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 2002

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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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Phase Regulation of Decentralized Cyclic Robotic Systems, E. Klavins and D. 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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Consistent Abstractions of Affine Control Systems, George J. Pappas and Slobodan Simic

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

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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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Control of Cooperating Mobile Manipulators, Thomas G. Sugar and 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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Object Closure and Manipulation by Multiple Cooperating Mobile Robots, Zhidong Wang and R. Vijay Kumar

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Zero Dynamics of Planar Biped Walkers with One Degree of Under Actuation, E.R. Westervelt, J.W. Grizzle, and D.E. Koditschek

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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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Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot, Richard Altendorfer, Uluc Saranli, Haldun Komsuoglu, Daniel E. Koditschek, H. Benjamin Brown Jr., Martin Buehler, Ned Moore, Dave McMordie, and Robert Full

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

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

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Efficient dynamic simulation of robotic systems with hierarchy, Joel M. Esposito and R. Vijay Kumar

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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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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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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

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

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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

Papers from 2000

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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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Event Driven Parts Moving in 2D Endogenuous Environments, C. Serkan Karagoz, H. Isil Bozma, and Daniel E. Koditschek

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

Papers from 1999

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Sequential Composition of Dynamically Dexterous Robot Behaviors, R. R. Burridge, A. A. Rizzi, and D. E. Koditschek

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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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Safe Cooperative Robotic Patterns via Dynamics on Graphs, Robert W. Ghrist 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

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On the Generation of Smooth Three-Dimensional Rigid Body Motions, Miloš Žefran, Vijay Kumar, and Christopher Croke

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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Dynamic Control of 3-D Rolling Contacts in Two-Arm Manipulation, Nilanjan Sarkar, Xiaoping Yun, and Vijay Kumar

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

Papers from 1996

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Toward A Systems Theory for the Composition of Dynamically Dexterous Robot Behaviors, R. R. Burridge, A. A. Rizzi, and D. E. Koditschek

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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