Lab Papers (GRASP)
Papers from 2003
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
Omnidirectional video, Christopher M. Geyer and Kostas Daniilidis
A Simply Stabilized Running Model, R. M. Ghigliazza, Richard Altendorfer, Philip Holmes, and Daniel E. Koditschek
A Local Convergence Proof for the Minvar Algorithm for Computing Continuous Piecewise Linear Approximations, Richard E. Groff, Pramod P. Khargonekar, and Daniel E. Koditschek
Using policy gradient reinforcement learning on autonomous robot controllers, Gregory Z. Grudic, R. Vijay Kumar, and Lyle H. Ungar
Learning High Dimensional Correspondences from Low Dimensional Manifolds, Ji Hun Ham, Daniel D. Lee, and Lawrence K. Saul
Local Exploration: Online Algorithms and a Probabilistic Framework, Volkan Isler, Sampath K. Kannan, and Kostas Daniilidis
Target Tracking with Distributed Sensors: The Focus of Attention Problem, Volkan Isler, John Spletzer, Sanjeev Khanna, and Camillo J. Taylor
Target Tracking with Distributed Sensors: The Focus of Attention Problem, Volkan Isler, John R. Spletzer, Sanjeev Khanna, and Camillo J. Taylor
Coordination of Groups of Mobile Autonomous Agents Using Nearest Neighbor Rules, Ali Jadbabaie, Jie Lin, and A. Stephen Morse
On the Coordinated Navigation of Multiple Independent Disk-Shaped Robots, Cem Serkan Karagöz, H. Isil Bozma, and Daniel E. Koditschek
Design and Verification of Controllers for Airships, Jongwoo Kim, James Keller, and R. Vijay Kumar
A leg configuration sensory system for dynamical body state estimates in a hexapod robot, Pei-Chun Lin, Haldun Komsuoglu, and Daniel E. Koditschek
Closed Loop Navigation for Mobile Agents in Dynamic Environments, Savvas G. Loizou, Herbert G. Tanner, R. Vijay Kumar, and Kostas J. Kyriakopoulos
Visual Registration and Navigation using Planar Features, Gabriel A. D. Lopes and Daniel E. Koditschek
Human Robot Interaction and Usability Studies for a Smart Wheelchair, Sarangi P. Parikh, Rahul Rao, Sang-Hack Jung, R. Vijay Kumar, James P. Ostrowski, and Camillo J. Taylor
Decentralized motion planning for multiple robots subject to sensing and communication constraints, Guilherme A. S. Pereira, Aveek K. Das, R. Vijay Kumar, and Mario F. M. Campos
Formation Control with Configuration Space Constraints, Guilherme A. S. Pereira, Aveek K. Das, R. Vijay Kumar, and Mario F. M. Campos
Localization and Tracking in Robot Networks, Guilherme A. S. Pereira, R. Vijay Kumar, and Mario F. M. Campos
Decentralized Algorithms for Multirobot Manipulation via Caging, Guilherme A.S. Pereira, R. Vijay Kumar, and Mario F.M. Campos
Visual Servoing of a UGV from a UAV using Differential Flatness, Rahul Rao, R. Vijay Kumar, and Camillo J. Taylor
Statistical signal processing with nonnegativity constraints, Lawrence K. Saul, Fei Sha, and Daniel D. Lee
Multiplicative Updates for Large Margin Classifiers, Fei Sha, Lawrence K. Saul, and Daniel D. Lee
A Bounded Uncertainty Approach to Multi-Robot Localization, John R. Spletzer and Camillo J. Taylor
Abstractions of Hamiltonian control systems, Paulo Tabuada and George J. Pappas
Finite Bisimulations of Controllable Linear Systems, Paulo Tabuada and George J. Pappas
From Discrete Specifications to Hybrid Control, Paulo Tabuada and George J. Pappas
From Nonlinear to Hamiltonian via Feedback, Paulo Tabuada and George J. Pappas
Hierarchical Trajectory Generation for a Class of Nonlinear Systems, Paulo Tabuada and George J. Pappas
Model checking LTL over controllable linear systems is decidable, Paulo Tabuada and George J. Pappas
Stable Flocking of Mobile Agents, Part I: Fixed Topology, Herbert G. Tanner, Ali Jadbabaie, and George J. Pappas
Stable Flocking of Mobile Agents, Part II: Dynamic Topology, Herbert G. Tanner, Ali Jadbabaie, and George J. Pappas
Abstractions of Constrained Linear Systems, Herbert G. Tanner and George J. Pappas
Hybrid Zero Dynamics of Planar Biped Walkers, E. R. Westervelt, J. W. Grizzle, and Daniel E. Koditschek
Cooperative Control for Localization of Mobile Sensor Networks, Fan Zhang, Ben Grocholsky, R. Vijay Kumar, and Max L. Mintz
Papers from 2002
Modeling and Analyzing Biomolecular Networks, Rajeev Alur, Calin Belta, R. Vijay Kumar, Max L. Mintz, George J. Pappas, Harvey Rubin, and Jonathan Schug
A Framework and Architecture for Multirobot Coordination, Rajeev Alur, Aveek J. Das, Joel Esposito, Rafael Fierro, Gregory Grudic, Yerang Hur, R. Vijay Kumar, Insup Lee, James Ostrowski, George J. Pappas, B. Southall, John R. Spletzer, and Camillo J. Taylor
Control of Multi-Affine Systems on Rectangles with Applications to Hybrid Biomolecular Networks, Calin Belta, Luc C.G.J.M. Habets, and R. Vijay Kumar
An SVD-Based Projection Method for Interpolation on SE(3), Calin Belta and R. Vijay Kumar
Motion generation for groups of robots: a centralized, geometric approach, Calin Belta and R. Vijay Kumar
Trajectory design for formations of robots by kinetic energy shaping, Calin Belta and R. Vijay Kumar
Dynamic Role Assignment for Cooperative Robots, Luiz Chaimowicz, Mario F. M. Campos, and R. Vijay Kumar
Mobile robot for uneven terrain, Kenneth Chin, Robert Breslawski, Terry Kientz, and R. Vijay Kumar
Silhouette-based Human Identification from Body Shape and Gait, Robert T. Collins, Ralph Gross, and Jianbo Shi
Visual Servoing via Navigation Functions, Noah J. Cowan, Daniel E. Koditschek, and Joel D. Weingarten
A Vision-Based Formation Control Framework, Aveek K. Das, Rafael Fierro, R. Vijay Kumar, James P. Ostrowski, John Spletzer, and Camillo J. Taylor
Ad Hoc Networks for Localization and Control, Aveek K. Das, John R. Spletzer, R. Vijay Kumar, and Camillo J. Taylor
Paracatadioptric Camera Calibration, Christopher Geyer and Kostas Daniilidis
Properties of the Catadioptric Fundamental Matrix, Christopher Geyer and Kostas Daniilidis
Safe Cooperative Robot Dynamics on Graphs, Robert W. Ghrist and Daniel E. Koditschek
A Globally Stabilizing Receding Horizon Controller for Neutrally Stable Linear Systems with Input Constraints, Ali Jadbabaie, Claudio De Persis, and Tae-Woong Yoon
EDAR - mobile robot for parts moving based on a game-theoretic approach, Cem Serkan Karagöz, H. Isil Bozma, and Daniel E. Koditschek
The Role of Reflexes Versus Central Pattern Generators, Eric Klavins, Haldun Komsuoglu, Robrt J. Full, and Daniel E. Koditschek
Flying Hot Potatoes, Pradyumna Mishra and George J. Pappas
Trinocular Stereo: A Real-Time Algorithm and its Evaluation, Jane Mulligan, Volkan Isler, and Kostas Daniilidis
Consistent Abstractions of Affine Control Systems, George J. Pappas and Slobodan Simic
Sensor based door navigation for a nonholonomic vehicle, Sarangi Patel, Sang-Hack Jung, James P. Ostrowski, Rahul Rao, and Camillo J. Taylor
Human Robot Interaction: Application to Smart Wheelchairs, Rahul Rao, K. Conn, Sang-Hack Jung, J. Katupitiya, Terry L. Kientz, R. Vijay Kumar, James P. Ostrowski, Sarangi Patel, and Camillo J. Taylor
Back Flips with a Hexapedal Robot, Uluc Saranli and Daniel E. Koditschek
Real time voice processing with audiovisual feedback : toward autonomous agents with perfect pitch, Lawrence K. Saul, Daniel D. Lee, Charles L. Isbell, and Yann LeCun
Multiplicative updates for nonnegative quadratic programming in support vector machines, Fei Sha, Lawrence K. Saul, and Daniel D. Lee
A Potential Field Based Approach to Multi-Robot Manipulation, Peng Song and R. Vijay Kumar
Sensor Planning and Control in a Dynamic Environment, John R. Spletzer and Camillo J. Taylor
Control of Cooperating Mobile Manipulators, Thomas G. Sugar and R. Vijay Kumar
Design and Control of a Compliant Parallel Manipulator, Thomas G. Sugar and R. Vijay Kumar
Bisimilar Control Affine Systems, Paulo Tabuada and George J. Pappas
Discrete synchronization of hybrid systems, Paulo Tabuada and George J. Pappas
From Nonlinear to Hamiltonian via Feedback, Paulo Tabuada and George J. Pappas
Composing Abstractions of Hybrid Systems, Paulo Tabuada, George J. Pappas, and Pedro Lima
The Effect of Feedback and Feedforward on Formation ISS, Herbert G. Tanner, R. Vijay Kumar, and George J. Pappas
Input-to-state Stability on Formation Graphs, Herbert G. Tanner, George J. Pappas, and R. Vijay Kumar
Simulation relations for discrete-time linear systems, Herbert Tanner and George J. Pappas
VideoPlus: A Method for Capturing the Structure and Appearance of Immersive Environments, Camillo J. Taylor
Object Closure and Manipulation by Multiple Cooperating Mobile Robots, Zhidong Wang and R. Vijay Kumar
Oriented Structure of the Occlusion Distortion: Is It Reliable?, Weichuan Yu, Gerald Sommer, Steven Beauchemin, and Kostas Daniilidis
A Geometric Approach to the Study of the Cartesian Stiffness Matrix, Milos Zefran and R. Vijay Kumar
Papers from 2001
Multispectral Skin Color Modelling, Elli Angelopoulou, Rana Molana, and Kostas Daniilidis
Motion generation for formations of robots: a geometric approach, Calin Belta and R. Vijay Kumar
Stability and reachability analysis of a hybrid model of luminescence in the marine bacterium Vibrio fischeri, Calin Belta, Jonathan Schug, Thao Dang, R. Vijay Kumar, George J. Pappas, Harvey Rubin, and Paul Dunlap
Assembly as a noncooperative game of its pieces: analysis of 1D sphere assemblies, H. Isil Bozma and Daniel E. Koditschek
Surface Representations Using Spherical Harmonics and Gabor Wavelets on the Sphere, Thomas Bülow and Kostas Daniilidis
Compression of Stereo Disparity Streams Using Wavelets and Optical Flow, Thomas Bülow, Jane Mulligan, Geraud de Bonnafos, Alexandre Chibane, and Kostas Daniilidis
Empirical validation of a new visual servoing strategy, Noah J. Cowan, Joel D. Weingarten, and Daniel E. Koditschek
Real-Time Vision-Based Control of a Nonholonomic Mobile Robot, Aveek K. Das, Rafael Fierro, R. Vijay Kumar, B. Southall, John R. Spletzer, and Camillo J. Taylor
Modeling and Control of Formations of Nonholonomic Mobile Robots, Jaydev P. Desai, James P. Ostrowski, and R. Vijay Kumar
Multi-Agent Hybrid System Simulation, Joel Esposito, R. Vijay Kumar, and George J. Pappas
On Controlling Aircraft Formations, Rafael Fierro, Calin Belta, Jaydev P. Desai, and R. Vijay Kumar
Hybrid Control of Formations of Robots, Rafael Fierro, Aveek K. Das, R. Vijay Kumar, and James P. Ostrowski
A Framework for Scalable Cooperative Navigation of Autonomous Vehicles, Rafael Fierro, Peng Song, Aveek K. Das, and R. Vijay Kumar
Catadioptric Projective Geometry, Christopher Geyer and Kostas Daniilidis
Structure and Motion from Uncalibrated Catadioptric Views, Christopher Geyer and Kostas Daniilidis
Structure and Motion from Uncalibrated Catadioptric Views, Christopher Geyer and Kostas Daniilidis
VC-Dimension of Exterior Visibility of Polyhedra, Volkan Isler, Sampath Kannan, and Kostas Daniilidis
On the stability of unconstrained receding horizon control with a general terminal cost, Ali Jadbabaie and John Hauser
Unconstrained Receding-Horizon Control of Nonlinear Systems, Ali Jadbabaie, Jie Yu, and John Hauser
Reconstruction of Linearly Parameterized Models from Single Images with a Camera of Unknown Focal Length, David Jelinek and Camillo J. Taylor
Camera Trajectory Estimation using Inertial Sensor Measurements and Structure fom Motion Results, Sang-Hack Jung and Camillo J. Taylor
Stability of Coupled Hybrid Oscillators, Eric Klavins and Daniel E. Koditschek
Toward the Regulation and Composition of Cyclic Behaviors, Eric Klavins, Daniel E. Koditschek, and Robert W. Ghrist
Preliminary Analysis of a Biologically Inspired 1-DOF "Clock" Stabilized Hopper, Haldun Komsuoglu and Daniel E. Koditschek