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PUBLICATIONS
2008
Udengaard, M., and Iagnemma, K, “Design
of an Omnidirectional Mobile Robot for Rough Terrain” accepted to 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.
Halatci, I.,
Brooks, C., and Iagnemma, K., "Visual and Tactile Terrain
Classification and Classifier Fusion for Planetary Exploration
Rovers," Robotica,
in press as of January 2008.
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.
Spenko, M., Kuroda, Y., Dubowsky, S., and Iagnemma, K., "The Effects
of Rough Terrain on Hazard Avoidance for High Speed Unmanned Ground
Vehicles," submitted to the Journal
of Mechatronics, 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, Montana, March
2007.
Halatci, I.,
Brooks, C., and Iagnemma, K. "Terrain Classification and Classifier
Fusion for Planetary Exploration Rovers." Proceedings of the 2007 IEEE Aerospace
Conference, Big Sky, Montana,
March 2007.
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, 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, 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.
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, 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, 2005.
Dubowsky,
S., Iagnemma, K., Liberatore, S., Lambeth, D., Plante,J. and Boston,
P., “A Concept Mission:
Microbots for Large-Scale Planetary Surface and
Subsurface Exploration,” Proceedings
of the Space Technology and Applications International Forum (STAIF),
pp. 1449-1459, 2005.
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, Big Sky, Montana,
March 2004.
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, Nara, Japan,
May 2003.
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,
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, 2000.
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, ARK
’00, pp.137-146, 2000.
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, 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, 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, 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, 1997.
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