Publications

"A Comparative Study Between Centralized, Market-Based, and Behavioral Multirobot Coordination Approaches," M. B. Dias and A. Stentz, Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), October 2003.

"Real-Time, Multi-Perspective Perception for Unmanned Ground Vehicles," A. Stentz, A. Kelly, P. Rander, H. Herman, O. Amidi, R. Mandelbaum, G. Salgian, and J. Pedersen, Proceedings of AUVSI2003, July 2003.

"TraderBots: A Market-Based Approach for Resource, Role, and Task Allocation in Multirobot Coordination," M. B. Dias and A. Stentz, Proceedings of the Workshop on Representations and Approaches for Time-Critical Decentralized Resource/Role/Task Allocation at the Second International Joint Conference on Autonomous Agents & Multi-Agent Systems (AAMAS 2003), July 2003.

"Learning Predictions of the Load-Bearing Surface for Autonomous Rough-Terrain Navigation in Vegetation," C. Wellington and A. Stentz, Proceedings of the 2003 International Conference on Field and Service Robotics (FSR), July 2003.

"Market-based Multirobot Control Using Task Abstraction," R. Zlot and A. Stentz, Proceedings of the 2003 International Conference on Field and Service Robotics (FSR), July 2003.

"Market-based Multirobot Coordination for Complex Space Applications," M. B. Dias, A. Stentz, and D. Goldberg, Proceedings of the 7th International Symposium on Artificial Intelligence, Robotics and Automation in Space (I-SAIRAS), May 2003.

"Constrained Dynamic Route Planning for Unmanned Ground Vehicles," A. Stentz, Proceedings of the ARL Collaborative Technologies Alliance Symposium, April 2003.

"Market-based Multirobot Coordination using Task Abstraction," R. Zlot and A. Stentz, Proceedings of the ARL Collaborative Technologies Alliance Symposium, April 2003.

"A Market Approach to Tightly-Coupled Multi-Robot Coordination: First Results," N. Kalra and A. Stentz, Proceedings of the ARL Collaborative Technologies Alliance Symposium, April 2003.

"Market-based Multirobot Coordination using Task Abstraction," R. Zlot and A. Stentz, Submitted to the 2003 Field and Service Robotics Conference, December 2002.

"Constrained Dynamic Route Planning for Unmanned Ground Vehicles," A. Stentz, Proceedings of the 23rd Army Science Conference, December 2002.

"A Distributed Layered Architecture for Mobile Robot Coordination: Application to Space Exploration," D. Goldberg, V. Cicrello, M.B. Dias, R. Simmons, S. Smith, T. Smith, and A. Stentz, Proceedings of the 3rd International NASA Workshop on Planning and Scheduling for Space, October 2002.

"Opportunistic Optimization for Market-Based Multirobot Control," M. B. Dias and A. Stentz, Proceedings of IROS2002, September 2002.

"Enhanced Negotiation and Opportunistic Optimization for Market-Based Multirobot Coordination," M.B. Dias and A. Stentz, Carnegie Mellon Robotics Institute Technical Report CMU-RI-TR-02-18, August 2002.

"CD*: a real-time resolution optimal re-planner for globally constrained problems," A. Stentz, Proceedings of AAAI 2002, July 2002.

"Integrated Air/Ground Vehicle System for Semi-Autonomous Off-Road Navigation," A. Stentz, A. Kelly, P. Rander, H. Herman, O. Amidi, and R. Mandelbaum, Proceedings of AUVSI2002, July 2002.

"A System for Semi-Autonomous Tractor Operations", A. Stentz, C. Dima, C. Wellington, H. Herman, and D. Stager, Autonomous Robots, Vol. 13, No. 1, July 2002.

"The DEMETER System for Autonomous Harvesting", T. Pilarski, M. Happold, H. Pangels, M. Ollis, K. Fitzpatrick, and A. Stentz, Autonomous Robots, Vol. 13, No. 1, July 2002.

"A Layered Architecture for Coordination of Mobile Robots," R. Simmons, T. Smith, M.B. Dias, D. Goldberg, D. Hershberger, A. Stentz, and R. Zlot, Proceedings of the 2002 NRL Workshop on Multi-Robot Systems, May 2002.

"Mission Planning for the Sun-Synchronous Navigation Field Experiment," P. Tompkins, A. Stentz, and W. Whittaker, Proceedings of the 2002 IEEE International Conference on Robotics and Automation, May 2002.

"Multi-Robot Exploration Controlled by a Market Economy," R. Zlot, A. Stentz, M. B. Dias, and S. Thayer, Proceedings of the 2002 IEEE International Conference on Robotics and Automation, May 2002.

"Autonomous Driving with Concurrent Goals and Multiple Vehicles: Experiments and Mobility Components," B. Brumitt, A. Stentz, and M. Hebert, Autonomous Robots, Vol. 12, No. 2, March 2002.

"Market-Driven Multi-Robot Exploration", R. Zlot, A. Stentz, M. B. Dias, and S. Thayer, Carnegie Mellon Robotics Institute Technical Report CMU-RI-TR-02-02, January 2002.

"Autonomous Driving with Concurrent Goals and Multiple Vehicles: Mission Planning and Architecture," B. Brumitt, A. Stentz, and M. Hebert, Autonomous Robots, Vol. 11, No. 2, September 2001.

"A Market Approach to Multirobot Coordination," M. B. Dias and A. Stentz, Carnegie Mellon Robotics Institute Technical Report CMU-RI-TR-01-26, August 2001.

"Automated Surface Mission Planning Considering Terrain, Shadows, Resources and Time," P. Tompkins, A. Stentz, and W. Whittaker, Proceedings of the 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (I-SAIRAS), June 2001.

"Robotic Technologies for Outdoor Industrial Vehicles", A. Stentz, Proceedings of SPIE AeroSense, Unmanned Ground Vehicle Technologies, April 2001.

"Distributed Robotic Mapping of Extreme Environments", S.M. Thayer, M. B. Dias, A. Stentz, B. L. Digney, B. Nabbe, and M. Hebert, Proceedings of SPIE Vol. 4192: Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, November 2000.

"An Efficient On-line Path Planner for Mobile Robots Operating in Vast Environments, A. Yahja, S. Singh, and A. Stentz, Robotics and Autonomous Systems, Vol 33, Nos. 2&3, August 2000.

"A Free Market Architecture for Distributed Control of a Multi-Robot System", M. B. Dias and A. Stentz, Proceedings of the 6th International Conference on Intelligent Autonomous Systems, July 2000.

"Recent Progress in Local and Global Traversability for Planetary Rovers", S. Singh, K. Schwehr, R. Simmons, T. Smith, A. Stentz, V. Verma, and A. Yahja, Proceedings of the International Conference on Robotics and Automation, April 2000.

"A Free Market Architecture for Coordinating Multiple Robots", A. Stentz and M. B. Dias, Carnegie Mellon Robotics Institute Tech Report CMU-RI-TR-99-42, December 1999.

"Position Measurement for Automated Mining Machinery", A. Stentz, M. Ollis, S. Scheding, H. Herman, C. Fromme, J. Pedersen, T. Hegadorn, R. McCall, J. Bares, and R. Moore, Proceedings of the International Conference on Field and Service Robotics, August 1999.

"A Robotic Excavator for Autonomous Truck Loading", A. Stentz, J. Bares, S. Singh, and P. Rowe, Autonomous Robots, June 1999.

"The DEMETER System for Autonomous Harvesting", T. Pilarski, M. Happold, H. Pangels, M. Ollis, K. Fitzpatrick, and A. Stentz, Proceedings of the 8th International Topical Meeting on Robotics and Remote Systems, April 1999.

"Obstacle Detection and Safeguarding for an High-Speed Autonomous Hydraulic Excavator", P. Leger, P. Rowe, J. Bares, S. Boehmke, and A. Stentz, Proceedings of SPIE Mobile Robots VIII, November 1998.

"Recent Results in Path Planning for Mobile Robots Operating in Vast Outdoor Environments", A. Yahja, S. Singh, and A. Stentz, Proceedings of the 1998 Symposium on Image, Speech, Signal Processing, and Robotics, September 1998.

"Mobility Planning for Autonomous Navigation of Multiple Robots in Unstructured Environments," M. Hebert, A. Stentz, and C. Thorpe, Proceedings of ISIC/CIRA/ISAS Joint Conference on the Science and Technology of Intelligent Systems, September 1998.

"A Robotic Excavator for Autonomous Truck Loading", A. Stentz, J. Bares, S. Singh, and P. Rowe, Proceedings of the IEEE/RSJ International Conference on Intelligent Robotic Systems, 1998.

"GRAMMPS: A Generalized Mission Planner for Multiple Mobile Robots", B. Brumitt and A. Stentz, Proceedings of the IEEE International Conference on Robotics and Automation, May 1998.

"Framed-Quadtree Path Planning for Mobile Robots Operating in Sparse Environments", A. Yahja, A. Stentz, B. Brumitt, and S. Singh, Proceedings of the IEEE International Conference on Robotics and Automation, May 1998.

"Experiments in Autonomous Driving with Concurrent Goals and Multiple Vehicles", B. Brumitt, M. Hebert, and CMU UGV Group, Proceedings of the IEEE International Conference on Robotics and Automation, May 1998.

"Rough Terrain Autonomous Mobility -- Part 1: a Theoretical Analysis of Requirements", A. Kelly and A. Stentz, Autonomous Robots, No. 5, May 1998.

"Rough Terrain Autonomous Mobility -- Part 2 an Active Vision, Predictive Control Approach", A. Kelly and A. Stentz, No. 5, May 1998.

"Stereo Vision Enhancements for Low-Cost Outdoor Autonomous Vehicles", A. Kelly and A. Stentz, Proceedings of International Conference on Robotics and Automation Workshop on Navigation of Outdoor Autonomous Vehicles, May 1998.

"Map Building and Terrain-Aided Localisation in an Underground Mine", G. Dissanayake, M. Hebert, A. Stentz, and H. Durrant-Whyte, Proceedings of the Field and Service Robotics Conference, Canberra, 1997.

"Minimum Throughput Adaptive Perception for High Speed Mobility", A. Kelly and A. Stentz, Proceedings of the IEEE/RJS International Conference on Intelligent Robotic Systems, September 1997.

"Parameterized Scripts for Motion Planning", P. Rowe and A. Stentz, Proceedings of the IEEE/RSJ International Conference on Intelligent Robotic Systems, September 1997.

"Vision-Based Perception for an Autonomous Harvester", M. Ollis and A. Stentz, Proceedings of the IEEE/RSJ International Conference on Intelligent Robotic Systems, September 1997.

"Best Information Planning for Unknown, Uncertain, and Changing Domains", A. Stentz, Proceedings of the AAAI Workshop on On-Line Search, July 1997.

"Analysis of Requirements for High Speed Rough Terrain Autonomous Mobility", A. Kelly and A. Stentz, Proceedings of the IEEE International Conference on Robotics and Automation, April 1997.

"Computational Complexity of Terrain Mapping Perception in Autonomous Mobility", A. Kelly and A. Stentz, Proceedings of the IEEE International Conference on Robotics and Automation, April 1997.

"An Approach to Rough Terrain Autonomous Mobility", A. Kelly and A. Stentz, Proceedings of the International Conference on Mobile Planetary Robots, January 1997.

"Intelligent Unmanned Ground Vehicles: Autonomous Navigation Research at Carnegie Mellon", M. Hebert, C. Thorpe, and A. Stentz (editors), Kluwer Academic Publishers, 1997.

"Dynamic Mission Planning for Multiple Mobile Robots", B. Brumitt and A. Stentz, Proceedings of the IEEE International Conference on Robotics and Automation, May 1996.

"First Results in Vision-Based Crop Line Tracking", M. Ollis and A. Stentz, Proceedings of the IEEE International Conference on Robotics and Automation, May 1996.

"Map-Based Strategies for Robot Navigation in Unknown Environments", A. Stentz, Proceedings of the AAAI Spring Symposium on Planning with Incomplete Information for Robot Problems, March 1996.

"Computer Vision for Navigation: The CMU UGV Project", M. Hebert, D. Pomerleau, C. Thorpe, and A. Stentz, Proceedings of the Workshop on Vision for Robots, 1995.

"Sensor Fusion for Autonomous Outdoor Navigation Using Neural Networks", I. L. Davis and A. Stentz, Proceedings of the IROS '95, August 1995.

"Terrain Typing for Real Robots", I. L. Davis, A. Kelly, A. Stentz, L. Matthies, Proceedings of IEEE Intelligent Vehicles '95 Conference.

"The Focussed D* Algorithm for Real-Time Replanning", A. Stentz, Proceedings of IJCAI-95, August 1995.

"A Complete Navigation System for Goal Acquisition in Unknown Environments", A. Stentz and M. Hebert, Proceedings of IROS '95, August 1995.

"A Complete Navigation System for Goal Acquisition in Unknown Environments", A. Stentz and M. Hebert, Autonomous Robots, Vol. 2, No. 2, August 1995.

"Optimal and Efficient Path Planning for Unknown and Dynamic Environments", A. Stentz, International Journal of Robotics and Automation, Vol. 10, No. 3, 1995.

"A Complete Navigation System for Goal Acquisition in Unknown Environments", A. Stentz and M. Hebert, Proceedings of the 1994 ARPA Image Understanding Workshop, September, 1994.

"The D* Algorithm for Real-Time Planning of Optimal Traverses", A. Stentz, Carnegie Mellon University Robotics Institute Technical Report CMU-RI-TR-94-37, September, 1994.

"A Mobile Robot Iconic Position Estimator using a Radial Laser Scanner", J. Gonzalez, A. Stentz, and A. Ollero, Journal of Intelligent and Robotic Systems, 13: 161-179, 1995.

"Subsurface Sensing for the Autonomous Retrieval of Buried Objects", H. Herman and A. Stentz., Proceedings of the International Conference on Ground Penetrating Radar, June, 1994.

"Optimal and Efficient Path Planning for Partially-Known Environments", A. Stentz, Proceedings of the IEEE International Conference on Robotics and Automation, May, 1994.

"A Complete Navigation System for Goal Acquisition in Unknown Environments", A. Stentz and M. Hebert, Carnegie Mellon University Robotics Institute Technical Report CMU-RI-TR-94-07, April, 1994.

"Active Surface/Subsurface Perception for Autonomous Excavation", H. Herman and A. Stentz, Proceedings of the SPIE Conference on Sensor Fusion and Aerospace Applications II, April, 1994.

"Smart Cars: The CMU Navlab", C. Thorpe, R. C. Coulter, M. Hebert, T. Jochem, D. Langer, D. Pomerleau, J. K. Rosenblatt, W. Ross, and A. Stentz, Proceedings of WORLD MED'93, Marseille, France, October, 1993.

"Optimal and Efficient Path Planning for Unknown and Dynamic Environments", A. Stentz, Carnegie Mellon University Robotics Institute Technical Report CMU-RI-TR-93-20, August, 1993.

"Automated Surveying of Mines Using a Scanning Laser Rangefinder", G. Shaffer and A. Stentz, Proceedings of SME Annual Symposium on Robotics and Automation, February, 1993.

"A Comparison of Two Range-Based Pose Estimators for a Mobile Robot", G. Shaffer, J. Gonzalez, and A. Stentz, Proceedings of SPIE Symposium on Mobile Robots, 1992.

"An Autonomous System for Cross-Country Navigation", A. Stentz, B. Brumitt, R. Craig Coulter, and A. Kelly, Proceedings of SPIE Symposium on Mobile Robots, 1992.

"Terrain Map Building for Fast Navigation on Rugged Outdoor Terrain", A. Kelly, A. Stentz, and M. Hebert, Proceedings of SPIE Symposium on Mobile Robots, 1992.

"Dynamic Trajectory Planning for a Cross-Country Navigator", B. Brumitt, R. Craig Coulter, and A. Stentz, Proceedings of SPIE Symposium on Mobile Robots, 1992.

"An Iconic Position Estimator for a 2-D Laser RangeFinder", J. Gonzalez, A. Stentz, and A. Ollero, Carnegie Mellon University Robotics Institute Technical Report CMU-RI-TR-92-04, May, 1992.

"An Autonomous Cross Country Navigation System", A. Stentz, B. Brumitt, R. Coulter, and A. Kelly, IFAC Symposium on Intelligent Components and Instruments for Control Application, May, 1992.

"Iconic Position Estimator for a 2D Laser RangeFinder", J. Gonzalez, A. Stentz, and A. Ollero, Proceedings of IEEE International Conference on Robotics and Automation, May, 1992.

"Position Estimator for Underground Mine Equipment", G. Shaffer, A. Stentz, W. Whittaker, and K. Fitzpatrick, IEEE Transactions on Industry Applications, Volume 28, Number 5, September/October, 1992.

"A Robotic System for Underground Coal Mining", G. Shaffer and A. Stentz, Proceedings of IEEE International Conference on Robotics and Automation, May, 1992.

"A Method for Determining Path Admissability for an Offroad Mobile Robot in Rugged Terrain", R. Coulter and A. Stentz, CSME Transport, 1992.

"A Telerobotic Solution for Tool Insertion Tasks in Nuclear Servicing", R. Coulter, A. Stentz, P. Keller, and W. Whittaker, Remote Systems Session of the ANS Winter Meeting, November, 1991.

"An Application of Tool Insertion Using Model Based Vision", R. Coulter, A. Stentz, P. Keller, and W. Whittaker, Proceedings of IEEE International Conference on Systems Engineering, August 1991.

"A System for Telerobotic Control of Servicing Tasks in a Nuclear Steam Generator", R. C. Coulter, A. Stentz, P. C. Keller, G. Shaffer, W. L. Whittaker, B. L. Brumitt, and W. Burky, Carnegie Mellon University Robotics Institute Technical Report CMU-RI-TR-90-24, December, 1990.

"Hierarchical Terrain Representations for Off-Road Navigation", J. Gowdy, A. Stentz, and M. Hebert, Proceedings of SPIE Symposium on Mobile Robots, 1990.

"Position Estimator for Robotic Mine Equipment," G. Shaffer, A. Stentz, W. Whittaker, and K. Fitzpatrick, Proceedings of Tenth WVU International Mining Electrotechnology Conference, July 1990.

"The NAVLAB System for Mobile Robot Navigation," A. Stentz, Carnegie Mellon University Ph.D. Thesis, School of Computer Science CMU-CS-90-123, March, 1990.

"Multiresolution Constraint Modeling for Mobile Robot Planning," A. Stentz, Proceedings of SPIE Symposium on Advances in Intelligent Robotics Systems, November 1989.

"The Driving Pipeline: A Driving Control Scheme for Mobile Robots," Y. Goto, A. Stentz, and S. Shafer, the International Journal of Robotics and Automation, Volume 4, Number 1, 1989.

"Against Complex Architectures," A. Stentz and C. Thorpe, Proceedings of AAAI Spring Symposium Series, March 1989.

"Module Programmer's Guide to CODGER." A. Stentz, E. Wyatt, D. Simon, and S. Shafer, CMU Robotics Institute internal report.

"The CMU Navigational Architecture", A. Stentz and Y. Goto, Proceedings of the DARPA Image Understanding Workshop, February, 1987.

"Mobile Robot Navigation: The CMU System," Y. Goto and A. Stentz, IEEE Expert, Volume 2, Number 4, Winter 1987.

"An Architecture for Sensor Fusion in a Mobile Robot," S. Shafer, A. Stentz, and C. Thorpe, Proceedings of IEEE International Conference of Robotics and Automation, April 1986.

"An Architecture for Autonomous Vehicle Navigation," A. Stentz and C. Thorpe, Proceedings of the Fourth International Symposium on Unmanned Untethered Submersible Technology, 1985.

"First Results in Robot Road-Following," R. Wallace, A. Stentz, C. Thorpe, H. Moravec, W. Whittaker, and T. Kanade, Proceedings of the International Joint Conference on Artificial Intelligence, 1985.

"Dynamically Stable Legged Locomotion," M. Raibert, B. Brown Jr., M. Chepponis, E. Hastings, J. Koechling, K. Murphy, S. Murthy, and A. Stentz, Carnegie Mellon Robotics Institute Technical Report, December 1983.

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