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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
- 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
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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).
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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.
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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)
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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)
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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.
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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
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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)
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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)
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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)
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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)
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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)
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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)
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Grupen RA (1992), Applications of
Harmonic Functions to Robotics, UMass Computer Science Technical
Report 92#12, Feb. 1992.
1991
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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)
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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.
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Automation, IEEE, Sacramento, CA, April 7-12, 1991.
1990
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Weiss R (1990),
Path Planning Using
Laplace's Equation, Proceedings of the IEEE Conference on
Robotics and Automation, pp. 2102-2106, May 1990.
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(1990),
A Group Theoretic Approach to Assembly Planning,
AI Magazine, 11(1), 1990.
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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.
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Oskard, D. (1989), Planning for Assembly with Robot Hands.
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Philadelphia, PA, November, 1989.
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Disabilities, Bethesda, MD, February 1989.
1988
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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.
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Purpose Grasping and Manipulation. In Third IEEE International
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1987
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the 1987 Conference on Robotics and Automation, pages 631-635,
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1985
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