Alonzo Kelly's Publications

18. P. Krüsi, M. Pivtoraiko, A. Kelly, T. Howard, “Path Relaxation for Rover Navigation”, submitted to i-SAIRAS 2010.
19. J. P. Tardiff, M. George, M. Laverne, A. Kelly, A. Stentz, M. Pivtoraiko and  A. Kelly, “A New Approach to Vision-Aided Inertial Navigation”, submitted to IROS 2010.
20. A. Kelly, “Real-Time Photorealistic Virtualized Reality Interface for Remote Mobile Robot Control”, in ISRR 2009. [.pdf]
21. T. Howard, C. Green, A. Kelly, “Receding Horizon Model-Predictive Control for Mobile Robot Navigation of Intricate Paths”, FSR 09. [.pdf]
22. 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]
23. 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]
24. 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]
25. 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]
26. Pivtoraiko, M., Nesnas, I. and Kelly, A., “Autonomous Robot Navigation with Advanced Motion Primitives”, IEEE Aerospace Conference, March 2009.  [.pdf]
27. 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]
28. 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]
29. 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]
30. 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]
31. 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]
32. 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]
33. [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]
34. 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]
35. 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]
36. 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]
37. 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]
38. 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]
39. Pivtoraiko, M., Kelly, A, “Constrained Motion Planning in Discrete State Spaces.” Field and Service Robots, Ocober 2005, Port Douglas, Australia.[.pdf]
40. Howard, T., and Kelly, A., “Trajectory Generation on Rough Terrain Considering Actuator Dynamics”, Field and Service Robots, October, 2005, Port Douglas, Australia.[.pdf]
41. 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]
42. Kelly, A., “Fast and Easy Systematic and Stochastic Odometry Calibration”. IROS, Sendai Japan, September 2004.[.pdf]
43. Kelly, A., et al., “Toward Reliable Off-Road Autonomous Vehicle Operating in Challenging Environments”, International Symposium on Experimental Robotics, June, 2004, Singapore.[.pdf]
44. Kelly, A., “Precision Dilution in Triangulation-Based Mobile Robot Position Estimation”, Intelligent Autonomous Systems, Amsterdam, 2003.[.pdf]
45. 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]
46. 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]
47. 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]
48. Kelly A., “Efficient Parametric Synthesis of Optimal Mobile Robot Trajectories”, 11th International Conference on Advanced Robotics, July 2002, Coimbra, Portugal.[.pdf]
49. 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]
50. 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]
51. 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]
52. 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]
53. 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]
54. 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]
55. 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]
56. 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]
57. 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]
58. 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]
59. Kelly, A., Stentz, A. "Stereo Vision Enhancements for Low-Cost Outdoor Autonomous Vehicles", in International Conference on Robotics and Automation [Workshop WS-7, Navigation of Outdoor Autonomous Vehicles ], (ICRA98), Leuven, Belgium, May 1998.[.pdf]
60. Kelly, A., Stentz, A. "Minimum Throughput Adaptive Perception for High Speed Mobility", IROS 1997.[.pdf]
61. Kelly, A., Stentz, A. "Computational Complexity of Terrain Mapping Perception in Autonomous Mobility", ICRA 1997.[.pdf]
62. Kelly, A., Stentz, A. "Analysis of Requirements for High Speed Rough Terrain Mobility: Part 1 - Throughput and Response", ICRA 1997.[.pdf]
63. Kelly, A., Stentz, A. "Analysis of Requirements for High Speed Rough Terrain Mobility: Part 2 - Resolution and Accuracy", ICRA 1997.[.pdf]
64. Kelly, A., Stentz, A. "An Approach to Rough Terrain Autonomous Mobility", International Conference on Mobile Planetary Robots, Santa Monica, January 1997.[.pdf]
65. 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]
66. I. Davis, A. Kelly, A. Stentz, L. Matthies, "Terrain Typing for Real Robots", IEEE Symposium on Intelligent Vehicles, Detroit, 1995. [.pdf]
67. 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]
68. 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.
69. 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.
70. 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.
71. 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.

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Un-Refereed Conference/Workshop Proceedings

72. 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]
73. 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.
74. 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]
75. 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
76. 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]
77. Kelly, A., “Stereo Vision Enhancements for Low Cost Outdoor Autonomous Mobility”, Int'l Confer­ence on Robotics and Automation, Leuven, Belgium - May 1998.  [.pdf]

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