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2018
R. Gonzalez and K. Iagnemma; Slippage Estimation and Compensation for Planetary Exploration Rovers. State of the Art and Future Challenges.
Journal of Field Robotics,
2018. View publication
R. Gonzalez, M. Fiacchini, and K. Iagnemma; Slippage Prediction for Off-Road Mobile Robots via Machine Learning Regression and Proprioceptive Sensing.
Robotics and Autonomous Systems,
Vol. 105, Pages 85-93, July 2018. View publication
R. Gonzalez, D. Apostolopoulos, K. Iagnemma; Slippage and Immobilization Detection for Planetary Exploration Rovers via Machine Learning and Proprioceptive Sensing.
Journal of Field Robotics,
Vol. 35. No. 2. Pages 231-247. March 2018. View publication
2017
M.R. Bouguelia, R. Gonzalez, K. Iagnemma, S. Byttner; Unsupervised Detection of Soil Embedding Events for Planetary Exploration Rovers. Journal of Terramechanics,
Volume 73, October 2017, Pages 95-106. View publication
R. Gonzalez, A. Lopez, K. Iagnemma; Thermal Vision, Moisture Content, and Vegetation in
the Context of Off-Road Mobile Robots. Journal of Terramechanics,
Volume 70, April 2017. Pp. 35-48. View publication
R. Gonzalez, P. Jayakumar, K. Iagnemma; Generation of Stochastic Mobility Maps
for Large-Scale Route Planning of Ground Vehicles. A Case Study.
Journal of Terramechanics,
Volume 69, February 2017, Pp. 1-11. View publication
R. Gonzalez, P. Jayakumar, K. Iagnemma; Stochastic Mobility Prediction of Ground
Vehicles over Large Spatial Regions. A Geostatistical Approach.
Autonomous Robots,
Volume 41(2), January 2017, Pp. 313-331. View publication
2016
Gonzalez, R., Jayakumar, P., and
Iagnemma, K., An Efficient Method for Increasing the Accuracy of Mobility Maps for Ground Vehicles,
Journal of Terramechanics, Vol. 68,pp. 23-35, December 2016. View publication
Gonzalez, R., Byttner, S., and
Iagnemma, K., Comparison of Machine Learning Approaches for Soil Embedding Detection of Planetary Exploration Rovers,
International Conference of the ISTVS (International
Society for Terrain-Vehicle Systems), 12-14 September 2016. View publication
Gonzalez, R., and
Iagnemma, K., Soil Embedding Avoidance for Planetary Exploration Rovers,
International Conference of the ISTVS (International
Society for Terrain-Vehicle Systems), 12-14 September 2016. View publication
Lee, S.U., Gonzalez, R., and
Iagnemma, K., Robust Sampling-based Motion Planning for Autonomous Tracked Vehicles in Deformable High Slip Terrain,
IEEE International Conference on Robotics and Automation (ICRA), Pp. 2569 - 2574, 16-21 May 2016. Stockholm (Sweden). View publication
Brommer, K.D., Anderson, S.J., and
Iagnemma, K., Radio-enabled collision avoidance system,
US Patent 9,342,989, 2016
Slonaker, J., Motley, D.C., Senatore, C., Iagnemma, K., and Kamrin, K.
Geometrically general scaling relations for locomotion on granular beds,
arXiv preprint arXiv:1604.02490, 2016
Arvidson, R., Iagnemma, K., Maimone, M., Fraeman, A., Zhou, F., Heverly, M., Belutta, P., Rubin, D., Stein, N., Grotzinger, J., Vasavada, A.,,
Mars Science Laboratory Curiosity Rover Megaripple Crossings up to Sol 710 in Gale Crater,
Journal of Field Robotics, In Press, 2016. View publication
Iagnemma, K.D.,
Wheeled Robots,
Springer Handbook of Robotics, Second Edition, pp. 575-594, 2016, View publication
David, J., Valencia, R., and Iagnemma, K.D.,
Task Assignment and Trajectory Planning in Dynamic environments for Multiple Vehicles,
RSS 2016 Workshop on Task and Motion Planning , Ann Arbor, Michigan, USA, 2016. View publication
Lee S.U. and Iagnemma, K.,
Robust Motion Planning Methodology for Autonomous Tracked Vehicles in Rough Environment Using Online Slip Estimation,
IEEE/RSJ International Conference on Intelligent Robots and Systems , submitted
2015
Johnson, J.B., Kulchitsky, A.V., Duvoy, P.,
Iagnemma, K., and Senatore, C., Discrete element method simulations of Mars Exploration Rover wheel performance,
Journal of Terramechanics, Vol. 62, No. 7, pp. 31-407, 2015. View publication
Hussein, M., Iagnemma, K., and Renner, M.,
Global Localization of Autonomous Robots in Forest Environments,
Photogrammetric Engineering & Remote Sensing, Vol. 81, No. 11, pp. 839-846, 2015. View publication
Ozaki, S., Hinata, K., Senatore, C., and Iagenmma, K.,
Finite element analysis of periodic ripple formation under rigid wheels,
Journal of Terramechanics, Vol. 61, pp. 11-22, 2015. View publication
Wong, J.Y., Senatore, C., Senatore, C., Jayakumar, P., and Iagenmma, K.,
Predicting mobility performance of a small, lightweight track system using the computer-aided method NTVPM,
Journal of Terramechanics, Vol. 61, pp. 23-32, 2015. View publication
Park, J., Karumanchi, S., and Iagenmma, K.,
Homotopy-Based Divide-and-Conquer Strategy for Optimal Trajectory Planning via Mixed-Integer Programming,
IEEE Transactions on Robotics, Vol. 31, No. 5, pp. 1101-1115, 2015. View publication
Park, J. and Iagenmma, K.,
Sampling-based planning for maximum margin input space obstacle avoidance,
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. View publication
Ishigami, G., Iagenmma, K., Overholt, J., and Hudas, G.,
Design, Development, and Mobility Evaluation of an Omnidirectional Mobile Robot for Rough Terrain,
Journal of Field Robotics, Vol. 32, No. 6, pp. 880-896, 2015. View publication
Ding, L., Deng, Z., Gao, H., Tao, J., Iagnemma, K., and Liu, G.,
Interaction mechanics model for rigid driving wheels of planetary rovers moving on sandy terrain with consideration of multiple physical effects,
Journal of Field Robotics, Vol. 32, No. 6, pp. 827-859, 2015. View publication
Iagnemma, K., and Overholt, J.,
Special Issue: DARPA Robotics Challenge (DRC) Introduction,
Journal of Field Robotics, Vol. 32, No. 3, pp. 313-314, 2015. View publication
2014
Constantin, A., Park, J., and Iagnemma, K.,
A Margin-Based Approach to Vehicle Threat Assessment,
IEEE Intelligent Vehicles Symposium Proceedings, 2014
Hussein, M., Renner, M., and
Iagnemma, K., Absolute Localization of Ground Robots by Matching LIDAR and
Image Data in Densely Forested Environments, Proceedings of the SPIE Conference on Unmanned Systems
Technology, 2014
Zhou, F., Arvidson, R., Bennett, K., Trease, B., Lindemann, R., Iagnemma, K., Senatore, C., Belluta, P., and Maxwell, S., Simulations of Mars Rover Traverses, Journal of Field Robotics, Vol. 31, No. 1, 2014, http://dx.doi.org/10.1002/rob.21483
Senatore, C., and Iagnemma, K., Analysis of Stress Distributions Under Lightweight Wheeled Vehicles, Journal of Terramechanics, Vol. 51, pp. 1-17, February 2014, ISSN 0022-4898, http://dx.doi.org/10.1016/j.jterra.2013.10.003
Arvidson, R., Belutta, P., Calef, F., Fraeman, A., Garvin, J., Gasnault, O., Grant, J., Grotzinger, J., Hamilton, V., Heverly, M., Iagnemma, K., Johnson, J., Lanza, J., Mouelic, S., Mangold, N., Ming, D., Mehta, M., Morris, R., Newsom, H., Renno, N., Rubin, D., Sletten, R., Vasavada, A., Vizcaino, J., Terrain Physical Properties Derived From Orbital Data and the First 360 Sols of Mars Science Laboratory Curiosity Rover Observations in Gale Crater, Journal of Geophysical Research—Planets, Vol. 119, No. 6, pp. 1322-1344, June 2014
Smith, W., Melanz, D., Senatore, C., Iagnemma, K., and Peng, H., Comparison of Discrete Element Method and Traditional Modeling Methods for Steady-State Wheel-Terrain Interaction of Small Vehicles, Journal of Terramechanics, Vol. 56, pp. 61-75, December 2014
Cheng, N., Gopinath, A., Wang, A., Iagnemma, K., and Hosoi, A., Thermally Tunable, Self-healing Composites for Soft Robotic Applications, Journal of Macromolecular Materials and Engineering, Vol. 299, No. 11, pp. 1279-1284, November 2014
Jayakumar, P., Melanz, D.,
MacLennan, J., Gorsich, D., Senatore, C., and Iagnemma, K., Scalability of classical terramechanics models for lightweight vehicle applications incorporating stochastic modeling and uncertainty propagation,
Kim, Y., Cheng, S., Kim, S., and Iagnemma, K., A Stiffness-Adjustable Hyper-Redundant Manipulator using a Variable Neutral-line Mechanism for Minimally Invasive Surgery, IEEE Transactions on Robotics, Vol. 30, No. 2, pp. 382-395, 2014
Anderson, S., Walker, J., and Iagnemma, K., Experimental Performance Analysis of a Homotopy-Based Shared
Autonomy Framework, IEEE
Transactions on Human-Machine Systems, Vol. 44, No. 2, pp. 190-199,
April 2014
2013
Lanzetta, M., and Iagnemma, K., Gripping by Controllable Wet Adhesion Using a Magnetorheological Fluid, Manufacturing Technology, Vol. 62, No. 1, pp. 21-25, 2013
Hussein, M., Renner, M., Watanabe, M., and Iagnemma, K., Correlation of Ground-Based LiDAR and Aerial Vision Data For Mobile Robot Navigation in Densely Forested Environments, Proceedings of the IEEE International Conference on Robots and Systems, 2013
Watanabe, M., Wiltsie, N., Hosoi, A., and Iagnemma, K., Characteristics of Controllable Adhesion Using Magneto-Rheological Fluid and its Application to Climbing Robotics, Proceedings of the IEEE International Conference on Robots and Systems, 2013
Kim, Y., Cheng, S., Kim, S., and Iagnemma, K., A Novel Layer Jamming Mechanism with Tunable Stiffness Capability for Minimally Invasive Surgery, IEEE Transactions on Robotics, Vol. 29, No. 1, pp. 1031-1042, August 2013
Ding, L., Deng, Z., Gao, H., Guo, J., Zhang, D., and Iagnemma, K., Experimental Study and Analysis of the Wheels Steering Mechanics for Planetary Exploration WMRs Moving on Deformable Terrain, International Journal of Robotics Research, Vol. 32, No. 6, pp. 712-743, May 2013
Peters, S., Anderson, S.,
Pilutti, T., Tseng, E., and Iagnemma, K., Threat-Based Hazard Avoidance
for Semi-Autonomous Vehicles Using Nonlinear Model Predictive Control, IEEE Transactions on Control Systems
Technology, in press
Ding, L., Deng, Z., Gao, H.,
Tao, J., Iagnemma, K., and Liu, G., Interaction
Mechanics Model for Rigid Driving Wheels of Planetary Rovers Moving on
Sandy Terrain Considering Multiple Effects, Journal of Field Robotics, in press
Senatore, C., Wulfmeier, M., Vlahinic, I., Andrade, J., and Iagnemma, K., Design and Implementation of a Particle Image Velocimetry Method for Analysis of Running Gear-Soil Interaction , Journal of Terramechanics, Volume 50, Issues 5–6, October–December 2013, Pages 311-326, ISSN 0022-4898, http://dx.doi.org/10.1016/j.jterra.2013.09.004.
Ding, L., Gao, H., Deng, Z., Dong, Y., Liu, Y., Liu, G., and Iagnemma, K., Foot-Terrain Interaction Mechanics for Legged Robots: Modeling and Experimental Validation, International Journal of Robotics Research, Vol. 32, No. 13, pp. 1585-1606, November 2013
Senatore, C., Jayakumar, P., and Iagnemma, K., Experimental Study Of Lightweight Tracked Vehicle Performance On Dry Granular Materials, 7th Americas Regional Conference of the ISTVS , Tampa, FL, USA. November 4-7, 2013.
Smith, W., Melanz, D., Senatore, C., Iagnemma, K., Peng, H., Comparison of DEM and Traditional Modeling Methods for Simulating Steady-State Wheel-Terrain Interaction for Small Vehicles, 7th Americas Regional Conference of the ISTVS , Tampa, FL, USA. November 4-7, 2013.
Jayakumar, P., Melanz, D., Maclennan, J., Senatore, C., and Iagnemma K., Stochastic Modeling and Uncertainty Cascade of Soil Bearing and Shearing Characteristics for Light-Weight Vehicle Applications, 7th Americas Regional Conference of the ISTVS , Tampa, FL, USA. November 4-7, 2013.
Anderson, S., Walker, J., Karumanchi, S., and Iagnemma,
K., The Intelligent CoPilot: A
Constraint-Based Approach to Shared-Adaptive Control of Ground Vehicles,
IEEE Intelligent Transportation
Systems Magazine, Vol. 5., No. 2., pp. 45-54, 2013
Karumanchi, S., Iagnemma, K., and Scheding, S., Mobility Erosion: High Speed Motion
Safety for Mobile Robots Operating in Off-Road Terrain, Proceedings of the IEEE International
Conference on Robotics and Automation, 2013
Jeon, J., Cowlagi, R., Peters, S., Karaman, S., Frazzoli,
E., Tsiotras, P., and Iagnemma, K., Optimal Motion Planning with the
Half-Car Dynamical Model for Autonomous High-Speed Driving, Proceedings of the American Control
Conference, 2013
2012
Ishigami, G., Pineda, E., Hudas, G., Overholt, J., and Iagnemma, K., Design, Development, and Mobility Test of an Omnidirectional Mobile Robot for Rough Terrain, Proceedings of the 2012 Conference on Field and Service Robots, 2012
McDaniel, M., Nishihata, T.,
Brooks, C., Salesses, P., Iagnemma, K., Terrain
Classification and Identification of Tree Stems Using Ground-Based LIDAR,
Journal of Field Robotics, Vol.
29, No. 6, pp. 891-910, November/December, 2012
Karumanchi, S., and Iagnemma, K., Reactive Control in Environments with Hard and
Soft Hazards, Proceedings of
the IEEE International Conference on Robots and Systems, 2012
Kim, Y., Cheng, S., Kim, S., and Iagnemma, K., Design of a Tubular Snake-like Manipulator with
Stiffening Capability by Layer Jamming, Proceedings of the IEEE International Conference on Robots and
Systems, 2012
Song, M., Sun, F., Iagnemma, K., Natural
Feature-based Localization in Cluttered Forested Environments, Proceedings of the IEEE International
Conference on Robots and Systems, 2012
Senatore, C., Wulfmeier, M., Jayakumar, P., Maclennan, J.,
and Iagnemma, K., Investigation of Stress and
Failure in Granular Soils For Lightweight Robotic Vehicle Applications,
Proceedings of the Ground Vehicle
Systems Engineering and Technology Symposium, 2012 Best
conference paper award
Anderson, S., Karumanchi, S., and Iagnemma, K., Constraint-Based Planning
and Control for Safe, Semi-Autonomous Operation of Vehicles , Proceedings of the 2012 IEEE
Intelligent Vehicles Symposium, June 2012
Hongxiao, Y., Gong, J., Iagnemma, K., Jiang, Y., and Duan,
J., Robotic Wheeled Vehicle Ripple
Tentacles Motion Planning Method, Proceedings
of the IEEE Intelligent Vehicles Symposium, 2012
Anderson, S., Karumanchi, S., Johnson, B., Perlin, V., Rohde, M., and Iagnemma, K., Constraint-Based Semi-Autonomy for Unmanned Ground Vehicles Using Local Sensing , Proceedings of SPIE - The International Society for Optical Engineering Defense, Security, and Sensing, April 2012
Wiltsie, N., Lanzetta, M., and Iagnemma, K., A Controllably Adhesive Climbing Robot Using Magnetorheological Fluid, Proceedings of the IEEE International Conference on Technologies for Practical Robot Applications, 2012
Cheng, N., Lobovsky, M., Keating, S., Setapen, A., Gero,
K., Hosoi, A., and Iagnemma, K., Design and
Analysis of a Robust, Low-cost, Highly Articulated Manipulator Enabled by
Jamming of Granular Media, Proceedings
of the IEEE International Conference on Robotics and Automation, 2012
Ishigami, G., Overholt, J., and Iagnemma, K., Multi-material Anisotropic Friction Wheels for
Omnidirectional Ground Vehicles, Journal
of Robotics and Mechatronics, Vol. 24, No. 1, pp. 261-267, 2012
Brooks, C., Iagnemma, K., Self-Supervised Terrain
Classification for Planetary Surface Exploration Rovers, Journal of Field Robotics, Vol.
29, No. 3, pp. 445-468, May/June 2012
Kewlani, G., Crawford, J., and Iagnemma, K, A Polynomial Chaos Approach to Analysis of
Vehicle Dynamics Under Uncertainty, Vehicle System Dynamics, Vol. 50, No. 5, pp. 749-774, 2012
Zhou, S., Chen, H., McDaniel, M., Nishihata, T., Salesses,
P., Iagnemma, K., Self-supervised Learning to
Visually Detect the Terrain Surface for Autonomous Robots Operating in
Forested Terrain, Journal of
Field Robotics, Vol. 29, No. 2, pp. 277–297, March/April 2012
2011
Senatore, C., and Iagnemma, K., Direct
Shear Behavior of Dry, Granular Soils for Low Normal Stress with
Application to Lightweight Robotic Vehicle Modelling, Proceedings of the International
Symposium of the International Society of Terrain-Vehicle Systems,
2011
Ishigami, G., Otsuki, M., Kubota, T., and Iagnemma, K., Modeling of Flexible and Rigid Wheels for
Exploration Rover on Rough Terrain, Proceedings of the 28th International Symposium on Space
Technology and Science, 2011
Iagnemma, K., Senatore, C., Trease, B., Arvidson, R.,
Shaw, A., Zhou, F., Van Dyke, L, and Lindemann, R., Terramechanics Modeling of Mars Surface
Exploration Rovers for Simulation and Parameter Estimation, Proceedings of the ASME International
Design Engineering Technical Conference, 2011
Trease, B., Arvidson, R., Lindemann, R., Bennett, K.,
Zhou, F., Iagnemma, K., Senatore, C., and Van Dyke, L, Dynamic Modeling And Soil
Mechanics For Path Planning Of Mars Exploration Rovers, Proceedings of the ASME International
Design Engineering Technical Conference, 2011
Ishigami, G., Pineda, E., Hudas, G., Overholt, J., and
Iagnemma, K., Performance Analysis and
Odometry Improvement of an Omnidirectional Mobile Robot for Outdoor
Terrain, Proceedings of the
IEEE International Conference on Robots and Systems, September 2011,
pp. 4091-4096
Peters, S., Frazzoli, E., and Iagnemma, K., Differential flatness
of a front-steered vehicle with tire force control, Proceedings of the IEEE International
Conference on Robots and Systems, pp. 298-304, September 2011,
Arndt, D., Bobrow, J., Peters, S., Iagnemma, K., and
Dubowsky, S., Two-Wheel Self-Balancing of a
Four-Wheeled Vehicle, IEEE
Control Systems Magazine, Vol. 31, No. 2, pp. 29-37, April 2011
Arvidson, R., Ashley, J., Bell, J., Chjonacki, M., Cohen,
J., Economou, T., Farrand, W., Fleischers, I., Geisler, P., Gellert, R.,
Golombek, M., Grotzinger, J., Guinness, E., Haberle, E., Herkenhoff, K.,
Hermann, J., Iagnemma, K., Joliff, B., Johnson, J., Klingelhofers, G.,
Knoll, A., Knudson, A., Li, R., McLennan, S., Mittlefehldt, D., Morris,
R., Parker, R., Rice, M., Schroder, C., Soderblom, L., Squyres, S.,
Sullivan, Wolff, M., Opportunity Mars Rover
Mission: Overview and Selected Results from Purgatory Ripple to Traverses
to Endeavour Crater, Journal of
Geophysical Research—Planets, Vol. 116, February, 2011
2010
Arvidson, R., Bell, J., Bellutta, P., Cabrol, N.,
Crumpler, L., Estlin, T., Farrand, W., Gellert, R., Grant, A.,
Greenberger, R., Guinness, E., Herkenhoff, K., Herman, J., Iagnemma, K.,
Johnson, J., Klingelhöfer, G., Li, R., Lichtenberg, K., Maxwell, S., Ming,
D., Morris, R., Rice, M., Ruff, S., Shaw, A., Siebach, K., de Souza, P.,
Stroupe, A., Squyres, S., Sullivan, R., Tally, K., Townsend, J., Wang,
A., Wright, J., Yen, A., Spirit
Mars Rover Mission: Overview and Selected Results from the Northern Home
Plate Winter Haven to the Side of Scamander Crater, Journal of Geophysical
Research—Planets, Vol. 115, 2010
Anderson, S.,
Peters, S., Overholt, J., and Iagnemma, K., "Semi-Autonomous Stability Control and Hazard
Avoidance for Manned and Unmanned Ground Vehicles, Proceedings of the 27th Army Science
Conference, 2010
Zhou, S., Iagnemma, K., "Self-supervised Learning Method for
Unstructured Road Detection using Fuzzy Support Vector Machines,"
Proceedings of the IEEE/RSJ International Conference on
Intelligent Robots and Systems, pp. 1183-1189, 2010
Anderson, S., Peters, S., Pilutti, T., Tseng, E., and
Iagnemma, K., Semi-autonomous Avoidance of
Moving Hazards for Passenger Vehicles, Proceedings of the ASME Dynamic Systems and Control Conference,
2010
Anderson, S.,
Peters, S., Pilutti, T., and Iagnemma, K., An Optimal-Control-Based Framework
for Trajectory Planning, Threat Assessment, and Semi-Autonomous Control
of Passenger Vehicles in Hazard Avoidance Scenarios, International Journal of Vehicle
Autonomous Systems, Vol. 8, Nos. 2/3/4, pp. 190-216
Ishigami, G., Overholt, J., and Iagnemma, K., Multi-material Anisotropic Friction Wheels
for Omnidirectional Ground Vehicles, Proceedings of the ICAM
5th International Conference on Advanced Mechatronics, pp.658-662, 2010
Zhou, S., Gong, J., Xiong, G., Chen, H., and Iagnemma, K.,
Road Detection Using Support Vector
Machine Based on Online Learning and Evaluation, Proceedings of the IEEE Intelligent Vehicles Symposium, 2010
Cheng, N., Ishigami, G., Hawthorne, S., Chen, H., Hansen,
M., Telleria, M., Playter, R., and Iagnemma, K., Design and Analysis of a Soft Mobile Robot
Composed of Multiple Thermally Activated Joints Driven by a Single
Actuator, Proceedings of the
2010 IEEE International Conference on Robotics and Automation, May
2010.
Ishigami, G., Kewlani, G., and Iagnemma, K., Statistical Mobility Prediction
for Planetary Surface Exploration Rovers in Uncertain Terrain, Proceedings of the 2010 IEEE
International Conference on Robotics and Automation, May 2010.
McDaniel, M., Nishihata, T., Brooks, C., and Iagnemma, K.,
Ground Plane Identification
Using LIDAR in Forested Environments, Proceedings of the 2010 IEEE International Conference on Robotics
and Automation, May 2010.
Peters, S., Bobrow, J., and Iagnemma, K., Stabilizing a Vehicle near Rollover: An
Analogy to Cart-Pole Stabilization, Proceedings of the 2010 IEEE International Conference on Robotics
and Automation, May 2010.
2009
Ishigami, G., Kewlani, G., and Iagnemma, K., Predictable mobility, IEEE Robotics and Automation Magazine,
Vol.16, Issue 4, pp. 61-70, December, 2009
Tadakuma, K., Tadakuma, R., Nagatani, K., Yoshida, K.,
Ming, A., Shimojo, M., and Iagnemma, K., Basic
Running Test of the Cylindrical Tracked Vehicle with Sideways Mobility,
Proceedings of the 2009 IEEE
International Conference on Robots and Systems, 2009
Tadakuma, K., Tadakuma, R., Nagatani, K., Yoshida, K.,
Ming, A., Shimojo, M., Shimojo, M., and Iagnemma, K., Throwable Tetrahedral Robot with Transformation
Capability, Proceedings of the
2009 IEEE International Conference on Robots and Systems, 2009
Kewlani, G., Ishigami, G., and Iagnemma, K., Stochastic Mobility-based Path Planning in Uncertain
Environments, Proceedings of
the 2009 IEEE International Conference on Robots and Systems, 2009
Kewlani, G., and Iagnemma, K., A
Multi-Element Generalized Polynomial Chaos Approach to Analysis of Mobile
Robot Dynamics under Uncertainty, Proceedings
of the 2009 IEEE International Conference on Robots and Systems, 2009
Anderson, S., Peters, S., Pilutti, T., and Iagnemma, K.,
"Design and Development of an
Optimal-Control-Based Framework for Trajectory Planning, Threat
Assessment, and Semi-Autonomous Control of Passenger Vehicles in Hazard
Avoidance Scenarios, Proceedings
of the 2009 International Symposium on Robotics Research, August
2009, Lucerne, Switzerland
Udengaard, M., and Iagnemma, K., Analysis, Design, and Control of an
Omnidirectional Mobile Robot in Rough Terrain, ASME Journal of Mechanical Design, Vol. 131, No. 12, December,
2009
Anderson, S., Peters, S., Pilutti, T., and Iagnemma, K., Experimental Study of an Optimal-Control-Based
Framework for Trajectory Planning, Threat Assessment, and Semi-Autonomous
Control of Passenger Vehicles in Hazard Avoidance Scenarios, Proceedings of the 2009 Conference on
Field and Service Robots, 2009
Dimopoulos, A., Papadopoulos, E., and Iagnemma, K., Experimental Tissue Parameter Identification
for Use in Endoscopic Urological Haptic Simulators, Proceedings of the 17th Mediterranean
Conference on Control and Automation, 2009
Buehler, M., Iagnemma, K., and Singh, S., (eds.), The
DARPA Urban Challenge: Autonomous Vehicles in City Traffic,
Springer Tracts in Advanced Robotics (STAR) Series, Springer, Vol. 56,
December, 2009
Ward, C., and Iagnemma, K., Speed
Independent Vibration-Based Terrain Classification for Passenger Vehicles,
Vehicle System Dynamics, Vol.
47, No. 9, pp. 1095-1113, September 2009
Peters, S., and Iagnemma, K., Stability Measurement of High
Speed Vehicles, Vehicle System
Dynamics, Vol. 47, No. 6, pp. 701-720, June 2009
Brooks, C., and Iagnemma, K., "Visual Detection of Novel Terrain via Two-Class
Classification," Proceedings
of the 24th Annual ACM Symposium on Applied Computing 2009,
Iagnemma, K., and Ward, C., Classification-Based
Wheel Slip Detection and Detector Fusion for Mobile Robots on Outdoor
Terrain, Autonomous Robots,
Vol. 26, pp. 33-46, January 2009
2008
Ward, C., and Iagnemma, K., A
Dynamic Model-Based Wheel Slip Detector for Mobile Robots on Outdoor
Terrain, IEEE Transactions on
Robotics, Vol. 24, No. 4, pp. 821-831, August, 2008
Iagnemma, K., Udengaard, M., Ishigami, G., Spenko, M.,
Oncu, S., Khan,
Tadakuma, K., Tadakuma, R., Kinoshita, H., Nagatani, K.,
Yoshida, K., Udengaard, M., and Iagnemma, K., Mechanical
Design of Cylindrical Track for Sideways Motion, Proceedings of the IEEE International Conference on Mechatronics
and Automation, 2008 Best conference paper award
Kewlani, G., and Iagnemma, K., A
Stochastic Response Surface Approach to Statistical Prediction of Robotic
Mobility, Proceedings of the
IEEE International Conference on Robots and Systems, IROS 08, 2008
Peters., S., and Iagnemma, K., Mobile
robot path tracking of aggressive maneuvers on sloped terrain, Proceedings of the IEEE International
Conference on Robots and Systems, IROS 08, 2008
Iagnemma, K., Shimoda, S., and Shiller, Z., Near-Optimal
Navigation of High Speed Mobile Robots on Uneven Terrain, Proceedings of the IEEE International
Conference on Robots and Systems, IROS 08, 2008
Tadakuma, K., Tadakuma, R., Nagatani, K., Yoshida, K., and
Iagnemma, K., Crawler
Mechanism with Circular Section to Realize a Sideling Motion, Proceedings of the IEEE International
Conference on Robots and Systems, IROS 08, 2008
Halatci,
Udengaard, M., and Iagnemma, K, "Design
of an Omnidirectional Mobile Robot for Rough Terrain" Proceedings of the 2008 IEEE
International Conference on Robotics and Automation, May 2008
Udengaard, M., and Iagnemma, K, "Design
of a Highly Maneuverable Wheeled Mobile Robot" Proceedings of the 2008 SPIE Defense
and Security Symposium, March 2008
Brooks, C., and Iagnemma, K., Visual
Detection of Novel Terrain via Two-Class Classification, IEEE International Conference on
Robots and Systems, IROS 08, 2008
Kewlani, G., and Iagnemma, K., Mobility
Prediction for Unmanned Ground Vehicles in Uncertain Environments, Proceedings of the SPIE Conference on
Unmanned Systems Technology, 2008
Rohde, M., Perlin, V., Iagnemma, K., Lupa, M., Rohde, S., Overholt, J.,
Fiorani, G., PointCom:
Semi-Autonomous UGV Control with Intuitive Interface, Proceedings of the SPIE Conference on
Unmanned Systems Technology, 2008
Helmick, D., Angelova, A., Matthies, L., Brooks, C.,
Halatci,
2007
Udengaard, M., and Iagnemma, K., "Kinematic Analysis and Control of an
Omnidirectional Mobile Robot in Rough Terrain" Proceedings of the 2007
IEEE/RSJ International Conference on Intelligent Robots and Systems,
pp. 795-800, Oct 2007
Rentschler, M., Iagnemma, K., Farritor, S., Mechanical
Design of Robotic in vivo Wheeled Mobility, ASME Journal of Mechanical Design, Vol. 129, No. 10, pp.
1037-45, October 2007
Buehler, M., Iagnemma, K., and Singh, S., (eds.) The
2005 DARPA Grand Challenge: The Great Robot Race, Springer Tracts in
Advanced Robotics (STAR) Series, Vol. 36, Springer,
August, 2007
Shimoda, S., Kuroda, Y., Iagnemma, K., Potential
Field Navigation of High Speed Vehicles on Rough Terrain, Robotica, Vol. 25, No. 4, pp
409-424, July 2007
Brooks, C. and Iagnemma, K. "Self-Supervised
Classification for Planetary Rover Terrain Sensing." Proceedings of the 2007 IEEE
Aerospace Conference, Big Sky,
Halatci,
Ward, C., and Iagnemma, K., Classification-Based
Wheel Slip Detection and Detector Fusion for Outdoor Mobile Robots, Proceedings of the IEEE International
Conference on Robotics and Automation, pp. 2730-2735,
2007
Ward, C., and Iagnemma, K., Model-Based
Wheel Slip Detection for Outdoor Mobile Robots, Proceedings of the IEEE International Conference on Robotics and
Automation, pp. 2724-2729, 2007
Rentschler, M., Dumpert, J., Platt, S., Iagnemma, K.,
Oleynikov, D., Farritor, S., An in vivo
Mobile Robot for Surgical Vision and Task Assistance, ASME Journal of Medical Devices,
Vol. 1, No. 1, pp. 23-29, March, 2007
2006
Siddiqi, A., De Weck, O., and Iagnemma, K., Reconfigurability
in Planetary Surface Vehicles: Modeling Approaches and Case Study, Journal of the British Interplanetary
Society, Vol. 59, December, 2006
Brooks, C., Iagnemma, K., and Dubowsky, S. "Visual
Wheel Sinkage Measurement for Planetary Rover Mobility
Characterization." Autonomous
Robots, Vol. 21, No. 1, pp. 55-64, August 2006
Iagnemma, K., Terrain
Estimation Methods for Enhanced Autonomous Rover Mobility, Intelligence for Space Robotics,
TSI Press, Ch. 17, July, 2006
Spenko, M., Kuroda, Y., Dubowsky, S., and Iagnemma, K., Hazard Avoidance
for High Speed Unmanned Ground Vehicles in Rough Terrain, Journal of Field Robotics, Volume
23, No. 5, pp. 311-331, May, 2006
Rentschler, M., Dumpert, J., Platt, S., Iagnemma, K.,
Oleynikov, D., Farritor, S., Modeling,
Analysis, and Experimental Study of In Vivo Wheeled Mobility, IEEE Transactions on Robotics,
Volume 22, No. 2, pp. 308-321, April, 2006
Peters, S., and Iagnemma, K., "An
Analysis of Rollover Stability Measurement for High-Speed Mobile
Robots," Proceedings
of the 2006 IEEE International Conference on Robotics and Automation,
pp. 3711-3716, 2006
Spenko, M., Overholt, J., and Iagnemma, K., High
Speed Hazard Avoidance for Unmanned Ground Vehicles in Emergency
Situations, Proceedings of the
25th Annual Army Science Conference, 2006
Spenko, M., Dubowsky, S., and Iagnemma, K., Experimental
Validation of High Speed Hazard Avoidance Control for Unmanned Ground
Vehicles, Proceedings of the
8th International IFAC Symposium on Robot Control, SYROCO, 2006
Peters, S., and Iagnemma, K., An
Analysis of Rollover Stability Measurement for High-Speed Mobile Robots,
IEEE International Conference on
Robotics and Automation, 2006
Rentschler, M., Dumpert, J., Platt, S., Oleynikov, D., Farritor, S., and Iagnemma, K., Mobile In Vivo Biopsy Robot, IEEE International Conference on Robotics and Automation, pp. 4155-4160, 2006
2005
Brooks, C. and Iagnemma, K. "Vibration-based
Terrain Classification for Planetary Rovers." IEEE Transactions on Robotics,
Vol. 21, No. 6, pp. 1185-1191, December 2005
Brooks, C., Iagnemma, K., and Dubowsky, S. "Vibration-based
Terrain Analysis for Mobile Robots." Proceedings of the 2005 IEEE International
Conference on Robotics and Automation (ICRA 2005), Barcelona,
Spain, pp. 3426-3431, April 2005
Shimoda, S., Kuroda, Y., and Iagnemma, K., Potential
Field Navigation of High Speed Vehicles on Rough Terrain, IEEE International Conference on
Robotics and Automation, pp. 2828-2833, 2005
Dubowsky, S., Iagnemma, K., Liberatore, S., Lambeth, D.,
Plante,J. and
Shibly, H., Iagnemma, K., and Dubowsky, S., An Equivalent Soil Mechanics Formulation for Rigid Wheels in Deformable Terrain, with Application to Planetary Exploration Rovers, Journal of Terramechanics, Volume 42, Number 1, pp. 1-13, January 2005
2004
Iagnemma, K., and Dubowsky, S., Traction Control
of Wheeled Robotic Vehicles with Application to Planetary Rovers, International Journal of Robotics
Research, Volume 23, Number 10, pp. 1029-1040, October 2004
Iagnemma, K., Kang, S., Shibly, H., and Dubowsky, S., On-Line
Terrain Parameter Estimation for Planetary Rovers, IEEE Transactions on Robotics and
Automation, Volume 20, Number 5, pp. 921-927, October 2004
Iagnemma, K., and Dubowsky, S., Mobile Robots in Rough
Terrain: Estimation, Motion Planning, and Control with application to
Planetary Rovers, Springer Tracts in Advanced Robotics (STAR) Series,
Volume 12, Springer, June, 2004
Rentschler, M., Dumpert, J., Hadzialic, A., Platt, S., Farritor, S.,
Oleynikov, D., and Iagnemma, K., Theoretical
and Experimental Analysis of In Vivo Wheeled Mobility, Proceedings of the 2004 ASME Design
Engineering Technical Conference, pp. 1241-1249, 2004
Spenko, M., Iagnemma, K., and Dubowsky, S., High Speed Hazard
Avoidance for Mobile Robots in Rough Terrain, Proceedings of the 2004 SPIE Conference on Unmanned Ground
Vehicles, pp. 439-450, 2004
Golda, D., Iagnemma, K., and Dubowsky, S., Probabilistic
Modeling and Analysis of High-Speed Rough-Terrain Mobile Robots, Proceedings of the IEEE International
Conference on Robotics and Automation, pp. 914-919, 2004
Iagnemma, K., Brooks, C., and Dubowsky, S. "Visual,
Tactile, and Vibration-Based Terrain Analysis for Planetary Rovers."
Proceedings of the
2004 IEEE Aerospace Conference, pp. 841-848, Big Sky,
2003
Iagnemma, K., Kang, S., Brooks, C., and Dubowsky, S. "Multi-Sensor
Terrain Estimation for Planetary Rovers." Proceedings of the 7th
International Symposium on Artificial Intelligence, Robotics and
Automation in Space, i-SAIRAS,
Schenker, P., Huntsberger, T., Pirjanian, Dubowsky, S.,
Iagnemma, K., Sujan, V., Rovers for Agile,
Intelligent Traverse of Challenging Terrain, Proceedings of the 11th International Conference on Advanced
Robotics, pp. 1683-1692, 2003
Iagnemma, K., Rzepniewski, A., Dubowsky, S., and Schenker, P., Control of Robotic Vehicles with Actively Articulated Suspensions in Rough Terrain, Autonomous Robots, Volume 14, Number 1, pp. 5-16, January 2003
2002
Iagnemma, K., Golda, D., Spenko, M., and Dubowsky, S, Experimental Study of
High-Speed Rough-Terrain Mobile Robot Models for Reactive Behaviors, Proceedings of the Eighth
International Symposium on Experimental Robotics, ISER '02, pp.
654-663, 2002
Iagnemma, K., and Dubowsky, S., Terrain Estimation
for High-Speed Rough-Terrain Autonomous Vehicle Navigation, Proceedings of the SPIE Conference on
Unmanned Ground Vehicle Technology IV, pp. 256-266, 2002
Iagnemma, K., Shibly, H., and Dubowsky, S., On-Line Terrain
Parameter Estimation for Planetary Rovers, Proceedings of the IEEE International Conference on Robotics and
Automation, pp. 3142-3147, 2002
2001
Schenker, P., Huntsberger, T., Pirjanian, P., Baumgartner, E.,
Aghazarian, H., Trebi-Ollennu, A., Leger, P., Cheng, Y., Backes, P.,
Tunstel, E., Dubowsky, S., Iagnemma, K., McKee, G., "Robotic
Automation for Space: Planetary Surface Exploration, Terrain-Adaptive
Mobility, and Multi-Robot Cooperative Tasks," Proceedings of the SPIE Symposium on
Intelligent Robots and Computer Vision XX, Volume 4572, pp. 12-28,
2001
Iagnemma, K., Shibly, H., Rzepniewski, A., and Dubowsky,
S., Planning
and Control Algorithms for Enhanced Rough-Terrain Rover Mobility, Proceedings of the Sixth International
Symposium on Artificial Intelligence, Robotics and Automation in Space,
i-SAIRAS, 2001
2000
Morel, G., Iagnemma, K., and Dubowsky, S., The Precise Control
of Manipulators Using Base Force/Torque Sensing, Automatica: The Journal of the International Federation of Automatic
Control, Volume 36, Number 7, pp. 931-941, 2000
Schenker, S., Pirjanian, P., Balaram, B., Ali, K.,
Trebi-Ollennu, A., Huntsberger, T., Aghazarian, H., Kennedy, A.,
Baumgartner, E., Iagnemma, K., Rzepniewski, A., Dubowsky, S., Leger, P.,
Apostolopoulous, A., McKee, G., Reconfigurable
Robots for All-Terrain Exploration, Proceedings of the SPIE Symposium on Sensor Fusion and
Decentralized Control, Volume 4196, pp. 454-468, Boston, September
2000
Iagnemma, K., Rzepniewski, A., Dubowsky, S., Huntsberger,
T., Schenker, P., Mobile
Robot Kinematic Reconfigurability for Rough-Terrain, Proceedings of the SPIE Symposium on
Sensor Fusion and Decentralized Control, pp. 413-420,
Iagnemma, K., and Dubowsky, S., Vehicle
Wheel-Ground Contact Angle Estimation: with Application to Mobile Robot
Traction Control, 7th
International Symposium on Advances in Robot Kinematics,
Iagnemma, K., and Dubowsky, S., Mobile Robot
Rough-Terrain Control (RTC) for Planetary Exploration, Proceedings of the 26th ASME Biennial
Mechanisms and Robotics Conference, DETC 2000, pp. 1429-1436, 2000
1999
Huntsberger, T, Baumgartner, E., Aghazarian, H., Cheng, Y., Schenker, P.,
Leger, P., Iagnemma, K., and Dubowsky, S., Sensor Fused
Autonomous Guidance of a Mobile Robot and Applications to Mars Sample
Return Operations, Proceedings
of the SPIE Symposium on Sensor Fusion and Decentralized Control,
Volume 3839, pp. 2-8, Boston, September 1999
Iagnemma, K., Burn, R., Wilhelm, E., and Dubowsky, S., Experimental
Validation of Physics-Based Planning and Control Algorithms for Planetary
Robotic Rovers, Proceedings of
the Sixth International Symposium on Experimental Robotics, ISER ‘99,
pp. 319-328, Sydney, March 1999
Iagnemma, K., Genot, F., and Dubowsky, S., Rapid
Physics-Based Rough-Terrain Rover Planning with Sensor and Control
Uncertainty, Proceedings of the
1999 IEEE International Conference on Robotics and Automation, pp.
2286-2291, 1999
Meggiolaro, M., Jaffe, P., Iagnemma, K., and Dubowsky, S.,
A Force-Updated
Kinematic Virtual Viewing System With Application To Nuclear Power Plant
Maintenance, Proceedings of the
Tenth World Congress on the Theory of Machines and Mechanisms, IFToMM '99,
pp. 1288-1294, Oulu, Finland, June 1999
1998
Liu, G., Iagnemma, K., Dubowsky, S. and Morel, G., A Base Force/Torque
Sensor Approach to Robot Manipulator Inertial Parameter Estimation, Proceedings of the 1998 IEEE
International Conference on Robotics and Automation, pp. 3316-3321,
1998
1997
Iagnemma, K., Morel, G. and Dubowsky, S., A Model-Free
Fine Position Control Method Using the Base-Sensor: with Application to a
Hydraulic Manipulator, Proceedings
of the Fifth IFAC Symposium on Robot Control: SYROCO ‘97, pp.
359-365,
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