Lab Papers (GRASP)
Papers from 2007
Approximation Metrics for Discrete and Continuous Systems, Antoine Girard and George J. Pappas
Robust Test Generation and Coverage for Hybrid Systems, Agung Julius, Georgios E. Fainekos, Madhukar Anand, Insup Lee, and George Pappas
Blind Sparse-nonnegative (BSN) Channel Identification for Acousitic Time-Difference-of-Arrival Estimation, Yuanqing Lin, Jingdong Chen, Youngmoo Kim, and Daniel D. Lee
Visual Servoing for Nonholonomically Constrained Three Degree of Freedom Kinematic Systems, Gabriel A.D. Lopes and Daniel E. Koditschek
Correspondenceless Structure from Motion, Ameesh Makadia, Christopher Geyer, and Kostas Daniilidis
Distributed Geodesic Control Laws for Flocking of Nonholonomic Agents, Nima Moshtagh and Ali Jadbabaie
Distributed Quadratic Programming over Arbitrary Graphs, Nader Motee and Ali Jadbabaie
Special Issue on the Grand Challenges of Robotics, James Ostrowski, Adriana Tapus, and Mark Yim
A Framework for Worst-Case and Stochastic Safety Verification Using Barrier Certificates, Stephen Prajna, Ali Jadbabaie, and George J. Pappas
Using Smart Cameras to Localize Self-Assembling Modular Robots, Babak Shirmohammadi, Camillo J. Taylor, Mark Yim, Jimmy Sastra, and Mike Park
Flocking in Fixed and Switching Networks, Herbert G. Tanner, Ali Jadbabaie, and George J. Pappas
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
Towards Robotic Self-reassembly After Explosion, Mark Yim, Babak Shirmohammadi, Jimmy Sastra, Michael Park, Michael Dugan, and Camillo J. Taylor
Potential Fields for Maintaining Connectivity of Mobile Networks, Michael M. Zavlanos and George J. Pappas
Papers from 2006
Unit & Dynamic Typing in Hybrid Systems Modeling with CHARON, Madhukar Anand, Insup Lee, George Pappas, and Oleg Sokolsky
Toward a Dynamic Vertical Climbing Robot, Jonathan E. Clark, Daniel I. Goldman, Tao S. Chen, Robert J. Full, and Daniel E. Koditschek
Room Impulse Response Estimation using Sparse Online Prediction and Absolute Loss, Koby Crammer and Daniel D. Lee
Special Section on Symbolic Methods for Complex Control Systems, Magnus B. Egerstedt, Emilio Fazzoli, and George J. Pappas
Temporal Logic Verification Using Simulation, Georgios E. Fainekos, Antoine Girard, and George J. Pappas
Cooperative Air and Ground Surveillance, Ben Grocholsky, James Keller, R. Vijay Kumar, and George J. Pappas
Learning a Manifold-Constrained Map between Image Sets: Applications to Matching and Pose Estimation, Jihun Ham, Ikkjin Ahn, and Daniel D. Lee
The Dynamics of Legged Locomotion: Models, Analyses, and Challenges, Philip Holmes, Robert J. Full, Daniel E. Koditschek, and John Guckenheimer
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
R-Charon, a Modeling Language for Reconfigurable Hybrid Systems , Fabian Kratz, Oleg Sokolsky, George Pappas, and Insup Lee
Bayesian L1-Norm Sparse Learning, Daniel D. Lee and Yuanqing Lin
High-Confidence Medical Device Software and Systems, Insup Lee, George J. Pappas, Rance Cleaveland, John Hatcliff, Bruce H. Krogh, Peter Lee, Harvey Rubin, and Lui Sha
Sensor Data Fusion for Body State Estimation in a Hexapod Robot With Dynamical Gaits, Pei-Chun Lin, Haldun Komsuoglu, and Daniel E. Koditschek
Density Functions for Navigation Function Based Systems, Savvas G. Loizou and Ali Jadbabaie
Weak Input-to-State Stability Properties for Navigation Function Based Controllers, Savvas G. Loizou and R. Vijay Kumar
Rotation Recovery from Spherical Images without Correspondences, Ameesh Makadia and Kostas Daniilidis
Dynamic Rolling for a Modular Loop Robot, Jimmy Sastra, Sachin Chitta, and Mark Yim
Linear Time Logic Control of Discrete-Time Linear Systems, Paulo Tabuada and George J. Pappas
Papers from 2005
Observability of Switched Linear Systems in Continuous Time, Mohamed Babaali and George J. Pappas
Discrete Abstractions for Robot Motion Planning and Control in Polygonal Environments, Calin Belta, Volkan Isler, and George J. Pappas
Controlling Swarms of Robots Using Interpolated Implicit Functions, Luiz Chaimowicz, Nathan D. Michael, and Vijay Kumar
Spectral Segmentation with Multiscale Graph Decomposition, Timothée Cour, Florence Bénézit, and Jianbo Shi
Steering of Discrete Event Systems: Control Theory Approach, Arvind Easwaran, Sampath Kannan, and Oleg Sokolsky
Hybrid Controllers for Path Planning: A Temporal Logic Approach, Geogios E. Fainekos, Hadas Kress-Gazit, and George J. Pappas
Temporal Logic Motion Planning for Mobile Robots, Geogios E. Fainekos, Hadas Kress-Gazit, and George J. Pappas
Approximate Bisimulation Relations for Constrained Linear Systems, Antoine Girard and George J. Pappas
Approximate Bisimulations for Nonlinear Dynamical Systems, Antoine Girard and George J. Pappas
Approximation Metrics for Discrete and Continuous Systems, Antoine Girard and George J. Pappas
Information Driven Coordinated Air-Ground Proactive Sensing, Ben Grocholsky, Rahul Swaminathan, James Keller, Vijay Kumar, and George J. Pappas
Bisimulation relations for dynamical, control, and hybrid systems, Esfandiar Haghverdi, Paulo Tabuada, and George J. Pappas
A Leg Configuration Measurement System for Full-Body Pose Estimates in a Hexapod Robot, Pei-Chun Lin, Haldun Komsuoglu, and Daniel E. Koditschek
Relevant Deconvolution For Acoustic Source Estimation, Yuanqing Lin and Daniel D. Lee
Correspondenceless Ego-Motion Estimation Using an IMU, Ameesh Makadia and Kostas Daniilidis
Radon-based Structure from Motion Without Correspondences, Ameesh Makadia, Christopher Geyer, Shankar Sastry, and Kostas Daniilidis
Planar Ego-Motion Without Correspondences, Ameesh Makadia, Dinkar Gupta, and Kostas Daniilidis
Usability Study of a Control Framework for an Intelligent Wheelchair, Sarangi P. Parikh, Valdir Grassi Jr, Vijay Kumar, and Jun Okamoto Jr
Planning and Control of Mobile Robots in Image Space from Overhead Cameras, Rahul S. Rao, Vijay Kumar, and Camillo J. Taylor
Hierarchical trajectory refinement for a class of nonlinear systems, Paulo Tabuada and George J. Pappas
Quotients of fully nonlinear control systems, Paulo Tabuada and George J. Pappas
Controlling Connectivity of Dynamic Graphs, Michael M. Zavlanos and George J. Pappas
Papers from 2004
Stability Analysis of Legged Locomotion Models by Symmetry-Factored Return Maps, Richard Altendorfer, Daniel E. Koditschek, and Philip Holmes
Optimal paths in weighted timed automata, Rajeev Alur, Salvatore La Torre, and George J. Pappas
Hybrid Modeling and Experimental Cooperative Control of Multiple Unmanned Aerial Vehicles, Selcuk Bayraktar, Georgios E. Fainekos, and George J. Pappas
Discrete Abstractions for Robot Motion Planning and Control in Polygonal Environments, Calin Belta, Volkan Isler, and George J. Pappas
Abstraction and Control for Groups of Robots, Calin Belta and R. Vijay Kumar
Experiments in Multirobot Air-Ground Coordination, Luiz Chaimowicz, Ben Grocholsky, James F. Keller, R. Vijay Kumar, and Camillo J. Taylor
A Mechanism for Dynamic Coordination of Multiple Robots, Luiz Chaimowicz, R. Vijay Kumar, and Mario F. M. Campos
Design and Gait Control of a Rollerblading Robot, Sachin Chitta, Frederik W. Heger, and R. Vijay Kumar
A Learnable Spectral Memory Graph for Recognition and Segmentation, Timothée Cour and Jianbo Shi
Distributed Sensor Databases for Multi-Robot Teams, Anthony Cowley, Hwa-Chow Hsu, and Camillo J. Taylor
Multiple Frame Motion Inference Using Belief Propagation, Jiang Gao and Jianbo Shi
Synergies in Feature Localization by Air-Ground Robot Teams, Ben Grocholsky, Selcuk Bayraktar, R. Vijay Kumar, Camillo J. Taylor, and George J. Pappas
A kernel view of the dimensionality reduction of manifolds, Ji Hun Ham, Daniel D. Lee, Sebastian Mika, and Bernhard Schölkopf
Constructing Radio Signal Strength Maps with Multiple Robots, Mong-ying A. Hsieh, R. Vijay Kumar, and Camillo J. Taylor
Hybrid Control for Visibility-Based Pursuit-Evasion Games, Volkan Isler, Calin Belta, Kostas Daniilidis, and George J. Pappas
VC-Dimension of Exterior Visibility, Volkan Isler, Sampath K. Kannan, Kostas Daniilidis, and Pavel Valtr
Feedback-Based Event-Driven Parts Moving, Cem Serkan Karagöz, H. Isil Bozma, and Daniel E. Koditschek
Toward a 6 DOF Body State Estimator for a Hexapod Robot with Dynamical Gaits, Pei-Chun Lin, Haldun Komsuoglu, and Daniel E. Koditschek
Bayesian Regularization and Nonnegative Deconvolution for Time Delay Estimation, Yuanqing Lin and Daniel D. Lee
Level Sets and Stable Manifold Approximations for Perceptually Driven Nonholonomically Constrained Navigation, Gabriel A. D. Lopes and Daniel E. Koditschek
Motion estimation using a spherical camera, Ameesh A. Makadia and Kostas Daniilidis
Stereo-Based Environment Scanning for Immersive Telepresence, Jane Mulligan, Xenophon Zabulis, Nikhil Kelshikar, and Kostas Daniilidis
Incorporating User Inputs in Motion Planning for a Smart Wheelchair, Sarangi P. Parikh, Valdir Grassi Jr., R. Vijay Kumar, and Jun Okamoto Jr.
Calibrating an Air-Ground Control System from Motion Correspondences, Rahul Rao, Camillo J. Taylor, and R. Vijay Kumar
Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot, Uluc Saranli, Alfred A. Rizzi, and Daniel E. Koditschek
Making 3D Binary Digital Images Well-Composed, Marcelo Siqueira, Longin Jan Latecki, and Jean Gallier
Platform-Independent Autonomy Modeling, Oleg Sokolsky and George J. Pappas
Design of Part Feeding and Assembly Processes with Dynamics, Peng Song, J. C. Trinkle, R. Vijay Kumar, and Jong-Shi Pang
Workspace delineation of cable-actuated parallel manipulators, Ethan Stump and R. Vijay Kumar
Bisimilar control affine systems, Paulo Tabuada and George J. Pappas
Compositional abstractions of hybrid control systems, Paulo Tabuada, George J. Pappas, and Pedro Lima
Leader-to-Formation Stability, Herbert G. Tanner, George J. Pappas, and R. Vijay Kumar
A Framework for the Coordination of Legged Robot Gaits, Joel D. Weingarten, Richard E. Groff, and Daniel E. Koditschek
Automated Gait Adaptation for Legged Robots, Joel D. Weingarten, Gabriel A. D. Lopes, Martin Buehler, Richard E. Groff, and Daniel E. Koditschek
Geometric Programming Relaxations for Linear System Reachability, Hakan Yazarel and George J. Pappas
Segmentation Given Partial Grouping Constraints, Stella X. Yu and Jianbo Shi
Formations of Localization of Robot Networks, Fan Zhang, Ben Grocholsky, and R. Vijay Kumar
Necessary and sufficient conditions for localization of multiple robot platforms, Fan Zhang, R. Vijay Kumar, and Guilherme A. S. Pereira
STAM: A System of Tracking and Mapping in Real Environments, Ying Zhang, Lee Ackerson, David Duff, Craig Eldershaw, and Mark Yim
Detecting Unusual Activity in Video, Hua Zhong, Jianbo Shi, and Mirko Visontai
Papers from 2003
Towards a factored analysis of legged locomotion models, Richard Altendorfer, Daniel E. Koditschek, and Philip Holmes
Hierarchical Modeling and Analysis of Embedded Systems, Rajeev Alur, Thao Dang, Joel Esposito, Yerang Hur, Franjo Ivancic, R. Vijay Kumar, Insup Lee, Pradyumna Mishra, George J. Pappas, and Oleg Sokolsky
Linear Pose Estimation from Points or Lines, Adnan Ansar and Kostas Daniilidis
Abstraction and Control for Groups of Fully-Actuated Planar Robots, Calin Belta and R. Vijay Kumar
ROCI: A Distributed Framework for Multi-Robot Perception and Control, Luiz Chaimowicz, Anthony Cowley, Vito Sabella, and Camillo J. Taylor
Dynamics and Generation of Gaits for a Planar Rollerblader, Sachin Chitta and R. Vijay Kumar