Publications | Sensor Based Planning Laboratory

Publications

Topics:
Estimation
    Behaviors
    SLAM
    Sensor Processing for Mapping
    Spatial Parameter Estimation

Mechanism Design
    Distributed Manipulation
    Medical
    Mobile Robots
    Snakes

Motion Planning
    Distributed Manipulation
    Dynamic Climbing
    Mechanics
    Static Climbing
    Snake Locomotion

Path Planning
    Coverage
    Mobile Manipulation
    Multi-Robot
    Non-smooth Analysis
    Retracts

Hybrid Control

Applications
    Education
    Medical
    Search and Rescue
    Manufacturing
    Pipeline Inspection

Books

Estimation	Top
Behaviors	Top
Conference Papers
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
SLAM	Top
Journal Papers
*Relative Localization using Path Odometry Information* N. Doh, H. Choset and W. K. Chung Autonomous Systems, Vol. 20, Number 2, pp. 143-154, Sep., 2006 PDF *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 *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 Single-Step Maximum A Posteriori Update for Bearing-Only SLAM Stephen Tully, George Kantor, and Howie Choset Proceedings of the 2010 Conference on Artificial Intelligence (AAAI). Atlanta, Georgia, USA. July, 2010 PDF *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 *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 Bearing-only Landmark Initialization with Unknown Data Association Al Costa, George Kantor, and Howie 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 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 Towards Exact Location without Explicit Localization Keiji Nagatani, Howie Choset, and Sebastian Thrun. IEEE/ICRA Lueven, Belgium, 1998. Compressed PS PDF
Sensor Processing for Mapping	Top
Journal Papers
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
Conference Papers
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 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 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 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 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 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
Spatial Parameter Estimation	Top
Conference Papers
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 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
Mechanism Design	Top
Distributed Manipulation	Top
Journal Papers
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
Medical	Top
Conference Papers
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
Mobile Robots	Top
Conference Papers
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 *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
Snakes	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 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	Top
Distributed Manipulation	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
Chapters in Books
Velocity Field Design for Parcel Manipulation on the Virtual Vehicle, a Discrete Distributed Actuator Array J. Luntz, W. Messner, and H. Choset Algorithms for Robotic Motion and Manipulation Edited M. Mason, L. Kavraki, and P. Argawal, A.K. Peters, Boston, MA, 1998
Dynamic Climbing	Top
Conference Papers
DSAC - Dynamic, Single Actuated Climber. Local Stability and Bifurcations Degani, A., Choset, H., and Mason, M.T. Proc. of the 2010 IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, 2010. Minimalistic, Dynamic, Tube Climbing Robot â Video Submission Degani, A., Feng, S., Choset, H., and Mason, M.T. Proc. of the 2010 IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, 2010. 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
Mechanics	Top
Journal Papers
Towards a Unified Approach to Motion Planning for Dynamic Underactuated Mechanical Systems with Non-holonomic Constraints Shammas, Elie A., Choset, H., Rizzi, Alfred A. International Journal of Robotics Research v. 26 no10 (October 2007) p. 1075-124 Geometric Motion Planning Analysis for Two Classes of Underactuated Mechanical Systems Shammas, Elie A., Choset, H., Rizzi, Alfred A. International Journal of Robotics Research v. 26 no10 (October 2007) p. 1043-73
Conference Papers
Optimizing Coordinate Choice for Locomoting Systems R. L. Hatton and H. Choset Proceedings of the IEEE International Conference on Robotics and Automation, May 2010 Approximating Displacement with the Body Velocity Integral R. L. Hatton and H. Choset Proceedings of Robotics: Science and Systems, Seattle, USA, June 2009 Connection Vector Fields for Underactuated Systems R. L. Hatton and H. Choset Proceedings of the IEEE BioRobotics Conference, October 2008 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
Static Climbing	Top
Conference Papers
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
Snake Locomotion	Top
Journal Papers
Generating Gaits for Snake Robots: Annealed Chain Fitting and Keyframe Wave Extraction R. L. Hatton and H. Choset Autonomous Robots, Special Issue on Locomotion, 28(3), April 2010. Parameterized and Scripted Gaits for Modular Snake Robots M. Tesch, K. Lipkin, I. Brown, R. Hatton, A. Peck, J. Rembisz, and H. Choset Advanced Robotics, 23(9):1131-1158, 2009
Conference Papers
Sidewinding on Slopes R. L. Hatton and H. Choset Proceedings of the IEEE International Conference on Robotics and Automation, May 2010 Generating Gaits for Snake Robots by Annealed Chain Fitting and Keyframe Wave Extraction R. L. Hatton and H. Choset Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2009 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
Path Planning	Top
Coverage	Top
Journal Papers
Efficient Boustrophedon Multi-Robot Coverage: an algorithmic approach Rekleitis, I., New, A. P., Rankin E., and Choset, H. Annals of Mathematics and Artificial Intelligence, Vol. 52, Numbers 2-4, pages 109-142, April, 2009 Sensor-based Coverage with Extended Range Detectors E. U. Acar, H. Choset, and J.Y. Lee IEEE Transactions on Robotics, Feb., Vol 22, Number 1, pp. 189-198, 2006 *A Potential Function Approach to Surface Coverage for a Surgical Robot* N. Abraham, A. Wolf, and H. Choset Accepted to the Journal of Computer Aided Surgery, 2005 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 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 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 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 Coverage Path Planning: The Boustrophedon Decomposition Howie Choset and Philippe Pignon International Conference on Field and Service Robotics, Canberra, Australia, 1997 Compressed PS
Chapters in Books
Sensor-Based Coverage: Incremental Construction of Cellular Decompositions E. Acar and H. Choset Algorithmic Foundations of Robotics V Edited J.D. Boissonnat, J. Burdick, K. Goldberg, S. Hutchinson, Springer-Verlag, Berlin, Germany, 2003 Experimental Verification of Deposition Models for Automotive Painting with Electrostatic Rotating Bells D. Conner, P. Atkar, A. Rizzi, and H. Choset Experimental Robotics, VIII Edited B Siciliano and P Dario, Springer-Verlag, Berlin, Germany, 2003 Coverage Path Planning: The Boustrophedon Cellular Decomposition H. Choset and P. Pignon Field and Service Robotics dited Alex Zelinsky, Springer-Verlag, 1998
Mobile Manipulation	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
Multi-Robot	Top
Conference Papers
*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 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 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
Non-smooth 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
Retracts	Top
Journal Papers
Sensor-based Planning 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 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
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 *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 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 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 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 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
Chapters in Books
Topology in Motion Planning H. Choset and A. Rizzi In Robotics Research: The Eleventh International Symposium Edited by P. Dario and R. Chatila, Springer-Verlag, Berlin, Germany, 2004 PDF The Hierarchical Generalized Voronoi Graph H. Choset and J. Burdick Algorithms for Robotic Motion and Manipulation Edited J.P. Laumond and M. Overmars, A.K. Peters, Boston, MA, 1997
Hybrid Control	Top
Journal Papers
*Flow-through Policies for Hybrid Controller Synthesis Applied to Fully Actuated Systems* D. Conner, H. Choset and A. A. Rizzi Transactions on Robotics, Vol 25, No. 1, Feb, 2009
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
Magazine Articles
Courteous Cars H. Kress-Gazit, D.C. Conner, H. Choset, A.A. Rizzi, G.J. Pappas Robotics and Automation Magazine, IEEE Volume 15, Issue 1, March 2008 Page(s):30 â 38
Applications	Top
Education	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 *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
Medical	Top
Journal Papers
*Epicardial Atrial Ablation Using a Novel Highly Articulated Robotic Probe Through a Subxiphoid Approachs* T. Ota, A. Degani, A. Wolf, H. Choset, and M. Zenati Innovations: Technology and Techniques in Cardiothoracic and Vascular Surgery, vol. 1, pp. 335-340, 2006 *A Potential Function Approach to Surface Coverage for a Surgical Robot* N. Abraham, A. Wolf, and H. Choset Accepted to the Journal of Computer Aided Surgery, 2005 *"A Highly Articulated Robotic Surgical System for Minimally Invasive Surgery,"* T. Ota, A. Degani, D. Schwartzman, B. Zubiate, J. McGarvey, H. Choset, M. Zenati. /Ann Thorac Surg/, Vol. 87, No. 4, pp. 1253-1256, April, 2009.
Chapters in Books
Enabling Medical Robotics for the Next Generation of Minimally Invasive Procedures: Minimally Invasive Cardiac Surgery with Single Port Access Howie Choset and Marco Zenati Surgical Robotics - System Applications and Visions Edited by Jacob Rosen, Blake Hannaford, Richard Satava, Springer, 2010
Conference Papers
"Model-Guided Single Port Epicardial Interventions Using a Highly Articulated Robotic System," M. A. Zenati, T. Yokota, D. Schwartzman, T. Ota, B. Zubiate, C. Wright, C. Nikou, and H. Choset. Proceedings of the Minimally Invasive Robotic Association Fifth International Congress, San Diego, CA, January 29, 2010. "Model-Guided Epicardial Interventions using a Novel "Snake" Robot (Cardio-Arm) through a Subxiphoid Port Access," M. A. Zenati, T. Yokota, D. Schwartzman, T. Ota, B. Zubiate, C. Wright, C. Nikou, and H. Choset. Proceedings of the The 14th IASTED International Conference on Robotics Applications, Cambridge, MA, November, 2009. "Model-Guided Single Port Interventions using a Novel Highly Articulated Mechatronic System." T. Yokota, T. Ota, D. Schwartzman, C. Nikou, B. Jaramaz, B. Zubiate, H. Choset, M. A. Zenati. Proceedings of the BMES (BIOMEDICAL ENGINEERING SOCIETY) 2009 Annual Fall Scientific Meeting, Pittsburgh, PA, October 7-10, 2009. "A Novel Highly Articulated Robotic Surgical System for Cardiac Ablation." T. Ota, A. Degani, D. Schwartzman, B. Zubiate, J. McGarvey, H. Choset, and M. A. Zenati. Proceedings of the International Conference of the IEEE Engineering in Medicine and Biology Society, Vancouver, British Columbia, Canada, 20th - 24th August, 2008. "Highly Articulated Robotic Probe for Minimally Invasive Surgery," A. Degani, H. Choset. M. A. Zenati, T. Ota and B. Zubiate. Proceedings of the International Conference of the IEEE Engineering in Medicine and Biology Society, Vancouver, British Columbia, Canada, 20th - 24th August, 2008. / "/Epicardial Atrial Ablation using a Novel Highly Articulated 'Snake' Robot via a Percutaneous Subxiphoid Approach," T. Ota, A. Degani, A. Wolf, H. Choset and M. A. Zenati Proceedings of the 2006 International Society for Minimally Invasive Cardiothoracic Surgery (IMIC). San Francisco, CA. June 7-10, 2006./ "Highly Articulated Robotic Probe for Minimally Invasive Surgery," A. Degani, H. Choset, A. Wolf and M. A. Zenati. Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, USA, May, 2006. "Percutaneous Intrapericardial Interventions Using a Highly Articulated Robotic Probe," A. Degani, H. Choset, A. Wolf, T. Ota and M. A. Zenati. Proceeding of the 2006 IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Pisa, Italy, February, 2006. Best paper. "High Dexterity Snake Robot for Intrapericardial Interventions," M. A. Zenati, A. Wolf, T. Ota, and H. Choset. Proceedings of the 1st Worldwide Meeting of the Minimally Invasive Robotic Association (MIRA), Innsbruck, Austria, December 7-10, 2005.
Search and Rescue	Top
Journal Papers
*Design and Control of a Mobile Hyper-Redundant Urban Search and Rescue Robot* A. Wolf, H. M. Choset, H. B. Brown, and R. Casciola International Journal of Advanced Robotics, Vol. 19 (8) pp.221-248, 2005
Chapters in Books
Search and Rescue Robotics Robin R. Murphy, Satoshi Tadokoro, Daniele Nardi, Adam Jacoff, Paoli Fiorini, Howie Choset and Aydan M. Erkmen Springer Handbook of Robotics Edited by Bruno Siciliano, Oussama Khatib, Springer 2008 Search and Rescue H. Choset Berkshire Encyclopedia of Human-Computer Interaction Edited by William Sims Bainbridge, Berkshire Publishing Group, Great Barrington, MA, 2004
Books	Top
*Algorithmic Foundation of Robotics VIII: Selected Contributions of the Eight International Workshop on the Algorithmic Foundations of Robotics* Edited by G. S. Chirikjian, H. Choset, M. Morales, T. Murphey Springer, 2010 *Principles of Robot Motion: Theory, Algorithms, and Implementations* Choset, Lynch, Hutchinson, Kantor, Burgard, Kavraki, Thrun The MIT Press (June 4, 2005) *Distributed Manipulation* Edited by K. Bohringer and H. Choset Kluwer Academic Publishers, 2000

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