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,” 7^th 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.