Publications

Here is a list of publications in reverse chronological order. Some of these items appear both as published papers and as technical reports, but the title may have changed. In such cases, to avoid ambiguity, the citation shown in this list is the proper citation. We prefer that you cite the published version over the technical report.

2006	2005	2004	2003	2002	2001	2000	1999	1998	1997	1996
1995	1994	1993	1992	1991	1990	1988	1989	1987	1985

2006

Deegan, P. Thibodeau, B., Grupen, R. Designing a Self-Stabilizing Robot for Dynamic Mobile Manipulation, Robotics: Science and Systems - Workshop on Manipulation for Human Environments. Philadelphia, Pennsylvania. August, 2006.
Platt, R., Grupen, R., Fagg, A. Improving Grasp Skills Using Schema Structured Learning, International Conference on Development and Learning. Bloomington, Indiana. May, 2006.
Thibodeau, B., Deegan, P., Grupen, R. Static Analysis of Contact Forces With a Mobile Manipulator, IEEE International Conference on Robotics and Automation. Orlando, Florida. May, 2006.
Burns, B., Brock, O. and Levine, B. N. Autonomous Enhancement of Disruption Tolerant Networks, IEEE International Conference on Robotics and Automation (ICRA). Orlando, Florida. May, 2006.

2005

Brock, O., Grupen, R., NSF/NASA Workshop on Autonomous Mobile Manipulation (AMM), Final Report, November 2005
Karuppiah, D., Grupen, R., Hanson, A., Riseman, E., Smart Resource Reconfiguration by Exploiting Dynamics in Perceptual Tasks, Proceedings of the 2005 Internation Conference on Robotics and Systems (IROS), Edmonton, Alberta, August, 2005
Brock, O., Fagg, A., Grupen, R., Platt, R., Rosenstein, M., and Sweeney, J. A Framework for Learning and Control in Intelligent Humanoid Robots, the International Journal of Humanoid Robotics, Volume 2, Number 3, September 2005.

R. Platt, A. Fagg, and R. Grupen, Reusing Schematic Grasping Policies IEEE-RAS International Conference on Humanoid Robots. Tsukuba, Japan. December, 2005
S. Hart, R. Grupen, and D. Jensen A Relational Representation for Procedural Task Knowledge Proceedings of the 2005 American Association for Artificial Intelligence (AAAI) Conference. Pittsburgh, Pennsylvania. July, 2005
Yuandong Yang and Oliver Brock Effcient Motion Planning Based on Disassembly Robotics: Science and Systems 2005, Cambridge, MA
Brendan Burns and Oliver Brock Toward Optimal Configuration Space Sampling Robotics: Science and Systems 2005, Cambridge, MA
Brendan Burns and Oliver Brock, Sampling-Based Motion Planning Using Predictive Models ICRA 2005, Barcelona, Spain
Brendan Burns and Oliver Brock, Single-Query Entropy-Guided Motion Planning ICRA 2005, Barcelona, Spain
Grupen RA Huber M, (2005), A Framework for t\he Development of Robot Behavior, 2005 AAAI Spring Symposium Series: Developmental Robotics, Stanford University, CA. © 2005 LPR (AAAI_Spring05.pdf: 1,204,862 bytes)
Brendan Burns Oliver Brock and Brian Neil Levine, MV Routing and Capacity Building in Disruption Tolerant Networks IEEE Infocom 2005, Miami, FL.
Rosenstein, M.T. A.H. Fagg, S. Ou and R. A. Grupen, User intentions funneled through a human-robot interface. In Proceedings of the 10th International Conference on Intelligent User Interfaces, pp. 257259. ACM Press, New York, 2005 (pdf : 2,980,518 bytes)
Rosenstein, M. T., A. H. Fagg, R. Platt, J. D. Sweeney, and R. A. Grupen. Remote supervisory control of a humanoid robot. In Proceedings of the Twentieh National Conference on Artificial Intelligence, pp. 17021703. AAAI Press, Menlo Park, CA, 2005

2004

S. Hart, R. Grupen, and D. Jensen A Relational Representation for Generalized Knowledge in Robotic Tasks Technical Report 04-101. Computer Science Department, University of Massachusetts Amherst December 2004, (pdf :479KB)
K. Rohanimanesh, R. Platt Jr., S. Mahadevan, and R. Grupen Coarticulation in Markov Decision Processes , Eighteenth International Conference on Neural Information Processing Systems (NIPS), December 2004 (ps: 447KB)
K. Rohanimanesh, R. Platt Jr., S. Mahadevan, and R. Grupen A Framework for Coarticulation in Markov Decision Processes Technical Report 04-33, University of Massachusetts, 2004
Brunette, TJ and Oliver Brock. Model-Based Search to Determine Minima in Molecular Energy Landscapes Technical Report 04-48. Computer Science Department, University of Massachusetts Amherst, September 2004.(pdf :992KB)
Piyanuch Silapachote, Deepak Karuppiah, and Allen Hanson, Feature Selection Using ADABOOST for Face Expression Recognition, The 4th IASTED International Conference on Visualization, Imaging, and Image Processing, VIIP 2004, Marbella, Spain, September 2004. (pdf: 195KB)
Sweeney, J.D., Grupen, R.A., Shenoy, P. Active QoS Flow Maintenance in Controlled Mobile Networks, in the Proceedings of the Fourth International Symposium on Robotics and Automation (ISRA), Queretaro, Mexico, August 2004 © 2004 IEEE. (pdf: 163KB)
Thibodeau, B.J., Fagg, A.H., Levine, B.N. Signal Strength Coordination for Cooperative Mapping, University of Massachusetts Amherst Computer Science technical report #04-64, July 2004. (pdf: 296KB)
Platt, R., Fagg, A. H., Grupen, R. Manipulation Gaits: Sequences of Grasp Control Tasks, Proceedings of the 2004 IEEE Conference on Robotics and Automation (ICRA), New Orleans, Louisiana, April 2004 © 2004 IEEE. (pdf: 175KB)
T. B. Martin, R. O. Ambrose, M. A. Diftler, R. Platt Jr., M. J. Butzer Tactile Gloves for Autonomous Grasping with the NASA/DARPA Robonaut, Proceedings of the 2004 IEEE Conference on Robotics and Automation (ICRA), New Orleans, Louisiana, April 2004 © 2004 IEEE. (pdf: 175KB)
Y. Yang and O. Brock, Efficient and Robust Computation of an Approximated Medial Axis, ACM Symposium on Solid Modeling and Applications, June 2004. (pdf: 374KB)
Y. Yang and O. Brock, Adapting the Sampling Distribution in PRM Planners Based on an Approximated Medial Axis, Proceedings of the 2004 IEEE Conference on Robotics and Automation (ICRA), April 2004 © 2004 IEEE. (pdf: 210KB)
Sweeney, J.D., Grupen, R.A., and Shenoy, P. Active QoS Flow Maintenance in Robotic, Mobile, Ad Hoc Networks, University of Massachusetts Amherst Computer Science technical report #04-20, April 2004. (pdf: 191KB).
Thibodeau, B.J., Hart, S.W., Karuppiah, D.R., Sweeney, J.D., and Brock, O. Cascaded Filter Approach to Multi-Objective Control, in the Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA), New Orleans, Louisiana, April 2004. © 2004 IEEE. (pdf: 1.4M)
Ou, S., Karuppiah, D.R, Fagg, A.H., Riseman, E.,Grupen, R., An Augmented Virtual Reality Interface for Assistive Monitoring of Smart Spaces, in the Proceedings of the Second IEEE International Conference on Pervasive Computing and Communications, Orlando, Florida, March, 2004 (pdf: 912K)
Shah, A., Fagg, A. H., Barto, A. G., Cortical Involvement in the Recruitment of Wrist Muscles, To Appear in the Journal of Neurophysiology, 2004. (pdf: 446K)
Burns, B., Brock, O., Model-Based Motion Planning Technical Report 04-32, University of Massachusetts, 2004
Burns, B., Brock, 0., Single-Query Entrop y-Guided Motion Planning, Technical Report 04-76, University of Massachusett s, 2004 `

2003

Platt, R., Brock, O., Fagg, A. H., Karupiah, D., Rosenstein, M., Coelho, J., Huber, M., Piater, J., Wheeler, D., Grupen, R. A Framework For Humanoid Control and Intelligence, Proceedings of the 2003 IEEE International Conference on Humanoid Robots, Karlsruhe & Munich, Germany, October 2003 © 2003 IEEE. (pdf: 293KB; ps.gz: 199KB)
Platt, R., Fagg, A. H., Grupen, R. Extending Fingertip Grasping to Whole Body Grasping, Proceedings of the 2003 IEEE Conference on Robotics and Automation (ICRA), Taipei, Taiwan, May 2003 © 2003 IEEE. (pdf: 353KB; ps.gz: 1424KB)
Diftler, M.A., Platt, R., Culbert, C.J., Ambrose, R.O., Buethmann, W.J. Evolution of the NASA/DARPA Robonaut Control System, Proceedings of the 2003 IEEE Conference on Robotics and Automation (ICRA), Taipei, Taiwan, May 2003 © 2003 IEEE. (pdf: 357KB)
Burns, B. and Brock, O., Information Theoretic Construction of Probabilistic Roadmaps, Proceedings of hte 2003 Internation Conference on Robotics and Systems (IROS), Las Vegas, Nevada, November 2003
Grupen, R. A Developmental Organization for Robot Behavior, Proceedings of the third International Workshop on Epigenenetic Robotics, Boston, MA, August, 2003. © 2003 IEEE (pdf: 268KB; ps.gz: 168KB)
Li, H., Sweeney, J., Ramamritham, K., Grupen, R., and Shenoy, P., Real-Time Support for Mobile Robotics, Proceedings of the Ninth IEEE Real/Time Embedded Technology and Applications Symposium (RTAS), Toronto, Canada, May 2003. © 2003 IEEE (pdf: 353KB; ps.gz: 168KB)
Sweeney, J.D., Li, H., Grupen, R.A., and Ramamritham, K., Scalability and Schedulability in Large, Coordinated, Distributed Robot Systems, Proceedings of the 2003 IEEE Conference on Robotics and Automation (ICRA), Taipei, Taiwan, May 2003 © 2003 IEEE. (pdf: 101KB)
Y. Yang, O. Brock and R. Grupen, Exploiting redundancy to Implement Multi-Objective Behavior, Proceedings of the 2003 IEEE Conference on Robotics and Automation (ICRA), Taipei, Taiwan, May 2003 © 2003 IEEE. (pdf: 667KB)

2002
Fagg, A. H., Shah, A., Barto, A. G., A Computational Model of Muscle Recruitment for Wrist Movements, Journal of Neurophysiology, 88(6):3348-3358, 2004. (pdf: 361K)
Wheeler, D., Fagg, A. H., and Grupen, R., Learning Prospective Pick and Place Behavior, Proceedings of the IEEE/RSJ International Conference on Development and Learning, 2002 © 2002 IEEE (ps: 330KB)
Huber, M. and Grupen, R.,Robust Finger Gaits from Closed-Loop Controllers. In the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2002 © 2002 IEEE (ps: 976KB)
Wang, Y., Thibodeau, B., Fagg, A., and Grupen, R. Learning Optimal Switching Policies for Path Tracking Tasks on a Mobile Robot. In the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2002 © 2002 IEEE (ps: 2.3MB)
Platt, R., Fagg, A. H., Grupen, R. Nullspace Composition of Control Laws for Grasping, In the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2002 © 2002 IEEE (pdf: 316KB; ps: 596KB)
Grupen, R. and Coelho, J., Acquiring State from Control Dynamics to Learn Grasping Policies for Robot Hands, International Journal on Advanced Robotics, 16:5 pp. 427-444, 2002 © 2002 Robotics Society of Japan (RSJ). (pdf: 314,546 bytes; ps.gz: 282,548 bytes.)
Uppala, S., Karuppiah, D., Brewer, M., Ravela, S. and Grupen, R., On Viewpoint Control, 2002 International Conference on Robotics and Automation, ICRA02, Washington, DC, May, 2002. (pdf: 330,416 bytes)
Sweeney, J., Brunette, TJ, Yang, Y., and Grupen, R., Coordinated Teams of Reactive Mobile Platforms, in the Proceedings of the 2002 IEEE Conference on Robotics and Automation, Washington, D.C. May, 2002 © 2002 IEEE. (pdf: 274,244 bytes; ps.gz: 234,979 bytes.)
Rosenstein, M., Grupen, R., Velocity-Dependent Dynamic Manipulability, in the Proceedings of 2002 International Conference on Robotics and Automation, Washington, D.C. May, 2002 © 2002 IEEE. (pdf: 343,766 bytes; ps.gz: 189,084 bytes.)

2001
Coelho, J, Piater, J. and Grupen, R., Developing Haptic and Visual Perceptual Categories for Reaching and Grasping with a Humanoid Robot, Robotics and Autonomous Systems Journal, special issue on Humanoid Robots, 37:2-3, pp. 195-219, November, 2001, Elsevier. (777,005 bytes)
Coelho, J,, Multifingered Grasping: Grasp Reflexes and Control Context, Ph.D. Dissertation, September 2001. (3,262,451 bytes)
Piater, JH., Visual Feature Learning, Ph.D. Dissertation, February 2001. (ps.gz; pdf)
Karuppiah, D., Zhu, Z., Shenoy, P., and Riseman, E., A fault-tolerant distributed vision system architecture for object tracking in a smart room , International Workshop on Computer Vision Systems (ICCV 2001), July 2001, Vancouver, Canada © 2001 Springer-Verlag, LNCS. (ps.gz; pdf)
Holness, G., Karuppiah, D., Uppala, S., and Ravela, S. C., A Service Paradigm for Reconfigurable Agents , Proc. of the 2nd Workshop on Infrastructure for Agents, MAS, and Scalable MAS (Agents 2001), May 29, 2001, Montreal, Canada. (ps.gz; pdf)

2000
Popplestone, R. and Grupen, R., Symmetries in World Geometry and Adaptive System Behaviour , 2nd International Workshop on Algebraic Frames for the Perception-Action Cycle (AFPAC 2000), September 10-11, 2000, Kiel, Germany. (.ps.gz: 74,008 bytes; .pdf: 215,887 bytes)

Grupen, R. and Coelho, C., Structure and Growth: A Model of Development for Grasping with Robot Hands, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), November, 2000, Takamatsu, Japan, (.ps.gz: 247,936 bytes; .pdf: 1,013,544 bytes)

Manfred Huber, A Hybrid Architecture for Adaptive Robot Control, Ph.D. Dissertation, September 2000. (2,555,677 bytes)

Araujo, E., Karuppiah, D., Yang, Y., Grupen, R., Deegan, P., Lerner, B., Riseman, E., Zhu, Z., Software Mode Changes for Continuous Motion Tracking, International Workshop on Self Adaptive Software, Oxford, England, April, 2000. (.ps.gz: 1,061,132 bytes; .pdf: 909,006 bytes)

Jefferson A. Coelho Jr., Justus H. Piater, Roderic A. Grupen (2000), Developing Haptic and Visual Perceptual Categories for Reaching and Grasping with a Humanoid Robot. First IEEE-RAS International Conference on Humanoid Robots, 7-8 September 2000, Cambridge, MA, USA. (.ps.gz: 666,441 bytes; .pdf: 723,455 bytes)

Justus H. Piater (2000), Learning Visual Features to Recommend Grasp Configurations. ICML-2000 Workshop on Machine Learning of Spatial Knowledge, Stanford, CA, July 2, 2000. Available as Technical Report #2000-40 (UM-CS-2000-040.ps.gz: 209,090 bytes)

Luiz M G Gonçalves, Rod Grupen, Antonio A.F. Oliveira, David Wheeler, and Andy Fagg (2000), Attention and Categorization: Basis for Cognition in a Humanoid Robot. In IEEE Intelligent Systems and Applications, Special Issue on Humanoids. July 2000. ( .ps.gz: 957,475 bytes; .pdf: 231,073 bytes)

Luiz M G Gonçalves, Cosimo Distante, Antonio A F Oliveira, David Wheeler, and Rod A. Grupen. (2000), Neural Mechanisms for Learning of Attention Control and Pattern Categorization as Basis for Robot Cognition. In Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000). In contribution to Special Session "Robotics and Neurosciences - Prof. Del Pobil". October 30 - November 5, 2000, Kagawa University, Takamatsu, Japan.

Luiz M G Gonçalves and Rod A. Grupen. (2000), Integrating Attention and Categorization Behaviors in Robotics. In Proc. Sixth Intelligent and Autonomous System Conference, June 25-27th 2000, Venice, Italy.

Luiz M G Gonçalves and Rod A. Grupen. (2000), Toward a Real-time Framework for Visual Monitoring Tasks. In Proc. of Third IEEE International Workshop on Visual Surveillance, in conjunction with ECCV'2000, July 1st 2000, Dublin, Ireland.
Luiz M G Gonçalves, Fernando W. da Silva, Ricardo C. Farias, and Rod A. Grupen. (2000), Toward an Architecture for Artificial Animated Creatures. In Proc. of "Computer Animation 2000 Conference". May 3-5th 2000, Philadelphia, PA, USA.
Piater JH, Grupen RA (2000), Feature Learning for Recognition With Bayesian Networks, Proceedings of the Fifteenth International Conference on Pattern Recognition, Barcelona, Spain. © 2000 IEEE. (ICPR00.ps.gz: 103,447 bytes; ICPR00.pdf: 135,609 bytes)
Coelho, Jr. JA, Grupen RA (2000), Learning in Non-stationary Conditions: A Control Theoretic Approach, Proceedings of the Seventeenth International Conference on Machine Learning, Stanford, CA, USA. (ICML2000-coelho.ps.gz: 256635 bytes)
Piater JH, Grupen RA (2000), Constructive Feature Learning and the Development of Visual Expertise, Proceedings of the Seventeenth International Conference on Machine Learning, Stanford, CA, USA. ( ICML2000-piater.ps.gz: 267,660 bytes; ICML2000-piater.pdf: 316,453 bytes)
Piater JH, Grupen, RA, (2000), Distinctive Features Should Be Learned, Proceedings of the IEEE International Workshop on Biologically Motivated Computer Vision (BMCV2000), Seoul, Korea. © 2000 Springer-Verlag, LNCS. (BMCV2000.ps.gz: 139,384 bytes) An expanded version that provides a more thorough background discussion of human vision is available as Technical Report #2000-08. (UM-CS-2000-008.ps.gz: 158,408 bytes)
Araujo EG, Grupen RA (2000), Feature Extraction for Autonomous Navigation Using an Active Sonar Head, Proceedings of the 2000 IEEE Conference on Robotics and Automation, San Francisco, CA. © 2000 IEEE (ICRA2000.ps.gz: 623,893 bytes)

1999
Gonçalves Luiz MG, Oliveira Antonio AF, Grupen RA. (1999), A Framework for Attention and Object Categorization Using a Stereo Head Robot , In Proceedings of the XII SIBGRAPI'99 International Conference, Campinas, SP, Brazil. © 1999 IEEE ( goncalves99framework.ps.gz: 110173 bytes)

Gonçalves Luiz MG, Gilson A. Giraldi, Oliveira Antonio AF, Grupen RA. (1999), Learning Policies for Attentional Control , Proceedings of the 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA '99), Monterey, CA, USA. © 1999 IEEE ( goncalves99learning.ps.gz: 86283 bytes)

Gonçalves Luiz MG, David Wheeler, Oliveira Antonio AF, Grupen RA. (1999), Towards a Framework for Robot Cognition . Proceedings of the 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA '99) , Monterey, CA, USA. © 1999 IEEE ( goncalves99toward.ps.gz: 93784 bytes)

Piater JH, Grupen RA (1999), Learning Visual Recognition With Bayesian Networks, UMass Computer Science technical report #99-43, March 1999 (UM-CS-1999-043.ps.gz: 180,343 bytes)
Piater JH, Grupen RA, Ramamritham K (1999), Learning Real-Time Stereo Vergence Control, Proceedings of the 1999 IEEE International Symposium on Intelligent Control, Cambridge, MA. © 1999 IEEE (ISIC99.ps.gz: 63,165 bytes)
Gonçalves Luiz MG, Oliveira Antonio AF, and Grupen RA (1999), Multi-modal Stereognosis, Proceedings of the Third International Conference on Autonomous Agents (Agents'99), Seattle WA, May 1999. © 1999 ACM (agents99.ps.gz: 79,453 bytes)
Piater JH, Grupen RA (1999), Toward Learning Visual Discrimination Strategies, Proceedings of the 1999 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Fort Collins, CO. © 1999 IEEE (CVPR99.ps.gz: 179,460 bytes)
Piater JH, Grupen RA (1999), A Framework for Learning Visual Discrimination, Proceedings of the 12th International FLAIRS Conference, Orlando, FL. © 1999 AAAI Press (FLAIRS99.ps.gz: 170,724 bytes)
Huber M, Grupen RA (1999), A Hybrid Architecture for Learning Robot Control Tasks, 1999 AAAI Spring Symposium Series: Hybrid Systems and AI: Modeling, Analysis and Control of Discrete + Continuous Systems, Stanford University, CA. © 1999 LPR (AAAI_Spring99.ps.gz: 321,346 bytes)
Piater JH, Ramamritham K, Grupen RA (1999), Learning Real-Time Strategies for Binocular Vergence, UMass Computer Science technical report #99-06, February 1999 (UM-CS-1999-006.ps.gz: 144,519 bytes)

1998
Huber M, Grupen RA (1998), Learning Robot Control - Using Control Policies as Abstract Actions, NIPS'98 Workshop : Abstraction and Hierarchy in Reinforcement Learning, Breckenridge, CO. © 1998 LPR (NIPS98_walk.ps.gz: 313,923 bytes)
Coelho, Jr. JA, Grupen RA (1998), Dynamic Control Models as State Abstractions, NIPS'98 Workshop : Abstraction and Hierarchy in Reinforcement Learning, Breckenridge, CO. © 1998 LPR (nips98.ps.gz: 65,485 bytes)
Souccar K Coelho, Jr. JA , Grupen RA, (1998), A Control Basis for Haptically-Guided Grasping and Manipulation, UMass Computer Science technical report #98-46, October 1998. (TR98-46.ps.gz: 613,856 bytes)
Gonçalves Luiz MG, Grupen RA, Oliveira Antonio AF. (1998), A Control Architecture for Multi-modal Sensory Integration, In Proceedings of the XI SIBGRAPI'98 Conference, Rio de Janeiro, RJ, Brazil. © 1998 IEEE (sib98.ps.gz: 63,849 bytes)
Coelho, Jr. JA, Araujo EG, Huber M, Grupen RA (1998), Dynamical Categories and Control Policy Selection, Proceedings of the ISIC/CIRA/ISAS'98 Conference, Gaithersburg, MD. © 1998 IEEE (cira98.ps.gz: 84,235 bytes)
Coelho, Jr. JA, Araujo EG, Huber M, Grupen RA (1998), Contextual Control Policy Selection, Workshop on Robot Exploration and Learning/Conald'98, Pittsburgh, PA. (conald98.ps.gz: 131,697 bytes)
Araujo EG, Grupen RA (1998), Feature Detection and Identification using a Sonar-Array, Proceedings of the 1998 IEEE Conference on Robotics and Automation, pp. 1584-1589, Leuven, Belgium. © 1998 IEEE (icra98.ps.gz: 125,159 bytes)
Huber M, Grupen RA (1998), A Control Structure for Learning Locomotion Gaits, Proceedings of the Seventh International Symposium on Robotic and Applications. © 1998 TSI Press (ISORA98.ps.gz: 289,916 bytes)

1997
Araujo EG, Grupen RA (1997), Feature Extraction for Autonomous Navigation, UMass Computer Science technical report #97-55, October 1997. (TR97-55.ps.gz: 488,186 bytes)
Huber M, Grupen RA (1997), A Feedback Control Structure for On-line Learning Tasks, Robots and Autonomous Systems, 22(3-4):303-315. © 1997 Elsevier (RAS97.ps.gz: 410,042 bytes)
Coelho, Jr. JA, Grupen RA (1997), A Control Basis for Learning Multifingered Grasps, Journal of Robotic Systems, 14(7):545-557. © 1997 Wiley (JRS97-grasp.ps.gz: 245,676 bytes)
Huber M, Grupen RA (1997), Learning to Coordinate Controllers - Reinforcement Learning on a Control Basis , In Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence, pp. 1366-1371, Nagoya, Japan. © 1997 IJCAII (IJCAI97.ps.gz: 128,706 bytes)
Huber M, Grupen RA (1997), Prior Structure for On-line Learning , In Proceedings of CIRA'97, pp. 124-129, Monterey, CA. © 1997 IEEE (CIRA97.ps.gz: 155,534 bytes)
MacDonald WS, Grupen RA (1997), Building Walking Gaits for Irregular Terrain from Basis Controllers, Proceedings of the 1997 IEEE Conference on Robotics and Automation, pp. 481-486, Albuquerque, NM. © 1997 IEEE (ICRA97.ps.gz: 340,975 bytes)

1996
Haugsjaa KA, Souccar K, Connolly CI, Grupen RA (1996), A Computational Model for Repetitive Motion, In Timing of Behavior: Neural, Computational, and Psychological Perspectives, C. E. Collyer and D. A. Rosenbaum, eds., © 1996 MIT Press. (nest.ps.gz: 142,347 bytes)
Huber M, Grupen RA (1996), A Hybrid Discrete Event Dynamic Systems Approach to Robot Control, UMass Computer Science technical report #96-43, October 1996. (TR96-43.ps.gz: 622,619 bytes)
MacDonald W (1996), Legged Locomotion over Irregular Terrain using the Control Bais Approach, Master Thesis. (bill_msthesis.ps.gz: 2,579,696 bytes)
Araujo EG, Grupen RA (1996), Learning Control Composition in a Complex Environment, From Animals to Animats 4: Proceedings of the Fourth International Conference on Simulation of Adaptive Behavior, pp. 333-342, Pattie Maes, Maja Mataric, Jean-Arcady Meyer, Jordan Pollack, and Stewart W. Wilson, eds., Cambridge, MA. © 1996 MIT Press/Bradford Books (sab96.ps.gz: 171,970 bytes)
Souccar K, Grupen RA (1996), Distributed Motion Control for Multiple Robotic Manipulators, Proceedings of the 1996 IEEE Conference on Robotics and Automation, pp. 3434-3439, Minneapolis, MN. © 1996 IEEE (ICRA96-mrobot.ps.gz: 1,350,044 bytes)
Coelho, Jr. JA, Grupen RA (1996), Online Grasp Synthesis, Proceedings of the 1996 IEEE Conference on Robotics and Automation, pp. 2137-2142, Minneapolis, MN. © 1996 IEEE (ICRA96-olgrasp.ps.gz: 149,865 bytes)
Huber M, MacDonald WS, Grupen RA (1996), A Control Basis for Multilegged Walking, Proceedings of the 1996 IEEE Conference on Robotics and Automation, pp. 2988-2993, Minneapolis, MN. © 1996 IEEE (ICRA96-walking.ps.gz: 415,177 bytes)

1995
Araujo EG, Dakin GA, Huber M, Grupen RA (1995), Hierarchical Scheduling of Robotic Assembly Operations in a Flexible Manufacturing System, International Journal of Flexible Automation and Integrated Manufacturing, 3(3&4):301-316. (Republication of previous FAIM'95 conference paper) © 1995 Begell House (ijfaim95.ps.gz: 135,075 bytes)
Coelho, Jr. JA , Sitaraman, RK, Grupen RA (1995), Parallel Optimization of Motion Controllers via Policy Iteration, 1995 NIPS Conference, pp. 996-1002, (NIPS95.ps.gz: 367,125 bytes).
Ravela SS, Schnackertz TJ, Grupen RA, Weiss RS, Riseman EM, Hanson AR, (1995), Temporal Registration for Assembly, 1995 IROS Computer Vision Workshop (iroswk95.ps.gz: 451,734 bytes) Here's the abstract.
Grupen RA, Connolly CI, Souccar K Burleson WP, (1995), Toward a Path Co-Processor for Automated Vehicle Control, Proceedings of the Intelligent Vehicles '95 Symposium, Detroit, MI. © 1995 IEEE (iv95.ps.gz: 66,529 bytes)
Araujo EG, Dakin GA, Huber M, Grupen RA (1995), Hierarchical Scheduling of Robotic Assembly Operations in a Flexible Manufacturing System, Proceedings of the 5th International Conference Flexible Automation & Intelligent Manufacturing '95, pp. 778-789, Stuttgart, Germany. © 1995 Begell House (faim_95.ps.gz: 77,550 bytes)
Grupen RA, Huber M, Coelho, Jr. JA , Souccar K (1995), Distributed Control of Manipulation Tasks, IEEE Expert, Special Track on Intelligent Robotic Systems, 10(2):9-14. © 1995 IEEE (expert-95.ps.gz: 3,218,103 bytes)
Connolly CI, Grupen RA, Souccar K (1995), A Hamiltonian Framework for Kinodynamic Planning, Proceedings of the 1995 IEEE Conference on Robotics and Automation, Nagoya, Japan. © 1995 IEEE (kinodynamic.ps.gz: 56,668 bytes)
Schnackertz TJ, Grupen RA (1995), A Control Basis for Visual Servoing Tasks, Proceedings of the 1995 IEEE Conference on Robotics and Automation, Nagoya, Japan. © 1995 IEEE (ICRA95-tjs.ps.gz: 290,394 bytes)
Liu Y, Popplestone RJ (____), A Group Theoretic Formalization of Surface Contact, International Journal of Robotics Research, in press.
Connolly CI, Burns JB (1995), Preliminary draft for A State-Space Striatal Model, In Models of Information Processing in the Basal Ganglia, J. C. Houk, J. L. Davis and D. G. Beiser, eds., MIT Press. (woodshole.ps.gz: 86,022 bytes)

1994
MacDonald W (1994), Design and Implementation of a Four-Legged Walking Robot, Senior Honors Thesis. (thing.ps.gz: 1,486,850 bytes)
Dakin G (1994), Fine-Motion Planning for Robotic Assembly in Local Contact Space, Ph.D. dissertation. (dakin-thesis.ps.gz: 308,581 bytes)
Connolly CI, Grupen RA (1994), Nonholonomic Path Planning Using Harmonic Functions, UMass Computer Science technical report #94-50. (UM-CS-1994-50.ps.gz: 80,883 bytes)
Huber M, Grupen RA (1994), 2D Contact Detection and Localization: Using Proprioceptive Information, IEEE Transactions on Robotics and Automation, 10(1):23-33. © 1994 IEEE (huber-ijra94.ps.gz: 702,622 bytes)
Coelho, Jr. JA, Grupen RA (1994), Effective Multifingered Grasp Synthesis, UMass Computer Science technical report #94-12. (TR94-12.ps.gz: 1,037,831 bytes)
Grupen RA, Coelho, Jr. JA, Connolly CI, Gullapalli V, Huber M, Souccar K (1994), Toward Physical Interaction and Manipulation: Screwing in a Light Bulb, AAAI 1994 Spring Symposium on Physical Interaction and Manipulation. (aaai-94.ps.gz: 3,271,266 bytes)
Coelho, Jr. JA, Grupen RA (1994), Optimal Multifingered Grasp Synthesis, 1994 IEEE Conference on Robotics and Automation, pp. 1937-1942, San Diego, CA. (ra94b.ps.gz: 77,661 bytes)
Coelho, Jr. JA, Grupen RA (1994), Control Pre-Imaging for Multifingered Grasp Synthesis, 1994 IEEE Conference on Robotics and Automation, pp. 3117-3122, San Diego, CA. (ra94a.ps.gz: 583,996 bytes)
Connolly CI (1994), Harmonic Functions and Collision Probabilities, 1994 IEEE Conference on Robotics and Automation, pp. 3015-3019, San Diego, CA. (ra94c.ps.gz: 31,336 bytes)

1993
Grupen RA, Souccar K (1993), Manipulation-Based Spatial Isotropy: A Kinematic Reflex, MCPA93, pp. 157-163, June 1-3, 1993. (mcpa93-manip.ps.gz: 125,272 bytes)
Grupen RA, Coelho, Jr. JA (1993), Sensor-Based Contact Geometry Optimization for Multifingered Robot Hands, MCPA93, pp. 147-156, June 1-3, 1993. (mcpa93-grasp.ps.gz: 73,675 bytes)
Singh SP, Barto AG, Grupen RA, Connolly CI (1993), Robust Reinforcement Learning in Motion Planning, InAdvances in Neural Information Processing Systems 6 (NIPS 6), pp. 655-662.(NIPS93.ps.gz: 65,517 bytes)
Dakin G, Popplestone RJ (1993), Fine-motion planning in the contact space of narrow-clearance assemblies, Proceedings of the IASTED International Conference on Robotics and Manufacturing, pp. 206-208. (dakin-iasted.ps.gz: 80,962 bytes)
Connolly CI, Grupen RA (1993), The Applications of Harmonic Functions to Robotics, Journal of Robotic Systems, 10(7):931-946. (jrs93.ps.gz: 186,251 bytes)
Connolly CI, Burns JB (1993), A New Striatal Model and its Relationship to Basal Ganglia Diseases, Neuroscience Research, 13:271-274. (nr93.ps.gz: 34,531 bytes)
Grupen RA, Huber M (1993), 2D Contact Detection and Localization Using Proprioceptive Information, Proceedings of the 1993 IEEE Conference on Robotics and Automation, Vol.2, pp. 130-135, May 2-7, 1993. (huber-ra93.ps.gz: 180,071 bytes)
Connolly CI, Burns JB (1993), A Model for the Functioning of the Striatum, Biological Cybernetics 68(6):535-544. (biocyb93.ps.gz: 134,946 bytes)
Huber M, Grupen RA (1993), Contact Information from Proprioception, Proceedings of the Conference on Intelligent Autonomous Systems (IAS3), IOS Press, pp. 643-652, Feb. 1993. (huber-ias-3-93.ps.gz: 409,759 bytes)
Dakin G, Popplestone RJ Contact space analysis for narrow-clearance assemblies, UMass Computer Science technical report #93-59. (dakin-isic.ps.gz: 59,504 bytes)
Dakin G, Popplestone RJ (1993), Fine-motion planning in the contact space of narrow-clearance assemblies, UMass Computer Science technical report #93-60. (dakin-iasted.ps.gz: 80,962 bytes)

1992
Huber M, Grupen RA (1992), 2-D Contact Detection and Localization Using Proprioceptive Information, UMass Computer Science Technical Report #92-59, August 1992. (TR92-59.ps.gz: 97,448 bytes)
Connolly CI (1992), A Robotics Perspective on Motor Programs and Path Planning, Behav. Brain Sciences, 15(4):728-729. (bbs92.ps.gz: 21,178 bytes)
Connolly CI, Grupen RA (1992), Harmonic Control, Proc. 1992 International Symposium on Intelligent Control. (isic92-control.ps.gz: 75,405 bytes)
Connolly CI (1992), Applications of Harmonic Functions to Robotics, Proc. 1992 International Symposium on Intelligent Control. (isic92-harmonic.ps.gz: 230,754 bytes)
Dakin G, Popplestone RJ (1992) , Simplified Fine-Motion Planning in Generalized Contact Space, Proc. 1992 International Symposium on Intelligent Control. (dakin-isic.ps.gz: 59,504 bytes)
Gullapalli V (1992), Learning Control Under Extreme Uncertainty, In Advances in Neural Information Processing Systems 5 (NIPS 5), SJ Hanson, JD Cowan, CL Giles, Eds. pp. 327-334, Morgan Kaufmann 1993. (vijay-nips92.ps.gz: 69,158 bytes)
Gullapalli V, Grupen RA, Barto AG (1992), Learning Reactive Admittance Control, Proceedings of the IEEE Conference on Robotics and Automation, pp. 1475-1480, May 10-15, 1992. (vijay-ra92.ps.gz: 65,439 bytes)
Connolly CI, Burns JB (1992), The Planning of Actions and The Basal Ganglia, AI Planning Systems: Proceedings of the 1st Int'l Conference. (aips92.ps.gz: 18,942 bytes)
Connolly CI, Grupen RA (1992), Applications of Harmonic Functions to Robotics, UMass Computer Science Technical Report 92#12, Feb. 1992.

1991
Gullapalli V (1991), href="Papers/vijay-isic91.ps.gz">A Comparison of Supervised and Reinforcement Learning Methods on a Reinforcement Learning Task , Proceedings of the 1991 IEEE International Symposium on Intelligent Control. (vijay-isic91.ps.gz: 42,191 bytes)
Gullapalli V (1991), Associative Reinforcement Learning of Real-Valued Functions, Proceedings of the 1991 IEEE International Conference on Systems, Man, and Cybernetics, pp. 1453-1458, Oct. 1991.
Dakin G, Popplestone RJ (1991) , Augmenting a Nominal Assembly Motion Plan with a Compliant Behavior, Proceedings of the 1991 AAAI Conference, Vol. 1, pp. 653-658.
Grupen, R., Weiss, R. (1991), Issues in System Integration and Control for Interpreting and Manipulating the Environment, In Proceedings of the International Symposium on Intelligent Control, IEEE, p. 221-227, August, 1991.
Grupen, R., Weiss, R. (1991), Sensor-Based Control for Multifingered Manipulators. 1991 AAAI Fall Symposium on the Sensory Aspects of Artificial Intelligence. 12 pages.
Grupen, R. and Weiss, R., Force Domain Models for Multifingered Grasp Control. In Proceedings of the 1991 Conference on Robotics and Automation, IEEE, Sacramento, CA, p. 418-424, April 7-12, 1991.
Grupen, R., Planning Grasp Strategies for Multifingered Robot Hands. In Proceedings of the 1991 Conference on Robotics and Automation, IEEE, Sacramento, CA, April 7-12, 1991.

1990
Connolly CI, Burns JB, Weiss R (1990), Path Planning Using Laplace's Equation, Proceedings of the IEEE Conference on Robotics and Automation, pp. 2102-2106, May 1990. (90-RnA.ps.gz: 42,252 bytes)
Popplestone RJ, Liu Y, Weiss R (1990), A Group Theoretic Approach to Assembly Planning, AI Magazine, 11(1), 1990.
Grupen, R., Weiss, R., and Oskard, D. (1990), Grasp-Oriented Sensing and Control. SPIE Conference on Advances in Intelligent Robotics Systems, Boston, MA, November, 1990.

1989
Hansen, C., Henderson, T., and Grupen, R. (1989), CAD-Based 3-D Object Recognition. In Proceedings of the IEEE Conference on Systems, Man and Cybernetics, Boston, MA, November 14-17, 1989.
Popplestone, R., Grupen, R., Liu, Y., Dakin, G., Nair, S., and Oskard, D. (1989), Planning for Assembly with Robot Hands. In SPIE Conference on Advances in Intelligent Robotic Systems}, Philadelphia, PA, November, 1989.
Grupen, R., and Henderson, T. (1989), Autochthonous Behaviors - Mapping Perception to Action. In NATO Conference on Sensor Fusion, pp. 285-312, Springer-Verlag, Italy, September, 1989.
Grupen, R. (1989), Behavior Based Control for Cognitive and Physical Prosthetics. In Proceedings of the NSF Conference on Intelligent Control to Aid Persons with Cognitive and Physical Disabilities, Bethesda, MD, February 1989.

1988
Popplestone RJ, Weiss R, Liu Y (1988), Using Characteristic Invariants to Infer New Spatial Relationships From Old, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1107-1112, Apr. 25-29, 1988.
Grupen, R., Henderson, T., and Biggers, K. (1989), General Purpose Grasping and Manipulation. In Third IEEE International Symposium on Intelligent Control, 9 pages, Arlington, VA, August 1988.
Grupen, R., and Henderson, T. (1988), A Control Paradigm for General Purpose Manipulation Systems. In Proceedings of the 1988 Conference on Robotics and Automation, pages 710--715, IEEE, Philadelphia, PA, April 1988.

1987
Henderson, T., Weitz, E., Hansen, C., Grupen, R., Ho, C., and B. Bhanu (1987), CAD-Based Robotics, In Proceedings of the 1987 Conference on Robotics and Automation, pages 631-635, IEEE, Raleigh, NC, April 1987.

1985
Drake, S., Grupen, R., and Hammond, D. (1985), Development of a Robotic Material-Handling Vehicle - II. In {\it SME Conference on Manufacturing Systems Research}, May 1985.

2006

2005

2004

2003

2002

2001

2000

1999

1998

1997

1996

1995

1994

1993

1992

1991

1990

1989

1988

1987

1985