptive Motion Feedback on Human Control of Targeted Movement, Katherine J. Kuchenbecker, Netta Gurari, and Allison M. Okamura

PDF

Quantifying the Value of Visual and Haptic Position Feedback During Force-Based Motion Control, Katherine J. Kuchenbecker, Netta Gurari, and Allison M. Okamura

PDF

Blind Sparse-nonnegative (BSN) Channel Identification for Acousitic Time-Difference-of-Arrival Estimation, Yuanqing Lin, Jingdong Chen, Youngmoo Kim, and Daniel D. Lee

PDF

Visual Servoing for Nonholonomically Constrained Three Degree of Freedom Kinematic Systems, Gabriel A.D. Lopes and Daniel E. Koditschek

PDF

Distributed Geodesic Control Laws for Flocking of Nonholonomic Agents, Nima Moshtagh and Ali Jadbabaie

PDF

Distributed Quadratic Programming over Arbitrary Graphs, Nader Motee and Ali Jadbabaie

PDF

Special Issue on the Grand Challenges of Robotics, James Ostrowski, Adriana Tapus, and Mark Yim

PDF

Integrating Human Inputs with Autonomous Behaviors on an Intelligent Wheelchair Platform, Saranghi P. Parikh, Valdir Grassi Jr., R. Vijay Kumar, and Jun Okamoto Jr.

PDF

A Framework for Worst-Case and Stochastic Safety Verification Using Barrier Certificates, Stephen Prajna, Ali Jadbabaie, and George J. Pappas

PDF

Multiplicative Updates for Nonnegative Quadratic Programming, Fei Sha, Yuanqing Lin, Lawrence K. Saul, and Daniel D. Lee

PDF

Flocking in Fixed and Switching Networks, Herbert G. Tanner, Ali Jadbabaie, and George J. Pappas

PDF

Robotics as the Delivery Vehicle: A contexualized, social, self paced, engineering education for life-long learners, Joel D. Weingarten, Daniel E. Koditschek, Haldun Komsuoglu, and Chris Massey

PDF

Towards Robotic Self-reassembly After Explosion, Mark Yim, Babak Shirmohammadi, Jimmy Sastra, Michael Park, Michael Dugan, and Camillo J. Taylor

PDF

Potential Fields for Maintaining Connectivity of Mobile Networks, Michael M. Zavlanos and George J. Pappas

Papers from 2006

PDF

Toward a Dynamic Vertical Climbing Robot, Jonathan E. Clark, Daniel I. Goldman, Tao S. Chen, Robert J. Full, and Daniel E. Koditschek

PDF

Room Impulse Response Estimation using Sparse Online Prediction and Absolute Loss, Koby Crammer and Daniel D. Lee

PDF

Special Section on Symbolic Methods for Complex Control Systems, Magnus B. Egerstedt, Emilio Fazzoli, and George J. Pappas

PDF

Cooperative Air and Ground Surveillance, Ben Grocholsky, James Keller, R. Vijay Kumar, and George J. Pappas

PDF

Cooperative Air and Ground Survaillance, Ben Grocholsky, James Keller, Vijay Kumar, and George J. Pappas

PDF

Learning a Manifold-Constrained Map between Image Sets: Applications to Matching and Pose Estimation, Jihun Ham, Ikkjin Ahn, and Daniel D. Lee

PDF

The Dynamics of Legged Locomotion: Models, Analyses, and Challenges, Philip Holmes, Robert J. Full, Daniel E. Koditschek, and John Guckenheimer

PDF

Finite state abstraction of a stochastic model of the lactose regulation system of Escherichia coli, Agung Julius, Ádám Halász, R. Vijay Kumar, and George J. Pappas

PDF

Sampling-Based Algorithm for Testing and Validating Robot Controllers, Jongwoo Kim, Joel M. Esposito, and R. Vijay Kumar

PDF

Improving Telerobotic Touch Via High-Frequency Acceleration Matching, Katherine J. Kuchenbecker and Günter Niemeyer

PDF

Modeling Induced Master Motion in Force-Reflecting Teleoperation, Katherine J. Kuchenbecker and Günter Niemeyer