Alonzo Kelly's Publications

Publications are available for download in PDF format. To access, just click on the highlighted [.pdf] symbol and use the facilities set up in your browser for storage and/or viewing such files. In many cases, these versions are not the official ones and they may differ in important ways. Your best bet is to get the real thing from your library full text service. 


BooksMobile Robotics Cover Art

  1. Kelly, A, Mobile Robotics: Mathematics, Models, and MethodsCambridge University Press, 2014.  Publisher website  for the book is www.cambridge.org/9781107031159 
  2. A. Howard, K. Iagnemma, and A. Kelly (eds.), Special Issue on the Seventh International Conference on Field and Service Robotics, The International Journal of Robotics Research October 2010 29: 1459-1460.
  3. Iagnemma, K., Kelly, A.,  Howard, A., (eds.) Proceedings of the 2009 Symposium on Field and Service Robotics. Springer Star Series.
  4. Chatila, R., Kelly, A., Merlet, J. P., (eds.) IEEE/RSJ proceedings of the International Conference on Intelligent Robots and Systems (IROS 2008). Nice (France), 22-26 Septembre 2008.
  5. Kelly, A., Matthies, L., Wettergreen, D., (eds.) Journal of Field Robotics Special Issue on Space Robotics, Volumes 24, Issues 3,4,5 March 2007.

Refereed Journal Articles - Published

  1. Neal Seegmiller, Forrest Rogers-Marcovitz, Gregory Miller, and Alonzo Kelly, “Vehicle Model Identification by Integrated Prediction Error Minimization”, International Journal of Robotics Research, Vol. 32, No. 8, July, 2013, pp. 912-931.
  2. A. Kelly et al., “Real-Time Photorealistic Virtualized Reality Interface for Remote Mobile Robot Control”, The International Journal of Robotics Research. March 2011 vol. 30 no. 3 384-404. [pdf]
  3. Pitvoraiko, M., Kelly, A., Knepper, R., “Differentially Constrained Mobile Robot Motion Planning in State Lattices”, Journal of Field Robotics, Volume 26,  Issue 3, (March 2009), pp 308-333. [.pdf]
  4. Chris Urmson, “… ‘, Alonzo Kelly, “…‘, “Autonomous Driving in Urban Environments: Boss and the Urban Challenge”. 40 authors, Submitted to the Journal of Field Robotics. [.pdf]
  5. Howard, T., Green, C., Kelly, A.,Ferguson, D. “State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Complex Environments”,  Journal of Field Robotics. Vol 25, No 6-7 June 2008, pp. 325-345. [.pdf]
  6. Kelly, A.,Nagy, B. ,Stager, D., Unnikrishnan, R., “An Infrastructure-Free Automated Guided Vehicle Based on Computer Vision”, IEEE Robotics and Automation Magazine. September 2007. [.pdf]
  7. Howard, T., Kelly, A.,  “Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots”, The International Journal of Robotics Research, Vol. 26, No. 2, pp. 141-166 (Feb 2007). [.pdf]
  8. Kelly, A., et al., “Toward Reliable Off-Road Autonomous Vehicles Operating in Challenging Environments”, The International Journal of Robotics Research, Vol. 25, No. 5–6, pp. 449-483, June 2006..[.pdf]
  9. Diaz-Calderon, A., and Kelly, A., “On-line Stability Margin and Attitude Estimation for Dynamic Articulating Mobile Robots”, The International Journal of Robotics Research, Vol. 24, No. 10, 845-866 (2005).[.pdf]
  10. Kelly, A, "Linearized Error Propagation in Odometry", International Journal of Robotics Research, Vol 23, No 2, Feb 2004, pp 179-218.[.pdf]
  11. Kelly, A., Nagy, B. "Reactive Nonholonomic Trajectory Generation via Parametric Optimal Control", to appear International Journal of Robotics Research", International Journal of Robotics Research, Vol (No), 2002..[.pdf]
  12. Kelly, A., "Mobile Robot Localization from Large Scale Appearance Mosaics", International Journal of Robotics Research, 19 (11), 2000..[.pdf]
  13. Kelly, A., Stentz, A., "Rough Terrain Autonomous Mobility - Part 1: A Theoretical Analysis of Requirements", Autonomous Robots, 5, 129-161, 1998.[.pdf]
  14. Kelly, A., Stentz, A. "Rough Terrain Autonomous Mobility - Part 2: An Active Vision, Predictive Control Approach ", Autonomous Robots, 5, 163-198, 1998.[.pdf]
  15. A. A Goldenberg, and A. Kelly. "A Kinematics and Dynamics Simulation of the IBM-7565 Robot Using AML." Journal of Robotic Systems 2, no. 4 (1985): 353-371.

Refereed Journal Articles - Accepted

  1. Thomas M. Howard, Mihail Pivtoraiko, and Alonzo Kelly, “Model-Predictive Motion Planning for Autonomous Mobile Robots”, accepted to IEEE Robotics and Automation Magazine, 2012.

Refereed Journal Articles - Submitted

Withheld to allow anonymous review.
  1. Kelly, A...
  2. Kelly, A....

Refereed Conference/Workshop Proceedings 

  1. withheld for anonymous review
  2. A. Kelly and N. Seegmiller, “Modeling of Wheeled Mobile Robots as Differential-Algebraic Systems”, submitted to IROS 2014.
  3. A. Kelly, “Optical Kinematics of Laser Rangefinders”, submitted to IAS 13. 
  4. N. Seegmiller and A. Kelly, “Modular Dynamic Simulation of Wheeled Mobile Robots", FSR 2013. [pdf]
  5.  M. George, J. P. Tardif, A. Kelly. “Visual and Inertial Odometry for a Disaster Recovery Humanoid",  FSR 2013. [pdf]
  6. B. Eckart, A. Kelly, "REM-Seg: A Robust EM Algorithm for Parallel Segmentation and Registration of Point Clouds." IROS 2013. [pdf]
  7. B. Eckart, A. Kelly, “Stacked Local Predictors for Large-Scale Point Cloud Classification.” In SUNW: Scene Understanding Workshop, CVPR 2013. [pdf]
  8. F. Rogers-Markovitz, M. George, N. Seegmiller, A. Kelly, “Aiding Off-Road Inertial Navigation with High Performance Models of Wheel Slip”, IROS October, 2012. [pdf]
  9. A. Kelly and N.Seegmiller, “A Vector Algebra Formulation of Mobile Robot Velocity Kinematics” Field and Service Robotics (FSR 2012), July, 2012. [pdf]
  10. Forrest Rogers-Marcovitz, Neal Seegmiller, and Alonzo Kelly, “Continuous Vehicle Slip Model Identification on Changing Terrains”, RSS 2012 Workshop on Long‐Tterm Operation of Autonomous Robotic Systems. [pdf]
  11. Neal Seegmiller, Forrest Rogers-Marcovitz, and Alonzo Kelly, “Online calibration of vehicle powertrain and pose estimation parameters using integrated dynamics”, IEEE International Conference on Robotics and Automation, May, 2012. [pdf]
  12. Alonzo Kelly, Nicholas Chan, Herman Herman, and Randy Warner, “Experimental Validation of Operator Aids for High Speed Vehicle Teleoperation”, ISER 2012. [pdf]
  13. M. Laverne, M. George, D. Lord, A. Kelly, T. Mukherjee, "Experimental Validation of Foot to Foot Range Measurements in Pedestrian Tracking," Proceedings of the 24th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS 2011), Portland, OR, September 2011, pp. 1386-1393.  [pdf]
  14. Neal Seegmiller, Forrest Rogers-Marcovitz, Gregory A. Miller, and Alonzo Kelly, “A Unified Perturbative Dynamics Approach to Online Vehicle Model Identification”, International Symposium on Robotics Research, August, 2011. [pdf]
  15. Michael Fleder, Issa A.D. Nesnas, Mihail Pivtoraiko, Alonzo Kelly, and Richard Volpe. Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets. In Proceedings of the International Conference on Robotics and Automation, 2011. [pdf]
  16. Mihail Pivtoraiko and Alonzo Kelly. Kinodynamic Motion Planning with State Lattice Motion Primitives. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011. [pdf]
  17. Mihail Pivtoraiko and Alonzo Kelly. Graduated Fidelity Motion Planning. In Proceedings of the International Symposium on Combinatorial Search, 2011. [download unavailable]
  18. F. Rogers-Markovitz, A. Kelly, “Real-Time Vehicle Dynamic Model Identification using Integrated Pertubative Dynamics”, International Symposium on Experimental Robotics,  June 2010. [pdf]
  19. Philipp Krüsi, Mihail Pivtoraiko, Alonzo Kelly, Thomas M. Howard, and Roland Siegwart. “Path Set Relaxation for Mobile Robot Navigation”. In Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space, 2010. [pdf]
  20. J. P. Tardiff, M. George, M. Laverne, A. Kelly, A. Stentz, M. Pivtoraiko and  A. Kelly, “A New Approach to Vision-Aided Inertial Navigation”,  IROS 2010. [pdf]
  21. J. P. Tardiff, M. George, M. Laverne, A. Kelly, A. Stentz, “Vision Aided Inertial Navigation for Power Line Inspection”, in proceedings of the International Conference on Applied Robotics for the Power Industry, CARPI 2010.  [pdf]
  22. A Kelly, E. Capstick, D.  Huber, H. Herman, P. Rander and R. Warner, “Real-Time Photorealistic Virtualized Reality Interface for Remote Mobile Robot Control”, in ISRR 2009. [.pdf]
  23. T. Howard, C. Green, A. Kelly, “Receding Horizon Model-Predictive Control for Mobile Robot Navigation of Intricate Paths”, FSR 09. [.pdf]
  24. D. Huber, H. Herman, A. Kelly, P. Rander, and J. Ziglar, “Real-time Photo-realistic Visualization of 3D Environments for Enhanced Tele-operation of Vehicles” International Conference on 3-D Digital Imaging and Modeling, 3DIM 09, Oct 3, 2009, Kyoto Japan. [.pdf]
  25. A. Kelly, D. Anderson, H. Herman, “Photogeometric Sensing for Mobile Robot Control and Visualization Tasks”, submitted to 23rd Convention of the Society for the Study of Artificial Intelligence and Simulation of Behaviour, AISB 2009, Edinburgh, Scotland. [.pdf]
  26. Pivtoraiko, M., Nesnas, I. and Kelly, A., “Autonomous Robot Navigation using Advanced Motion Primitives”, IEEE Aerospace Conference, March 2009.
  27. Dean Anderson, Thomas M. Howard, David Apfelbaum, Herman Herman, and Alonzo Kelly, “Coordinated Control and Range Imaging for Mobile Manipulation”, International Symposium on Experimental Robotics (ISER 2008), Athens, Greece, August 2008. [.pdf]
  28. Pivtoraiko, Mihail and Kelly, Alonzo, “Differentially constrained motion replanning using state lattices with graduated fidelity”, in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS08) pp. 2611 – 2616, September 2008. [.pdf]
  29. Green, C., Kelly, A., “Toward Optimal Sampling in the Space of Paths”. 13th International Symposium of Robotics Research, ISRR 07, November, 2007,  Hiroshima, Japan. [.pdf]
  30. Pivtoraiko, M., Nesnas, I. and Kelly, A., “Autonomous Robot Navigation with Advanced Motion Primitives”, IEEE Aerospace Conference, March 2009.  [.pdf]
  31. Dean Anderson, Thomas M. Howard, David Apfelbaum, Herman Herman, and Alonzo Kelly, “Coordinated Control and Range Imaging for Mobile Manipulation”, 2008 International Symposium on Experimental Robotics., Athens, Greece, August 2008.  [.pdf]
  32. Pivtoraiko, M., Howard, T., Nesnas, Issa A.D., Kelly, A., “Field Experiments in Rover Navigation via Model-Based Trajectory Generation and Nonholonomic Motion Planning in State Lattices”, 9th International Symposium on Artificial Intelligence, Robotics and Automation for Space (i-SAIRAS 2008). [.pdf]
  33. Kelly, A. Howard, T., Green, C. “Terrain Aware Inversion of Predictive Models for High Performance UGVs”, Proceedings of the SPIE Defense and Security Symposium, April, 2007, pp. 6561-6566.   [.pdf]
  34. Howard, T., Green, C., Kelly, A.,“ State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Highly Constrained Environments, in Proceedings of the 2007 Symposium on Field and Service Robots - FSR 2007, Chamonix, France, July 9-12, 2007. [.pdf]
  35. Howard, T., Kelly, A., “Trajectory and Spline Generation for All-Wheel Steering Mobile Robots”, International Conference on Intelligent Robots and Systems (IROS) 2006, Beijing, China. Beijing, China.[.pdf]
  36. [Knepper, R., Kelly, A., “High Performance State Lattice Planning Using Heuristic Look-Up Tables”, International Conference on Intelligent Robots and Systems (IROS) 2006, Beijing, China.[.pdf]
  37. Howard, T., Kelly, A., “Constrained Optimization Path Following of Wheeled Robots in Rough Terrain”, submitted to International Symposium on Experimental Robotics (ISER 2006), Rio De Janero, Brazil, Rio de Janeiro, Brazil, July 2006.[.pdf]
  38. Anderson, D., Herman H., Kelly, A., “Experimental Characterization of Commercial Flash Ladar Devices”, International Conference on Sensing Technologies”, November 21-23, 2005 Palmerston North, New Zealand[.pdf]
  39. Pitvoraiko, M., Kelly, A., “Efficient Constrained Path Planning via Search in State Lattices”, 8th International Symposium on Artificial Intelligence, Robotics and Automation I-SAIRAS, September 5-9, 2005, Munich, Germany.[.pdf]
  40. Howard, T., and Kelly, A., “Terrain-Adpative Generation of Optimal Continuous Trajectories for Mobile Robots”, 8th International symposium on Artificial Intelligence, Robotics and Automation I-SAIRAS, September 5-9, 2005, Munich, Germany.[.pdf]
  41. Pivtoraiko, M., Kelly, A., “Generating Near Minimal Spanning Control Sets for Constrained Motion Planning in Discrete State Spaces”, Proceedings IROS 2005, Edmonton Alberta, Canada, August 2005.[.pdf]
  42. Pivtoraiko, M., Kelly, A, “Constrained Motion Planning in Discrete State Spaces.” Field and Service Robots, Ocober 2005, Port Douglas, Australia.[.pdf]
  43. Howard, T., and Kelly, A., “Trajectory Generation on Rough Terrain Considering Actuator Dynamics”, Field and Service Robots, October, 2005, Port Douglas, Australia.[.pdf]
  44. Pivtoraiko, M., Kelly, A, and Rander R., “Efficient Braking Model for Off-Road Mobile Robots.” Field and Service Robots, Ocober 2005, Port Douglas, Australia.[.pdf]
  45. Kelly, A., “Fast and Easy Systematic and Stochastic Odometry Calibration”. IROS, Sendai Japan, September 2004.[.pdf]
  46. Kelly, A., et al., “Toward Reliable Off-Road Autonomous Vehicle Operating in Challenging Environments”, International Symposium on Experimental Robotics, June, 2004, Singapore.[.pdf]
  47. Kelly, A., “Precision Dilution in Triangulation-Based Mobile Robot Position Estimation”, Intelligent Autonomous Systems, Amsterdam, 2003.[.pdf]
  48. Kelly, A. Unnikrishnan, R., “Efficient Construction of Optimal and Consistent Ladar Maps using Pose Network Topology and Nonlinear Programming, 11th International Symposium of Robotics Research (ISRR'2003), Sienna, Italy, November 2003.[.pdf]
  49. Stentz, T., Kelly, A., Herman, H., Rander, P., Mandelbaum R., “Integrated Air/Ground Vehicle System for Semi-Autonomous Off-Road Navigation”, in Proceedings of AUVSI’s Symposium on Unmanned Systems 2002, July, 2002 .  [.pdf]
  50. Diaz, A., Kelly, A., “Development of a Terrain Adaptive Stability Prediction System for Mass Articulating Mobile Robots ”, Field and Service Robots 2003, Tsukuba Japan, 2003.[.pdf]
  51. Kelly A., “Efficient Parametric Synthesis of Optimal Mobile Robot Trajectories”, 11th International Conference on Advanced Robotics, July 2002, Coimbra, Portugal.[.pdf]
  52. Unnikrishnan, R., Kelly, A., "A Constrained Optimization Approach to Globally Consistent Mapping", International Conference on Intelligent Robots and Systems (IROS 02), Lausanne, Switzerland, 2002.[.pdf]
  53. Kelly, A., "General Solution for Linearized Stochastic Error Propagation in Vehicle Odometry", Proceedings of 15th IFAC World Congress on Automatic Control, Barcelona, Spain, July 2002.[.pdf]
  54. Unnikrishnan, R., Kelly, A., "Mosaicing Large Cyclic Environments for Visual Navigation in Autonomous Vehicles", in Proceedings of International Conference on Robotics and Automation (ICRA02), Washington, DC., May 2002.[.pdf]
  55. Kelly, A., "General Solution for Linearized Error Propagation in Vehicle Odometry", Proceedings of 10th International Symposium of Robotics Research (ISRR'2001), Lorne, Victoria, Australia, November 2001[.pdf]
  56. Kelly, A., "Model-Based Object Pose Refinement For Terrestrial and Space Autonomy", 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (ISAIRAS 01), Montreal, Quebec, Canada June 18,2001.[.pdf]
  57. Kelly, A., "General Solution for Linearized Systematic Error Propagation in Vehicle Odometry", International Conference on Intelligent Robots and Systems (IROS 01), Maui, Hawaii, Nov 2001.[.pdf]
  58. Nagy, B., Kelly, A., "Trajectory Generation for Car-Like Robots Using Cubic Curvature Polynomials", Field and Service Robots 2001 (FSR 01), Helsinki, Finland - June 11, 2001.[.pdf]
  59. Kelly, A., "Pose Tracking For Mobile Robot Localization From Large Scale Appearance Mosaics", International Symposium on Robotics and Automation (ISRA 00), Monterrey, N.L., Mexico - November 2000.[.pdf]
  60. Rowe, P., Kelly, A., "Map Construction for Mosaic-Based Vehicle Position Estimation", International Conference on Intelligent Autonomous Systems (IAS6), Venice, Italy, July 25, 2000.[.pdf]
  61. Kelly, A., "Contemporary Feasibility of Image Mosaic Based Vehicle Position Est", in Proceedings of International Conference on Robotics and Applications (IASTED99), Santa Barbara, CA - October 28-30, 1999.[.pdf]
  62. Kelly, A., Stentz, A. "Minimum Throughput Adaptive Perception for High Speed Mobility", IROS 1997.[.pdf]
  63. Kelly, A., Stentz, A. "Computational Complexity of Terrain Mapping Perception in Autonomous Mobility", ICRA 1997.[.pdf]
  64. Kelly, A., Stentz, A. ,J. Riekki, J. Roning, A. Mandow, V. F. Munoz, R. Fernandez, and A. Garcia-Cerezo. "Perception for Vehicle Control." In proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'97, September 7-11, 1997.
  65. Kelly, A., Stentz, A. "Analysis of Requirements for High Speed Rough Terrain Mobility: Part 1 - Throughput and Response", ICRA 1997.[.pdf]
  66. Kelly, A., Stentz, A. "Analysis of Requirements for High Speed Rough Terrain Mobility: Part 2 - Resolution and Accuracy", ICRA 1997.[.pdf]
  67. Kelly, A., Stentz, A. "An Approach to Rough Terrain Autonomous Mobility", International Conference on Mobile Planetary Robots, Santa Monica, January 1997.[.pdf]
  68. Singh, S. and Kelly, A., Robot Planning in the Space of Feasible Actions: Two Examples, In Proc. Int'l Conference on Robotics and Automation, April 1996, Minneapolis. [.pdf]
  69. I. Davis, A. Kelly, A. Stentz, L. Matthies, "Terrain Typing for Real Robots", IEEE Symposium on Intelligent Vehicles, Detroit, 1995. [.pdf]
  70. L. Matthies, A. Kelly, T. Litwin, G. Tharp, "Obstacle Detection for Unmanned Ground Vehicles: A Progress Report", 7th International Symposium on Robotics Research, October 21-24, 1995, Munich, Germany. [.pdf]
  71. Motazed, B., Patukas, D., Kelly, A., Pomerleau, D., Jochem, T., "Demonstration of an Autonomous Convoying Concept", Proceedings of the Fifth Annual Meeting of IVHS America, March 15-17, 1995, Washington, DC.
  72. Brumitt B., Coulter R., Kelly A., Stentz A., " A System for Autonomous Cross Country Navigation", IFAC Symposium on Intelligent Components and Instruments for Control Applications, May 20-22, Malaga, Spain, 1992.
  73. Kelly, A., Stentz, A., Hebert M., "Terrain Map Building for Fast Navigation on Rugged Outdoor Terrain", proceedings of SPIE Mobile Robots VII, Boston, MA, 1992.
  74. Stentz, A., Brumitt, B.L., Coulter, R.C., Kelly, A. J. "An Autonomous System for Cross Country Navigation" proceedings of SPIE Mobile Robots VII, Boston, MA, 1992.

Un-Refereed Conference/Workshop Proceedings

  1. George, M., Laverne, M., Kelly, A., “New Aiding Approaches in Personal Navigation”, JSDE/ION Joint Navigation Conference 2011, San Diego, California. [download unavailable]
  2. George, M., Laverne, M., Kelly, A., “Experimental Validation of Foot to Foot Range Measurements in Pedestrian Tracking”, 2011 Joint Navigation Conference, Colorado Springs, Colorado. [download unavailable]
  3. Mihail Pivtoraiko and Alonzo Kelly. Rover Trajectory Planning: Constrained Global Planning and Path Relaxation. In Workshop on Motion Planning at the International Conference on Robotics and Automation, 2010. [download unavailable]
  4. Mihail Pivtoraiko and A. Kelly, ‘Fast and Feasible Deliberative Motion Planner for Dynamic Environments., ICRA 2009 Workshop on Safe Navigation in Open and Dynamic Environments: Application to Autonomous Vehicles.   [.pdf]
  5. Al Kelly, Tamal Mukherjee, Gary Fedder, Dan Stancil, Amit Lal, Michael Berarducci, "Sensor Assisted Micro Inertial Measurement for GPS Denied Personal Navigation”, 2009 Joint Navigation Conference, Orlando Florida.
  6. Kelly, A., Howard, T., Terrain Aware Inversion of Predictive Models for Planetary Rovers, In Proc. Nasa Science and Technology Conference, College Park, Maryland, June 20, 2007.   [.pdf]
  7. Kelly, A., ICRA 06, “Vehicle Modelling and Precision Motion Generation in Complex Environments", workshop on “Sensor-Based Motion for Complex Robots in Complex Environments”,  Orlando, Florida, May 2006
  8. Kelly, A., "General Solution for Linearized Stochastic Error Propagation in Vehicle Odometry", Proceedings of 15th IFAC World Congress on Automatic Control, Barcelona, Spain, July 2002.   [.pdf]
  9. Kelly, A., “Stereo Vision Enhancements for Low Cost Outdoor Autonomous Mobility”, Int'l Confer­ence on Robotics and Automation, Leuven, Belgium - May 1998.  [.pdf]

Magazine Articles

  1. Kelly A, “On The Upside: A Decade of Growth and Innovation”. IEEE Robotics and Automation Magazine. Vol 16 (2),  pp 116-118, June 2009.
  2. Chatila, R.,Kelly, A., Leonard, J., Sukkarieh, S., « Les Drones, International: Tendences Scientifiques et Techniques, le Magazine Des Ingénieurs de l’ Armament », Confédération Amicale des Ingénieurs de l’ Armament, No 83, June 2007.

Symposium Session and Journal Editorials

  1. Kelly, A., « Human Robot Interaction ». Session summary for International Symposium on Experimental Robotics (ISER 2012), Quebec City, Canada, July 2012.
  2. Howard, A., Iagnemma, K., Kelly, A., International Journal of Robotics Research, Editorials for 2010 Special Issue on Field Robotics, Volume 29, Issue 12 October 2010.
  3. Kelly, A., Matthies, L., Wettergreen, D., Journal of Field Robotics, Editorials for 2007 Special Issue on Space Robotics, Volumes 24, Issues 3,4,5 March 2007. 
  4. Kelly, A., « SLAM in Collaborative Robotics ». Session summary for International Symposium on Experimental Robotics (ISER 2006), Rio De Janero, Brazil, Rio de Janeiro, Brazil, July 2006.
  5. Kelly, A., Thorpe, C.,  Summary for Field Robots Session, 12th International Symposium of Robotics Research (ISRR 2005) October 12th-15th, 2005 San Francisco, CA,

CMU Tech Reports

  1. Kelly, A., “A Vector Algebra Formulation of Kinematics of Wheeled Mobile Robots”, Tech. report CMU-RI-TR-10-33, Robotics Institute, Carnegie Mellon University, August, 2010. [pdf]
  2. Kelly, A., “Error Propagation in Aided Discrete 2D Accelerometry”, Tech. report CMU-RI-TR-10-32, Robotics Institute, Carnegie Mellon University, August, 2010
  3. M. Pivtoraiko, R.A. Knepper, and A. Kelly, Optimal, Smooth, Nonholonomic Mobile Robot Motion Planning in State Lattices Tech. report CMU-RI-TR-07-15, Robotics Institute, Carnegie Mellon University, May, 2007. [.pdf]
  4. Chris Urmson, “… ‘, Alonzo Kelly, “…‘, “Tartan racing: A Multi-Modal Approach to the Darpa Urban Challenge”, Defense Advanced Res. Projects Agency, Arlington, VA, DARPA Tech. Rep, 2007.Propagation of Error in Vehicle Odometry[.pdf]
  5. Green, C., Kelly, A., CMU-RI-TR-06-51, “Optimal Sampling In the Space of Paths: Preliminary Results”.
  6. A. Stentz, A. Kelly, P. Rander, H. Herman, O. Amidi, R. Mandelbaum, G. Salgian, and J. Pedersen. "Real-Time, Multi-Perspective Perception for Unmanned Ground Vehicles."  NREC Whitepaper. 2005.
  7. M Pivtoraiko, A Kelly, CMU-RI-TR-04-68. “A Study of Polynomial Curvature Clothoid Paths for Motion Planning for Car-like Robots”.
  8. Kelly, A., CMU-RI-TR-00-21, “Mobile Robot Localization from Large Scale Appearance Mosaics”[.pdf]
  9. Kelly, A., CMU-RI-TR-00-20, “Some Useful Results for Closed Form Propagation of Error in Odometry”
  10. Kelly, A., CMU-RI-TR-94-21,  Concept Design of a Laser Rangefinder For Autonomous Vehicles[.pdf]
  11. Kelly, A., CMU-RI-TR-94-20, “An Intelligent Predictive Controller for Autonomous Vehicles”[.pdf]
  12. Kelly, A., CMU-RI-TR-94-19, “A 3D State Space Formulation of a Navigation Kalman Filter for Autonomous Vehicles” [.pdf]
  13. Kelly, A., CMU-RI-TR-94-18, “Adaptive Perception for Autonomous Vehicles”[.pdf]
  14. Kelly, A., CMU-RI-TR-94-17, “A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles” [.pdf]
  15. Kelly, A., CMU-RI-TR-94-16, “A Partial Analysis of The High Speed Autonomous Navigation Problem” [.pdf]
  16. Kelly, A., CMU-RI-TR-94-15, “Modern Inertial and Satellite Navigation Systems” [.pdf]
  17. Kelly, A., CMU-RI-TR-94-14, “Essential Kinematics for Autonomous Vehicles” [.pdf]

Patents 

  1. US Patent , Jan 2009, “Apparatuses, Systems, and Methods, For Vehicle Operation and Remote Sensing.” Issued.
  2. US Pat.Number 5,999,866 “Infrastructure Independent Position Determining System”, Issued Dec 7, 1999.
  3. European Patent US1997/019944 “Infrastructure Independent Position Determining System”
  4. US Pat. 6,453,223 CIP “Infrastructure Independent Position Determining System” – Continuation In Part. Issued September 17, 2002
  5. US Pat. Application 09/940,096 “High Precision Object Localization System for Autonomous Fork Vehicles”, Filed Aug 27,2001. Issued.
  6. US Pat. Application “Method and Apparatus for Receiving, Storing, and Distributing Range Data in Earthmoving Applications”.  Issued.
  7. US Patent Application 99240;99244 “System and Method for Object Localization”. Issued.

Last-Modified: Mar 2014