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Published Works

Motion Control and Planning:

J. Spletzer and C. J. Taylor, "Sensor Planning and Control in a Dynamic Environment", Submitted to IEEE International Conference on Robotics and Automation, Washington DC, USA, Oct 2001

J. Spletzer and C. J. Taylor, "A Framework for Sensor Planning and Control with Applications to Vision Guided Multi-Robot Systems", to appear in IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Hawaii, USA, Dec 2001

A. K. Das, R. Fierro, V. Kumar, J. P. Ostrowski, J. Spletzer, and C. J. Taylor, "A framework for vision based formation control," Submitted to Multi-Robot Systems: A Special Issue of IEEE Transactions on Robotics and Automation, April 2001.

R. Fierro, C. Belta, J. Desai, and V. Kumar, "On controlling aircraft formations", Submitted to IEEE Conference on Decision and Control, CDC2001, March 2001.

J. Spletzer, A.K. Das, R. Fierro, C.J. Taylor, V. Kumar, and J.P. Ostrowski, "Cooperative localization and control for multi-robot manipulation",  submitted to IROS 2001,  Hawaii, USA Dec 2001.

J.M. Esposito and V. Kumar," A formalisim for parallel composition of reactive and deliberative control objectives for mobile robots" submitted to IROS 2001,  Hawaii, USA Dec 2001.

R. Fierro, P. Song, A. Das, and V. Kumar, "A framework for scalable cooperative navigation of autonomous vehicles", Technical Report  MS-CIS-01-09, Department of Computer and Information Science, University of Pennsylvania, March 2001.

C. Belta and V. Kumar, "Motion generation for formations of robots: a geometric approach",  IEEE Int. Conf. on Robotics and Automation, Seoul, Korea, May 2001, pp. 1245-1250.

A. Das, R. Fierro, V. Kumar, J. Southall, J. Spletzer, and C. Taylor, "Real-time vision based control of a nonholonomic mobile robot," IEEE Int. Conf. on Robotics and Automation, Seoul, Korea, May 2001, pp. 1714-1719.

R. Fierro, A. Das, V. Kumar, and J. P. Ostrowski, "Hybrid control of formations of robots," IEEE Int. Conf. on Robotics and Automation, Seoul, Korea, May 2001, pp. 157-162. Finalist in the Best Conference Paper Competition

R. Fierro, Y. Hur, I. Lee, and L. Sha "Modeling the Simplex architecture using CHARON," Proc. Work-In-Progress Sessions of The 21st IEEE Real-Time Systems Symposium, Orlando, FL, Nov. 27-30, 2000, pp. 77-80.

R. Alur, A. Das, J. Esposito, R. Fierro, Y. Hur, G. Grudic, V. Kumar, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall, J. Spletzer, and
C. Taylor, "A framework and architecture for multirobot coordination," Experimental Robotics: LNCS Series, Springer-Verlag, 2001. To appear.

K. A. McIsaac, A. K. Das, J. M. Esposito, and James P. Ostrowski, " A Hierarchical Structure for Hybrid Control Applied to Autonomous Robots", IROS 2000.

J.M. Esposito and V. Kumar, "Closed Loop Motion Plans for Mobile Robots", ICRA 2000.

T. Sugar, J.P. Desai, V. Kumar, and J. P. Ostrowski, "Coordination of Multiple Mobile Manipulators," To appear in RoManSy 2000.

K. A. McIsaac and J. P. Ostrowski, "Steering Algorithms for Dynamic Robotic Locomotion Systems," to appear in the Workshop on the Algorithmic Foundation of Robotics (WAFR), Dartmouth, March, 2000.   Click here for gnu-zipped postscript file.

R. Alur, J. Esposito, M. Kim, V. Kumar, and I. Lee, "Formal modeling and analysis of hybrid systems: A case study in multi-robot coordination." FM'99: Proceedings of the World Congress on Formal Methods,  Springer Verlag, 1999.   Click  here for postscript file.

 

Hybrid Systems and Programming Languages

J.M. Esposito and V. Kumar," Efficient dynamic simulation of robotic systems with hierarchy",  IEEE Int.Conf. Robot. Autom. (ICRA2001) Seoul, Korea, May 2001 p. 2818-2823.

J.M. Esposito, G. Pappas, and V. Kumar," Accurate event detection for hybrid systems" in HSCC2001, Hybrid Systems: Computation and Control, Rome, Italy, March 2001 p. 204-217.

J.M. Esposito, G. Pappas, and V. Kumar," Multi-Agent Hybrid System Simulation" submitted to in CDC2001, IEEE Conference on Decision and Control, Orlando, FLA, Dec 2001.

R. Alur, R. Grosu, Y. Hur, V. Kumar, and I. Lee.  "Modular specifications of hybrid systems in CHARON. "In Hybrid Systems: Computation and Control, LNCS 1790,  pages 6-19, 2000.

Rajeev Alur, Radu Grosu, Yerang Hur, Vijay Kumar, Insup Lee,  Modular Specification of Hybrid Systems in Charon.  To appear in Proc. of the HSCC'00, 3rd International Workshop on Hybrid Systems: Computation and Control, Pittsburgh, PA, March 23-25, 2000. Click here for postscript vesion.

R. Alur and R. Grosu.  "Modular refinement of hierarchic state machines", Proceedings of the 27th ACM Symposium on Principles of Programming Languages,  2000.   Click here for gnu-zipped postscipt file

R. Alur, S. Kannan, and S. La Torre.  "Polyhedral flows in hybrid automata",  Proceedings of the Second International Conference on Hybrid Systems: Computation and Control, LNCS 1599, pp. 5-18, 1999.  Springer Verlag.  Click here for gnu-zipped postscript file.

R. Alur, T. Henzinger, G. Lafferriere, and G. Pappas "Discrete Abstractions of Hybrid Systems" Proceedings of IEEE (To appear).   Click here for pdf file.

 

Vision and Learning

B Southall and C J Taylor, "Stochastic Road Shape Estimation",  To Appear ICCV 2001, Vancouver Canada, July 2001

R.A. Hicks, D. Pettey, K. Daniilidis, R. Bajcsy, "Complex Analysis for Reconstruction from Controlled Motion", Journal for Mathematical Imaging and Vision, to appear, 2000. Click here for gnu-zipped postscript file.

C. Geyer and K. Daniilidis, "Catadioptric Camera calibration", In Proc. Int. Conf. on Computer Vision, Kerkyra, Greece, Sep. 22-25, pp. 398-404, 1999. Click  here for pdf file.

R.A. Hicks, D. Pettey, K. Daniilidis, and R. Bajcsy, "Complex Analysis for Reconstruction of Controlled Motion", In Proc. 8th Int. Conf. Computer Analysis of Images and Patterns CAIP, Lj ubljana, 1999.

 J. Mendelsohn and K. Daniilidis, "Constrained Self-Calibration", In IEEE Conf. Computer Vision and Pattern Recognition, p. to appear, Fort Collins, CO, June 23-25, 1999.  Click here for gnu-zipped postscript file.

C. Geyer and K. Daniilidis, "A unifying theory for central panoramic systems", In Proc. Sixth European Conference on Computer Vision. Dublin, Ireland, 2000.

J. Mulligan and K. Daniilidis, "Predicting Disparity Windows for Real-time Stereo", In Proc. Sixth European Conference on Computer Vision. Dublin, Ireland, 2000.

G. Z. Grudic and L. H. Ungar. "Exploiting Multiple Secondary Reinforcers in Policy Gradient Reinforcement Learning", To Appear: Seventeenth International Joint Conference on Artificial Intelligence (IJCAI 01), August 4th - 10th, 2001, Seattle, Washington, USA

G. Z. Grudic and L. H. Ungar. "Localizing Search in Reinforcement Learning", Seventeenth National Conference on Artificial Intelligence (AAAI 2000), June 29 - July 2, 2000.

G. Z. Grudic and L. H. Ungar. "Localizing Policy Gradient Estimates to Action Transitions", Seventeenth International Conference on Machine Learning (ICML 2000), July 30 - Aug. 3, 2000.

 

 

Presentations:

Control of Multiple Autonomous Robot Systems - September 2002.

 

 

CHARON Code:

Hysteresis Loop

Robot Navigation

Robot Navigation 2