PUBLICATIONS

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, Volume 31, Issue 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, Volume 51, February 2014, Pages 1-17, 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, accepted

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, submitted

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, submitted

Jayakumar, P., Melanz, D., MacLennan, J., Gorsich, D., Senatore, C., and Iagnemma, K., “calability of Classical Terramechanics Models for Lightweight Vehicle Applications Incorporating Stochastic Modeling and Uncertainty Propagation, Journal of Terramechanics, submitted

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, Journal of Terramechanics, submitted

Watanabe, M., Wiltsie, N., Hosoi, A., and Iagnemma, K., Characteristics of Controllable Adhesion using Magneto-Rheological Fluid and its Application to Climbing Robotics, Advanced Robotics, submitted

Ishigami, G., Iagnemma, K., Overholt, J., and Hudas, G., Design, Development, and Mobility Evaluation of an Omnidirectional Mobile Robot for Rough Terrain, Journal of Field Robotics, submitted

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, in press

Iagnemma, K., and Chung W., Wheeled Robots, Springer Handbook of Robotics, 2nd edition, Springer, in press

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.

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

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

Anderson, S., Peters, S., Pilutti, T., and Iagnemma, K., A Unified Approach to Semi-Autonomous Control of Passenger Vehicles in Hazard Avoidance Scenarios, Proceedings of the 2009 IEEE International Conference on Systems, Man and Cybernetics, pp. 2032-2037, Oct. 2009, San Antonio, TX

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, Honolulu, Hawaii, March 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, I., Overholt, J., and Hudas, G., Design and Development of an Agile, Man Portable Unmanned Ground Vehicle, Proceedings of the 26th Annual Army Science Conference, 2008

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, I., Brooks, C., and Iagnemma, K., "Visual and Tactile Terrain Classification and Classifier Fusion for Planetary Exploration Rovers," Robotica, Vol. 26,  No. 6, pp. 767-779, Nov 2008

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, I., Dubowsky, S., Iagnemma, K., Experimental Results from a Terrain Adaptive Navigation System for Planetary Rovers, Proceedings of the Ninth International Symposium on Artificial Intelligence, Robotics and Automation in Space, i-SAIRAS, 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

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, 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 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, pp. 841-848, 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, 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, Boston, September 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, 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, Nantes, France, September 1997