Lab Papers (GRASP)
Papers from 2012
Tail Assisted Dynamic Self Righting, Aaron M. Johnson, Thomas Libby, Evan Chang-Siu, Masayoshi Tomizuka, Robert J. Full, and Daniel E. Koditschek
Spectral Subtraction of Robot Motion Noise for Improved Event Detection in Tactile Acceleration Signals, Katherine J. Kuchenbecker and William McMahan
Recreating the Feel of the Human Chest in a CPR Manikin via Programmable Pneumatic Damping, Katherine J. Kuchenbecker, Andrew A. Stanley, Simon K. Healey, and Matthew R. Maltese
HALO: Haptic Alerts for Low-hanging Obstacles in White Cane Navigation, Katherine J. Kuchenbecker and Yunqing Wang
Towards a terramechanics for bio-in spired locomotion in granular environments, Chen Li, Yang Ding, Ryan D. Maladen, Andrew Masse, Paul B. Umbanhowar, Haldun Kimsuoglu, Daniel E. Koditschek, and Daniel I. Goldman
A Bioinspired Dynamical Vertical Climbing Robot, Goran A. Lynch, Jonathan E. Clark, Pei-Chun Lei, and Daniel E. Koditschek
Multi-agent Flocking With Random Communication Radius, Samuel Martin, Arastoo Fazeli, Ali Jadbabaie, and Antoine Girard
Time-triggered Implementations of Dynamic Controllers, Truong X. Nghiem, George J. Pappas, Rajeev Alur, and Antoine Girard
Dynamical Trajectory Replanning for Uncertain Environments, Shai Revzen, B. Deniz Ilhan, and Daniel E. Koditschek
Papers from 2011
Motor Sizing for Legged Robots Using Dynamic Task Specification, Avik De, Goran Lynch, Aaron Johnson, and Daniel E. Koditschek
On Consensus in a Correlated Model of Network Formation Based on a Polya Urn Process, Arastoo Fazeli and Ali Jadbabaie
Experimental Investigations into the Role of Passive Variable Compliant Legs for Dynamic Robot Locomotion, Kevin C. Galloway, Jonathan E. Clark, Mark Yim, and Daniel E. Koditschek
Multistable Phase Regulation for Robust Steady and Transitional Legged Gaits, G. C. Haynes, Alfred A. Rizzi, and Daniel E. Koditschek
Autonomous Legged Hill and Stairwell Ascent, Aaron M. Johnson, Matthew T. Hale, G. C. Haynes, and Daniel E. Koditschek
Lessons in Using Vibrotactile Feedback to Guide Fast Arm Motions, Katherine J. Kuchenbecker, Karlin Bark, Preeya Khanna, Rikki Irwin, Pulkit Kapur, Steven A. Jax, and Laurel J. Buxbaum
Haptically Assisted Golf Putting Through a Planar Four-Cable System, Katherine J. Kuchenbecker, Peter Y. Huang, Jacquelyn A. Kunkel, and Jordan Brindza
Haptography: Capturing and Recreating the Rich Feel of Real Surfaces, Katherine J. Kuchenbecker, Joseph Romano, and William McMahan
Design of Body-Grounded Tactile Actuators for Playback of Human Physical Contact, Katherine J. Kuchenbecker and Andrew A. Stanley
Papers from 2010
Optimal Robust Multihop Routing for Wireless Networks of Mobile Micro Autonomous Systems, Jonathan Fink, Alejandro Ribeiro, Vijay Kumar, and Brian M. Sadler
Learning Tractable Word Alignment Models with Complex Constraints, João V. Graça, Kuzman Ganchev, and Ben Taskar
On the Comparative Analysis of Locomotory Systems with Vertical Travel, G. C. Haynes and Daniel E. Koditschek
On the Comparative Analysis of Locomotory Systems with Vertical Travel, G.C. Haynes and Daniel E. Koditschek
Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots, Aaron M. Johnson, Galen Clark Haynes, and Daniel E. Koditschek
Spatially Distributed Tactile Feedback for Kinesthetic Motion Guidance, Pulkit Kapur, Mallory Jensen, Laurel J. Buxbaum, Steven A. Jax, and Katherine J. Kuchenbecker
Characterization of Dynamic Behaviors in a Hexapod Robot, Haldun Komsuoglu, Anirudha Majumdar, Yasemin Aydin, and Daniel E. Koditschek
VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery, Katherine J. Kuchenbecker, Jamie Gewirtz, William McMahan, Dorsey Standish, Pierre J. Mendoza, and David I. Lee
Dimensional Reduction of High-Frequencey Accelerations for Haptic Rendering, Katherine J. Kuchenbecker, William McMahan, Nils Landin, and Joseph M. Romano
Automatic Filter Design for Synthesis of Haptic Textures from Recorded Acceleration Data, Katherine J. Kuchenbecker, Takashi Yoshioka, and Joseph M. Romano
Geometric Programming and Mechanism Design for Air Traffic Conflict Resolution, Jerome Le Ny and George J. Pappas
Sprawl Angle in Simplified Models of Vertical Climbing: Implications for Robots and Roaches, Goran A. Lynch, Lawrence Rome, and Daniel E. Koditschek
High Frequency Acceleration Feedback Significantly Increases the Realism of Haptically Rendered Textured Surfaces, William McMahan, Joseph M. Romano, Amal M. Abdul Rahuman, and Katherine J. Kuchenbecker
Variance Analysis of Randomized Consensus in Switching Directed Networks, Victor M. Preciado, Alireza Tahbaz-Salehi, and Ali Jadbabaie
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
On the Time Complexity of Information Dissemination via Linear Iterative Strategies, Shreyas Sundaram and Christoforos N. Hadjicostis
Control of Quantized Multi-Agent Systems with Linear Nearest Neighbor Rules: A Finite Field Approach, Shreyas Sundaram and Christosforos N. Hadjicostis
Papers from 2009
Multi-vehicle path planning in dynamically changing environments, Ali Ahmadzadeh, Nader Motee, Ali Jadbabaie, and George J. Pappas
Target Enumeration via Euler Characteristic Integrals, Yury Baryshnikov and Robert Ghrist
Optimized Stochastic Policies for Task Allocation in Swarms of Robots, Spring Berman, Adam Halasz, M. Ani Hsieh, and Vijay Kumar
Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion, Kevin C. Galloway, Jonathan E. Clark, and Daniel E. Koditschek
Dependency Grammar Induction via Bitext Projection Constraints, Kuzman Ganchev, Jennifer Gillenwater, and Ben Taskar
Target Enumeration via Integration over Planar Sensor Networks, Robert Ghrist and Yuliy Barishnikov
March of the Sandbots, Daniel Goldman, Haldun Komsuoglu, and Daniel Koditschek
Stiffness Discrimination with Visual and Proprioceptive Cues, Netta Gurari, Katherine J. Kuchenbecker, and Allison M. Okamura
Gait Transitions for Quasi-Static Hexapedal Locomotion on Level Ground, Galen C. Haynes, Fred Cohen, and Daniel E. Koditschek
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
Approximations of Stochastic Hybrid Systems, A Agung Julius and George J. Pappas
Trajectory Based Verification Using Local Finite-Time Invariance, A. Agung Julius and George J. Pappas
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
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
Genetic network identification using convex programming, A Julius, Michael Zavlanos, S Boyd, and George J. Pappas
Dynamic Legged Mobility---an Overview, Haldun Komsuoglu
Time-bounded Lattice for Efficient Planning in Dynamic Environments, Aleksandr Kushleyev and Maxim Likhachev
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
Path Clearance, Maxim Likhachev and Anthony Stentz
A Self-Exciting Controller for High-Speed Vertical Running, Goran A. Lynch, Jonathan E. Clark, and Daniel E. Koditschek
Haptic Displayof Realistic Tool Contact via Dynamically Compensated Control of a Dedicated Actuator, William McMahan and Katherine J. Kuchenbecker
Control of Locomotion with Shape-Changing Wheels, Daniel Mellinger, Vijay Kumar, and Mark Yim
Maintaining Connectivity in Mobile Robot Networks, Nathan Michael, Michael M. Zavlanos, Vijay Kumar, and George J. Pappas
Vision-Based, Distributed Control Laws for Motion Coordination of Nonholonomic Robots, Nima Moshtagh, Nathan D. Michael, Ali Jadbabaie, and Kostas Daniilidis
Incremental Phi*: Incremental Any-Angle Path Planning on Grids, Alex Nash, Sven Koenig, and Maxim Likhachev
Joint covariate selection and joint subspace selection for multiple classification problems, Guillaume Obozinski, Ben Taskar, and Michael I. Jordan
Modeling and Analysis of Multi-hop Control Networks, Alur Rajeev, Alessandro D'Innocenzo, Karl H. Johansson, George James Pappas, and Gera Weiss
Toward tactilely transparent gloves: Collocated slip sensing and vibrotactile actuation, Joseph M. Romano, Steven R. Gray, Nathan T. Jacobs, and Katherine J. Kuchenbecker
The AirWand: Design and Characterization of a Large-Workspace Haptic Device, Joseph M. Romano and Katherine J. Kuchenbecker
Shape-based object recognition in videos using 3D synthetic object models, Alexander Toshev, Ameesh Makadia, and Kostas Daniilidis
Search-based Planning for a Legged Robot over Rough Terrain, Paul Vernaza, Maxim Likhachev, Subhrajit Bhattacharya, Sachin Chitta, Aleksandr Kushleyev, and Daniel D. Lee
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
GPU Methods for Real-Time Haptic Interaction with 3D Fluids, Meng Yang, Jingwan Lu, Alla Safonova, and Katherine J. Kuchenbecker
A Distributed Dynamical Scheme for Fastest Mixing Markov Chains, Michael M. Zavlanos, Daniel E. Koditschek, and George J. Pappas
Papers from 2008
Elastic Multi-Particle Systems for Bounded-Curvature Path Planning, Ali Ahmadzadeh, Ali Jadbabaie, George J. Pappas, and Vijay Kumar
Determining interconnections in biochemical networks using linear programming, Elias August, Antonius Papachristodoulou, Ben Recht, Mark Roberts, and Ali Jadbabaie
Graph Cuts via l1 Norm Minimization, Arvind Bhusnurmath and Camillo J. Taylor
Effects of Proprioceptive Motion Feedback on Sighted and Non-Sighted Control of a Virtual Hand Prosthesis, Amy Blank, Allison M. Okamura, and Katherine J. Kuchenbecker
Movie/Script: Alignment and Parsing of Video and Text Transcription, Timothee Cour, Chris Jordan, Eleni Miltsakaki, and Ben Taskar
A Reasoning Framework for Autonomous Urban Driving, Dave Ferguson, Christopher Baker, Maxim Likhachev, and John Dolan
Motion Planning in Urban Environments: Part I, Dave Ferguson, Thomas M. Howard, and Maxim Likhachev
Motion Planning in Urban Environments: Part II, Dave Ferguson, Thomas M. Howard, and Maxim Likhachev
Efficiently Using Cost Maps For Planning Complex Maneuvers, Dave Ferguson and Maxim Likhachev
Logarithms and Square Roots of Real Matrices, Jean H. Gallier
Multi-View Learning over Structured and Non-Identical Outputs, Kuzman Ganchev, Joao V. Graca, John Blitzer, and Ben Taskar
Better Alignments = Better Translations?, Kuzman Ganchev, Joao V. Graca, and Ben Taskar
BARCODES: THE PERSISTENT TOPOLOGY OF DATA, Robert Ghrist
Three examples of applied and computational homology, Robert Ghrist
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
Grassmann Discriminant Analysis: a Unifying View on Subspace-Based Learning, Jihun Hamm and Daniel D. Lee
Maintaining network connectivity and performance in robot teams, M. Ani Hsieh, Anthony Cowley, R. Vijay Kumar, and Camillo J. Taylor
Decentralized Controllers for Shape Generation with Robotic Swarms, Mong-Ying Ani Hsieh, Vijay Kumar, and Luiz Chaimowicz
Metabolic Networks Analysis using Convex Optimization, A. Agung Julius, Marcin Imielinski, and George J. Pappas
Probabilistic Testing for Stochastic Hybrid Systems, A. Agung Julius and George J. Pappas
Pareto optimal multi-robot coordination with acceleration constraints, Jae Bum Jung and Robert Ghrist
A Physical Model for Dynamical Arthropod Running on Level Ground, Haldun Komsuoglu, Kiwon Sohn, Robert J. Full, and Daniel E. Koditschek
Recycling controllers, Hadas Kress-Gazit, Nora Ayanian, George J. Pappas, and Vijay Kumar
Courteous Cars: Decentralized Multiagent Traffic Coordination, Hadas Kress-Gazit, David C. Connor, Howie Choset, Alfred A. Rizzi, and George J. Pappas
Automatically synthesizing a planning and control subsystem for the DARPA urban challenge, Hadas Kress-Gazit and George J. Pappas
Haptography: capturing the feel of real objects to enable authentic haptic rendering (invited paper), Katherine J. Kuchenbecker
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
Planning Long Dynamically-Feasible Maneuvers For Autonomous Vehicles, Maxim Likhachev and Dave Ferguson
Anytime search in dynamic graphs, Maxim Likhachev, Dave Ferguson, Geoff Gordon, Anthony Stentz, and Sebastian Thrun
Information Value-Driven Approach to Path Clearance with Multiple Scout Robots, Maxim Likhachev and Anthony Stentz
Probabilistic Planning with Clear Preferences on Missing Information, Maxim Likhachev and Anthony Stentz