Lab Papers (GRASP)
Papers from 2001
Proprioception Based Behavioral Advances in a Hexapod Robot, Haldun Komsuoglu, Dave McMordie, Uluc Saranli, Ned Moore, Martin Buehler, and Daniel E. Koditschek
Multi-Modal Control of Systems with Constraints, T. John Koo, George J. Pappas, and Shankar Sastry
Single Cone Mirror Omni-Directional Stereo, Shih-Schon Lin and Ruzena Bajcsy
Object Recognition using Boosted Discriminants, Shyjan Mahamud, Martial Hebert, and Jianbo Shi
Real time trinocular stereo for tele-immersion, Jane Mulligan and Kostas Daniilidis
Hierarchies of Stabilizability Preserving Linear Systems, George J. Pappas and Gerardo Lafferriere
Equilibrium Properties of Temporally Asymmetric Hebbian Plasticity, Jonathan Rubin, Daniel D. Lee, and H. Sompolinsky
RHex: A Simple and Highly Mobile Hexapod Robot, Uluc Saranli, Martin Buehler, and Daniel E. Koditschek
Multiplicative Updates for Classification by Mixture Models, Lawrence K. Saul and Daniel D. Lee
Dynamics and Control of Whole Arm Grasps, Peng Song, Masahito Yashima, and R. Vijay Kumar
A Framework for Sensor Planning and Control with Applications to Vision Guided Multi-robot Systems, John R. Spletzer and Camillo J. Taylor
Abstractions of Hamiltonian Control Systems, Paulo Tabuada and George J. Pappas
Compositional Abstractions of Hybrid Control Systems, Paulo Tabuada, George J. Pappas, and Pedro Lima
Feasible Formations of Multi-Agent Systems, Paulo Tabuada, George J. Pappas, and Pedro Lima
Approximate Orientation Steerability Based on Angular Gaussians, Weichan Yu, Kostas Daniilidis, and Gerald Sommer
3D-Orientation Signatures with Conic Kernel Filtering for Multiple Motion Analysis, Weichuan Yu, Gerald Sommer, and Kostas Daniilidis
Papers from 2000
Discrete Abstractions of Hybrid Systems, Rajeev Alur, Thomas A. Henzinger, Gerardo Lafferriere, and George J. Pappas
Dynamic locomotion with four and six-legged robots, Martin Buehler, Uluc Saranli, D. Papadopoulos, and Daniel E. Koditschek
Rigid body visual servoing using navigation functions, Noah J. Cowan, Gabriel A. D. Lopes, and Daniel E. Koditschek
Image Registration Using Mutual Information, Geoffrey Egnal and Kostas Daniilidis
Piecewise Linear Homeomorphisms: The Scalar Case, Richard E. Groff, Daniel E. Koditschek, and Pramod P. Khargonekar
Representation of Color Space Transformations for Effective Calibration and Control, Richard E. Groff, Daniel E. Koditschek, Pramod P. Khargonekar, and Tracy E. Thieret
Aggressive maneuvering of a thrust vectored flying wing: A receding horizon approach, John Hauser and Ali Jadbabaie
A formalism for the composition of concurrent robot behaviors, Eric Klavins and Daniel E. Koditschek
View-independent Scene Acquisition for Tele-Presence, Jane Mulligan and Kostas Daniilidis
A Brachiating Robot Controller, Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
Hierarchically Consistent Control Systems, George J. Pappas, Gerardo Lafferriere, and Shankar Sastry
Design, modeling and preliminary control of a compliant hexapod robot, Uluc Saranli, Martin Buehler, and Daniel E. Koditschek
Approximating the Stance Map of a 2 DOF Monoped Runner, William J. Schwind and Daniel E. Koditschek
Normalized Cuts and Image Segmentation, Jianbo Shi and Jitendra Malik
An Information Maximization Approach to Overcomplete and Recurrent Representations, Oren Shriki, Haim Sompolinsky, and Daniel D. Lee
Reconstruction of Articulated Objects from Point Correspondences in a Single Uncalibrated Image, Camillo J. Taylor
Papers from 1999
Planar image based visual servoing as a navigation problem, Noah J. Cowan and Daniel E. Koditschek
Modeling and Control of Color Xerographic Processes, Richard Groff, Pramod Khargonekar, Daniel E. Koditschek, Tracy Thieret, and L. K. Mestha
A Formalism for the Composition of Loosely Coupled Robot Behaviors, Eric Klavins and Daniel E. Koditschek
TEMPLATES AND ANCHORS: NEUROMECHANICAL HYPOTHESES OF LEGGED LOCOMOTION ON LAND, Daniel E. Koditschek and Robert J. Full
A Hybrid Swing up Controller for a Two-link Brachiating Robot, Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
Brachiation on a Ladder with Irregular Intervals, Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
Papers from 1998
Toward global visual servos and estimators for rigid bodies, Noah J. Cowan and Daniel E. Koditschek
Invertible Piecewise Linear Approximations for Color Reproduction, Richard E. Groff, Daniel E. Koditschek, and Pramod P. Khargonekar
Exploratory Aspects of Sensor Based Planning, Andrew Hicks and David Pettey
Robust Invariants from Functionally Constrained Motion, Andrew R. Hicks, Kostas Daniilidis, Ruzena Bajcsy, and David Pettey
Experimental Implementation of a "Target Dynamics" Controller on a Two-link Brachiating Robot, Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
Toward the Control of a Multi-Jointed, Monoped Runner, Uluc Saranli, William J. Schwind, and Daniel E. Koditschek
Papers from 1997
Active Bridging, D. Scott Alexander, Marianne Shaw, Scott M. Nettles, and Jonathan M. Smith
Extending Linear System Models to Characterize the Performance Bounds of a Fixating Active Vision System, Ulf M. Cahn von Seelen and Ruzena Bajcsy
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
Two-arm manipulation tasks with friction assisted grasping, Jaydev P. Desai, Milos Zefran, and R. Vijay Kumar
Precision in 3-D Points Reconstructed from Stereo, Gerda Kamberova and Ruzena Bajcsy
The Effect of Radiometric Correction on Multicamera Algorithms, Gerda Kamberova and Ruzena Bajcsy
Motion Planning in Humans and Robots, R. Vijay Kumar, Milos Zefran, and James P. Ostrowski
Preliminary studies of a second generation brachiation robot controller, Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
Characterization of Monoped Equilibrium Gaits, William J. Schwind and Daniel E. Koditschek
Papers from 1996
Dynamical system representation, generation, and recognition of basic oscillatory motion gestures, Charles J. Cohen, Lynn Conway, and Daniel E. Koditschek
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
An Active Visual Estimator for Dexterous Manipulation, Alfred A. Rizzi and Daniel E. Koditschek
A simplified model based supercritical power plant controller, Wataro Shinohara and Daniel E. Koditschek
Papers from 1995
Assembly as a noncooperative game of its pieces: the case of endogeneous disk assemblies, H. Isil Bozma, Cem Serkan Karagöz, and Daniel E. Koditschek
Toward a Dynamical Pick and Place, Robert R. Burridge, Alfred A. Rizzi, and Daniel E. Koditschek
Kripke Models and the (In)equational Logic of the Second-Order Lambda-Calculus, Jean H. Gallier
Proving Properties of Typed Lambda Terms Using Realizability, Covers, and Sheaves, Jean H. Gallier
Typing untyped λ-terms, or Reducibility strikes again!, Jean H. Gallier
Sensor Planning with Bayesian Decision Analysis, Steen Kristensen
PennEyes: A Binocular Active Vision System, Brian C. Madden and Ulf M. Cahn von Seelen
Feature-Based Localization using Fixed Ultrasonic Transducers, Robert Mandelbaum and Max L. Mintz
Control of forward velocity for a simplified planar hopping robot, William J. Schwind and Daniel E. Koditschek
Intelligent control of a boiler-turbine plant based on switching control scheme, Wataro Shinohara and Daniel E. Koditschek
Global asymptotic stability of a passive juggler: a parts feeding strategy, P. J. Swanson, Robert R. Burridge, and Daniel E. Koditschek
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
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
View Selection Strategies for Multi-View, Wide-Baseline Stereo, Hany Farid, Sang Wook Lee, and Ruzena Bajcsy
Proving Properties of Typed lambda-Terms Using Realizability, Covers, and Sheaves, Jean Gallier
Typing untyped Lambda-terms, or Reducibility strikes again!, Jean H. Gallier
Finite Element Approach to Warping of Brain Images, James C. Gee, D. R. Haynor, Martin Reivich, and Ruzena Bajcsy
Active Motion-Based Segmentation of Human Body Outlines, Ioannis A. Kakadiaris, Dimitris Metaxas, and Ruzena Bajcsy
An Approach to Autonomous Robot Assembly, Daniel E. Koditschek
Further progress in robot juggling: solvable mirror laws, Alfred A. Rizzi and Daniel E. Koditschek
Papers from 1993
The Soundness and Completeness of ACSR (Algebra of Communicating Shared Resources), Patrice Brémond-Grégoire, Jin-Young Choi, and Insup Lee
VERSA: A Tool for the Specification and Analysis of Resource-Bound Real-Time Systems, Duncan Clarke, Insup Lee, and Hong-liang Xie
Kripke Models for the Second-Order lambda-Calculus, Jean H. Gallier
On the Correspondence Between Proofs and lambda-Terms, Jean H. Gallier
Proving Properties of Typed Lambda-Terms Using Realizability, Covers, and Sheaves (Preliminary Version), Jean H. Gallier
Realizability, Covers, and Sheaves I. Application to the Simply-typed Lambda -Calculus, Jean H. Gallier
Realizability, Covers, and Sheaves II. Applications to the Second-Order Lambda-Calculus, Jean H. Gallier
Reducibility Strikes Again, I!, Jean H. Gallier
What's so Special About Kruskal's Theorem And The Ordinal To? A Survey Of Some Results In Proof Theory, Jean H. Gallier
Elastically Deforming A Three-Dimensional Atlas To Match Anatomical Brain Images, James C. Gee, Martin Reivich, and Ruzena Bajcsy
Control of Visually Guided Behaviors, Jana Košecká, Ruzena Bajcsy, and Max L. Mintz
Fast Parallel Deterministic and Randomized Algorithms for Model Checking, Insup Lee and Sanguthevar Rajasekaran
Parallel Algorithms for Relational Coarsest Partition Problems, Sanguthevar Rajasekaran and Insup Lee
Further progress in robot juggling: the spatial two-juggle, Alfred A. Rizzi and Daniel E. Koditschek
Toward the control of attention in a dynamically dexterous robot, Alfred A. Rizzi and Daniel E. Koditschek
Comparative Experiments with a New Adaptive Controller for Robot Arms, Louis L. Whitcomb, Daniel E. Koditschek, and Alfred A. Rizzi
Papers from 1992
Proving Properties of Real-Time Distributed Systems: A Comparison of Three Approaches, Patrice Brémond-Grégoire, Susan B. Davidson, and Insup Lee
Theorem Proving Using Equational Matings and Rigid E-Unifications, Jean H. Gallier, Paliath Narendran, Stan Raatz, and Wayne Snyder
A Resource-Based Prioritized Bisimulation for Real-Time Systems, Richard Gerber and Insup Lee
Multivariate Data Fusion Based on Fixed-Geometry Confidence Sets, Gerda Kamberova, Raymond McKendall, and Max L. Mintz
Multi-Arm Manipulation Of Large Objects With Rolling Contacts, Eric D. Paljug
Control of Rolling Contacts In Multi-Arm Manipulation, Eric Paljug, Xiaoping Yun, and R. Vijay Kumar
Exact Robot Navigation Using Artificial Potential Functions, Elon Rimon and Daniel E. Koditschek