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Journal Papers
- T. Kollar and N. Roy.
``Trajectory Optimization using Reinforcement Learning for Map Exploration''.
International Journal of Robotics Research, To appear.
- D. Jourdan and N. Roy.
``Optimal Sensor Placement for Agent Localization''.
ACM Transactions on Sensor Networks, To appear.
- N. Roy, G. Gordon and S. Thrun.
``Finding Approximate POMDP solutions Through Belief Compression''.
Journal of Artificial Intelligence Research, 23: 1-40, 2005.
[Compressed postscript] [PDF] [Bibtex Entry] - J. Pineau, M. Montemerlo, M. Pollack, N. Roy and S. Thrun.
``Towards
robotic assistants in nursing homes: challenges and results''.
Robotics and Autonomous Systems, Volume 42, Issues 3-4, 31 March 2003, pages 271-281.
[Compressed postscript] [PDF] [Bibtex Entry] - N. Roy & G. Dudek. ``Collaborative Exploration and Rendezvous:
Algorithms, Performance Bounds and Observations''. Autonomous
Robots, 11(2): 117-136, 2001.
[Compressed postscript] [PDF] [Bibtex Entry] - S. Thrun, M. Beetz, M. Bennewitz, W. Burgard, A.B. Creemers,
F. Dellaert, D. Fox, D. Hahnel, C. Rosenberg, N. Roy, J. Schulte,
and D. Schulz. ``Probabilistic Algorithms and the Interactive Museum
Tour-Guide Robot Minerva''. International Journal of Robotics
Research, 19(11): 972-999, 2000.
[Compressed postscript] [PDF] [Bibtex Entry]
Refereed Conference Papers
- Finale Doshi, Joelle Pineau and Nicholas Roy. ``Reinforcement
Learning with Limited Reinforcement: Using Bayes Risk for Active Learning
in POMDPs''. Proceedings of the
Tenth International Symposium on
Artificial Intelligence and Mathematics. Fort Lauderdale, FL, 2008. To appear.
- Finale Doshi, Emma Brunskill, Alec Shkolnik, Thomas Kollar,
Khashayar Rohanimanesh, Russ Tedrake and Nicholas Roy. ``Collision
Detection in Legged Locomotion using Supervised Learning''. Proceedings of the
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
2007). San Diego, October, 2007.
[Compressed postscript] [PDF] [BiBTeX Entry] - Emma Brunskill, Thomas Kollar and Nicholas Roy. ``Topological
Mapping Using Spectral Clustering and Classification''. Proceedings of the
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
2007). San Diego, October, 2007.
[Compressed postscript] [PDF] [BiBTeX Entry] - Cyrill Stachniss, Giorgio Grisetti, Wolfram Burgard and Nicholas Roy. ``Analyzing Gaussian Proposal Distributions for
Mapping with Rao-Blackwellized Particle Filters''. Proceedings of the
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
2007). San Diego, October, 2007.
[Compressed postscript] [PDF] [BiBTeX Entry] - Sam Prentice and Nicholas Roy. ``The Belief Roadmap: Efficient
Planning in Linear POMDPs by Factoring
the Covariance''. Proceedings of the 13th International Symposium of
Robotics Research (ISRR), Hiroshima, Japan. November 2007.
[Compressed postscript] [PDF] [BiBTeX Entry] - Nicholas Roy, John Leonard, Una-May O'Reilly, Daniela Rus and Seth Teller. ``The Experience of Teaching Software
Development in a Robotics Project Course''. Proceedings of the Third
International CDIO Conference and Collaborators' Meeting. Cambridge,
MA. June 2007.
A [Compressed postscript] [PDF] [BiBTeX Entry] - Finale Doshi and Nicholas Roy.
``Efficient Model Learning for Dialog Management''. Proceedings
of Human-Robot Interaction (HRI 2007). Washington, DC, March 2007.
[Compressed postscript] [PDF] [BiBTeX Entry] - Nicholas Roy and Caleb Earnest.
``Dynamic Action Spaces for Information Gain Maximization
in Search and Exploration''. Proceedings
of the American Control Conference (ACC 2006). Minneapolis, June 2006.
[Compressed postscript] [PDF] [BiBTeX Entry] - Thomas Kollar and Nicholas Roy.
``Using Reinforcement Learning to Improve Exploration Trajectories for
Error Minimization''. Proceedings
of the IEEE International Conference on Robotics and Automation
(ICRA 2006). Orlando, May 2006.
[Compressed postscript] [PDF] [BiBTeX Entry] - Patrycja Missiuro and Nicholas Roy.
``Adapting Probabilistic Roadmaps to Handle Uncertain Maps''. Proceedings
of the IEEE International Conference on Robotics and
Automation.
(ICRA 2006). Orlando, May 2006.
[Compressed postscript] [PDF] [BiBTeX Entry] - Damien B. Jourdan and Nicholas Roy.
``Optimal Sensor Placement for Agent Localization''. Proceedings
of the IEEE/ION Position Location and Navigation Symposium
(PLANS 2006). San Diego, April 2006.
(Winner, Best student paper award).
[Compressed postscript] [PDF] [BiBTeX Entry] - Damien B. Jourdan, John J. Deyst, Jr., Moe Z. Win and Nicholas Roy.
``Monte Carlo Localization in Dense Multipath Environments Using UWB
Ranging''. Proceedings
of the IEEE International Conference on Ultra-Wideband
(ICU 2005). Zurich, Switzerland, September 2005.
[Compressed postscript] [PDF] [BiBTeX Entry] - R. Sim, and N. Roy. ``Global A-Optimal Robot Exploration in SLAM''.
Proceedings
of the IEEE International Conference on Robotics and Automation
(ICRA 2005). Barcelona, April 2005.
[Compressed postscript] [PDF] [BiBTeX Entry] - E. Brunskill and N. Roy. ``SLAM using Incremental Probabilistic PCA
and Dimensionality Reduction''. Proceedings
of the IEEE International Conference on Robotics and Automation
(ICRA 2005). Barcelona, April 2005.
[Compressed postscript] [PDF] [BiBTeX Entry] - R. Sim, G. Dudek and N. Roy. ``Online Control Policy Optimization
for Minimizing Map Uncertainty during Exploration''. Proceedings
of the IEEE International Conference on Robotics and Automation
(ICRA 2004). New Orleans, April 2004. pp. 1758 - 1763.
[Compressed postscript] [PDF] [BiBTeX Entry] - M. Montemerlo, N. Roy and and S. Thrun. ``Perspectives on
Standardization in Mobile Robot Programming : The Carnegie Mellon
Navigation (CARMEN) Toolkit''. Proceedings of the IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS 2003).
Las Vegas, October, 2003. Vol. 3, pp 2436-2441.
[Compressed postscript] [PDF] [BiBTeX Entry] - N. Roy and G. Gordon and S. Thrun. ``Planning under Uncertainty for
Reliable Health Care Robotics''. Proceedings of the 4th International
Conference on Field and Service Robotics (FSR). Lake Yamanaka, Japan.
July, 2003.
[Compressed postscript] [PDF] [BiBTeX Entry] - N. Roy and G. Gordon. ``Exponential Family PCA for Belief
Compression in POMDPs''. Advances in Neural Information
Processing (15) NIPS, Vancouver, BC. Dec. 2002.
[Compressed postscript] [PDF] [BiBTeX Entry] - N. Roy and S. Thrun.
``Motion Planning through Policy Search''.
Proceedings of the IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS 2002). Lausanne, Switzerland,
Sept. 2002
[Compressed postscript] [PDF] [BiBTeX Entry] - J. Matthews, S. Engberg, M. Montemerlo, J. Pineau, N. Roy, J. Rogers,
S. Thrun, S. Handler, T. Starrett, D. Ting, and R. Travis. ``The
Nursebot
project: Results of preliminary field studies during development of a
personal robotic assistant for older adults''. In Proceedings of the Greater
Pittsburgh 14th Annual Nursing Research Conference, Pittsburgh, PA, 2002.
[BiBTeX Entry] - J. Matthews, S. Engberg, M. Montemerlo, J. Pineau, N. Roy,
J. Rogers,
and S. Thrun. ``Robotic assistance during ambulation by older adults''. In
Proceedings of the Annual Conference of the American Medical Informatics
Association, San Antonio, TX, 2002.
[BiBTeX Entry] - M. Montemerlo, J. Pineau, N. Roy, S. Thrun and V. Varma.
``Experiences with a Mobile Robotic Guide for the Elderly''.
Proceedings of the International Conference on
Artificial Intelligence (AAAI 2002). Edmonton, Jul. 2002
[Compressed postscript] [PDF] [BiBTeX Entry] - N. Roy & A. McCallum.
``Toward Optimal Active Learning through Monte Carlo Estimation of
Error Reduction''. Proceedings of the International Conference on
Machine Learning (ICML 2001). Williamstown, Jun. 2001
[Compressed postscript] [PDF] [BiBTeX Entry] - N. Roy, J. Pineau & S. Thrun.
``Spoken Dialog Management for Robots''. Association for Computational
Linguistics (ACL 2000). Hong Kong, Oct. 2000
[Compressed postscript] [PDF] [BiBTeX Entry] - N. Roy & S. Thrun. ``Coastal Navigation with Mobile
Robots''. Advances in Neural Information Processing 12 (NIPS). Colorado, Dec. 1999
[Compressed postscript] [PDF] [BiBTeX Entry] - S. Thrun, M. Bennewitz, W. Burgard, A.B. Cremers, F. Dellaert,
D. Fox, D. Haehnel, G. Lakemeyer, C. Rosenberg, N. Roy, J. Schulte,
D. Schulz, and W. Steiner. ``Experiences with two deployed
interactive tour-guide robots''. Proceedings of the International
Conference on Field and Service Robotics (FSR'99), Pittsburgh, PA,
August, 1999.
[BiBTeX Entry] - N. Roy & S. Thrun. ``Online Self-Calibration for Mobile
Robots''. IEEE/RSJ International Conference on Robotics and Automation.
Detroit, May 1999.
[Compressed postscript] [PDF] [BiBTeX Entry] - N. Roy, W. Burgard, D. Fox & S. Thrun. ``Coastal Navigation -- Mobile
Robot Navigation with Uncertainty in Dynamic Environments''.
IEEE/RSJ International Conference on Robotics and Automation. Detroit,
May 1999.
[Compressed postscript] [PDF] [BiBTeX Entry] - S. Thrun, M. Bennewitz, W. Burgard, A. Cremers, F. Dellaert, D. Fox,
D. Haehnel, C. Rosenberg, N. Roy, J. Schulte & D. Schulz. ``MINERVA: A
Second-Generation Museum Tour-Guide Robot''. IEEE/RSJ International
Conference on Robotics and Automation. Detroit, May 1999.
[ Compressed postscript] [ PDF] [BiBTeX Entry] - N. Roy, G. Dudek & P. Freedman. ``Surface Sensing and Classification
for Efficient Mobile Robot Navigation''. Proceedings of the IEEE/RSJ
International Conference on Robotics and Automation. Minneapolis, 1996.
[Compressed postscript] [PDF] [BiBTeX Entry]
Refereed Workshop Papers
- J. Pineau, N. Roy, M. Montemerlo, S. Thrun, and M. Pollack.
``Probabilistic control of human robot interaction: Experiments with a
robotic assistant for nursing homes''. In G. Giralt and R. Chatila, editors,
Proceedings of the IARP-IEEE/RAS Workshop on Robot Dependability, 2002.
[BiBTeX Entry] - M.E. Pollack, L. Brown, D. Colbry, C. Orosz, B. Peintner, S.
Ramakrishnan, S. Engberg, J.T. Matthews, J. Dunbar-Jacobs, C. McCarthy, S.
Thrun, M. Montemerlo, J. Pineau, and N. Roy. ``Pearl: A mobile robotic
assistant to the elderly''. In AAAI Workshop 2002 notes, Edmonton, AB, 2002.
[BiBTeX Entry] - N. Roy, G. Baltus, D. Fox, F. Gemperle, J. Goetz, T. Hirsch,
D. Margaritis, M. Montemerlo, J. Pineau, J. Schulte &
S. Thrun. ``Towards Personal Service Robots for the
Elderly''. Workshop on Interactive Robots and Entertainment (WIRE
2000). Pittsburgh, PA. 2000.
[Compressed postscript] [PDF] [HTML] [BiBTeX Entry] - N. Roy, W. Burgard, D. Fox & S. Thrun. ``Coastal Navigation -- Robot
Motion with Uncertainty''. Proceedings of the AAAI Fall Symposium: Planning
with POMDPs. Orlando, 1998.
[Compressed postscript] [PDF] [BiBTeX Entry] - S. Thrun & N. Roy. ``Integrating Learning for Robust
Development''. Proceedings of the AAAI Spring Symposium: Integrating Robotic
Research. Palo Alto, 1998.
[Compressed postscript] [PDF] [BiBTeX Entry] - N. Roy & G. Dudek. ``Learning to Rendezvous during Multi-agent
Exploration''. Proceedings of the European Workshop on Learning
Robots. Brighton, 1997.
[Compressed postscript] [PDF] [BiBTeX Entry] - G. Dudek & N. Roy. ``Multi-Robot Rendezvous in Unknown Environments,
or, What to do When You're Lost at the Zoo''. Proceedings of the AAAI National
Conference Workshop on Online Search. Providence, 1997.
[Compressed postscript] [PDF] [BiBTeX Entry]
Others:
- S. Thrun, M. Bennewitz, W. Burgard, A.B. Cremers, F. Dellaert, D. Fox,
D. Hhnel, C. Rosenberg, N. Roy, J. Schulte, and D. Schulz. ``MINERVA: A
tour-guide robot that learns''. In Proc. of the 23nd German Conference on
Artificial Intelligence, Germany (KI'99). Springer Verlag, 1999.
[BiBTeX Entry] - M. Bolduc, E. Bourque, G. Dudek, N. Roy & R. Sim. ``Autonomous
Exploration: An Integrated Systems Approach''. Proceedings of the AAAI National
Conference on Artificial Intelligence. Providence, 1997.
[Compressed postscript] [PDF] [BiBTeX Entry] - N. Roy, G. Dudek & M. Daum. ``Mobile Robot Navigation and Control: A
Case Study''. Proceedings of the AAAI National Conference on Artificial
Intelligence. Portland, 1996.
[Compressed postscript] [PDF] [BiBTeX Entry] - N. Roy & G. Dudek. ``Multi-agent Rendez-vous'', Poster session,
IRIS/PRECARN conference. Montreal, June 1996.
[BiBTeX Entry]
Thesis
My thesis was entitled ``Finding Approximate POMDP Solutions Through Belief Compression'' and is available here.
