SLAM with limited sensing

• "Inferring and enforcing relative constraints in SLAM," to appear in the Workshop on the Algorithmic Foundations of Robotics (WAFR) 2006.
  [abstract & citation] [pdf]

• "SLAM with sparse sensing," ICRA 2006.
  [abstract & citation] [pdf]

Topological mapping and exploration

• "Complete Topological Mapping with Sparse Sensing," RPI CS Technical Report, March 2005.
  [abstract & citation] [pdf]

• "Loop Closing in Topological Maps," ICRA 2005 (sumbitted)
  [abstract & citation] [pdf]

• "Topological Map Merging," IJRR (submitted)
  [abstract & citation] [pdf]

• "Topological Map Merging," Distributed Autonomous Robotic Systems (DARS) 2004.
  [abstract & citation] [pdf]

• "Topological Mapping with Sensing-Limited Robots," Workshop on the Algorithmic Foundations of Robotics (WAFR) 2004.
  [abstract & citation] [pdf]

Nonprehensile mobile manipulation

• "Centralized and Distributed Algorithms for a Cooperative Carrying Task," TRO (being revised for resubmission).
  [abstract & citation] [pdf]

• "A Carrying Task for Nonprehensile Mobile Manipulators," IROS 2003.
  [abstract & citation] [pdf]

• "Cartop Manipulation," ICRA 2003.
  [abstract & citation] [pdf]

• "Nonprehensile palmar manipulation with a mobile robot," IROS 2001.
  [abstract & citation] [pdf]

Tapping

• "Vibratory Manipulation," IJRR (being revised for submission).
  [abstract & citation] [pdf]

• "Control Strategies for Fine Positioning via Tapping," ISATP 2003.
  [abstract & citation] [pdf]

• "A tapping micropositioning cell," ICRA 2000.
  [abstract & citation] [pdf]

• "Mechanics, planning, and control for tapping," IJRR, October 2000.
  [abstract & citation] [pdf]

• "Mechanics, Planning, and Control for Tapping," WAFR 1998.
  [abstract & citation] [pdf]

• "Experiments in Impulsive Manipulation," ICRA 1998.
  [abstract & citation] [pdf]

• "Mechanics for Vibratory Manipulation," ICRA 1997.
  [abstract & citation] [pdf]

• "Limiting Cases of Impulsive Manipulation," CMU RI Technical Report, September 1996.
  [abstract & citation] [pdf]

• "Impulsive Manipulation," ICRA 1995.
  [abstract & citation] [pdf]

Coverage

• "Optimal line-sweep-based decompositions for coverage algorithms," ICRA 2001.
  [abstract & citation] [pdf]

• "The Minimal Sum of Altitudes Decomposition for Coverage Algorithms," RPI CS Technical Report, June 2000.
  [abstract & citation] [pdf]

Parts feeding

• "Parts Feeding on a Conveyor with a One Joint Robot," Algorithmica, March-April 2000.
  [abstract & citation] [pdf]

• "Sensorless Parts Orienting with a One-Joint Manipulator," ICRA 1997.
  [abstract & citation] [pdf]

• "Sensorless Parts Feeding with a One Joint Robot," WAFR 1996.
  [abstract & citation] [pdf]

• "From robotic juggling to robotic parts feeding," Yale Workshop on Adaptive and Learning Systems, 1996.
  [abstract & citation] [pdf]

• "Planar Manipulation on a Conveyor with a One Joint Robot," ISRR 1995.
  [abstract & citation] [pdf]

Miscellaneous

• "RAVE: a real and virtual environment for multiple mobile robot systems", IROS 1999.
  [abstract & citation] [pdf]

• "Optimal Stereo Mast Configuration for Mobile Robots," ICRA 1997.
  [abstract & citation] [pdf]