Lab Papers (GRASP)
Papers from 2008
R* Search, Maxim Likhachev and Anthony Stentz
Density Functions for Navigation-Function-Based Systems, Savvas G. Loizou and Ali Jadbabaie
Experimental Testbed for Large Multirobot Teams, Nathan Michael, Jonathan Fick, and Vijay Kumar
Experimental Testbed for Large Multirobot Teams, Nathan Michael, Jonathan Fink, and R. Vijay Kumar
Steering laws for distributed motion coordination of kinematic agents in three dimensions, Nima Moshtagh and Ali Jadbabaie
Bearing-Only Control Laws For Balanced Circular, Nima Moshtagh, Nathan Michael, Ali Jadbabaie, and Kostas Daniilidis
Optimal Control of Spatially Distributed Systems, Nader Motee and Ali Jadbabaie
Effects of Delay on the Functionality of Large-scale Networks, Antonis Papachristodoulou and Ali Jadbabaie
Approximation of the joint spectral radius using sum of squares, Pablo A. Parillo and Ali Jadbabaie
Automatic Configuration Recognition Methods in Modular Robots, Michael Park, Sachin Chitta, Alex Teichman, and Mark Yim
Towards Testable Neuromechanical Control of Architectures for Running, Shai Revzen, Daniel E. Koditschek, and R J. Full
Construction of C∞ Surfaces From Triangular Meshes Using Parametric Pseudo-Manifolds, Marcelo Siqueira, Dianna Xu, and Jean H. Gallier
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
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
Approximate Reduction of Dynamical Systems, Paulo Tabuada, Aaron D. Ames, Agung Julius, and George J. Pappas
A Necessary and Sufficient Condition for Consensus Over Random Networks, Alireza Tahbaz-Salehi and Ali Jadbabaie
A Necessary and Sufficient Condition for Consensus Over Random Networks, Alireza Tahbaz-Salehi and Ali Jadbabaie
Distributed coverage verification in sensor networks without location information, Alireza Tahbaz-Salehi and Ali Jadbabaie
Distributed coverage verification in sensor networks without location information, Alireza Tahbaz-Salehi and Ali Jadbabaie
On the Optimal Assignment of Conference Papers to Reviewers, Camillo J. Taylor
Solving Image Registration Problems Using Interior Point Methods, Camillo J. Taylor and Arvind Bhusnurmath
Solving Stereo Matching Problems Using Interior Point Methods, Camillo J. Taylor and Arvind Bhusnurmath
Online, self-supervised terrain classification via discriminatively trained submodular Markov random fields, Paul Vernaza, Ben Taskar, and Daniel D. Lee
Identification of stable genetic networks using convex programming, Michael M. Zavlanos, A. Agung Julius, Stephen P. Boyd, and George J. Pappas
Distributed Connectivity Control of Mobile Networks, Michael M. Zavlanos and George J. Pappas
A Distributed Auction Algorithm for the Assignment Problem, Michael M. Zavlanos, Leonid Spesivtsev, and George J. Pappas
Distributed Topology Control of Dynamic Networks, Michael M. Zavlanos, Alireza Tahbaz-Salehi, Ali Jadbabaie, and George J. Pappas
Dynamic Assignment in Distributed Motion Planning With Local Coordination, Michael Zavlanos and George J. Pappas
Papers from 2007
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
Solving the Graph Cut Problem via l1 Norm Minimization, Arvind Bhusnurmath and Camillo J. Taylor
Heterogeneous Leg Stiffness and Roll in Dynamic Running, Samuel Burden, Jonathan Clark, Joel Weingarten, Haldun Komsuoglu, and Daniel E. Koditschek
Proprioceptive localization for a quadrupedal robot on known terrain, Sachin Chitta, Paul Vernaza, Roman Geykhman, and Daniel D. Lee
Design of a Bio-Inspired Dynamical Vertical Climbing Robot, Jonathan E. Clark, Daniel I. Goldman, Pei-Chun Lin, Goran Lynch, Tao S. Chen, Haldun Komsuoglu, Robert J. Full, and Daniel Koditschek
Robust Sampling for MITL Specifications, Georgios E. Fainekos and George J. Pappas
Shaping Event-Based Haptic Transients Via an Improved Understanding of Real Contact Dynamics, Jonathan P. Fiene and Katherine J. Kuchenbecker
Discrete Mathematics for Computer Science Some Notes, Jean H. Gallier
The Classification Theorem for Compact Surfaces and a Detour on Fractals, Jean H. Gallier
DESIGN OF A MULTI-DIRECTIONAL VARIABLE STIFFNESS LEG FOR DYNAMIC RUNNING, Kevin C. Galloway, Jonathan E. Clark, and Daniel E. Koditschek
Approximate Bisimulation Relations for Constrained Linear Systems, Antoine Girard and George J. Pappas
Stabilization of Multiple Robots on Stable Orbits via Local Sensing, Mong-Ying A. Hsieh, Savvas Loizou, and R. Vijay Kumar
Controlling Biological Systems: The Lactose Regulation System of Escherichia Coli, Anak Agung Julius, Ádam Halasz, Vijay Kumar, and George Pappas
Effects of Visual and Proprioceptive Motion Feedback on Human Control of Targeted Movement, Katherine J. Kuchenbecker, Netta Gurari, and Allison M. Okamura
Quantifying the Value of Visual and Haptic Position Feedback During Force-Based Motion Control, Katherine J. Kuchenbecker, Netta Gurari, and Allison M. Okamura
Blind Sparse-nonnegative (BSN) Channel Identification for Acousitic Time-Difference-of-Arrival Estimation, Yuanqing Lin, Jingdong Chen, Youngmoo Kim, and Daniel D. Lee
Visual Servoing for Nonholonomically Constrained Three Degree of Freedom Kinematic Systems, Gabriel A.D. Lopes and Daniel E. Koditschek
Distributed Geodesic Control Laws for Flocking of Nonholonomic Agents, Nima Moshtagh and Ali Jadbabaie
Distributed Quadratic Programming over Arbitrary Graphs, Nader Motee and Ali Jadbabaie
Special Issue on the Grand Challenges of Robotics, James Ostrowski, Adriana Tapus, and Mark Yim
Integrating Human Inputs with Autonomous Behaviors on an Intelligent Wheelchair Platform, Saranghi P. Parikh, Valdir Grassi Jr., R. Vijay Kumar, and Jun Okamoto Jr.
A Framework for Worst-Case and Stochastic Safety Verification Using Barrier Certificates, Stephen Prajna, Ali Jadbabaie, and George J. Pappas
Multiplicative Updates for Nonnegative Quadratic Programming, Fei Sha, Yuanqing Lin, Lawrence K. Saul, and Daniel D. Lee
Flocking in Fixed and Switching Networks, Herbert G. Tanner, Ali Jadbabaie, and George J. Pappas
Robotics as the Delivery Vehicle: A contexualized, social, self paced, engineering education for life-long learners, Joel D. Weingarten, Daniel E. Koditschek, Haldun Komsuoglu, and Chris Massey
Towards Robotic Self-reassembly After Explosion, Mark Yim, Babak Shirmohammadi, Jimmy Sastra, Michael Park, Michael Dugan, and Camillo J. Taylor
Potential Fields for Maintaining Connectivity of Mobile Networks, Michael M. Zavlanos and George J. Pappas
Papers from 2006
Toward a Dynamic Vertical Climbing Robot, Jonathan E. Clark, Daniel I. Goldman, Tao S. Chen, Robert J. Full, and Daniel E. Koditschek
Room Impulse Response Estimation using Sparse Online Prediction and Absolute Loss, Koby Crammer and Daniel D. Lee
Special Section on Symbolic Methods for Complex Control Systems, Magnus B. Egerstedt, Emilio Fazzoli, and George J. Pappas
Cooperative Air and Ground Surveillance, Ben Grocholsky, James Keller, R. Vijay Kumar, and George J. Pappas
Cooperative Air and Ground Survaillance, Ben Grocholsky, James Keller, Vijay Kumar, and George J. Pappas
Learning a Manifold-Constrained Map between Image Sets: Applications to Matching and Pose Estimation, Jihun Ham, Ikkjin Ahn, and Daniel D. Lee
The Dynamics of Legged Locomotion: Models, Analyses, and Challenges, Philip Holmes, Robert J. Full, Daniel E. Koditschek, and John Guckenheimer
Finite state abstraction of a stochastic model of the lactose regulation system of Escherichia coli, Agung Julius, Ádám Halász, R. Vijay Kumar, and George J. Pappas
Sampling-Based Algorithm for Testing and Validating Robot Controllers, Jongwoo Kim, Joel M. Esposito, and R. Vijay Kumar
Improving Telerobotic Touch Via High-Frequency Acceleration Matching, Katherine J. Kuchenbecker and Günter Niemeyer
Modeling Induced Master Motion in Force-Reflecting Teleoperation, Katherine J. Kuchenbecker and Günter Niemeyer
Bayesian L1-Norm Sparse Learning, Daniel D. Lee and Yuanqing Lin
Sensor Data Fusion for Body State Estimation in a Hexapod Robot With Dynamical Gaits, Pei-Chun Lin, Haldun Komsuoglu, and Daniel E. Koditschek
Density Functions for Navigation Function Based Systems, Savvas G. Loizou and Ali Jadbabaie
Weak Input-to-State Stability Properties for Navigation Function Based Controllers, Savvas G. Loizou and R. Vijay Kumar
Gait Generation and Control in a Climbing Hexapod Robot, Alfred A. Rizzi, G. C. Haynes, Robert J. Full, and Daniel E. Koditschek
Dynamic Rolling for a Modular Loop Robot, Jimmy Sastra, Sachin Chitta, and Mark Yim
Linear Time Logic Control of Discrete-Time Linear Systems, Paulo Tabuada and George J. Pappas
Papers from 2005
Robotics in Scansorial Environments, Kellar Autumn, Martin Buehler, Mark Cutkosky, Ronald Fearing, Robert J. Full, Daniel Goldman, Richard Groff, William Provancher, Alfred A. Rizzi, Uluc Saranli, Aaron Saunders, and Daniel Koditschek
Observability of Switched Linear Systems in Continuous Time, Mohamed Babaali and George J. Pappas
Computational Techniques for Analysis of Genetic Network Dynamics, Calin Belta, Joel M. Esposito, Jongwoo Kim, and R. Vijay Kumar
Discrete Abstractions for Robot Motion Planning and Control in Polygonal Environments, Calin Belta, Volkan Isler, and George J. Pappas
Controlling Swarms of Robots Using Interpolated Implicit Functions, Luiz Chaimowicz, Nathan D. Michael, and Vijay Kumar
Steering of Discrete Event Systems: Control Theory Approach, Arvind Easwaran, Sampath Kannan, and Oleg Sokolsky
Hybrid Controllers for Path Planning: A Temporal Logic Approach, Geogios E. Fainekos, Hadas Kress-Gazit, and George J. Pappas
Temporal Logic Motion Planning for Mobile Robots, Geogios E. Fainekos, Hadas Kress-Gazit, and George J. Pappas
Approximate Bisimulation Relations for Constrained Linear Systems, Antoine Girard and George J. Pappas
Approximate Bisimulations for Nonlinear Dynamical Systems, Antoine Girard and George J. Pappas
Approximation Metrics for Discrete and Continuous Systems, Antoine Girard and George J. Pappas
Information Driven Coordinated Air-Ground Proactive Sensing, Ben Grocholsky, Rahul Swaminathan, James Keller, Vijay Kumar, and George J. Pappas
Bisimulation relations for dynamical, control, and hybrid systems, Esfandiar Haghverdi, Paulo Tabuada, and George J. Pappas
Event-Based Haptics and Acceleration Matching: Portraying and Assessing the Realism of Contact, Katherine J. Kuchenbecker, Jonathan P. Fiene, and Günter Niemeyer
Robot and Sensor Networks for First Responders, Vijay Kumar, Daniela Rus, and Sanjiv Singh
A Leg Configuration Measurement System for Full-Body Pose Estimates in a Hexapod Robot, Pei-Chun Lin, Haldun Komsuoglu, and Daniel E. Koditschek
Relevant Deconvolution For Acoustic Source Estimation, Yuanqing Lin and Daniel D. Lee
Planar Ego-Motion Without Correspondences, Ameesh Makadia, Dinkar Gupta, and Kostas Daniilidis
Distributed Geodesic Control Laws for Flocking of Nonholonomic Agents, Nima Moshtoagh, Ali Jadbabaie, and Kostas Daniilidis
Convergence of Time-Stepping Method For Initial and Boundary-Value Frictional Compliant Contact Problems, Jong-Shi Pang, Vijay Kumar, and Peng Song
Usability Study of a Control Framework for an Intelligent Wheelchair, Sarangi P. Parikh, Valdir Grassi Jr, Vijay Kumar, and Jun Okamoto Jr
Planning and Control of Mobile Robots in Image Space from Overhead Cameras, Rahul S. Rao, Vijay Kumar, and Camillo J. Taylor
Hierarchical trajectory refinement for a class of nonlinear systems, Paulo Tabuada and George J. Pappas
Quotients of fully nonlinear control systems, Paulo Tabuada and George J. Pappas
Controlling Connectivity of Dynamic Graphs, Michael M. Zavlanos and George J. Pappas
Papers from 2004
Stability Analysis of Legged Locomotion Models by Symmetry-Factored Return Maps, Richard Altendorfer, Daniel E. Koditschek, and Philip Holmes
Optimal Paths in Weighted Timed Automata, Rajeev Alur, Salvatore La Torre, and George J. Pappas