Publications | Sensor Based Planning Laboratory

Publications

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Topics:
Towards Sensor Based Planning for Highly Articulated Robots
Mobile Robotics
Coverage
Hyper-Redundant Robotics
Locomotion Systems
Nonsmooth Analysis
Hybrid Control
Modular Distributed Manipulator System
Space Robotics
Lego Robotics
Eduacation Robotics
Others

Toward Sensor Based Planning for Highly Articulated Robots	Top
Journal Papers
Sensor-based Plannig for a Rod-shaped Robot in Three Dimensions: Piecewise Retracts of R^3 x S^2 Ji Yeong Lee and Howie Choset International Journal of Robotics Research, Vol.24, No.5, May 2005, pp.343-383 PDF Sensor-Based Exploration for Convex Bodies: A New Roadmap for a Convex-Shaped Robot Ji Yeong Lee and Howie Choset IEEE Transactions of Robotics and Automation, Vol 21, No. 2, April 2005, pp. 240-247 PDF Sensor-Based Construction of a Retract-Like Structure for a Planar Rod Robot Howie Choset and Ji Yeong Lee IEEE Transactions of Robotics and Automation, Vol 17, No. 4, August 2001 PDF Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph Howie Choset and Joel Burdick The International Journal of Robotics Research 19, no. 2 (2000): 96-125 PDF Sensor-Based Exploration: Incremental Construction of the Hierarchical Generalized Voronoi Graph Howie Choset, Sean Walker, Kunnayut Eiamsa-Ard, Joel Burdick The International Journal of Robotics Research 19, no. 2 (2000): 126-148 PDF
Conference Papers
A New Roadmap for a Sensor-based Planning for Planar Multi-Convex Rigid Bodies Ji Yeong Lee, Howie Choset Proc. 2005 IEEE International Conference on Robotics & Automation, Barcelona Spain, April 2005 PDF Motion Planning for a Rod-shaped Robot in R3: Connecting the rod-HGVG using the point-HGVG Ji Yeong Lee and Howie Choset Proceedings of the 2004 Conference on Robotics & Automation, New Orleasn, LA, April 2004 PDF Sensor-Based Exploration for Convex-Bodies: A New Roadmap for a Convex-shaped Robot Ji Yeong Lee, Howie Choset Proc. 2002 IEEE International Conference on Robotics & Automation, Washington DC, May 2002 PDF Sensor Based Planning for Rod Shaped Robots in Three Dimensions: Piece-wise Retracts of R^3 x S^2 Ji Yeong Lee, Howie Choset and Alfred A. Rizzi IEEE/ICRA, Seoul, Korea, 2001 PDF Sensor Based Planning for a Planar Rod Robot: Incremental Construction of the Planar Rod-HGVG Howie Choset, Brian Mirtich, and Joel Burdick IEEE/ICRA, New Mexico, USA, 1997 Compressed PS PDF Incremental Construction of the Generalized Voronoi Diagram, the Generalized Voronoi Graph, and the Hierarchical Generalized Voronoi Graph Howie Choset FIRST CGC WORKSHOP ON COMPUTATIONAL GEOMETRY, Baltimore, MD, Octobor 1997 Compressed PS Sensor Based Motion Planning: The Hierarchical Generalized Voronoi Graph H. Choset and J. Burdick Workshop on Algorithmic Foundations of Robotics, 1996 Compressed PS Sensor Based Planning for a Rod Robot H. Choset and J. Burdick IEEE/ICRA Minneapolis, MN, 1996 Compressed PS PDF Sensor Based Planning, Part I: The Generalized Voronoi Graph H. Choset and J. Burdick IEEE/ICRA Nagoya, Japan, 1995 Compressed PS PDF Sensor Based Planning, Part II: Incremental Construction of the Generalized Voronoi Graph H. Choset and J. Burdick IEEE/ICRA Nagoya, Japan, 1995 Compressed PS PDF

Mobile Robotics	Top
Journal Papers
*The Hierarchical Atlas* Lisien, B.; Morales, D.; Silver, D.; Kantor, G.; Rekleitis, I.; Choset, H.; Robotics and Automation, IEEE Transactions on, Volume 21, Issue 3, June 2005 Page(s):473 - 481 PDF The Arc-Transversal Median Algorithm: A Geometric Approach to Increasing Ultrasonic Sensor Azimuth Accuracy Howie Choset, Keiji Nagatani and Nicole A. Lazar IEEE Transaction of Robotics and Automation, Vol 19, No. 3, June 2003, pp. 513-523 PDF *Topological simultaneous localization and mapping (SLAM): toward exact localization without explicit localization* Choset, H.; Nagatani, K Robotics and Automation, IEEE Transactions on , Volume: 17 Issue: 2 , Apr 2001 PDF
Conference Papers
*A Multi-Hypothesis Topological SLAM Approach for Loop Closing on Edge-Ordered Graphs* Stephen Tully, George Kantor, Howie Choset, and Felix Werner Proc. 2009 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, Saint Louis, MO, USA, October 2009. PDF *Topological SLAM using Neighbourhood Information of Places* Felix Werner, Frederic Maire, Joaquin Sitte, Howie Choset, Stephen Tully, and George Kantor Proc. 2009 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, Saint Louis, MO, USA, October 2009. PDF *Leap-Frog Path Design for Multi-Robot Cooperative Localization* Stephen Tully, George Kantor, and Howie Choset Proc. 2009 Field and Service Robotics Conference, FSR 2009, Cambridge, Mass, USA, July 2009 PDF *Iterated Filters for Bearing-Only SLAM* Stephen Tully, Hyungpil Moon, George Kantor, and Howie Choset Proc. 2008 IEEE International Conference on Robotics & Automation, Pasadena, California, USA, May 2008 PDF *Square Root Iterated Kalman Filter for Bearing-Only SLAM* Hyungpil Moon, Stephen Tully, George Kantor, and Howie Choset The 4th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2007), Pohang, Korea. PDF *Predicting the Size of Spring Network Swarm in Quadratic Potential Fields* Hyungpil Moon, Howie Choset, and Jonathan E. Luntz The 4th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2007), Pohang, Korea. PDF *Hybrid Localization Using the Hierarchical Atlas* Stephen Tully, Hyungpil Moon, Deryck Morales, George Kantor, and Howie Choset In Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, San Diego, CA, USA, Oct 29 - Nov 2, 2007, Pages 2857-2864. PDF Context Identification for Efficient Multiple-Model State Estimation Sarjoun Skaff, Alfred A. Rizzi, and Howie Choset In Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, San Diego, CA, USA, Oct 29 - Nov 2, 2007, Pages 2435-2440. PDF A Context-Based State Estimation Technique for Hybrid Systems Sarjoun Skaff , Alfred Rizzi, Howie Choset, and Pei-Chun Lin Proc. 2005 IEEE International Conference on Robotics & Automation, Barcelona Spain, April 2005 PDF Arc Carving: Obtaining Accurate, Low Latency Maps from Ultrasonic Range Sensors Silver, Morales, Rekleitis, Liesen and Choset Proceedings of the 2004 IEEE International Conference on Robotics & Automation, New Orleans, LA, April 2004 PDF Bearing-only Landmark Initialization with Unknown Data Association Costa, Kantor, Choset Proceedings of the 2004 IEEE International Conference on Robotics & Automation, New Orleans, LA, April 2004 PDF Development and Deployment of a Line of Sight Virtual Sensor for Heterogeneous Teams Grabowski, Koshla, Choset Proceedings of the 2004 IEEE International Conference on Robotics & Automation, New Orleans, LA, April 2004 PDF Hierarchical Simultaneous Localization and Mapping Brad Lisien, Deryck Morales, David Silver, George Kantor, Ioannis Rekleitis and Howie Choset In Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 2003, Volume 1, Pages 448-453. PDF Autonomous Exploration via Regions of Interest Robert Grabowski, Pradeep Khosla and Howie Choset In Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 2003, Volume 1, Pages 705-710. PDF An Enhanced Occupancy Map for Exploration via Pose Separation Robert Grabowski, Pradeep Khosla and Howie Choset In Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 2003, Volume 2, Pages 1691-1696. PDF Path Planning between Two Points for a Robot Experiencing Localization Error in Known and Unknown Environment Howie Choset, Marco La Civita, and Jong Chul Park FSR, Pittsburgh, PA 1999. PDF Toward Robust Sensor Based Exploration by Constructing Reduced Generalized Voronoi Graph Keiji Nagatani and Howie Choset IROS, Kyongju, Korea 1999. Compressed PS PDF The Arc-Transversal Median Algorithm: an Approach to Increasing Ultrasonic Sensor Accuracy Howie Choset, Keiji Nagatani, and Nicole Lazar IEEE/ICRA Detroit, 1999. Compressed PS PDF Towards Exact Location without Explicit Localization Keiji Nagatani, Howie Choset, and Sebastian Thrun. IEEE/ICRA Lueven, Belgium, 1998. Compressed PS PDF Sensor Based Planning: Using a Honing Strategy and Local Map Method to Implement the Generalized Voronoi Graph Howie Choset, Keiji Nagatani and Alfred Rizzi SPIE Mobile Robotics, Pittsburgh, PA, 1997 Compressed PS Mobile Robot Navigation: Implementing the GVG in the Presence of Sharp Corners} Ilhan Konukseven and Howie Choset IROS, Grenoble, France, 1997 Compressed PS Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph Howie Choset, Ilhan Konukseven, and Al RIzzi IEEE/ICAR, Montery, CA, 1997 Compressed PS Mobile Robot Navigation: Issues in Implementation the Generalized Voronoi Graph in the Plane Howie Choset, Ilhan Konukseven, and Joel Burdick IEEE/MFI, Washington DC, 1996 Compressed PS PDF

Coverage	Top
Journal Papers
Uniform Coverage of Automotive Surface Patches Prasad N. Atkar, Aaron Greenfield, David C. Conner, Howie Choset and Alfred A. Rizzi The International Journal of Robotics Research, Vol.24, No.11, November 2005, pp.883-898 PDF Paint Deposition Modeling for Trajectory Planning on Automotive Surfaces David C. Conner, Aaron Greenfield, Prasad N. Atkar, Alfred A. Rizzi and Howie Choset IEEE Transactions on Automation Science and Engineering, Vol.2, No.4, October 2005, pp.381-392 PDF Path Planning for Robotic Demining: Robust Sensor-based Coverage of Unstructured Environments and Probabilistic Methods Ercan U. Acar, Howie Choset, Yangang Zhang, Mark Schervish The International Jounal of Robotics Research, Vol. 22, No. 7-8, July-August 2003, pp. 441-466 PDF Morse Decompositions for Coverage Tasks Ercan U. Acar, Howie Choset, Alfred A. Rizzi, Prasad N. Atkar, Douglas Hull The International Jounal of Robotics Research, Vol. 21, No. 4, April 2002, pp. 331-344 PDF Sensor-Based Coverage of Unknown Environments: Incremental Construction of Morse Decompositions Ercan U. Acar, Howie Choset The International Jounal of Robotics Research, Vol. 21, No. 4, April 2002, pp. 345-366 PDF Coverage for robotics - A survey of recent results Howie Choset Annals of Mathematics and Artificial Intelligence 31: 113-126, 2001. compressed PDF Coverage of Known Spaces: The Boustrophedon Cellupdar Decomposition Howie Choset Autonomos Robots 9: 247-253, 2000. PDF
Conference Papers
Hierarchical Segmentation of Surfaces Embedded in R^3 for Auto-Body Painting Prasad Atkar, Aaron Greenfield, Dave C. Conner, Howie Choset, and Alfred Rizzi Proc. 2005 IEEE International Conference on Robotics & Automation, Barcelona Spain, April 2005 PDF Uniform Covreage of Simple Surfaces Embedded in R^3 for Auto-Body Painting Prasad N. Atkar, David C. Conner, Aaron Greenfield, Howie Choset, and Alfred A. Rizzi Accepted for Publication, Sixth Workshop on the Algorithmic Foundations of Robotics, Utrecht/Zeist, The Netherlands, 2004. PDF Limited Communication, Multi-Robot Team Based Coverage Rekleitis, Lee-Shue, New, Choset Proceedings of the 2004 Conference on Robotics & Automation, New Orleasn, LA, April 2004 PDF Towards Optimal Covreage of 2-Dimensional Surfaces Embedded in R^3 : Choice of Start Curve Prasad N. Atkar, Howie Choset, and Alfred A. Rizzi In Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 2003, Volume 4, Pages 3581-3587. PDF Probabilistic hierarchical spatial model for mine locations and its application in robotic landmine search Yangang Zhang; Schervish, M.; Choset, H. Intelligent Robots and System, 2002. IEEE/RSJ International Conference on ,Vol.1, 2002 Pages: 681- 689 PDF Development of deposition models for paint application on surfaces embedded in R^3 for use in automated path planning Conner, D.C.; Atkar, P.N.; Rizzi, A.A.; Choset, H. Intelligent Robots and System, 2002. IEEE/RSJ International Conference on , Vol.2, 2002 Pages: 1844- 1849. PDF Exploiting Critical Points to Reduce Positioning Error for Sensor-based Navigation Ercan U. Acar, Howie Choset Proc. 2002 IEEE International Conference on Robotics & Automation, Washington DC, May 2002 PDF Toward Sensor Based Coverage with Robot Teams Latimer, Srinivasa, Lee-Shue, Sonne, Choset, Hurst Proc. 2002 IEEE International Conference on Robotics & Automation, Washington DC, May 2002 PDF Robust Sensor-based Coverage of Unstructured Environments Ercan U. Acar, Howie Choset Proc. of IEEE IROS'01, International Conference on Intelligent Robots and Systems, pgs 61-68, 2001, Maui, Hawaii, USA compressed PS PDF Complete Sensor-based Coverage with Extended-range Detectors: A Hierarchical Decomposition in Terms of Critical Points and Voronoi Diagrams Ercan U. Acar, Howie Choset Proc. of IEEE IROS'01, International Conference on Intelligent Robots and Systems, pgs 1305-1311, 2001, Maui, Hawaii, USA compressed PS PDF Probabilistic Methods for Robotic Landmine Search Yangang Zhang, Mark Schervish, Ercan U. Acar, Howie Choset Proc. of IEEE IROS'01, International Conference on Intelligent Robots and Systems, pgs 1525-1532, 2001, Maui, Hawaii, USA PDF Path Planning for Robotic Demining and Development of a Test Platform Ercan U. Acar, Yangang Zhang, Howie Choset, Mark Schervish, Albert G. Costa, Renata Melamud, David C. Lean, Amy Graveline International Conference on Field and Service Robotics, pgs 161-168. 2001, Helsinki, Finland. compressed PS Exact Cellular Decomposition of Closed Orientable Surfaces Embedded in R^3 Prasad N. Atkar, Howie Choset, Alfred A. Rizzi, Ercan U. Acar IEEE/ICRA Seoul, Korea, 2001. PDF Exact Cellular Decompositions in Terms of Critical Points of Morse Functions Howie Choset, Ercan Acar, Alfred A. Rizzi, and Jonathan Luntz IEEE/ICRA, International Conference on Robtics and Automation, pgs 2270-2277, San Francisco, CA 2000. Compressed PS PDF Critical Point Sensing in Unknown Environments Ercan Acar and Howie Choset IEEE/ICRA International Conference on Robtics and Automation, pgs 3803-3810, San Francisco, CA 2000. PDF Coverage Path Planning: The Boustrophedon Decomposition Howie Choset and Philippe Pignon International Conference on Field and Service Robotics, Canberra, Australia, 1997 Compressed PS

Hyper-Redundant Robotics (Snake Robots)	Top
Journal Papers
Three Degrees-of-freedom joint for spatial hyper-redundant robots E. Shammas, A. Wolf, and H. Choset Journal of Mechanism and Machine Theory, April, 2005, pp. 170 - 190 PDF A Follow-the-Leader Approach to Serpentine Robot Motion Planning H. Choset and W. Henning ASCE Journal of Aerospace Engineering An abstract of this paper PS PDF
Conference Papers
*Toroidal Skin Drive for Snake Robot Locomotion* James McKenna, David Anhalt, Frederick Bronson, Ben Brown, Michael Schwerin, Elie Shammas, and Howie Choset Proc. 2008 IEEE International Conference on Robotics & Automation, Pasadena, California, USA, May 2008 *Differentiable and Piecewise Differentiable Gaits for Snake Robots* Kevin Lipkin, Isaac Brown, Aaron Peck, Howie Choset, Justine Rembisz, Philip Gianfortoni, and Allison Naaktgeboren In Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, San Diego, CA, USA, Oct 29 - Nov 2, 2007, Pages 1864-1869. PDF *Design of a Modular Snake Robot* Cornell Wright, Aaron Johnson, Aaron Peck, Zachary McCord, Allison Naaktgeboren, Philip Gianfortoni, Manuel Gonzalez-Rivero, Ross Hatton, and Howie Choset In Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, San Diego, CA, USA, Oct 29 - Nov 2, 2007, Pages 2609-2614. PDF *Design and Control of a Second-Generation Hyper-Redundant Mechanism* H. Ben Brown, Michael Schwerin, E. Shammas, and H. Choset In Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, San Diego, CA, USA, Oct 29 - Nov 2, 2007, Pages 2603-2608. PDF Percutaneous Intrapericardial Interventions Using a Highly Articulated Robotic Probe Amir Degani, Howie Choset, Alon Wolf, Takeyoshi Ota and Marco Zenati Proc. 2006 IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Pisa, Italy, Feb. 2006 Highly Articulated Robotic Probe for Minimally Invasive Surgery Amir Degani, Howie Choset, Alon Wolf and Marco Zenati Proc. 2006 IEEE International Conference on Robotics & Automation, Orlando, USA, May 2006 Dynamic Ambiguities in Frictional Rigid-body Systems with Application to Climbing via Bracing Aaron Greenfield, Alfred Rizzi, and Howie Choset Proc. 2005 IEEE International Conference on Robotics & Automation, Barcelona, Spain, April 2005 PDF New Joint Design for Three-dimensional Hyper Redundant Robots Choice of Start Curve Elie Shammas, Alon Wolf, H. Ben Brown Jr. and Howie Choset In Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 2003, Volume 4, Pages 3594-3599. PDF A Mobile Hyper Redundant Mechanism for Search and Rescue Tasks A. Wolf, H. Ben Brown Jr., R. Casciola, A. Costa, M. Schwerin, E. Shammas and Howie Choset In Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 2003, Volume 3, Pages 2889-2895. PDF Motion Planning for Serpentine Robots W. Henning, F. Hickman, H. Choset ASCE Space and Robotics Albuquerque, New Mexico, 1998, Compressed PS Extensibility in Local Sensor Based Planning For Hyper Redundant Manipulators (Robot Snakes) H. Choset and J. Burdick AIAA/NASA CIRFFSS, Houston, Texas, 1994 Compressed PS Experimental Results for Sensor Based Planning for Hyper-redundant Manipulators N. Takanashi, H. Choset, and J. Burdick IEEE/IROS Yokohama, Japan, 1993 Compressed PS

Locomotion systems	Top
Journal Papers

Conference Papers
A Dynamic Single Actuator Vertical Climbing Robot Amir Degani, Amir Shapiro, Howie Choset and Matthew T. Mason In Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, San Diego, CA, USA, Oct 29 - Nov 2, 2007, Pages 2901-2906. PDF Towards Motion Planning for Dynamic Variable Inertia Mechanical Systems with Non-holonomic Constraints Elie Shammas, Howie Choset, Alfred Rizzi Proc. 2006 of the Seventh International Workshop on the Algorithmic Foundations of Robotics New York City, USA, 2006 PDF Towards Automated Gait Generation for Dynamic Systems with Non-holonomic Constraints Elie Shammas, Howie Choset, Alfred Rizzi Proc. 2006 IEEE International Conference on Robotics & Automation, Orlando, USA, May 2006 PDF Natural Gait Generation Techniques for Principally Kinematic Mechanical Systems Elie Shammas, Howie Choset, Alfred Rizzi In Proceedings of Robotics: Science and Systems, Cambridge, USA, June 2005. PDF Natural Gait Generation Techniques for Multi-bodied Isolated Mechanical Systems Elie Shammas, Klaus Schmidt, and Howie Choset Proc. 2005 IEEE International Conference on Robotics & Automation, pages 3675-3680, Barcelona Spain, April 2005 PDF

Hybrid Control	Top
Conference Papers
Valet Parking Without a Valet David C. Conner, Hadas Kress-Gazit, Howie Choset, Alfred A. Rizzi, and George J. Pappas In Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, San Diego, CA, USA, Oct 29 - Nov 2, 2007, Pages 572-577 PDF *Integrated Planning and Control for Convex-bodied Nonholonomic systems using Local Feedback Control Policies* David C. Conner, Alfred A. Rizzi, and Howie Choset PDF *Construction and Automated Deployment of Local Potential Functions for Global Robot Control and Navigation* David C. Conner, Alfred A. Rizzi, and Howie Choset PDF *Towards Provable Navigation and Control of Nonholonomically Constrained Convex-Bodied Systems* (Poster) David C. Conner, H. Choset and Alfred A. Rizzi Proc. 2006 IEEE International Conference on Robotics & Automation, Orlando, USA, May 2006 PDF Composition of Local Potential Functions for Global Robot Control and Navigation David C. Conner, Alfred A. Rizzi, and H. Choset In Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 2003, Volume 4, Pages 3546-3551. PDF

Nonsmooth Analysis	Top
Journal Papers
Nonsmooth Analysis, Convex Analysis, and their Applications to Motion Planning H. Choset Special Issue of the International Journal of Computational Geometry and Applications An abstract of this paper Compressed PS copy of the paper (115K).
Conference Papers
Sensor Based Planning and Nonsmooth Analysis H. Choset and J. Burdick IEEE/ICRA, San Diego, California, 1994 An abstract of this paper Compressed PS PDF

*Modular Distributed Manipulator System (MDMS, formerly Virtual Vehicle)*	Top
Journal Papers
Distributed Manipulation Using Discrete Actuator Arrays Jon Luntz, Bill Messner, and Howie Choset The International Journal of Robotics Research, 0278-3649 Vol. 20, No. 7, 2001 (p. 553) PDF
Conference Papers
Closed-Loop Operation of Actuator Arrays Jon Luntz, Bill Messner, and Howie Choset IEEE/ICRA San Francisco, CA 2000. PDF Discrete Actuator Array Vectorfield Design for Distributed Manipulation Luntz, J.E., Messner, W., and Choset, H. 1999 IEEE International Conference on Robotics and Automation PDF Open Loop Orientability of Objects on Actuator Arrays Luntz, J.E., Messner, W., and Choset, H. Submitted to 1999 IEEE International Conference on Robotics and Automation PDF Stick-Slip Operation of The Modular Distributed Manipulated System Luntz, J.E., Messner, W., and Choset, H. 1998 AACC American Controls Conference PDF Velocity Field Design for the Modular Distributed Manipulator System Luntz, J.E., Messner, W., and Choset, H. 1998 Workshop on the Algorithmic Fundamentals of Robotics PDF Virtual Vehicle: Parcel Manipulation and Dynamics with a Distributed Actuator Array Luntz, J.E., Messner, W., and Choset, H. SPIE vol 3201. Sensors and Controls for Advanced Manufacturing. 1997 International Symposium on Intelligent Systems and Advanced Manufacturing. PDF Parcel Manipulation and Dynamics with a Distributed Actuator Array: The Virtual Vehicle Jonathan E. Luntz, William Messner, and Howie Choset IEEE/ICRA, New Mexico, USA, 1997 Compressed PS copy of the paper

Space Robotics	Top
Journal Papers
Path Planning and Control for AERCam, a Free-flying Inspection Robot in Space. H. Choset and D. Kortenkamp ASCE Journal of Aerospace Engineering An abstract of this paper Compressed PS
Conference Papers
Path planning and control for AERCam, a free-flying inspection robot in space Choset, H.; Knepper, R.; Flasher, J.; Walker, S.; Alford, A.; Jackson, D.; Kortenkamp, D.; Burridge, R.; Fernandez, J. Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on , Volume: 2 , 1999 An abstract of this paper Compressed PS PDF

Lego Robotics	Top
Journal Papers
*Designing and implementing hands-on robotics labs* Rosenblatt, M.; Choset, H. IEEE Intelligent Systems [see also IEEE Expert] , Volume: 15 Issue: 6 , Nov.-Dec. 2000 PDF
Conference Papers
*Designing and implementing hands-on robotics labs* Rosenblatt, M.; Choset, H. IEEE Intelligent Systems [see also IEEE Expert] , Volume: 15 Issue: 6 , Nov.-Dec. 2000 PDF

Education Robotics	Top
Journal Papers
*Undergraduate embedded system education at carnegie mellon* Philip Koopman, Howie Choset, Rajeev Gandhi, Bruce Krogh, Diana Marculescu, Priya Narasimhan, Joann M. Paul, Ragunathan Rajkumar, Daniel Siewiorek, Asim Smailagic, Peter Steenkiste, Donald E. Thomas, Chenxi Wang ACM Transactions on Embedded Computing Systems (TECS) archive > Volume 4 , Issue 3 (August 2005), Pages: 500 - 528 PDF

Others	Top
Conference Papers
*An Optimization Approach to Planning for Mobile Manipulation* Dmitry Berenson, James Kuffner, and Howie Choset Proc. 2008 IEEE International Conference on Robotics & Automation, Pasadena, California, USA, May 2008 Graphical Singularity Analysis of Planar Parallel Manipulators Amir Degani and Alon Wolf Proc. 2006 IEEE International Conference on Robotics & Automation, Orlando, USA, May 2006 PDF Classifying Knee Pathologies using Instantaneous Screws of the Six Degrees-of-Freedom Knee Motion Alon Wolf and Amir Degani Proc. 2006 IEEE International Conference on Robotics & Automation, Orlando, USA, May 2006 PDF *Design of a High-Impact Survivable Robot* O'Halloran, Wolf and Choset Proceedings of the 2004 Conference on Robotics & Automation, New Orleasn, LA, April 2004 PDF *Toward Automatic Process Planning of a Multi-Axis Hybrid Laser Aided Manufacturing System: Skeleton-based Offset Edge Generation* Eiamsa-ard, Liou, Landers and Choset Proceedings of DETC'03, ASME 2003 Design Engineering Techincal Conferences and Computers and Information in Engineering Conference, 2003 PDF

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