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 2013

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Clifford Algebras, Clifford Groups, and a Generalization of the Quaternions: The Pin and Spin Groups, Jean H. Gallier

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Notes on Convex Sets, Polytopes, Polyhedra, Combinatorial Topology, Voronoi Diagrams and Delaunay Triangulations, Jean H. Gallier

Papers from 2010

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Learning Tractable Word Alignment Models with Complex Constraints, João V. Graça, Kuzman Ganchev, and Ben Taskar

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Single Cell Manipulation using Ferromagnetic Composite Microtransporters, Mahmut Selman Sakar, Edward B. Steager, Dal Hyung Kim, Min Jun Kim, George J. Pappas, and Vijay Kumar

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On the Time Complexity of Information Dissemination via Linear Iterative Strategies, Shreyas Sundaram and Christoforos N. Hadjicostis

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Control of Quantized Multi-Agent Systems with Linear Nearest Neighbor Rules: A Finite Field Approach, Shreyas Sundaram and Christosforos N. Hadjicostis

Papers from 2009

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Multi-vehicle path planning in dynamically changing environments, Ali Ahmadzadeh, Nader Motee, Ali Jadbabaie, and George J. Pappas

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Target Enumeration via Euler Characteristic Integrals, Yury Baryshnikov and Robert Ghrist

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Optimized Stochastic Policies for Task Allocation in Swarms of Robots, Spring Berman, Adam Halasz, M. Ani Hsieh, and Vijay Kumar

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Learning from Ambiguously Labeled Images, Timothee Cour, Benjamin Sapp, Chris Jordan, and Ben Taskar

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Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion, Kevin C. Galloway, Jonathan E. Clark, and Daniel E. Koditschek

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Dependency Grammar Induction via Bitext Projection Constraints, Kuzman Ganchev, Jennifer Gillenwater, and Ben Taskar

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Target Enumeration via Integration over Planar Sensor Networks, Robert Ghrist and Yuliy Barishnikov

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March of the Sandbots, Daniel Goldman, Haldun Komsuoglu, and Daniel Koditschek

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Gait Transitions for Quasi-Static Hexapedal Locomotion on Level Ground, Galen C. Haynes, Fred Cohen, and Daniel E. Koditschek

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Rapid Pole Climbing with a Quadrupedal Robot, G C. Haynes, Alex Khripin, Goran Lynch, Jon Amory, Aaron Saunders, Alfred A. Rizzi, and Daniel E. Koditschek

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Approximations of Stochastic Hybrid Systems, A Agung Julius and George J. Pappas

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Trajectory Based Verification Using Local Finite-Time Invariance, A. Agung Julius and George J. Pappas

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Harnessing bacterial power in microscale actuation, A. Agung Julius, M. Selman Sakar, Edward Steager, U Kei Cheang, MinJun Kim, Vijay Kumar, and George J. Pappas

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Stochastic Modeling and Control of Biological Systems: The Lactose Regulation System of Escherichia Coli, Agung Julius, Ádám Halász, M Selman Sakar, Harvey Rubin, Vijay Kumar, and George J. Pappas

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Genetic network identification using convex programming, A Julius, Michael Zavlanos, S Boyd, and George J. Pappas

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Time-bounded Lattice for Efficient Planning in Dynamic Environments, Aleksandr Kushleyev and Maxim Likhachev

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Sensitive dependence of the motion of a legged robot on granular media, Chen Li, P B. Umbanhowar, Haldun Komsuoglu, Daniel E. Koditschek, and Daniel Goldman

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Path Clearance, Maxim Likhachev and Anthony Stentz

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Control of Locomotion with Shape-Changing Wheels, Daniel Mellinger, Vijay Kumar, and Mark Yim

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Maintaining Connectivity in Mobile Robot Networks, Nathan Michael, Michael M. Zavlanos, Vijay Kumar, and George J. Pappas

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Vision-Based, Distributed Control Laws for Motion Coordination of Nonholonomic Robots, Nima Moshtagh, Nathan D. Michael, Ali Jadbabaie, and Kostas Daniilidis

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Incremental Phi*: Incremental Any-Angle Path Planning on Grids, Alex Nash, Sven Koenig, and Maxim Likhachev

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Joint covariate selection and joint subspace selection for multiple classification problems, Guillaume Obozinski, Ben Taskar, and Michael I. Jordan

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Modeling and Analysis of Multi-hop Control Networks, Alur Rajeev, Alessandro D'Innocenzo, Karl H. Johansson, George James Pappas, and Gera Weiss

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Toward tactilely transparent gloves: Collocated slip sensing and vibrotactile actuation, Joseph M. Romano, Steven R. Gray, Nathan T. Jacobs, and Katherine J. Kuchenbecker

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Shape-based object recognition in videos using 3D synthetic object models, Alexander Toshev, Ameesh Makadia, and Kostas Daniilidis

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Search-based Planning for a Legged Robot over Rough Terrain, Paul Vernaza, Maxim Likhachev, Subhrajit Bhattacharya, Sachin Chitta, Aleksandr Kushleyev, and Daniel D. Lee

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A high fidelity ungrounded torque feedback device: The iTorqU 2.0, Kyle N. Winfree, Jamie E. Gewirtz, Thomas Mather, Jonathan Fiene, and Katherine J. Kuchenbecker

Papers from 2008

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Elastic Multi-Particle Systems for Bounded-Curvature Path Planning, Ali Ahmadzadeh, Ali Jadbabaie, George J. Pappas, and Vijay Kumar

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Determining interconnections in biochemical networks using linear programming, Elias August, Antonius Papachristodoulou, Ben Recht, Mark Roberts, and Ali Jadbabaie

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Graph Cuts via l1 Norm Minimization, Arvind Bhusnurmath and Camillo J. Taylor

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Robust and Scalable Transmission of Arbitrary 3D Models over Wireless Networks, Irene Wan Cheng, Lihang Ying, Kostas Daniilidis, and Anup Basu

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Movie/Script: Alignment and Parsing of Video and Text Transcription, Timothee Cour, Chris Jordan, Eleni Miltsakaki, and Ben Taskar

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A Reasoning Framework for Autonomous Urban Driving, Dave Ferguson, Christopher Baker, Maxim Likhachev, and John Dolan

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Motion Planning in Urban Environments: Part I, Dave Ferguson, Thomas M. Howard, and Maxim Likhachev

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Motion Planning in Urban Environments: Part II, Dave Ferguson, Thomas M. Howard, and Maxim Likhachev

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Efficiently Using Cost Maps For Planning Complex Maneuvers, Dave Ferguson and Maxim Likhachev

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Logarithms and Square Roots of Real Matrices, Jean H. Gallier

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Multi-View Learning over Structured and Non-Identical Outputs, Kuzman Ganchev, Joao V. Graca, John Blitzer, and Ben Taskar

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Better Alignments = Better Translations?, Kuzman Ganchev, Joao V. Graca, and Ben Taskar

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BARCODES: THE PERSISTENT TOPOLOGY OF DATA, Robert Ghrist

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Three examples of applied and computational homology, Robert Ghrist

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From Discrete to Continuous and Back: Abstractions and Mesoscopic Phenomena in Cells, Ádám M. Halász, A. Agung Julius, George J. Pappas, and R. Vijay Kumar

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Grassmann Discriminant Analysis: a Unifying View on Subspace-Based Learning, Jihun Hamm and Daniel D. Lee

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Maintaining network connectivity and performance in robot teams, M. Ani Hsieh, Anthony Cowley, R. Vijay Kumar, and Camillo J. Taylor

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Metabolic Networks Analysis using Convex Optimization, A. Agung Julius, Marcin Imielinski, and George J. Pappas

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Probabilistic Testing for Stochastic Hybrid Systems, A. Agung Julius and George J. Pappas

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Pareto optimal multi-robot coordination with acceleration constraints, Jae Bum Jung and Robert Ghrist

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A Physical Model for Dynamical Arthropod Running on Level Ground, Haldun Komsuoglu, Kiwon Sohn, Robert J. Full, and Daniel E. Koditschek

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Recycling controllers, Hadas Kress-Gazit, Nora Ayanian, George J. Pappas, and Vijay Kumar

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Courteous Cars: Decentralized Multiagent Traffic Coordination, Hadas Kress-Gazit, David C. Connor, Howie Choset, Alfred A. Rizzi, and George J. Pappas

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Automatically synthesizing a planning and control subsystem for the DARPA urban challenge, Hadas Kress-Gazit and George J. Pappas

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Haptography: capturing the feel of real objects to enable authentic haptic rendering (invited paper), Katherine J. Kuchenbecker

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The Touch Thimble: Providing Fingertip Contact Feedback During Point-Force Haptic Interaction, Katherine J. Kuchenbecker, David Ferguson, Michael Kutzer, Matthew Moses, and Allison M. Okamura

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Planning Long Dynamically-Feasible Maneuvers For Autonomous Vehicles, Maxim Likhachev and Dave Ferguson

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Anytime search in dynamic graphs, Maxim Likhachev, Dave Ferguson, Geoff Gordon, Anthony Stentz, and Sebastian Thrun

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Information Value-Driven Approach to Path Clearance with Multiple Scout Robots, Maxim Likhachev and Anthony Stentz

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Probabilistic Planning with Clear Preferences on Missing Information, Maxim Likhachev and Anthony Stentz

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R* Search, Maxim Likhachev and Anthony Stentz

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Density Functions for Navigation-Function-Based Systems, Savvas G. Loizou and Ali Jadbabaie

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Steering laws for distributed motion coordination of kinematic agents in three dimensions, Nima Moshtagh and Ali Jadbabaie

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Bearing-Only Control Laws For Balanced Circular, Nima Moshtagh, Nathan Michael, Ali Jadbabaie, and Kostas Daniilidis

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Optimal Control of Spatially Distributed Systems, Nader Motee and Ali Jadbabaie

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Effects of Delay on the Functionality of Large-scale Networks, Antonis Papachristodoulou and Ali Jadbabaie

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Approximation of the joint spectral radius using sum of squares, Pablo A. Parillo and Ali Jadbabaie

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Automatic Configuration Recognition Methods in Modular Robots, Michael Park, Sachin Chitta, Alex Teichman, and Mark Yim

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Towards Testable Neuromechanical Control of Architectures for Running, Shai Revzen, Daniel E. Koditschek, and R J. Full

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Topological Repairing of 3D Digital Images, Marcelo Siqueira, Longin Jan Latecki, Nicholas Tustisin, Jean H. Gallier, and James C. Gee

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Construction of C Surfaces from Triangular Meshes Using Parametric Pseudo-Manifolds, Marcelo Siqueira, Dianna Xu, and Jean H. Gallier

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Integrating a Hierarchy of Simulation Tools for Legged Robot Locomotion, Andrew Slatton, Yang Ding, P B. Umbanhowar, Daniel Goldman, Galen C. Haynes, Haldun Komsuoglu, Daniel E. Koditschek, and Daniel Cohen

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Biologically Inspired Climbing with a Hexapedal Robot, M. J. Spenko, G. C. Haynes, J. A. Sanders, M. R. Cutkosky, Alfred A. Rizzi, R. J. Full, and Daniel E. Koditschek

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Approximate Reduction of Dynamical Systems, Paulo Tabuada, Aaron D. Ames, Agung Julius, and George J. Pappas

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A Necessary and Sufficient Condition for Consensus Over Random Networks, Alireza Tahbaz-Salehi and Ali Jadbabaie

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A Necessary and Sufficient Condition for Consensus Over Random Networks, Alireza Tahbaz-Salehi and Ali Jadbabaie

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Distributed coverage verification in sensor networks without location information, Alireza Tahbaz-Salehi and Ali Jadbabaie

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Distributed coverage verification in sensor networks without location information, Alireza Tahbaz-Salehi and Ali Jadbabaie

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On the Optimal Assignment of Conference Papers to Reviewers, Camillo J. Taylor

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Solving Image Registration Problems Using Interior Point Methods, Camillo J. Taylor and Arvind Bhusnurmath

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Solving Stereo Matching Problems Using Interior Point Methods, Camillo J. Taylor and Arvind Bhusnurmath

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Online, self-supervised terrain classification via discriminatively trained submodular Markov random fields, Paul Vernaza, Ben Taskar, and Daniel D. Lee

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Identification of stable genetic networks using convex programming, Michael M. Zavlanos, A. Agung Julius, Stephen P. Boyd, and George J. Pappas

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Distributed Connectivity Control of Mobile Networks, Michael M. Zavlanos and George J. Pappas

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A Distributed Auction Algorithm for the Assignment Problem, Michael M. Zavlanos, Leonid Spesivtsev, and George J. Pappas

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Distributed Topology Control of Dynamic Networks, Michael M. Zavlanos, Alireza Tahbaz-Salehi, Ali Jadbabaie, and George J. Pappas

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Dynamic Assignment in Distributed Motion Planning With Local Coordination, Michael Zavlanos and George J. Pappas

Papers from 2007

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Symbolic Control and Planning of Robotic Motion [Grand Challenges of Robotics], Calin Belta, Antonio Bicci, Magnus Egerstedt, Emilio Frazzoli, Eric Klavins, and George J. Pappas

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Bio-Inspired Group Behaviors for the Deployment of a Swarm of Robots to Multiple Destinations, Spring Berman, Ádám Halász, R. Vijay Kumar, and Stephen Pratt

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Solving the Graph Cut Problem via l1 Norm Minimization, Arvind Bhusnurmath and Camillo J. Taylor

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Proprioceptive localization for a quadrupedal robot on known terrain, Sachin Chitta, Paul Vernaza, Roman Geykhman, and Daniel D. Lee

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Robust Sampling for MITL Specifications, Georgios E. Fainekos and George J. Pappas

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Discrete Mathematics for Computer Science Some Notes, Jean H. Gallier

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The Classification Theorem for Compact Surfaces and a Detour on Fractals, Jean H. Gallier

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Approximate Bisimulation Relations for Constrained Linear Systems, Antoine Girard and George J. Pappas

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Approximation Metrics for Discrete and Continuous Systems, Antoine Girard and George J. Pappas