Lab Papers (GRASP)
Papers from 2002
From Nonlinear to Hamiltonian via Feedback, Paulo Tabuada and George J. Pappas
Composing Abstractions of Hybrid Systems, Paulo Tabuada, George J. Pappas, and Pedro Lima
The Effect of Feedback and Feedforward on Formation ISS, Herbert G. Tanner, R. Vijay Kumar, and George J. Pappas
Input-to-state Stability on Formation Graphs, Herbert G. Tanner, George J. Pappas, and R. Vijay Kumar
Simulation relations for discrete-time linear systems, Herbert Tanner and George J. Pappas
Object Closure and Manipulation by Multiple Cooperating Mobile Robots, Zhidong Wang and R. Vijay Kumar
Zero Dynamics of Planar Biped Walkers with One Degree of Under Actuation, E.R. Westervelt, J.W. Grizzle, and Daniel E. Koditschek
A Geometric Approach to the Study of the Cartesian Stiffness Matrix, Milos Zefran and R. Vijay Kumar
Papers from 2001
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
Motion generation for formations of robots: a geometric approach, Calin Belta and R. Vijay Kumar
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
Assembly as a noncooperative game of its pieces: analysis of 1D sphere assemblies, H. Isil Bozma and Daniel E. Koditschek
Surface Representations Using Spherical Harmonics and Gabor Wavelets on the Sphere, Thomas Bülow and Kostas Daniilidis
Compression of Stereo Disparity Streams Using Wavelets and Optical Flow, Thomas Bülow, Jane Mulligan, Geraud de Bonnafos, Alexandre Chibane, and Kostas Daniilidis
Empirical validation of a new visual servoing strategy, Noah J. Cowan, Joel D. Weingarten, and Daniel E. Koditschek
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
Modeling and Control of Formations of Nonholonomic Mobile Robots, Jaydev P. Desai, James P. Ostrowski, and R. Vijay Kumar
Modeling and Control of Formations of Nonholonomic Mobile Robots, Jaydev P. Desai, James P. Ostrowski, and Vijay Kumar
Multi-Agent Hybrid System Simulation, Joel Esposito, R. Vijay Kumar, and George J. Pappas
Efficient dynamic simulation of robotic systems with hierarchy, Joel M. Esposito and R. Vijay Kumar
On Controlling Aircraft Formations, Rafael Fierro, Calin Belta, Jaydev P. Desai, and R. Vijay Kumar
Hybrid Control of Formations of Robots, Rafael Fierro, Aveek K. Das, R. Vijay Kumar, and James P. Ostrowski
A Framework for Scalable Cooperative Navigation of Autonomous Vehicles, Rafael Fierro, Peng Song, Aveek K. Das, and R. Vijay Kumar
Structure and Motion From Uncalibrated Catadioptric Views, Christopher Geyer and Kostas Daniilidis
VC-Dimension of Exterior Visibility of Polyhedra, Volkan Isler, Sampath Kannan, and Kostas Daniilidis
On the stability of unconstrained receding horizon control with a general terminal cost, Ali Jadbabaie and John Hauser
Unconstrained Receding-Horizon Control of Nonlinear Systems, Ali Jadbabaie, Jie Yu, and John Hauser
Stability of Coupled Hybrid Oscillators, Eric Klavins and Daniel E. Koditschek
Toward the Regulation and Composition of Cyclic Behaviors, Eric Klavins, Daniel E. Koditschek, and Robert W. Ghrist
Preliminary Analysis of a Biologically Inspired 1-DOF "Clock" Stabilized Hopper, Haldun Komsuoglu and Daniel E. Koditschek
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
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
Dynamics and Control of Whole Arm Grasps, Peng Song, Masahito Yashima, and R. Vijay Kumar
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
Papers from 2000
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
Event Driven Parts Moving in 2D Endogenuous Environments, C. Serkan Karagoz, H. Isil Bozma, and Daniel E. Koditschek
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
An Information Maximization Approach to Overcomplete and Recurrent Representations, Oren Shriki, Haim Sompolinsky, and Daniel D. Lee
Papers from 1999
Sequential Composition of Dynamically Dexterous Robot Behaviors, R. R. Burridge, A. A. Rizzi, and Daniel E. Koditschek
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
Safe Cooperative Robotic Patterns via Dynamics on Graphs, Robert W. Ghrist 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
On the Generation of Smooth Three-Dimensional Rigid Body Motions, Miloš Žefran, Vijay Kumar, and Christopher Croke
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
Dynamic Control of 3-D Rolling Contacts in Two-Arm Manipulation, Nilanjan Sarkar, Xiaoping Yun, and Vijay Kumar
Characterization of Monoped Equilibrium Gaits, William J. Schwind and Daniel E. Koditschek
Papers from 1996
Toward A Systems Theory for the Composition of Dynamically Dexterous Robot Behaviors, R. R. Burridge, A. A. Rizzi, and Daniel E. Koditschek
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 Obstacle Avoidance in Intermittent Dynamical Environments, Robert R. Burridge, Alfred A. Rizzi, 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
A “Robust” Convergent Visual Servoing System, D. Kim, A. A. Rizzi, G. D. Hager, and Daniel E. Koditschek
The Geometry of a Robot Programming Language, Daniel E. Koditschek
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
Design of a Wheelchair with Legs for People with Motor Disabilities, Parris Wellman, Venkat Krovi, Vijay Kumar, and William Harwin