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 2001

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Multi-Modal Control of Systems with Constraints, T. John Koo, George J. Pappas, and Shankar Sastry

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Single Cone Mirror Omni-Directional Stereo, Shih-Schon Lin and Ruzena Bajcsy

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Object Recognition using Boosted Discriminants, Shyjan Mahamud, Martial Hebert, and Jianbo Shi

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Real time trinocular stereo for tele-immersion, Jane Mulligan and Kostas Daniilidis

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Hierarchies of Stabilizability Preserving Linear Systems, George J. Pappas and Gerardo Lafferriere

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Equilibrium Properties of Temporally Asymmetric Hebbian Plasticity, Jonathan Rubin, Daniel D. Lee, and H. Sompolinsky

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RHex: A Simple and Highly Mobile Hexapod Robot, Uluc Saranli, Martin Buehler, and Daniel E. Koditschek

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Multiplicative Updates for Classification by Mixture Models, Lawrence K. Saul and Daniel D. Lee

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Dynamics and Control of Whole Arm Grasps, Peng Song, Masahito Yashima, and R. Vijay Kumar

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A Framework for Sensor Planning and Control with Applications to Vision Guided Multi-robot Systems, 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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Compositional Abstractions of Hybrid Control Systems, Paulo Tabuada, George J. Pappas, and Pedro Lima

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Feasible Formations of Multi-Agent Systems, Paulo Tabuada, George J. Pappas, and Pedro Lima

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Approximate Orientation Steerability Based on Angular Gaussians, Weichan Yu, Kostas Daniilidis, and Gerald Sommer

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3D-Orientation Signatures with Conic Kernel Filtering for Multiple Motion Analysis, Weichuan Yu, Gerald Sommer, and Kostas Daniilidis

Papers from 2000

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Discrete Abstractions of Hybrid Systems, Rajeev Alur, Thomas A. Henzinger, Gerardo Lafferriere, and George J. Pappas

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Dynamic locomotion with four and six-legged robots, Martin Buehler, Uluc Saranli, D. Papadopoulos, and Daniel E. Koditschek

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Rigid body visual servoing using navigation functions, Noah J. Cowan, Gabriel A. D. Lopes, and Daniel E. Koditschek

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Image Registration Using Mutual Information, Geoffrey Egnal and Kostas Daniilidis

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Piecewise Linear Homeomorphisms: The Scalar Case, Richard E. Groff, Daniel E. Koditschek, and Pramod P. Khargonekar

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Representation of Color Space Transformations for Effective Calibration and Control, Richard E. Groff, Daniel E. Koditschek, Pramod P. Khargonekar, and Tracy E. Thieret

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Aggressive maneuvering of a thrust vectored flying wing: A receding horizon approach, John Hauser and Ali Jadbabaie

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A formalism for the composition of concurrent robot behaviors, Eric Klavins and Daniel E. Koditschek

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View-independent Scene Acquisition for Tele-Presence, Jane Mulligan and Kostas Daniilidis

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A Brachiating Robot Controller, Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek

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Hierarchically Consistent Control Systems, George J. Pappas, Gerardo Lafferriere, and Shankar Sastry

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Design, modeling and preliminary control of a compliant hexapod robot, Uluc Saranli, Martin Buehler, and Daniel E. Koditschek

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Approximating the Stance Map of a 2 DOF Monoped Runner, William J. Schwind and Daniel E. Koditschek

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Normalized Cuts and Image Segmentation, Jianbo Shi and Jitendra Malik

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An Information Maximization Approach to Overcomplete and Recurrent Representations, Oren Shriki, Haim Sompolinsky, and Daniel D. Lee

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Reconstruction of Articulated Objects from Point Correspondences in a Single Uncalibrated Image, Camillo J. Taylor

Papers from 1999

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Planar image based visual servoing as a navigation problem, Noah J. Cowan and Daniel E. Koditschek

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Modeling and Control of Color Xerographic Processes, Richard Groff, Pramod Khargonekar, Daniel E. Koditschek, Tracy Thieret, and L. K. Mestha

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A Formalism for the Composition of Loosely Coupled Robot Behaviors, Eric Klavins and Daniel E. Koditschek

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TEMPLATES AND ANCHORS: NEUROMECHANICAL HYPOTHESES OF LEGGED LOCOMOTION ON LAND, Daniel E. Koditschek and Robert J. Full

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A Hybrid Swing up Controller for a Two-link Brachiating Robot, Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek

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Brachiation on a Ladder with Irregular Intervals, Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek

Papers from 1998

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Toward global visual servos and estimators for rigid bodies, Noah J. Cowan and Daniel E. Koditschek

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Invertible Piecewise Linear Approximations for Color Reproduction, Richard E. Groff, Daniel E. Koditschek, and Pramod P. Khargonekar

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Exploratory Aspects of Sensor Based Planning, Andrew Hicks and David Pettey

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Robust Invariants from Functionally Constrained Motion, Andrew R. Hicks, Kostas Daniilidis, Ruzena Bajcsy, and David Pettey

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Experimental Implementation of a "Target Dynamics" Controller on a Two-link Brachiating Robot, Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek

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Toward the Control of a Multi-Jointed, Monoped Runner, Uluc Saranli, William J. Schwind, and Daniel E. Koditschek

Papers from 1997

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Active Bridging, D. Scott Alexander, Marianne Shaw, Scott M. Nettles, and Jonathan M. Smith

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Extending Linear System Models to Characterize the Performance Bounds of a Fixating Active Vision System, Ulf M. Cahn von Seelen and Ruzena Bajcsy

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Dynamic System Representation of Basic and Non-Linear in Parameters Oscillatory Motion Gestures, Charles J. Cohen, Lynn Conway, Daniel E. Koditschek, and Gerald P. Roston

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Two-arm manipulation tasks with friction assisted grasping, Jaydev P. Desai, Milos Zefran, and R. Vijay Kumar

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Precision in 3-D Points Reconstructed from Stereo, Gerda Kamberova and Ruzena Bajcsy

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The Effect of Radiometric Correction on Multicamera Algorithms, Gerda Kamberova and Ruzena Bajcsy

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Motion Planning in Humans and Robots, R. Vijay Kumar, Milos Zefran, and James P. Ostrowski

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Preliminary studies of a second generation brachiation robot controller, Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek

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Characterization of Monoped Equilibrium Gaits, William J. Schwind and Daniel E. Koditschek

Papers from 1996

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Dynamical system representation, generation, and recognition of basic oscillatory motion gestures, Charles J. Cohen, Lynn Conway, and Daniel E. Koditschek

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Toward a Control Oriented Model of Xerographic Marking Engines, L. K. Mestha, Y. R. Wang, S. Dianat, E. Jackson, Tracy Thieret, Pramod P. Khargonekar, and Daniel E. Koditschek

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An Active Visual Estimator for Dexterous Manipulation, Alfred A. Rizzi and Daniel E. Koditschek

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A simplified model based supercritical power plant controller, Wataro Shinohara and Daniel E. Koditschek

Papers from 1995

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Assembly as a noncooperative game of its pieces: the case of endogeneous disk assemblies, H. Isil Bozma, Cem Serkan Karagöz, and Daniel E. Koditschek

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Toward a Dynamical Pick and Place, Robert R. Burridge, Alfred A. Rizzi, and Daniel E. Koditschek

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Kripke Models and the (In)equational Logic of the Second-Order Lambda-Calculus, Jean H. Gallier

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Proving Properties of Typed Lambda Terms Using Realizability, Covers, and Sheaves, Jean H. Gallier

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Typing untyped λ-terms, or Reducibility strikes again!, Jean H. Gallier

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Sensor Planning with Bayesian Decision Analysis, Steen Kristensen

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PennEyes: A Binocular Active Vision System, Brian C. Madden and Ulf M. Cahn von Seelen

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Feature-Based Localization using Fixed Ultrasonic Transducers, Robert Mandelbaum and Max L. Mintz

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Control of forward velocity for a simplified planar hopping robot, William J. Schwind and Daniel E. Koditschek

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Intelligent control of a boiler-turbine plant based on switching control scheme, Wataro Shinohara and Daniel E. Koditschek

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Global asymptotic stability of a passive juggler: a parts feeding strategy, P. J. Swanson, Robert R. Burridge, and Daniel E. Koditschek

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Global asymptotic stability of a passive juggling strategy: A possible parts-feeding method, P. J. Swanson, Robert R. Burridge, and Daniel E. Koditschek

Papers from 1994

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Cooperative Material Handling by Human and Robotic Agents:Module Development and System Synthesis, Julie A. Adams, Ruzena Bajcsy, Jana Košecká, R. Vijay Kumar, Robert Mandelbaum, Max L. Mintz, Richard P. Paul, C. Wang, Yoshio Yamamoto, and Xiaoping Yun

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View Selection Strategies for Multi-View, Wide-Baseline Stereo, Hany Farid, Sang Wook Lee, and Ruzena Bajcsy

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Proving Properties of Typed lambda-Terms Using Realizability, Covers, and Sheaves, Jean Gallier

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Typing untyped Lambda-terms, or Reducibility strikes again!, Jean H. Gallier

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Finite Element Approach to Warping of Brain Images, James C. Gee, D. R. Haynor, Martin Reivich, and Ruzena Bajcsy

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Active Motion-Based Segmentation of Human Body Outlines, Ioannis A. Kakadiaris, Dimitris Metaxas, and Ruzena Bajcsy

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An Approach to Autonomous Robot Assembly, Daniel E. Koditschek

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Further progress in robot juggling: solvable mirror laws, Alfred A. Rizzi and Daniel E. Koditschek

Papers from 1993

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The Soundness and Completeness of ACSR (Algebra of Communicating Shared Resources), Patrice Brémond-Grégoire, Jin-Young Choi, and Insup Lee

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VERSA: A Tool for the Specification and Analysis of Resource-Bound Real-Time Systems, Duncan Clarke, Insup Lee, and Hong-liang Xie

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Kripke Models for the Second-Order lambda-Calculus, Jean H. Gallier

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On the Correspondence Between Proofs and lambda-Terms, Jean H. Gallier

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Proving Properties of Typed Lambda-Terms Using Realizability, Covers, and Sheaves (Preliminary Version), Jean H. Gallier

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Realizability, Covers, and Sheaves I. Application to the Simply-typed Lambda -Calculus, Jean H. Gallier

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Realizability, Covers, and Sheaves II. Applications to the Second-Order Lambda-Calculus, Jean H. Gallier

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Reducibility Strikes Again, I!, Jean H. Gallier

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What's so Special About Kruskal's Theorem And The Ordinal To? A Survey Of Some Results In Proof Theory, Jean H. Gallier

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Elastically Deforming A Three-Dimensional Atlas To Match Anatomical Brain Images, James C. Gee, Martin Reivich, and Ruzena Bajcsy

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Control of Visually Guided Behaviors, Jana Košecká, Ruzena Bajcsy, and Max L. Mintz

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Fast Parallel Deterministic and Randomized Algorithms for Model Checking, Insup Lee and Sanguthevar Rajasekaran

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Parallel Algorithms for Relational Coarsest Partition Problems, Sanguthevar Rajasekaran and Insup Lee

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Further progress in robot juggling: the spatial two-juggle, Alfred A. Rizzi and Daniel E. Koditschek

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Toward the control of attention in a dynamically dexterous robot, Alfred A. Rizzi and Daniel E. Koditschek

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Comparative Experiments with a New Adaptive Controller for Robot Arms, Louis L. Whitcomb, Daniel E. Koditschek, and Alfred A. Rizzi

Papers from 1992

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Proving Properties of Real-Time Distributed Systems: A Comparison of Three Approaches, Patrice Brémond-Grégoire, Susan B. Davidson, and Insup Lee

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Theorem Proving Using Equational Matings and Rigid E-Unifications, Jean H. Gallier, Paliath Narendran, Stan Raatz, and Wayne Snyder

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A Resource-Based Prioritized Bisimulation for Real-Time Systems, Richard Gerber and Insup Lee

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Multivariate Data Fusion Based on Fixed-Geometry Confidence Sets, Gerda Kamberova, Raymond McKendall, and Max L. Mintz

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Multi-Arm Manipulation Of Large Objects With Rolling Contacts, Eric D. Paljug

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Control of Rolling Contacts In Multi-Arm Manipulation, Eric Paljug, Xiaoping Yun, and R. Vijay Kumar

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Exact Robot Navigation Using Artificial Potential Functions, Elon Rimon and Daniel E. Koditschek

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Progress in spatial robot juggling, Alfred A. Rizzi and Daniel E. Koditschek