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 2007

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Robust Test Generation and Coverage for Hybrid Systems, Agung Julius, Georgios E. Fainekos, Madhukar Anand, Insup Lee, and George Pappas

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

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

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Correspondenceless Structure from Motion, Ameesh Makadia, Christopher Geyer, and Kostas Daniilidis

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

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

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

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

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Using Smart Cameras to Localize Self-Assembling Modular Robots, Babak Shirmohammadi, Camillo J. Taylor, Mark Yim, Jimmy Sastra, and Mike Park

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

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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

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

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

Papers from 2006

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Unit & Dynamic Typing in Hybrid Systems Modeling with CHARON, Madhukar Anand, Insup Lee, George Pappas, and Oleg Sokolsky

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

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

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

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Temporal Logic Verification Using Simulation, Georgios E. Fainekos, Antoine Girard, and George J. Pappas

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

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

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

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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

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R-Charon, a Modeling Language for Reconfigurable Hybrid Systems , Fabian Kratz, Oleg Sokolsky, George Pappas, and Insup Lee

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Bayesian L1-Norm Sparse Learning, Daniel D. Lee and Yuanqing Lin

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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

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Sensor Data Fusion for Body State Estimation in a Hexapod Robot With Dynamical Gaits, Pei-Chun Lin, Haldun Komsuoglu, and Daniel E. Koditschek

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

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Weak Input-to-State Stability Properties for Navigation Function Based Controllers, Savvas G. Loizou and R. Vijay Kumar

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Rotation Recovery from Spherical Images without Correspondences, Ameesh Makadia and Kostas Daniilidis

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Dynamic Rolling for a Modular Loop Robot, Jimmy Sastra, Sachin Chitta, and Mark Yim

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Linear Time Logic Control of Discrete-Time Linear Systems, Paulo Tabuada and George J. Pappas

Papers from 2005

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Observability of Switched Linear Systems in Continuous Time, Mohamed Babaali and George J. Pappas

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Discrete Abstractions for Robot Motion Planning and Control in Polygonal Environments, Calin Belta, Volkan Isler, and George J. Pappas

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Controlling Swarms of Robots Using Interpolated Implicit Functions, Luiz Chaimowicz, Nathan D. Michael, and Vijay Kumar

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Spectral Segmentation with Multiscale Graph Decomposition, Timothée Cour, Florence Bénézit, and Jianbo Shi

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Steering of Discrete Event Systems: Control Theory Approach, Arvind Easwaran, Sampath Kannan, and Oleg Sokolsky

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Hybrid Controllers for Path Planning: A Temporal Logic Approach, Geogios E. Fainekos, Hadas Kress-Gazit, and George J. Pappas

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Temporal Logic Motion Planning for Mobile Robots, Geogios E. Fainekos, Hadas Kress-Gazit, and George J. Pappas

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

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Approximate Bisimulations for Nonlinear Dynamical Systems, Antoine Girard and George J. Pappas

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Approximation Metrics for Discrete and Continuous Systems, Antoine Girard and George J. Pappas

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Information Driven Coordinated Air-Ground Proactive Sensing, Ben Grocholsky, Rahul Swaminathan, James Keller, Vijay Kumar, and George J. Pappas

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Bisimulation relations for dynamical, control, and hybrid systems, Esfandiar Haghverdi, Paulo Tabuada, and George J. Pappas

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A Leg Configuration Measurement System for Full-Body Pose Estimates in a Hexapod Robot, Pei-Chun Lin, Haldun Komsuoglu, and Daniel E. Koditschek

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Relevant Deconvolution For Acoustic Source Estimation, Yuanqing Lin and Daniel D. Lee

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Correspondenceless Ego-Motion Estimation Using an IMU, Ameesh Makadia and Kostas Daniilidis

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Radon-based Structure from Motion Without Correspondences, Ameesh Makadia, Christopher Geyer, Shankar Sastry, and Kostas Daniilidis

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Planar Ego-Motion Without Correspondences, Ameesh Makadia, Dinkar Gupta, and Kostas Daniilidis

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Usability Study of a Control Framework for an Intelligent Wheelchair, Sarangi P. Parikh, Valdir Grassi Jr, Vijay Kumar, and Jun Okamoto Jr

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Planning and Control of Mobile Robots in Image Space from Overhead Cameras, Rahul S. Rao, Vijay Kumar, and Camillo J. Taylor

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Hierarchical trajectory refinement for a class of nonlinear systems, Paulo Tabuada and George J. Pappas

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Quotients of fully nonlinear control systems, Paulo Tabuada and George J. Pappas

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Controlling Connectivity of Dynamic Graphs, Michael M. Zavlanos and George J. Pappas

Papers from 2004

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Stability Analysis of Legged Locomotion Models by Symmetry-Factored Return Maps, Richard Altendorfer, Daniel E. Koditschek, and Philip Holmes

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Optimal paths in weighted timed automata, Rajeev Alur, Salvatore La Torre, and George J. Pappas

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Hybrid Modeling and Experimental Cooperative Control of Multiple Unmanned Aerial Vehicles, Selcuk Bayraktar, Georgios E. Fainekos, and George J. Pappas

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Discrete Abstractions for Robot Motion Planning and Control in Polygonal Environments, Calin Belta, Volkan Isler, and George J. Pappas

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Abstraction and Control for Groups of Robots, Calin Belta and R. Vijay Kumar

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Experiments in Multirobot Air-Ground Coordination, Luiz Chaimowicz, Ben Grocholsky, James F. Keller, R. Vijay Kumar, and Camillo J. Taylor

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A Mechanism for Dynamic Coordination of Multiple Robots, Luiz Chaimowicz, R. Vijay Kumar, and Mario F. M. Campos

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Design and Gait Control of a Rollerblading Robot, Sachin Chitta, Frederik W. Heger, and R. Vijay Kumar

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A Learnable Spectral Memory Graph for Recognition and Segmentation, Timothée Cour and Jianbo Shi

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Distributed Sensor Databases for Multi-Robot Teams, Anthony Cowley, Hwa-Chow Hsu, and Camillo J. Taylor

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Multiple Frame Motion Inference Using Belief Propagation, Jiang Gao and Jianbo Shi

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Synergies in Feature Localization by Air-Ground Robot Teams, Ben Grocholsky, Selcuk Bayraktar, R. Vijay Kumar, Camillo J. Taylor, and George J. Pappas

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A kernel view of the dimensionality reduction of manifolds, Ji Hun Ham, Daniel D. Lee, Sebastian Mika, and Bernhard Schölkopf

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Constructing Radio Signal Strength Maps with Multiple Robots, Mong-ying A. Hsieh, R. Vijay Kumar, and Camillo J. Taylor

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Hybrid Control for Visibility-Based Pursuit-Evasion Games, Volkan Isler, Calin Belta, Kostas Daniilidis, and George J. Pappas

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VC-Dimension of Exterior Visibility, Volkan Isler, Sampath K. Kannan, Kostas Daniilidis, and Pavel Valtr

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Feedback-Based Event-Driven Parts Moving, Cem Serkan Karagöz, H. Isil Bozma, and Daniel E. Koditschek

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Toward a 6 DOF Body State Estimator for a Hexapod Robot with Dynamical Gaits, Pei-Chun Lin, Haldun Komsuoglu, and Daniel E. Koditschek

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Bayesian Regularization and Nonnegative Deconvolution for Time Delay Estimation, Yuanqing Lin and Daniel D. Lee

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Level Sets and Stable Manifold Approximations for Perceptually Driven Nonholonomically Constrained Navigation, Gabriel A. D. Lopes and Daniel E. Koditschek

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Motion estimation using a spherical camera, Ameesh A. Makadia and Kostas Daniilidis

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Stereo-Based Environment Scanning for Immersive Telepresence, Jane Mulligan, Xenophon Zabulis, Nikhil Kelshikar, and Kostas Daniilidis

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Incorporating User Inputs in Motion Planning for a Smart Wheelchair, Sarangi P. Parikh, Valdir Grassi Jr., R. Vijay Kumar, and Jun Okamoto Jr.

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Calibrating an Air-Ground Control System from Motion Correspondences, Rahul Rao, Camillo J. Taylor, and R. Vijay Kumar

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Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot, Uluc Saranli, Alfred A. Rizzi, and Daniel E. Koditschek

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Making 3D Binary Digital Images Well-Composed, Marcelo Siqueira, Longin Jan Latecki, and Jean Gallier

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Platform-Independent Autonomy Modeling, Oleg Sokolsky and George J. Pappas

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Design of Part Feeding and Assembly Processes with Dynamics, Peng Song, J. C. Trinkle, R. Vijay Kumar, and Jong-Shi Pang

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Workspace delineation of cable-actuated parallel manipulators, Ethan Stump and R. Vijay Kumar

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Bisimilar control affine systems, Paulo Tabuada and George J. Pappas

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Compositional abstractions of hybrid control systems, Paulo Tabuada, George J. Pappas, and Pedro Lima

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Leader-to-Formation Stability, Herbert G. Tanner, George J. Pappas, and R. Vijay Kumar

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A Framework for the Coordination of Legged Robot Gaits, Joel D. Weingarten, Richard E. Groff, and Daniel E. Koditschek

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Automated Gait Adaptation for Legged Robots, Joel D. Weingarten, Gabriel A. D. Lopes, Martin Buehler, Richard E. Groff, and Daniel E. Koditschek

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Geometric Programming Relaxations for Linear System Reachability, Hakan Yazarel and George J. Pappas

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Segmentation Given Partial Grouping Constraints, Stella X. Yu and Jianbo Shi

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Formations of Localization of Robot Networks, Fan Zhang, Ben Grocholsky, and R. Vijay Kumar

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Necessary and sufficient conditions for localization of multiple robot platforms, Fan Zhang, R. Vijay Kumar, and Guilherme A. S. Pereira

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STAM: A System of Tracking and Mapping in Real Environments, Ying Zhang, Lee Ackerson, David Duff, Craig Eldershaw, and Mark Yim

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Detecting Unusual Activity in Video, Hua Zhong, Jianbo Shi, and Mirko Visontai

Papers from 2003

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Towards a factored analysis of legged locomotion models, Richard Altendorfer, Daniel E. Koditschek, and Philip Holmes

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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

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Linear Pose Estimation from Points or Lines, Adnan Ansar and Kostas Daniilidis

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Abstraction and Control for Groups of Fully-Actuated Planar Robots, Calin Belta and R. Vijay Kumar

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ROCI: A Distributed Framework for Multi-Robot Perception and Control, Luiz Chaimowicz, Anthony Cowley, Vito Sabella, and Camillo J. Taylor

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Dynamics and Generation of Gaits for a Planar Rollerblader, Sachin Chitta and R. Vijay Kumar

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Distributed Search and Rescue with Robot and Sensor Teams, Aveek K. Das, George Kantor, R. Vijay Kumar, Guilherme A. S. Pereira, Ron Peterson, Daniela Rus, Sanjiv Singh, and John Spletzer