Autonomy Center Conference Papers & Journals

Conference Papers

  1. A. Ahmadzadeh, N. Motee, A. Jadbabaie and G. Pappas, “Multi-Vehicle Path Planning in Dynamically Changing Environments,” IEEE International Conference on Robotics and Automation 2009 (To Appear).
  2. J. S. Baras and P. Hovareshti, “Effects of Topology in Networked Systems: Stochastic Methods and Small Worlds”, invited paper, Proceedings of 47th IEEE Conference on Decision and Control (CDC), Dec. 2008.
  3. J. S. Baras and P. Hovareshti, “Efficient and Robust Communication Topologies for Distributed Decision Making in Networked Systems”, IEEE Conference on Decision and Control 2009 (Submitted).
  4. J.S. Baras and P.Hovareshti, “Event Triggered Distributed Collaborative Control,” European Control Conference 2009 (Accepted).
  5. J. S. Baras, T. Jiang and P. Hovareshti, "Coalition Formation and Trust in Collaborative Control", Proceedings of the European Control Conference 2009 (ECC’09), Budapest, Hungary, August 23-26, 2009. Accepted, to appear August 2009.
  6. S. Bhattacharya, M. Likhachev and V.Kumar, “Distributed Path Consensus,” International Conference on Planning and Scheduling 2009 (Submitted).
  7. C. Choi and H. I. Christensen, “Cognitive Vision for Efficient Scene Processing and Object Categorization in Highly Cluttered Environment,” IEEE/RSJ International Conference on Intelligent Robots and Systems 2009 (Submitted).
  8. J. Choi, J. Lee and S. Oh, "Navigation Strategies for Swarm Intelligence using Spatio-Temporal Gaussian Processes," Neural Computing and Applications (Submitted).
  9. J. Fink, N. Michael, S. Kim and V. Kumar, “Planning and control for cooperative manipulation and transportation with aerial robots,” International Symposium of Robotics 2009 (To Appear).
  10. J. Fink, N. Michael, A. Kushleyev and V. Kumar, “Experimental Characterization of Radio Signal Propagation in Indoor Environments with Application to Estimation and Control,” IEEE/RSJ International Conference on Intelligent Robots and Systems 2009 (Accepted).
  11. J. Fink, T. Collins, V. Kumar, Y. Mostofi, J. Baras and B. Sadler, A Simulation Environment for Modeling and Development of Algorithms for Ensembles of Mobile Microsystems, Proc. of the SPIE Conf. on Micro- and Nanotechnology Sensors, Systems, and Applications, Orlando, Florida, April 2009.
  12. A. Ghaffarkhah and Y. Mostofi, Communication-Aware Motion Planning of Robotic Networks using Navigation Functions – Centralized Case, International Conference on Robot Communication and Coordination 2009.
  13. A. Ghaffarkhah and Y. Mostofi, Communication-Aware Navigation Functions for Cooperative Target Tracking, American Control Conference 2009 (To Appear).
  14. A. Ghaffarkhah and Y. Mostofi, “Communication-Aware Navigation Functions for Robotic Networks,” American Control Conference 2009 (To Appear).
  15. Ghaffarkhah, Y. Mostofi and C. Abdallah, "Decentralized Formation Control and Connectivity Maintenance of Multi-Agent Systems using Navigation Functions," International Conference on Intelligent Robots and Systems 2009 (Submitted).
  16. P. Hovareshti , J. S. Baras and V. Gupta, “Average Consensus over Small World Networks: A Probabilistic Framework”, Proceedings of 47th IEEE Conference on Decision and Control (CDC), Dec. 2008.
  17. A. Jadbabaie, A. Ozdaglar and M. Zargham, “A Distributed Newton Method for Network Optimization,” IEEE Conference on Decision and Control 2009 (Submitted).
  18. B. Julian, M. Angermann, M. Schwager, and D. Rus, “A Location-Based Algorithm for Multi-hopping State Estimates within a Distributed Robot Team” by in Proceedings of the 2009 International Conference on Field and Service Robotics (July 2009).
  19. Jennifer King and Maxim Likhachev, "Efficient Cost Computation in Cost Map Planning for Non-Circular Robots," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009 (to appear).
  20. V. Kumar, N. Fink, Collins, Y. Mostafi and T. Sadler, “A simulation environment for modeling and development of algorithms for ensembles of mobile Microsystems,” SPIE DSS09 Micro-Nanotechnology Sensors, Systems, and Applications 2009.
  21. M. Likhachev and D. Ferguson, “Planning long dynamically-feasible maneuvers for autonomous vehicles,” Robotics: Science and Systems 2008.
  22. A. Makarenko, A. Brooks, T. Kaupp, H. Durrant-Whyte and F. Dellaert, “Decentralised Data Fusion: A Graphical Model Approach,” Conference on Information Fusion 2009.
  23. A. Makarenko, A. Brooks, T. Kaupp, H. Durrant-Whyte and F. Dellaert, “Decentralised Data Fusion with Dynamic Topologies - A Graphical Model Approach,” IFAC Workshop on Estimation and Control of Networked Systems 2009.
  24. I. Matei, N. Martins and J. S. Baras, “Optimal State Estimation for Discrete-Time Markovian Jump Linear Systems, in the Presence of Delayed Output Observations”, Invited paper, Proceedings of the IEEE Information Theory Workshop (ITW 2008), pp. 237-242, Porto, Portugal, May 5-9, 2008.
  25. I. Matei, N.C. Martins, J.S. Baras, “Optimal State Estimation for Discrete-Time Markovian Jump Linear Systems, in the Presence of Delayed Mode Observations”, Proceedings of the 2008 Automatic Control Conference, pp. 3560-3565, Seattle, WA, June 11-13, 2008.
  26. I. Matei, N.C. Martins, J.S. Baras, “Optimal Linear Quadratic Regulator for Markovian Jump Linear Systems, in the Presence of One Stop-time Step Delayed Mode Observations”, Proceedings of the 17th IFAC World Congress, pp. 8056-8061, Seoul, Korea, July 6-11, 2008.
  27. I. Matei, N. Martins and J. S. Baras, "Almost Sure Convergence to Consensus in Markovian Random Graphs", Proceedings of the 47th IEEE Conference on Decision and Control, pp. 3535-3540, Cancun, Mexico, December 9-11, 2008.
  28. D. Mellinger, V. Kumar and M. Yim, Control of Locomotion using Shape Changing Wheels, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 13-15, 2009.
  29. N. Michael and J. Fink and V. Kumar, “Cooperative Manipulation and Transportation with Aerial Robots,” Robotics: Science and Systems 2009 (Submitted).
  30. N. Michael, J. Fink and V. Kumar, “Cooperative manipulation and transportation with aerial robots,” Robotics: Science and Systems 2009 (To Appear).
  31. N. Michael, S. Kim, J. Fink and V. Kumar, “Kinematics and statics of cooperative multi-robot aerial manipulation with cables,” ASME International Design Engineering Technical Conference and Computers and Information in Engineering 2009 (To Appear).
  32. N. Michael and V. Kumar, “Controlling shapes of ensembles of robots of finite size with nonholonomic constraints,” Robotics: Science and Systems 2008.
  33. Y. Mostofi, Communication-Aware Motion Planning in Fading Environments, IEEE International Conference on Robotics and Automation (ICRA) 2008.
  34. N. Motee, A. Jadbabaie and G. Pappas, “A Unified Optimization-Based Framework for Task Planning for Multiple Vehicles,” IEEE Conference on Decision and Control 2009 (Submitted).
  35. J. L. Piovesan and H. G. Tanner, “Randomized Model Predictive Control for Robot Navigation,” IEEE International Conference on Robotics and Automation 2009 (To Appear).
  36. S. Perumal and J.S. Baras, “Aerial Platform Placement Algorithm to Satisfy Connectivity and Capacity Constraints in Wireless Ad-hoc Networks”, Proceedings of the IEEE Global Communications Conference (IEEE Globecom 2008), pp. 1-5, New Orleans, LA, November 30 - December 4, 2008.
  37. P. Purkayastha, P. Hovareshti and J.S. Baras, "A Policy-Based Routing Scheme for Multi-Robot Systems", Proceedings of the 16th Mediterranean Conference on Control and Automation, pp. 970-975, Ajaccio, France, June 25-27, 2008.
  38. J. G. Rogers and H. I. Christensen, “Normalized Graph Cuts for Large Scale Visual SLAM,” IEEE/RSJ International Conference on Intelligent Robots and Systems 2009 (Submitted).
  39. M. Schwager, B. Julia and D. Rus, “Optimal Coverage for Multiple Hovering Robots with Downward Facing Cameras,” International Conference on Robotics and Automation 2009.
  40. Toshev, A. Makadia and K. Daniilidis, “Shape-based Detection of Moving Objects in Videos,” IEEE Conference of Computer Vision and Pattern Recognition 2009 (To Appear).
  41. J. Wu, J. M. Rehg and H. I. Christensen, “Visual Place Categorization: Problem, Dataset and Algorithm,” International Robotics and Systems 2009 (Submitted).

Patents

  1. E. Angelopolous, K. Daniilidis, and V. Kumar, “Multispectral Omnidirectional Optical Sensor and Methods,” U.S. Patent No. 6,982,743.

Journal Papers

  1. A. Ahmadzadeh, N. Motee, A. Jadbabaie and G. Pappas, “Multi-Vehicle Path Planning in Dynamically Changing Environments,” IEEE Transactions on Automatic Control (In Preparation).
  2. M. Ani Hsieh, Vijay Kumar and Luiz Chaimowicz, “Decentralized controllers for shape generation with robotic swarms,” Robotica, Vol. 26, No. 5, September 2008: 691-701.
  3. P. Cheng, J. Fink, and V. Kumar, “Cooperative Towing with Multiple Robots,” ASME Transactions: Journal of Mechanisms and Robotics, Vol. 1, February 2009.
  4. J. Choi, S. Oh, and R. Horowitz, “Distributed Learning and Cooperative Control for Multi-Agent Systems," Automatica (Submitted).
  5. V. Gupta, N. Martins and J. Baras, "Stabilization over Erasure Channels using Multiple Sensors", accepted in IEEE Transactions on Automatic Control, to appear in 2009.
  6. P. Hovareshti and J. S. Baras, “On the Small World Effect in Networked Control Systems and Consensus Problems, submitted to IEEE Transactions on Automatic Control, 2009.
  7. V. Kumar, P. Cheng, R. Arkin, K. Hedrick and M. Steinberg (Guest editors), “Special issue on Cooperative Control of Multiple Heterogeneous Unmanned Aerial Vehicles for Coverage and Surveillance,” IEEE Robotics and Automation Magazine, 2009.
  8. I. Matei, N. C. Martins and J. S. Baras, “Optimal State Estimation for Discrete-Time Markovian Jump Linear Systems, in the Presence of Delayed Output Observations”, submitted to IEEE Transactions on Automatic Control, 2009.
  9. N. Michael and J. Fink and V. Kumar, “ Experimental Testbed for Large Multi-Robot Teams: Verification and Validation,” IEEE Robotics and Automation Magazine 15(1):53-61, 2008.
  10. N. Michael and V. Kumar, “Planning and control of ensembles of robots with nonholonomic constraints,” International Journal of Robotics Research 2009 (Accepted).
  11. N. Michael, J. Fink, and V. Kumar, “Controlling Ensembles of Robots via a Supervisory Aerial Robot,” Advanced Robotics, Vol. 22, 2008:1361-1377.
  12. Y. Mostofi and R. Murray, “Kalman Filtering over Wireless Fading Channels - How to Handle Packet Drop,” International Journal of Robust and Nonlinear Control 2009 (Accepted).
  13. Y. Mostofi and R. Murray, To Drop or Not to Drop: Design Principles for Kalman Filtering over Wireless Fading Channels, IEEE Transactions on Automatic Control 2009.
  14. J. L. Piovesan and H. G. Tanner, “Relaxed asymptotic stability conditions for switching systems,” Systems and Control Letters 2009 (Submitted).
  15. X. Tan,W. Xi and J. S. Baras, “Decentralized Coordination of Autonomous Swarms Using Parallel Gibbs Sampling”, submitted to Automatica, 2009.
  16. H. G. Tanner and J. L. Piovesan, “Randomized Receding Horizon Navigation,” IEEE Transactions on Automatic Control 2009 (Submitted).