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 2005

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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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Event-Based Haptics and Acceleration Matching: Portraying and Assessing the Realism of Contact, Katherine J. Kuchenbecker, Jonathan P. Fiene, and Günter Niemeyer

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Robot and Sensor Networks for First Responders, Vijay Kumar, Daniela Rus, and Sanjiv Singh

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

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Distributed Geodesic Control Laws for Flocking of Nonholonomic Agents, Nima Moshtoagh, Ali Jadbabaie, and Kostas Daniilidis

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Convergence of Time-Stepping Method For Initial and Boundary-Value Frictional Compliant Contact Problems, Jong-Shi Pang, Vijay Kumar, and Peng Song

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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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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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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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Legged Odometry from Body Pose in a Hexapod Robot, Pei-Chun Lin, Haldun Komsuoglu, and D. 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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Nonnegative deconvolution for time of arrival estimation, Yuanqing Lin, Daniel D. Lee, and Lawrence K. Saul

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

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Multi-point Contact Models for Dynamic Self-Righting of a Hexapod Robot, U. Saranli, A. A. Rizzi, and D. 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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A Semi-Implicit Time-Stepping Model For Frictional Compliant Contact Problems, Peng Song, Jong-Shi Pang, and R. Vijay Kumar

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

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

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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

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A Simply Stabilized Running Model, R. M. Ghigliazza, Richard Altendorfer, Philip Holmes, and Daniel E. Koditschek

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A Local Convergence Proof for the Minvar Algorithm for Computing Continuous Piecewise Linear Approximations, Richard E. Groff, Pramod P. Khargonekar, and Daniel E. Koditschek

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Using policy gradient reinforcement learning on autonomous robot controllers, Gregory Z. Grudic, R. Vijay Kumar, and Lyle H. Ungar

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Learning High Dimensional Correspondences from Low Dimensional Manifolds, Ji Hun Ham, Daniel D. Lee, and Lawrence K. Saul

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Target Tracking With Distributed Sensors: The Focus of Attention Problem, Volkan Isler, John Spletzer, Sanjeev Khanna, and Camillo J. Taylor

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Coordination of Groups of Mobile Autonomous Agents Using Nearest Neighbor Rules, Ali Jadbabaie, Jie Lin, and A. Stephen Morse

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On the Coordinated Navigation of Multiple Independent Disk-Shaped Robots, Cem Serkan Karagöz, H. Isil Bozma, and Daniel E. Koditschek

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Design and Verification of Controllers for Airships, Jongwoo Kim, James Keller, and R. Vijay Kumar

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A leg configuration sensory system for dynamical body state estimates in a hexapod robot, Pei-Chun Lin, Haldun Komsuoglu, and Daniel E. Koditschek

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Closed Loop Navigation for Mobile Agents in Dynamic Environments, Savvas G. Loizou, Herbert G. Tanner, R. Vijay Kumar, and Kostas J. Kyriakopoulos

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Visual Registration and Navigation using Planar Features, Gabriel A. D. Lopes and Daniel E. Koditschek

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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

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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

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Formation Control with Configuration Space Constraints, Guilherme A. S. Pereira, Aveek K. Das, R. Vijay Kumar, and Mario F. M. Campos

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Localization and Tracking in Robot Networks, Guilherme A. S. Pereira, R. Vijay Kumar, and Mario F. M. Campos

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Decentralized Algorithms for Multirobot Manipulation via Caging, Guilherme A.S. Pereira, R. Vijay Kumar, and Mario F.M. Campos

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Visual Servoing of a UGV from a UAV using Differential Flatness, Rahul Rao, R. Vijay Kumar, and Camillo J. Taylor

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Template Based Control of Hexapedal Running, Uluc Saranli and Daniel E. Koditschek

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Statistical signal processing with nonnegativity constraints, Lawrence K. Saul, Fei Sha, and Daniel D. Lee

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Abstractions of Hamiltonian control systems, Paulo Tabuada and George J. Pappas

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Finite Bisimulations of Controllable Linear Systems, Paulo Tabuada and George J. Pappas

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From Discrete Specifications to Hybrid Control, Paulo Tabuada and George J. Pappas

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From Nonlinear to Hamiltonian via Feedback, Paulo Tabuada and George J. Pappas

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Hierarchical Trajectory Generation for a Class of Nonlinear Systems, Paulo Tabuada and George J. Pappas

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Model checking LTL over controllable linear systems is decidable, Paulo Tabuada and George J. Pappas

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Stable Flocking of Mobile Agents, Part I: Fixed Topology, Herbert G. Tanner, Ali Jadbabaie, and George J. Pappas

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Stable Flocking of Mobile Agents, Part II: Dynamic Topology, Herbert G. Tanner, Ali Jadbabaie, and George J. Pappas

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Abstractions of Constrained Linear Systems, Herbert G. Tanner and George J. Pappas

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Hybrid Zero Dynamics of Planar Biped Walkers, E. R. Westervelt, J. W. Grizzle, and Daniel E. Koditschek

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Cooperative Control for Localization of Mobile Sensor Networks, Fan Zhang, Ben Grocholsky, R. Vijay Kumar, and Max L. Mintz

Papers from 2002

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Exploiting Passive Stability for Hierarchical Control, R. Altendorfer, R. M. Ghigliazza, P. Holmes, and D. E. Koditschek

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Modeling and Analyzing Biomolecular Networks, Rajeev Alur, Calin Belta, Vijay Kumar, Max Mintz, George J. Pappas, Harvey Rubin, and Jonathan Schug

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Euclidean metrics for motion generation on SE(3), Calin Andrei Belta and R. Vijay Kumar

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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

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An SVD-Based Projection Method for Interpolation on SE(3), Calin Belta and R. Vijay Kumar

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Motion generation for groups of robots: a centralized, geometric approach, Calin Belta and R. Vijay Kumar

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Trajectory design for formations of robots by kinetic energy shaping, Calin Belta and R. Vijay Kumar

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An SVD-Based Projection Method for Interpolation on SE(3), Calin Belta and Vijay Kumar

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Dynamic Role Assignment for Cooperative Robots, Luiz Chaimowicz, Mario F. M. Campos, and R. Vijay Kumar

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Mobile robot for uneven terrain, Kenneth Chin, Robert Breslawski, Terry Kientz, and R. Vijay Kumar

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Visual Servoing via Navigation Functions, Noah J. Cowan, Daniel E. Koditschek, and Joel D. Weingarten

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A Vision-Based Formation Control Framework, Aveek K. Das, Rafael Fierro, R. Vijay Kumar, James P. Ostrowski, John Spletzer, and Camillo J. Taylor

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A Vision-Based Formation Control Framework, Aveek K. Das, Rafael Fierro, Vijay Kumar, James P. Ostrowski, John Spletzer, and Camillo J. Taylor

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Ad Hoc Networks for Localization and Control, Aveek K. Das, John R. Spletzer, R. Vijay Kumar, and Camillo J. Taylor

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A Method for Modifying Closed-Loop Motion Plans to Satisfy Unpredictable Dynamic Constraints at Runtime, Joel M. Esposito and R. Vijay Kumar

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Safe Cooperative Robot Dynamics on Graphs, Robert W. Ghrist and Daniel E. Koditschek