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PUBLICATIONS
2012
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, submitted
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 Robots, submitted
Anderson, S., Walker, J., and Iagnemma, K., “Experimental
Performance Analysis of a Constraint-Based Navigation Framework,” IEEE Transactions on Systems, Man, and
Cybernetics—Part A: Systems and Humans, submitted
Peters, S., Frazzoli, E., and Iagnemma, K., “A Trajectory
Tracking Controller for Front-Steering Ground Vehicles Based on
Differential Flatness and Tire Friction Force Control,” Vehicle System Dynamics, submitted
Gao, H., Ding, L., Deng, Z., Song, J., Wang, Z., and
Iagnemma, K., “Modelling of Foot-Terrain Interaction Mechanics for Legged
Robots Moving on Deformable Terrain,” Proceedings
of the IEEE International Conference on Robotics and Automation, submitted
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, submitted
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, submitted
McDaniel, M., Nishihata, T., Brooks, C., Salesses, P.,
Iagnemma, K., “Modeling Tree Stems in Forested Environments Using
Ground-Based LIDAR,” Journal of
Field Robotics, in press
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
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, in
press
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, in press
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, in press
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
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