Ercan U. Acar, Howie Choset, Yangang Zhang, Mark Schervish, Howie Choset, Yangang Zhang, ...
Citations (this article cites 9 articles hosted on the
Leap-Frog Path Design for Multi-Robot Cooperative Localization (2009)
Stephen Tully, George Kantor, Howie Choset
Summary. We present a “leap-frog ” path designed for a team of three robots performing cooperative localization. Two robots act as stationary measurement beacons while the third moves in a path...
Minimally Invasive Surgery (2009)
Takeyoshi Ota, Amir Degani, David Schwartzman, Brett Zubiate, Jeremy Mcgarvey, Howie Choset, ...
The online version of this article, along with updated information and services, is located on the World Wide Web at:
Approximating Displacement with the Body Velocity Integral (2009)
Abstract — In this paper, we present a technique for approximating the net displacement of a locomoting system over a gait without directly integrating its equations of motion. The approximation is...
Topological SLAM using neighbourhood information of places (2009)
Werner, Felix, Maire, Frederic D., Sitte, Joaquin, Choset, Howie, Tully, Stephen, Kantor, George
Perceptual aliasing makes topological navigation a difficult task. In this paper we present a general approach for topological SLAM~(simultaneous localisation and mapping) which does not require...
A multi-hypothesis topological SLAM approach for loop closing on edge-ordered graphs (2009)
Tully, Stephen, Kantor, George, Choset, Howie, Werner, Felix
We present a method for topological SLAM that specifically targets loop closing for edge-ordered graphs. Instead of using a heuristic approach to accept or reject loop closing, we propose a...
Iterated filters for bearing-only slam (2009)
Stephen Tully, Hyungpil Moon, George Kantor, Howie Choset
Abstract — This paper discusses the importance of iteration when performing the measurement update step for the problem of bearing-only SLAM. We focus on an undelayed approach that initializes a...
Hybrid Localization Using the Hierarchical Atlas (2009)
Stephen Tully, Hyungpil Moon, Deryck Morales, George Kantor, Howie Choset
Abstract — This paper presents a hybrid localization scheme for a mobile robot using the hierarchical atlas. The hierarchical atlas is a map that consists of a higher level topological graph with...
Topological SLAM using neighbourhood information of places (2009)
Werner, Felix, Maire, Frederic D., Sitte, Joaquin, Choset, Howie, Tully, Stephen, Kantor, George
Perceptual aliasing makes topological navigation a difficult task. In this paper we present a general approach for topological SLAM~(simultaneous localisation and mapping) which does not require...
A multi-hypothesis topological SLAM approach for loop closing on edge-ordered graphs (2009)
Tully, Stephen, Kantor, George, Choset, Howie, Werner, Felix
We present a method for topological SLAM that specifically targets loop closing for edge-ordered graphs. Instead of using a heuristic approach to accept or reject loop closing, we propose a...
Topological SLAM using neighbourhood information of places (2009)
Werner, Felix, Maire, Frederic D., Sitte, Joaquin, Choset, Howie, Tully, Stephen, Kantor, George
Perceptual aliasing makes topological navigation a difficult task. In this paper we present a general approach for topological SLAM~(simultaneous localisation and mapping) which does not require...
A multi-hypothesis topological SLAM approach for loop closing on edge-ordered graphs (2009)
Tully, Stephen, Kantor, George, Choset, Howie, Werner, Felix
We present a method for topological SLAM that specifically targets loop closing for edge-ordered graphs. Instead of using a heuristic approach to accept or reject loop closing, we propose a...
Topological SLAM using neighbourhood information of places (2009)
Werner, Felix, Maire, Frederic D., Sitte, Joaquin, Choset, Howie, Tully, Stephen, Kantor, George
Perceptual aliasing makes topological navigation a difficult task. In this paper we present a general approach for topological SLAM~(simultaneous localisation and mapping) which does not require...
A multi-hypothesis topological SLAM approach for loop closing on edge-ordered graphs (2009)
Tully, Stephen, Kantor, George, Choset, Howie, Werner, Felix
We present a method for topological SLAM that specifically targets loop closing for edge-ordered graphs. Instead of using a heuristic approach to accept or reject loop closing, we propose a...
Towards Sensor Based Coverage with Robot Teams (2008)
Dewitt Latimer Iv, Siddhartha Srinivasa, Vincent Lee-shue, Samuel Sonne, Howie Choset, Aaron Hurst
We introduce a new algorithm to cover an unknown space with a homogeneous team of circular mobile robots. Our approach is based on a single robot cover-age algorithm, a boustrophedon approach, which...
Jonathan E. Luntz, William Messner, Howie Choset, Jonathan E. Luntz, William Messner, Howie Choset
Distributed manipulation systems induce motions on objects through the application of many external forces. An actuator array performs distributed manipulation using a planar array of many small...
Ercan U Acar, Howie Choset, Alfred A Rizzi, Prasad N Atkar, Douglas Hull, Ercan U. Acar, ...
Exact cellular decompositions represent a robot’s free space by dividing it into regions with simple structure such that the sum of the regions fills the free space. These decompositions have been...
Howie Choset, Sean Walker, Kunnayut Eiamsa-ard, Joel Burdick, Howie Choset, Sean Walker, ...
This paper prescribes an incremental procedure to construct roadmaps of unknown environments. Recall that a roadmap is a geometric structure that a robot uses to plan a path between two points in an...
Howie Choset, Joel Burdick, Howie Choset, Joel Burdick
The hierarchical generalized Voronoi graph (HGVG) is a new roadmap developed for sensor-based exploration in unknown environments. This paper defines the HGVG structure: a robot can plan a path...
Prasad N. Atkar, Aaron Greenfield, David C. Conner, Howie Choset, Alfred A. Rizzi, Prasad N. Atkar, ...
In spray painting applications, it is essential to generate a spray gun trajectory such that the entire surface is completely covered and receives an acceptably uniform layer of paint deposition; we...
Ercan U. Acar, Howie Choset, Yangang Zhang, Mark Schervish, Ercan U. Acar, Howie Choset, ...
Citations (this article cites 9 articles hosted on the
Ercan U Acar, Howie Choset, Ercan U. Acar, Howie Choset
The goal of coverage path planning is to determine a path that passes a detector over all points in an environment. This work prescribes a provably complete coverage path planner for robots in...
Courteous Cars: Decentralized Multiagent Traffic Coordination (2008)
Kress-Gazit, Hadas, Connor, David C, Choset, Howie, Rizzi, Alfred A, Pappas, George J
A major goal in robotics is to develop machines that perform useful tasks with minimal supervision. Instead of requiring each small detail to be specified, we would like to describe the task at a...
AFOLLOW-THE-LEADER APPROACH TO SERPENTINE ROBOT MOTION PLANNING (2008)
ABSTRACT. Serpentine robots o er advantages over traditional mobile robots and robot arms because they have enhanced exibility and reachability, especially in convoluted environments. These robots...
AFOLLOW-THE-LEADER APPROACH TO SERPENTINE ROBOT MOTION PLANNING (2008)
ABSTRACT. Serpentine robots o er advantages over traditional mobile robots and robot arms because they have enhanced exibility and reachability, especially in convoluted environments. These robots...
* Address all correspondence to this author (2008)
Kunnayut Eiamsa-ard, F. W. Liou, Robert G. Landers, Howie Choset
Even though the machining process has been integrated to the Multi-Axis Laser Aided Manufacturing Process (LAMP) System in order to get good surface finish functional parts [1], the quality of parts...
Hierarchical Segmentation of Surfaces Embedded in R 3 for Auto-Body Painting ∗ (2008)
Prasad N. Atkar, Aaron Greenfield, David C. Conner, Howie Choset, Alfred A. Rizzi
Abstract — Complete automation of trajectory planning tools for material deposition/removal applications has become increasingly necessary to reduce the “concept-to-consumer ” timeline in...
Arc Carving: Obtaining Accurate, Low Latency Maps from Ultrasonic Range Sensors (2008)
David Silver, Deryck Morales, Ioannis Rekleitis, Brad Lisien, Howie Choset
Abshacl-In this paper we present a new technique for improving the azimuth resolution of ultrasonic range Sensors frequently used with mobile robots. This improvement is achieved without a...
Path Planning and Control for AERCam, a Free- ying Inspection Robot in Space. (2008)
Howie Choset, David Kortenkamp
This paper describes a prototype robot and the necessary path planning and control for space inspection appli-cations. The robot is the rst generation of a free- ying robotic camera that will assist...
Path Planning and Control for AERCam, a Free- ying Inspection Robot in Space. (2008)
Howie Choset, David Kortenkamp
This paper describes a prototype robot and the necessary path planning and control for space inspection appli-cations. The robot is the rst generation of a free- ying robotic camera that will assist...
Context Identification for Efficient Multiple-Model State Estimation (2008)
Sarjoun Skaff, Alfred A. Rizzi, Howie Choset
Abstract — This paper presents an approach to accurate and scalable multiple-model state estimation for hybrid systems with intermittent, multi-modal dynamics. The approach consists of using...
The Modular Distributed Manipulator System (2008)
Jonathan E. Luntz, William Messner, Howie Choset
The Modular Distributed Manipulator System (MDMS) is a macroscopic actuator array which can manipulate objects in the plane. The piecewiseconstant dynamics of manipulation on the MDMS are developed...
Predicting the Size of Spring Network Swarm in Quadratic Potential Fields (2008)
Abstract- Formation control of multiple autonomous agents or a swarm of robots have become popular in robotics. Formation control is to maintain specific connections among multiple autonomous robots...
We present a new roadmap for a rod-shaped robot operating in a three-dimensional workspace, whose configuration space is diffeomorphic to R 3 × S 2. This roadmap is called the rod hierarchical...
Square Root Iterated Kalman Filter for Bearing-Only SLAM (2008)
Hyungpil Moon, George Kantor, Howie Choset
Abstract- This paper presents an undelayed solution to the bearing-only simultaneous localization and mapping problem (SLAM). We employ a square-root iterated Kalman filter for nonlinear state...
A Dynamic Single Actuator Vertical Climbing Robot (2008)
Amir Degani, Amir Shapiro, Howie Choset, Matthew T. Mason
Abstract — A climbing robot mechanism is introduced, which uses dynamic movements to climb between two parallel vertical walls. This robot relies on its own internal dynamic motions to gain height,...
Choset, “Development and Deployment of a Line of Sight Virtual Sensor for Heterogeneous Teams (2008)
Robert Grabowski, Pradeep Khosla, Howie Choset
Absnact- For a learn of cooperaring robots, geometry plays a vital role in operalbm Knowledge of line of sight to local obstacles and a#acrnt teammales is critic01 in both the movemenr and planning...
Nonsmooth analysis of a broad class of functions taking the form F (x) = min i f i(x), where each f i is a convex function. One element of this class of functions is the distance function, which...
Anactuatorarrayisaformofdistributedmanipulationwheremanysmallstationaryelements(which (2008)
Jonathan E. Luntz, William Messner, Howie Choset
An actuator array is a form of distributed manipulation where an object being transported and manipulated rests on a large number of supporting actuators. On a discrete array employing an open-loop...
Design of a Modular Snake Robot (2008)
Cornell Wright, Aaron Johnson, Aaron Peck, Zachary Mccord, Allison Naaktgeboren, Philip Gianfortoni, ...
Abstract — Many factors such as size, power, and weight constrain the design of modular snake robots. Meeting these constraints requires implementing a complex mechanical and electrical...
An Enhanced Occupancy Map for Exploration via Pose Separation (2008)
Robert Grabowski Pradeep, Robert Grabowski, Pradeep Khosla, Howie Choset
We develop a new occupancy map that respects the role of the sensor measurement bearing and how it relates to the resolution of the existing occupancy map. We borrow an idea from Konolige for...
Sensor based motion planning : the hierarchical generalized Voronoi graph (2008)
Sensor based motion planning incorporates sensor information reflecting the state of a robot's environment into its planning process, whereas traditional approaches assume complete prior knowledge of...
The Green Island Formation in Forest Fire Modeling with Voronoi Diagrams (2007)
During the last couple of years much attention has been given to an important ecological problem, namely forest wildfire [1]. In a recent report [5] it has been shown that, starting with very simple...
Howie Choset, Alfred A. Rizzi, Prasad N. Atkar
Exact cellular decompositions represent a robot’s free space by dividing it into regions with simple structure such that the sum of the regions fills the free space. These decompositions have been...
Motion Planning for a Rod-shaped Robot in R 3: Connecting the Rod-HGVG using the Point-HGVG (2007)
Abstract — This work considers the motion planning for a rodshaped robot in a three-dimensional space. Our approach is to construct a roadmap in the configuration space of the rod and use it to...
Nonsmooth analysis of a broad class of functions taking the form F(x) = mini fi (x), where each fi is a convex function. One element of this class of functions is the distance function which measures...
AS PART OF A RIGOROUS ROBOTics (2007)
Michael Rosenblatt, Howie Choset
we have developed and implemented open-ended design and construction lab experiences. In the long term, we want to develop similar lab-like experiences where students design and build artifacts to...
Discrete Actuator Array Field Design for Open and Closed Loop Distributed Manipulation (2007)
Jonathan E. Luntz, William Messner, Howie Choset
Distributed manipulation systems induce motions on objects through the application of many external forces. An actuator array performs distributed manipulation using a planar array of many small...
An Enhanced Occupancy Map for Exploration via Pose Separation (2007)
Robert Grabowski, Pradeep Khosla, Howie Choset
We develop a new occupancy map that respects the role of the sensor measurement bearing and how it relates to the resolution of the existing occupancy map. We borrow an idea from Konolige for...
Valet parking without a valet (2007)
David C. Conner, Hadas Kress-gazit, Howie Choset, Alfred A. Rizzi
Abstract — What would it be like if we could give our robot high level commands and it would automatically execute them in a verifiably correct fashion in dynamically changing environments? This...
Howie Choset, Kevin Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia Kavraki, ...
preliminary draft meant for review.
Differentiable and Piecewise Differentiable Gaits for Snake Robots (2007)
Kevin Lipkin, Isaac Brown, Aaron Peck, Howie Choset, Justine Rembisz, Philip Gianfortoni
Abstract—This paper describes a series of gaits which we developed for a free crawling snake robot. Snake robots, a class of hyper-redundant mechanisms, can use their many degrees of freedom to...
Valet parking without a valet (2007)
David C. Conner, Hadas Kress-gazit, Howie Choset, Alfred A. Rizzi
Abstract — What would it be like if we could give our robot high level commands and it would automatically execute them in a verifiably correct fashion in dynamically changing environments? This...
David C. Conner, Alfred A. Rizzi, Howie Choset
We present a method for defining a hybrid control system capable of simultaneously addressing the global navigation and control problem for a convex-bodied wheeled mobile robot navigating amongst...
Elie A. Shammas, Howie Choset, Alfred A. Rizzi
Abstract: In this paper, we address a particular flavor of the motion planning problem, that is, the gait generation problem for underactuated variable inertia mechanical systems. Additionally, we...
Towards Automated Gait Generation for Dynamic Systems with Non-holonomic Constraints (2006)
Elie Shammas, Howie Choset, Alfred Rizzi
Abstract — In this paper we generate gaits for dynamics systems that are subject to non-holonomic velocity constraints. These systems are referred to as mixed non-holonomic systems. The motion of...
Towards Automated Gait Generation for Dynamic Systems with Non-holonomic Constraints (2006)
Elie Shammas, Howie Choset, Alfred Rizzi
Abstract — In this paper we generate gaits for dynamics systems that are subject to non-holonomic velocity constraints. These systems are referred to as mixed non-holonomic systems. The motion of...
TITLE Generalized Motion Planning for Underactuated Mechanical Systems Presented By (2006)
Elie A. Shammas, Howie Choset, Philip Leduc, Matt Mason, Alfred A. Rizzi, Elie A. Shammas, ...
ii c ○ 2006
Undergraduate Embedded System (2005)
Education At Carnegie, Philip Koopman, Howie Choset, Rajeev Gandhi, Bruce Krogh, Diana Marculescu, ...
this paper. There are two important cultural factors inherent to work at Carnegie Mellon that influence our approach. First, we have a strong tradition of system building, both in research and...
Undergraduate Embedded Systems Education at Carnegie Mellon (2005)
Philip Koopman, Howie Choset, Rajeev Gandhi, Bruce Krogh, Diana Marculescu, Priya Narasimhan, ...
Embedded systems encompass a wide range of applications, technologies, and disciplines, necessitating a broad approach to education. We describe embedded system coursework during the first 4 years of...
Natural Gait Generation Techniques for Principally Kinematic Mechanical Systems (2005)
Elie Shammas, Howie Choset, Alfred Rizzi
Abstract — In this paper we present a novel gait analysis technique which can directly be used to synthesize gaits for a broad class of mechanical systems. We build upon prior work in locomotion...
Paint Deposition Modeling for Trajectory Planning on Automotive Surfaces (2005)
David C. Conner, Student Member, Aaron Greenfield, Student Member, Prasad N. Atkar, Student Member, ...
Abstract—This research is focused on developing trajectory planning tools for the automotive painting industry. The geometric complexity of automotive surfaces and the complexity of the spray...
A context-based state estimation technique for hybrid systems (2005)
Sarjoun Skaff, Alfred A. Rizzi, Howie Choset, Pei-chun Lin
Abstract — This paper proposes an approach to robust state estimation for mobile robots with intermittent dynamics. The approach consists of identifying the robot’s mode of operation by...
Undergraduate Embedded Systems Education at Carnegie Mellon (2005)
Philip Koopman, Howie Choset, Rajeev Gandhi, Bruce Krogh, Diana Marculescu, Priya Narasimhan, ...
Embedded systems encompass a wide range of applications, technologies, and disciplines, necessitating a broad approach to education. We describe embedded system coursework during the first 4 years of...
A context-based state estimation technique for hybrid systems (2005)
Sarjoun Skaff, Alfred A. Rizzi, Howie Choset, Pei-chun Lin
Abstract — This paper proposes an approach to robust state estimation for mobile robots with intermittent dynamics. The approach consists of identifying the robot’s mode of operation by...
Introducing Robotic Origami Folding (2004)
Devin Balkcom, James J. Kuffner, Doug L. James, Wes Huang, Srinivas Akella, Kevin Lynch, ...
Origami, the human art of paper sculpture, is a fresh challenge for the field of robotic manipulation, and provides a concrete example for many difficult and general manipulation problems. This...
Limited communication, multi-robot team based coverage (2004)
Ioannis Rekleitis, Vincent Lee-shue, Ai Peng New, Howie Choset
Abstract — This paper presents an algorithm for the complete coverage of free space by a team of mobile robots. Our approach is based on a single robot coverage algorithm, which divides the target...
Arc Carving: Obtaining Accurate, Low Latency Maps From Ultrasonic Range Sensors (2004)
David Silver, Deryck Morales, Ioannis Rekleitis, Brad Lisien, Howie Choset
In this paper we present a new technique for improving the azimuth resolution of ultrasonic range sensors frequently used with mobile robots. This improvement is achieved without a significant...
Uniform Coverage of Simple Surfaces (2004)
Embedded In For, Prasad N. Atkar, David C. Conner, Aaron Greenfield, Howie Choset, Alfred A. Rizzi
We develop a procedure for automated trajectory generation for robotic spray painting applications. Painting requires that the spray gun deposit paint at each point on the target surface such that...
Development and Deployment of a Line of Sight Virtual Sensor for Heterogeneous Teams (2004)
Robert Grabowski, Pradeep Khosla, Howie Choset
For a team of cooperating robots, geometry plays a vital role in operation. Knowledge of line of sight to local obstacles and adjacent teammates is critical in both the movement and planning stages...
Bearing-only landmark initialization with unknown data association (2004)
Ai Costa, George Kantor, Howie Choset
Abslracl-I1 is essential in many applications that mobde robots localize themselves with respect to an unknown environmenL This means that the robot must build a map of its environment and then...
Prasad N. Atkar, Howie Choset, Alfred A. Rizzi
Abstract — For automated spray painting robots, the choice of a start curve from which all subsequent paths will be determined, plays a critical role in ensuring uniform coverage of the target...
Hierarchical simultaneous localization and mapping (2003)
Brad Lisien, Deryck Morales, David Silver, George Kantor, Ioannis Rekleitis, Howie Choset
Abstract — This paper presents a novel method of combining topological and feature-based mapping strategies to create a hierarchical approach to simultaneous localization and mapping (SLAM). More...
New joint design for three-dimensional hyper redundant robots (2003)
Elie Shammas, Alon Wolf, H. Ben Brown, Jr. Howie Choset
Abstract — This paper presents a novel compact design for a two degrees of freedom (DOF) joint mechanism. The joint is optimized for compactness, strength and range of motion which makes it ideal...
Hierarchical simultaneous localization and mapping (2003)
Brad Lisien, Deryck Morales, David Silver, George Kantor, Ioannis Rekleitis, Howie Choset
Abstract — This paper presents a novel method of combining topological and feature-based mapping strategies to create a hierarchical approach to simultaneous localization and mapping (SLAM). More...
Yangang Zhang, Mark Schervish, Howie Choset
One way to improve the efficiency of mine search, compared with a complete coverage algorithm, is to direct the search based on the spatial pattern of the minefield. This paper extends our original...
Deposition Modeling for Paint Application on Surfaces Embedded in (2002)
David Conner Prasad, Prasad N. Atkar, Alfred A. Rizzi, Howie Choset
As part of an ongoing collaborative effort with the Ford Motor Company, our research aims to develop practical and efficient trajectory planning tools for automotive painting. Not only must the paint...
Sensor-Based Exploration for Convex-Bodies: A New Roadmap for a Convex-shaped Robot (2002)
Abstract—We present a new roadmap that can be used to guide a convex bodyto explore an unknown planar workspace, i.e., to map an unknown configuration space diffeomorphic to @PA. This new roadmap...
Development of Deposition Models for Paint Application on Surfaces (2002)
Embedded In For, David C. Conner, Prasad N. Atkar, Alfred A. Rizzi, Howie Choset
As part of an ongoing collaborative effort with the Ford Motor Company, our research aims to develop practical and efficient trajectory planning tools for automotive painting. This paper documents...
Abstract—One of the critical components of mapping an unknown environment is the robot’s ability to locate itself on a partially explored map. This becomes challenging when the robot experiences...
Path Planning for Robotic Demining and Development of a Test (2001)
Ercan Acar Yangang, Ercan U. Acar, Yangang Zhang, Howie Choset, Mark Schervish, Albert G. Costa, ...
This paper overviews path planning methods, systematic versus probabilistic for robotic demining, and a robot development project. We outline a complete sensor-based coverage algorithm that uses an...
Robust sensor-based coverage of unstructured environments (2001)
Sensor-based coverage uses sensor information to determine a path that passes a detector or some effector over all points in an unknown space. This work identifies features of a provably complete...
Critical point sensing in unknown environments (2000)
Many motion planning algorithms use Morse functions to characterize the free space. Specifically, these algorithms look at the critical points of a Morse function to denote the topological changes in...
Discreteness Issue in Actuator Arrays (2000)
Jonathan E. Luntz, William Messner, Howie Choset
Abstract An actuator array is a form of distributed manipulation where an object being transported and manipulated rests on a large number of stationary supporting actuators. The authors have...
Closed-loop operation of actuator arrays (2000)
Jonathan E. Luntz, William Messner, Howie Choset
An actuator array performs distributed manipulation where an object being transported and manipulated rests on a large number of stationary supporting actuators. The authors have developed a...
Closed-loop distributed manipulation using discrete actuator arrays (2000)
Jonathan E. Luntz, William Messner, Howie Choset
Distributed manipulation systems induce motions on objects through the application of many external forces. An actuator array performs distributed manipulation using a planar array of many small...
Exact cellular decompositions in terms of critical points of morse functions (2000)
Howie Choset, Ercan Acar, Alfred A. Rizzi, Jonathan Luntz
Exact cellular decompositions are structures that globally encode the topology of a robot's free space, while locally describing the free space's geometry. These structures have been widely...
Sensor Based Exploration: The Hierarchical Generalized Voronoi Graph (2000)
The hierarchical generalized Voronoi graph (HGVG) is a new roadmap developed for sensor based exploration in unknown environments. This paper defines the HGVG structure: a robot can plan a path...
Discreteness Issues in Actuator Arrays (2000)
Jonathan E. Luntz, William Messner, Howie Choset
An actuator array is a form of distributed manipulation where an object being transported and manipulatedrests on a large number of stationary supporting actuators. The authors have developed a...
Exact cellular decompositions in terms of critical points of morse functions (2000)
Howie Choset, Ercan Acar, Alfred A. Rizzi, Jonathan Luntz
Exact cellular decompositions are structures that globally encode the topology of a robot's free space, while locally describing the free space's geometry. These structures have been widely...
A Follow-The-Leader Approach To Serpentine Robot Motion Planning (1999)
. Serpentine robots offer advantages over traditional mobile robots and robot arms because they have enhanced flexibility and reachability, especially in convoluted environments. These robots are...
The Arc-Transversal Median Algorithm: an Approach to Increasing Ultrasonic Sensor Accuracy (1999)
Keiji Nagatani, Howie Choset, Nicole Lazar
This paper describes a new method for determining range information about a robot's surroundings using low resolution ultrasonic sensors. These sensors emit ultra-sound which bounces off of...
Open-Loop Orientability of Objects on Actuator Arrays (1999)
Jonathan Luntz William, William Messner, Howie Choset
An actuator array is a form of distributed manipulation where an object being transported and manipulated rests on a large number of supporting actuators. On a discrete array employing an open-loop...
Discrete Actuator Array Vectorfield Design for Distributed Manipulation (1999)
Jonathan E. Luntz, William Messner, Howie Choset
The Modular Distributed Manipulator System (MDMS) is a macroscopic actuator array which can manipulate objects in the plane. The piecewiseconstant dynamics of manipulation on the MDMS are developed...
Path Planning and Control for AERCam, a Free-flying Inspection Robot in Space. (1999)
Howie Choset, David Kortenkamp
This paper describes a prototype robot and the necessary path planning and control for space inspection applications. The robot is the first generation of a free-flying robotic camera that will...
Stick-Slip Operation of the Modular Distributed Manipulator System (1998)
Jonathan Luntz William, William Messner, Howie Choset
The Modular Distributed Manipulator System (MDMS) is a novel materials handling system which is a fixed array of actuated wheels capable of inducing arbitrary motions in the plane. The wheels...
Motion Planning for Serpentine Robots (1998)
Wade Henning, Frank Hickman, Howie Choset
. Serpentine robots offer advantages over traditional mobile robots and robot arms because they provide enhanced flexibility and reachability, especially in convoluted environments. These robots are...
Towards Exact Localization without Explicit Localization with the Generalized Voronoi Graph (1998)
Keiji Nagatani, Howie Choset, Sebastian Thrun
. Sensor based exploration is a task which enables a robot to explore and map an unknown environment, using sensor information. The map used in this paper is the generalized Voronoi graph (GVG). The...
Towards Exact Localization without Explicit Localization with the Generalized Voronoi Graph (1998)
Keiji Nagatani, Howie Choset, Sebastian Thrun
Abstract. Sensor based exploration is a task which enables a robot to explore and map an unknown environment, using sensor information. The map used in this paper is the generalized Voronoi graph...
Stick-slip operation of the modular distributed manipulator system (1998)
Jonathan Luntz, William Messner, Howie Choset
is a novel materials handling system which is a xed array of actuated wheels capable of inducing arbitrary motions in the plane. The wheels transport and manipulate objects that rest on the array....
Howie Choset, Keiji Nagatani, Alfred Rizzi
This work prescribes the procedures that are required to implement, on a conventional mobile robot, a sensor based motion planning algorithm based on the generalized Voronoi graph (GVG). The GVG...
Howie Choset, Keiji Nagatani, Alfred Rizzi
This work prescribes the procedures that are required to implement, on a conventional mobile robot, a sensor based motion planning algorithm based on the generalized Voronoi graph (GVG). The GVG...
Coverage Path Planning: The Boustrophedon Cellular Decomposition (1997)
Coverage path planning is the determination of a path that a robot must take in order to pass over each point in an environment. Applications include vacuuming, floor scrubbing, and inspection. We...
Virtual Vehicle: parcel manipulation and dynamics with a distributed actuator array (1997)
Jonathan Luntz, William Messner, Howie Choset
A novel materials handling system is being developed at Carnegie Mellon University's Mechanical Engineering Department. This systems contains an array of cells, each of which has two actuators....
Sensor Based Planning for a Planar Rod Robot: Incremental Construction of the Planar Rod-HGVG (1997)
Howie Choset, Brian Mirtich, Joel Burdick
This work considers sensor based motion planning for rod-shaped robots in unknown environments. The motion planning scheme is based on the rod hierarchical generalized Voronoi graph (rod-HGVG). The...
Parcel Manipulation and Dynamics with a Distributed Actuator Array: The Virtual Vehicle (1997)
Jonathan Luntz, William Messner, Howie Choset
We are developing a materials handling system where many small simple actuators cooperate to transport and to manipulate large objects in the plane. A discrete set of cells, each comprising two...
Howie Choset, Keiji Nagatani, Alfred Rizzi
This work prescribes the procedures that are required to implement, on a conventional mobile robot, a sensor based motion planning algorithm based on the generalized Voronoi graph (GVG). The GVG is a...
Mobile Robot Navigation: Implementing the GVG in the Presence of Sharp Corners (1997)
Ilhan Konukseven, Howie Choset
A robot can explore an unknown environment by incrementally constructing a roadmap of that environment using line of sight sensor information. Recall that a roadmap is a one-dimensional...
Howie Choset, Keiji Nagatani, Alfred Rizzi
This work prescribes the procedures that are required to implement, on a conventional mobile robot, a sensor based motion planning algorithm based on the generalized Voronoi graph (GVG). The GVG...
Coverage path planning: The boustrophedon cellular decomposition (1997)
Coverage path planning is the determination of a path that a robot must take in order to pass over each point inanenvironment. Applications include vacuuming, oor scrubbing, and inspection. We...
Parcel manipulation and dynamics with a distributed actuator array: the virtual vehicle (1997)
Jonathan E. Luntz, William Messner, Howie Choset
Abstract We are developing a materials handling system where many small simple actuators cooperate to transport and to manipulate large objects in the plane. A discrete set of cells, each comprising...
Sensor based planning for a planar rod robot: Incremental construction of the planar rod-hgvg (1997)
Howie Choset, Brian Mirtich, Joel Burdick
Abstract This work considers sensor based motion planning for rod-shaped robots in unknown environments. The motion planning scheme is based on the rod hierarchical generalized Voronoi graph...
Virtual Vehicle: Parcel Manipulation and Dynamics with a Distributed Actuator Array (1997)
Jonathan Luntz, William Messner, Howie Choset
Anovel materials handling system is being developed at Carnegie Mellon University's Mechanical Engineering Department. This systems contains an array of cells, each of which has two actuators....
Sensor based motion planning : the hierarchical generalized Voronoi graph (1996)
Sensor based motion planning incorporates sensor information reflecting the state of a robot's environment into its planning process, whereas traditional approaches assume complete prior knowledge of...
Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph (1996)
Howie Choset, Ilhan Konukseven, Alfred Rizzi
Abstract We introduce a new control law for robots that explore unknown environments and con guration spaces. Unlike numerical continuation methods, which produce a jagged path because of the...
Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph (1996)
Howie Choset, Ilhan Konukseven, Alfred Rizzi
We introduce a new control law for robots that explore unknown environments and configuration spaces. Unlike numerical continuation methods, which produce a jagged path because of the...
Mobile Robot Navigation: Issues in Implementating the Generalized Voronoi Graph in the Plane (1996)
Howie Choset, Ilhan Konukseven, Joel Burdick
This paper describes the procedures that are required to implement, on a conventional mobile robot, a sensor based motion planning algorithm based on the generalized Voronoi graph (GVG). The GVG is a...
Sensor Based Motion Planning: The Hierarchical Generalized Voronoi Graph (1996)
The hierarchical generalized Voronoi graph (HGVG) is a roadmap that can serve as a basis for sensor based robot motion planning. A key feature of the HGVG is its incremental construction procedure...
Sensor Based Planning for a Planar Rod Robot (1996)
Sensor based planning for rod-shaped robots is necessary for the realistic deployment of noncircular symmetric robots into unknown environments. To this end, the rod hierarchical generalized Voronoi...
Sensor Based Motion Planning: The Hierarchical Generalized Voronoi Graph (1996)
Sensor based motion planning incorporates sensor information reflecting the state of a robot's environment into its planning process, whereas traditional approaches assume complete prior...
Sensor Based Planning for a Planar Rod Robot (1996)
Abstract Sensor based planning for rod-shaped robots is necessary for the realistic deployment of noncircular symmetric robots into unknown environments. To this end, the rod hierarchical generalized...
Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph (1996)
Howie Choset, Ilhan Konukseven, Alfred Rizzi
Abstract We introduce a new control law for robots that explore unknown environments and con guration spaces. Unlike numerical continuation methods, which produce a jagged path because of the...
Mobile Robot Navigation: Issues in Implementation the Generalized Voronoi Graph in the Plane (1996)
Howie Choset, Ilhan Konukseven, Joel Burdick
Abstract This paper describes the procedures that are required to implement, on a conventional mobile robot, a sensor based motion planning algorithm based on the generalized Voronoi graph (GVG). The...
Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph (1996)
Howie Choset, Ilhan Konukseven, Alfred Rizzi
Abstract We introduce a new control law for robots that explore unknown environments and con guration spaces. Unlike numerical continuation methods, which produce a jagged path because of the...
Sensor Based Motion Planning: The Hierarchical Generalized Voronoi Graph (1996)
graph (HGVG) is a roadmap that can serve as a basis for sensor based robot motion planning. A key feature of the HGVG is its incremental construction procedure that uses only line of sight distance...
Sensor Based Planning, Part I: The Generalized Voronoi Graph (1995)
. This paper introduces a 1-dimensional network of curves termed the Generalized Voronoi Graph (GVG) and its extension, the Hierarchical Generalized Voronoi Graph (HGVG), which can be used as a basis...
Sensor Based Planning, Part II: Incremental Construction of the Generalized Voronoi Graph (1995)
Abstract: This paper prescribes an incremental procedure to construct the Generalized Voronoi Graph (GVG) and the Hierarchical Generalized Voronoi Graph (HGVG) detailed in the companion paper [4]....
Sensor Based Planning, Part I: The Generalized Voronoi Graph (1995)
Abstract. This paper introduces a 1-dimensional network
Extensibility In Local Sensor Based Planning For Hyper-Redundant Manipulators (Robot Snakes) (1994)
: This paper extends a local sensor based planning method for hyper-redundant robot mechanisms. In a previous paper, sensor feedback control methods are considered. A highly localized sensor feedback...
Experimental Results of Sensor Based Planning for Hyper-redundant Manipulators (1993)
Nobuaki Takanashi, Howie Choset, Joel W. Burdick
: This paper presents a dual-resolution local sensor based planning method for hyper-redundant robot mechanisms. Two classes of sensor feedback control methods, working at different sampling rates...
Local sensor based planning for hyper-redundant manipulator (1993)
ABSTRACT: This paper extends a local sensor based planning method for hyper-redundant robot mechanisms. In a previous paper, sensor feedback control methods are considered. A highly localized sensor...
Cube Analyzer - A Medical Image Analysis Program (1988)
Hoford, John, Choset, Howie, Kovacic, Stane, Gee, James, Bajcsy, Ruzena
The Cube Analyzer is a group of programs designed to analyze three-dimensional tomographic data such as CT, PET and MRI scans. It is designed to work on a Unix workstation running X-windows, and was...