Land Use, Infrastructure and Transportation

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Motion Planning in Humans and Robots (with Milos Zefran and James P. Ostrowski), Penn IUR Publications (1997)
We present a general framework for generating trajectories and actuator forces that will take a...
 

Urban Data Systems

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Motion Planning in Humans and Robots (with Milos Zefran and James P. Ostrowski), Penn IUR Publications (1997)
We present a general framework for generating trajectories and actuator forces that will take a...
 

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Integrating Human Inputs with Autonomous Behaviors on an Intelligent Wheelchair Platform (with Saranghi P. Parikh, Valdir Grassi Jr., and Jun Okamoto Jr.), Departmental Papers (MEAM) (2007)
Researchers have developed and assessed a computer-controlled wheelchair called the Smart Chair. A shared control...
 

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Sampling-Based Algorithm for Testing and Validating Robot Controllers (with Jongwoo Kim and Joel M. Esposito), Departmental Papers (MEAM) (2006)
The problem of testing complex reactive control systems and validating the effectiveness of multi-agent controllers...
 

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Cooperative Air and Ground Surveillance (with Ben Grocholsky, James Keller, and George J. Pappas), Departmental Papers (MEAM) (2006)

Unmanned aerial vehicles (UAVs) can be used to cover large areas searching for targets. However,...

 

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Computational Techniques for Analysis of Genetic Network Dynamics (with Calin Belta, Joel M. Esposito, and Jongwoo Kim), Departmental Papers (MEAM) (2005)

In this paper we propose modeling and analysis techniques for genetic networks that provide biologists...

 

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Abstraction and Control for Groups of Robots (with Calin Belta), Departmental Papers (MEAM) (2004)

This paper addresses the general problem of controlling a large number of robots required to...

 

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Necessary and sufficient conditions for localization of multiple robot platforms (with Fan Zhang and Guilherme A. S. Pereira), Departmental Papers (MEAM) (2004)

In this paper, we consider the problem of cooperatively localizing a formation of networked robots/vehicles...

 

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Workspace delineation of cable-actuated parallel manipulators (with Ethan Stump), Departmental Papers (MEAM) (2004)

While there is extensive literature available on parallel manipulators in general, there has been much...

 

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A Semi-Implicit Time-Stepping Model For Frictional Compliant Contact Problems (with Peng Song and Jong-Shi Pang), Departmental Papers (MEAM) (2004)

In this paper, we formulate a semi-implicit time-stepping model for multibody mechanical systems with frictional,...

 

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A Mechanism for Dynamic Coordination of Multiple Robots (with Luiz Chaimowicz and Mario F. M. Campos), Departmental Papers (MEAM) (2004)

In this paper, we present a mechanism for coordinating multiple robots in the execution of...

 

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Calibrating an Air-Ground Control System from Motion Correspondences (with Rahul Rao and Camillo J. Taylor), Departmental Papers (CIS) (2004)

In this paper we consider the problem of controlling the motion of a vehicle...

 

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Synergies in Feature Localization by Air-Ground Robot Teams (with Ben Grocholsky, Selcuk Bayraktar, Camillo J. Taylor, and George J. Pappas), Departmental Papers (MEAM) (2004)

This paper describes the implementation of a decentralized architecture for autonomous teams of aerial and...

 

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Leader-to-Formation Stability (with Herbert G. Tanner and George J. Pappas), Departmental Papers (ESE) (2004)

The paper investigates the stability properties of mobile agent formations which are based on leader...

 

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Constructing Radio Signal Strength Maps with Multiple Robots (with Mong-ying A. Hsieh and Camillo J. Taylor), Departmental Papers (MEAM) (2004)

Communication is essential for coordination in most cooperative control and sensing paradigms. In this paper,...

 

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Design and Gait Control of a Rollerblading Robot (with Sachin Chitta and Frederik W. Heger), Departmental Papers (MEAM) (2004)

We present the design and gait generation for an experimental ROLLERBLADER1. The ROLLERBLADER is a...

 

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Design of Part Feeding and Assembly Processes with Dynamics (with Peng Song, J. C. Trinkle, and Jong-Shi Pang), Departmental Papers (MEAM) (2004)

We introduce computational support tools for the analysis and design of systems with multiple frictional...

 

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Experiments in Multirobot Air-Ground Coordination (with Luiz Chaimowicz, Ben Grocholsky, James F. Keller, and Camillo J. Taylor), Departmental Papers (MEAM) (2004)

This paper addresses the problem of coordinating aerial and ground vehicles in tasks that involve...

 

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Formations of Localization of Robot Networks (with Fan Zhang and Ben Grocholsky), Departmental Papers (MEAM) (2004)

In this paper, we consider the problem of cooperatively localizing a formation of networked mobile...

 

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Incorporating User Inputs in Motion Planning for a Smart Wheelchair (with Sarangi P. Parikh, Valdir Grassi Jr., and Jun Okamoto Jr.), Departmental Papers (MEAM) (2004)

We describe the development and assessment of a computer controlled wheelchair equipped with a suite...

 

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Decentralized Algorithms for Multirobot Manipulation via Caging (with Guilherme A.S. Pereira and Mario F.M. Campos), Departmental Papers (MEAM) (2003)

This paper addresses the problem of transporting objects with multiple mobile robots using the concept...

 

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Closed Loop Navigation for Mobile Agents in Dynamic Environments (with Savvas G. Loizou, Herbert G. Tanner, and Kostas J. Kyriakopoulos), Departmental Papers (MEAM) (2003)

We apply a novel motion planning and control methodology, which is based on a non-smooth...

 

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Design and Verification of Controllers for Airships (with Jongwoo Kim and Jim Keller), Departmental Papers (MEAM) (2003)

Robotic airships have several beneficial properties such as low operation cost, low noise, and low...

 

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Dynamics and Generation of Gaits for a Planar Rollerblader (with Sachin Chitta), Departmental Papers (MEAM) (2003)

We develop the dynamic model for a planar ROLLERBLADER. The robot consists of a rigid...

 

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Formation Control with Configuration Space Constraints (with Guilherme A. S. Pereira, Aveek K. Das, and Mario F. M. Campos), Departmental Papers (MEAM) (2003)

We address the problem of controlling a team of robots subject to constraints on relative...

 

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Human Robot Interaction and Usability Studies for a Smart Wheelchair (with Sarangi P. Parikh, Rahul Rao, Sang-Hack Jung, James P. Ostrowski, and Camillo J. Taylor), Departmental Papers (MEAM) (2003)

We build on previous work [12], [14] on the development of a computer controlled wheelchair...

 

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Using policy gradient reinforcement learning on autonomous robot controllers (with Gregory Z. Grudic and Lyle H. Ungar), Departmental Papers (MEAM) (2003)
Robot programmers can often quickly program a robot to approximately execute a task under specific...
 

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Visual Servoing of a UGV from a UAV using Differential Flatness (with Rahul Rao and Camillo J. Taylor), Departmental Papers (MEAM) (2003)

In this paper the problem of controlling the motion of a nonholonomic vehicle along a...

 

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Abstraction and Control for Groups of Fully-Actuated Planar Robots (with Calin Belta), Departmental Papers (MEAM) (2003)

This paper shows how a large number of robots can be coordinated by designing control...

 

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Distributed Search and Rescue with Robot and Sensor Teams (with Aveek K. Das, George Kantor, Guilherme A. S. Pereira, Ron Peterson, Daniela Rus, Sanjiv Singh, and John Spletzer), Departmental Papers (MEAM) (2003)

We consider search and rescue applications in which heterogeneous groups of agents (humans, robots, static...

 

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Localization and Tracking in Robot Networks (with Guilherme A. S. Pereira and Mario F. M. Campos), Departmental Papers (MEAM) (2003)

We are interested in the real time pose estimation of a group of networked mobile...

 

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Cooperative Control for Localization of Mobile Sensor Networks (with Fan Zhang, Ben Grocholsky, and Max L. Mintz), Departmental Papers (MEAM) (2003)

In this paper, we consider the problem of cooperatively control a formation of networked mobile...

 

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Decentralized motion planning for multiple robots subject to sensing and communication constraints (with Guilherme A. S. Pereira, Aveek K. Das, and Mario F. M. Campos), Departmental Papers (MEAM) (2003)

We address the problem of planning the motion of a team of mobile robots subject...

 

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Hierarchical modeling and analysis of embedded systems (with Rajeev Alur, Thao Dang, Joel Esposito, Yerang Hur, Franjo Ivancic, Insup Lee, Pradyumna Mishra, George J. Pappas, and Oleg V. Sokolsky), Departmental Papers (CIS) (2003)

This paper describes the modeling language CHARON for modular design of interacting hybrid systems. The...

 

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Visual Programming for Modeling and Simulation of Biomolecular Regulatory Networks (with Rajeev Alur, Calin Belta, Franjo Ivancic, Harvey Rubin, Jonathan Schug, Oleg Sokolsky, and Jonathan Webb), Departmental Papers (CIS) (2002)

In this paper we introduce our new tool BIOSKETCHPAD that allows visual programming and modeling...

 

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Ad Hoc Networks for Localization and Control (with Aveek K. Das, John R. Spletzer, and Camillo J. Taylor), Departmental Papers (MEAM) (2002)

We consider a team of mobile robots equipped with sensors and wireless network cards...

 

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Control of Multi-Affine Systems on Rectangles with Applications to Hybrid Biomolecular Networks (with Calin Belta and Luc C.G.J.M. Habets), Departmental Papers (MEAM) (2002)

Given a multi-affine system on an N-dimensional rectangle, the problem of reaching a particular facet,...

 

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Input-to-state Stability on Formation Graphs (with Herbert G. Tanner and George J. Pappas), Departmental Papers (ESE) (2002)

Formation stability is now analyzed under a new prism using input-to-state stability. Formation ISS relates...

 

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Design and Control of a Compliant Parallel Manipulator (with Thomas G. Sugar), Departmental Papers (MEAM) (2002)

We describe a novel design for a compliant arm that can be mounted on a...

 

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A Framework and Architecture for Multirobot Coordination (with Rajeev Alur, Aveek J. Das, Joel Esposito, Rafael Fierro, Gregory Grudic, Yerang Hur, Insup Lee, James Ostrowski, George J. Pappas, B. Southall, John R. Spletzer, and Camillo J. Taylor), Departmental Papers (CIS) (2002)

In this paper, we present a framework and the software architecture for the deployment of...

 

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A Vision-Based Formation Control Framework (with Aveek K. Das, Rafael Fierro, James P. Ostrowski, John Spletzer, and Camillo J. Taylor), Departmental Papers (MEAM) (2002)

We describe a framework for cooperative control of a group of nonholonomic mobile robots that...

 

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Mobile robot for uneven terrain (with Kenneth Chin, Robert Breslawski, and Terry Kientz), Departmental Papers (MEAM) (2002)

This paper outlines the details of the development of a mobile robot than can navigate...

 

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Motion generation for groups of robots: a centralized, geometric approach (with Calin Belta), Departmental Papers (MEAM) (2002)

We develop a method for generating smooth trajectories for a set of mobile robots. We...

 

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Object Closure and Manipulation by Multiple Cooperating Mobile Robots (with Zhidong Wang), Departmental Papers (MEAM) (2002)

We address the manipulation of planar objects by multiple cooperating mobile robots using the concept...

 

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An SVD-Based Projection Method for Interpolation on SE(3) (with Calin Belta), Departmental Papers (MEAM) (2002)

This paper develops a method for generating smooth trajectories for a moving rigid body with...

 

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A Method for Modifying Closed-Loop Motion Plans to Satisfy Unpredictable Dynamic Constraints at Runtime (with Joel M. Esposito), Departmental Papers (MEAM) (2002)

In this paper; the problem of motion planning in environments with both known static obstacles...

 

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A Potential Field Based Approach to Multi-Robot Manipulation (with Peng Song), Departmental Papers (MEAM) (2002)

We describe a framework for controlling and coordinating a group of robots for cooperative manipulation...

 

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Dynamic Role Assignment for Cooperative Robots (with Luiz Chaimowicz and Mario F. M. Campos), Departmental Papers (MEAM) (2002)

This paper proposes a new methodology for coordinating multi-robot teams in the execution of cooperative...

 

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The Effect of Feedback and Feedforward on Formation ISS (with Herbert G. Tanner and George J. Pappas), Departmental Papers (MEAM) (2002)

A new type of stability of leader follower formations is defined, based on input-to-state stability...

 

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Trajectory design for formations of robots by kinetic energy shaping (with Calin Belta), Departmental Papers (MEAM) (2002)

We develop a method for generating smooth trajectories for a set of mobile robots. Given...

 

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Human Robot Interaction: Application to Smart Wheelchairs (with Rahul Rao, K. Conn, Sang-Hack Jung, J. Katupitiya, Terry L. Kientz, James P. Ostrowski, Sarangi Patel, and Camillo J. Taylor), Departmental Papers (MEAM) (2002)

This paper addresses the problem of human robot interaction with application to the design...

 

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A Geometric Approach to the Study of the Cartesian Stiffness Matrix (with Milos Zefran), Departmental Papers (MEAM) (2002)

The stiffness of a rigid body subject to conservative forces and moments is described by...

 

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Control of Cooperating Mobile Manipulators (with Thomas G. Sugar), Departmental Papers (MEAM) (2002)

We describe a framework and control algorithms for coordinating multiple mobile robots with manipulators focusing...

 

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Modeling and Analyzing Biomolecular Networks (with Rajeev Alur, Calin Belta, Max L. Mintz, George J. Pappas, Harvey Rubin, and Jonathan Schug), Departmental Papers (CIS) (2002)

The authors argue for the need to model and analyze biological networks at molecular and...

 

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Multi-Agent Hybrid System Simulation (with Joel Esposito and George J. Pappas), Departmental Papers (ESE) (2001)

In this paper a technique is presented for simulating a set of hybrid systems (agents)...

 

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On Controlling Aircraft Formations (with Rafael Fierro, Calin Belta, and Jaydev P. Desai), Departmental Papers (MEAM) (2001)

We describe a framework for controlling a group of unmanned aerial vehicles (UAVs) flying in...

 

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Modeling and Control of Formations of Nonholonomic Mobile Robots (with Jaydev P. Desai and James P. Ostrowski), Departmental Papers (MEAM) (2001)

This paper addresses the control of a team of nonholonomic mobile robots navigating in a...

 

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Stability and reachability analysis of a hybrid model of luminescence in the marine bacterium Vibrio fischeri (with Calin Belta, Jonathan Schug, Thao Dang, George J. Pappas, Harvey Rubin, and Paul Dunlap), Departmental Papers (MEAM) (2001)

This paper addresses the mathematical modeling and analysis of the quorum sensing system found in...

 

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Dynamics and Control of Whole Arm Grasps (with Peng Song and Masahito Yashima), Departmental Papers (MEAM) (2001)

In this paper we consider the dynamics and control of whole arm grasping systems. We...

 

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Efficient dynamic simulation of robotic systems with hierarchy (with Joel M. Esposito), Departmental Papers (MEAM) (2001)

In this paper multirate numerical integration techniques are introduced as a tool for simulating robotic...

 

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Hybrid Control of Formations of Robots (with Rafael Fierro, Aveek K. Das, and James P. Ostrowski), Departmental Papers (MEAM) (2001)

We describe a framework for controlling a group of nonholonomic mobile robots equipped with range...

 

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Motion generation for formations of robots: a geometric approach (with Calin Belta), Departmental Papers (MEAM) (2001)

This paper develops a method for generating smooth trajectories for mobile robots in formation. The...

 

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Real-Time Vision-Based Control of a Nonholonomic Mobile Robot (with Aveek K. Das, Rafael Fierro, B. Southall, John R. Spletzer, and Camillo J. Taylor), Departmental Papers (MEAM) (2001)

This paper considers the problem of vision-based control of a nonholonomic mobile robot. We describe...

 

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A Framework for Scalable Cooperative Navigation of Autonomous Vehicles (with Rafael Fierro, Peng Song, and Aveek K. Das), Technical Reports (CIS) (2001)
We describe a general framework for controlling and coordinating a group of non-holonomic mobile robots...
 

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Cooperative Material Handling by Human and Robotic Agents:Module Development and System Synthesis (with Julie A. Adams, Ruzena Bajcsy, Jana Košecká, Robert Mandelbaum, Max L. Mintz, Richard P. Paul, C. Wang, Yoshio Yamamoto, and Xiaoping Yun), Technical Reports (CIS) (1994)
In this paper we present the results of a collaborative effort to design and implement...
 

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Control of Rolling Contacts In Multi-Arm Manipulation (with Eric Paljug and Xiaoping Yun), Technical Reports (CIS) (1992)
When multiple arms are used to manipulate a large object, it is beneficial and sometimes...
 

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Control of Mechanical Systems with Rolling Constraints: Application To Dynamic Control of Mobile Robots (with Nilanjan Sarkar and Xiaoping Yun), Technical Reports (CIS) (1992)
There are many examples of mechanical systems which require rolling contacts between two or more...
 

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Simulation Of Mechanical Systems With Multiple Frictional Contacts (with Yin-Tien Wang), Technical Reports (CIS) (1992)
There are several applications in robotics and manufacturing in which nominally rigid objects are subject...
 

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A Multiagent System for Intelligent Material Handling (with Ruzena Bajcsy, Richard P. Paul, and Xiaoping Yun), Technical Reports (CIS) (1991)

The goal of our research is to investigate manipulation, mobility, sensing, control and coordination for...

 

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Control Of Multiple Arm Systems With Rolling Constraints (with Xiaoping Yun, Nilanjan Sarkar, and Eric Paljug), Technical Reports (CIS) (1991)
When multiple arms are used to manipulate a large object, it is necessary to maintain...
 

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Dynamics of Rigid Bodies Undergoing Multiple Frictional Contacts (with Yin-Tien Wang and Jacob Abel), Technical Reports (CIS) (1991)
There are several applications in robotics and manufacturing in which nominally rigid objects are subject...
 

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Important Considerations in Force Control with Applications to Multi-Arm Manipulation (with Eric Paljug, Thomas G. Sugar, and Xiaoping Yun), Technical Reports (CIS) (1991)

This paper addresses force control in overconstrained dynamic systems with special emphasis on robot control...

 

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Analysis and Simulation of Mechanical Systems with Multiple Frictional Contacts (with Yin Tien Wang), Technical Reports (CIS) (1991)
In many engineering applications such as assembly of mechanical components, robot manipulation, gripping, fixturing and...
 

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A Hand-Eye-Arm Coordinated System (with Sanjay Agrawal and Ruzena Bajcsy), Technical Reports (CIS) (1991)
In this paper we present the description and experiments with a tightly coupled Hand-Eye-Arm manipulatory...
 

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A Two-Arm Exploratory System for Identifying Moving and Removable Parts (with Xiaoping Yan, Robert King, and Insup Lee), Technical Reports (CIS) (1989)

When working in an unstructurcd environment, a robot has partial or no a priori knowledge...