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 2003

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Omnidirectional video, Christopher M. Geyer and Kostas Daniilidis

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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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Local Exploration: Online Algorithms and a Probabilistic Framework, Volkan Isler, Sampath K. Kannan, and Kostas Daniilidis

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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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Target Tracking with Distributed Sensors: The Focus of Attention Problem, Volkan Isler, John R. 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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Statistical signal processing with nonnegativity constraints, Lawrence K. Saul, Fei Sha, and Daniel D. Lee

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Multiplicative Updates for Large Margin Classifiers, Fei Sha, Lawrence K. Saul, and Daniel D. Lee

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A Bounded Uncertainty Approach to Multi-Robot Localization, John R. Spletzer and Camillo J. Taylor

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

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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

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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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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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Silhouette-based Human Identification from Body Shape and Gait, Robert T. Collins, Ralph Gross, and Jianbo Shi

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

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Paracatadioptric Camera Calibration, Christopher Geyer and Kostas Daniilidis

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Properties of the Catadioptric Fundamental Matrix, Christopher Geyer and Kostas Daniilidis

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

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A Globally Stabilizing Receding Horizon Controller for Neutrally Stable Linear Systems with Input Constraints, Ali Jadbabaie, Claudio De Persis, and Tae-Woong Yoon

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EDAR - mobile robot for parts moving based on a game-theoretic approach, Cem Serkan Karagöz, H. Isil Bozma, and Daniel E. Koditschek

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The Role of Reflexes Versus Central Pattern Generators, Eric Klavins, Haldun Komsuoglu, Robrt J. Full, and Daniel E. Koditschek

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Flying Hot Potatoes, Pradyumna Mishra and George J. Pappas

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Trinocular Stereo: A Real-Time Algorithm and its Evaluation, Jane Mulligan, Volkan Isler, and Kostas Daniilidis

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Consistent Abstractions of Affine Control Systems, George J. Pappas and Slobodan Simic

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Sensor based door navigation for a nonholonomic vehicle, Sarangi Patel, Sang-Hack Jung, James P. Ostrowski, Rahul Rao, and Camillo J. Taylor

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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

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Back Flips with a Hexapedal Robot, Uluc Saranli and Daniel E. Koditschek

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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

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Multiplicative updates for nonnegative quadratic programming in support vector machines, Fei Sha, Lawrence K. Saul, and Daniel D. Lee

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A Potential Field Based Approach to Multi-Robot Manipulation, Peng Song and R. Vijay Kumar

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Sensor Planning and Control in a Dynamic Environment, John R. Spletzer and Camillo J. Taylor

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Control of Cooperating Mobile Manipulators, Thomas G. Sugar and R. Vijay Kumar

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Design and Control of a Compliant Parallel Manipulator, Thomas G. Sugar and R. Vijay Kumar

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Bisimilar Control Affine Systems, Paulo Tabuada and George J. Pappas

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Discrete synchronization of hybrid systems, 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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Composing Abstractions of Hybrid Systems, Paulo Tabuada, George J. Pappas, and Pedro Lima

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The Effect of Feedback and Feedforward on Formation ISS, Herbert G. Tanner, R. Vijay Kumar, and George J. Pappas

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Input-to-state Stability on Formation Graphs, Herbert G. Tanner, George J. Pappas, and R. Vijay Kumar

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Simulation relations for discrete-time linear systems, Herbert Tanner and George J. Pappas

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VideoPlus: A Method for Capturing the Structure and Appearance of Immersive Environments, Camillo J. Taylor

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Object Closure and Manipulation by Multiple Cooperating Mobile Robots, Zhidong Wang and R. Vijay Kumar

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Oriented Structure of the Occlusion Distortion: Is It Reliable?, Weichuan Yu, Gerald Sommer, Steven Beauchemin, and Kostas Daniilidis

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A Geometric Approach to the Study of the Cartesian Stiffness Matrix, Milos Zefran and R. Vijay Kumar

Papers from 2001

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Multispectral Skin Color Modelling, Elli Angelopoulou, Rana Molana, and Kostas Daniilidis

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

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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

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Assembly as a noncooperative game of its pieces: analysis of 1D sphere assemblies, H. Isil Bozma and Daniel E. Koditschek

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Surface Representations Using Spherical Harmonics and Gabor Wavelets on the Sphere, Thomas Bülow and Kostas Daniilidis

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Compression of Stereo Disparity Streams Using Wavelets and Optical Flow, Thomas Bülow, Jane Mulligan, Geraud de Bonnafos, Alexandre Chibane, and Kostas Daniilidis

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Empirical validation of a new visual servoing strategy, Noah J. Cowan, Joel D. Weingarten, and Daniel E. Koditschek

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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

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Modeling and Control of Formations of Nonholonomic Mobile Robots, Jaydev P. Desai, James P. Ostrowski, and R. Vijay Kumar

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Multi-Agent Hybrid System Simulation, Joel Esposito, R. Vijay Kumar, and George J. Pappas

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On Controlling Aircraft Formations, Rafael Fierro, Calin Belta, Jaydev P. Desai, and R. Vijay Kumar

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Hybrid Control of Formations of Robots, Rafael Fierro, Aveek K. Das, R. Vijay Kumar, and James P. Ostrowski

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A Framework for Scalable Cooperative Navigation of Autonomous Vehicles, Rafael Fierro, Peng Song, Aveek K. Das, and R. Vijay Kumar

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Catadioptric Projective Geometry, Christopher Geyer and Kostas Daniilidis

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Structure and Motion from Uncalibrated Catadioptric Views, Christopher Geyer and Kostas Daniilidis

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Structure and Motion from Uncalibrated Catadioptric Views, Christopher Geyer and Kostas Daniilidis

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VC-Dimension of Exterior Visibility of Polyhedra, Volkan Isler, Sampath Kannan, and Kostas Daniilidis

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On the stability of unconstrained receding horizon control with a general terminal cost, Ali Jadbabaie and John Hauser

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Unconstrained Receding-Horizon Control of Nonlinear Systems, Ali Jadbabaie, Jie Yu, and John Hauser

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Reconstruction of Linearly Parameterized Models from Single Images with a Camera of Unknown Focal Length, David Jelinek and Camillo J. Taylor

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Camera Trajectory Estimation using Inertial Sensor Measurements and Structure fom Motion Results, Sang-Hack Jung and Camillo J. Taylor

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Stability of Coupled Hybrid Oscillators, Eric Klavins and Daniel E. Koditschek

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Toward the Regulation and Composition of Cyclic Behaviors, Eric Klavins, Daniel E. Koditschek, and Robert W. Ghrist

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Preliminary Analysis of a Biologically Inspired 1-DOF "Clock" Stabilized Hopper, Haldun Komsuoglu and Daniel E. Koditschek

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Proprioception Based Behavioral Advances in a Hexapod Robot, Haldun Komsuoglu, Dave McMordie, Uluc Saranli, Ned Moore, Martin Buehler, and Daniel E. Koditschek