Tony Stentz


Contact Information:

National Robotics Engineering Center
#10 Fortieth Street
Pittsburgh, Pennsylvania 15201
Phone: (412) 268-8155
Fax: (412) 681-6961
Email: tony@cmu.edu

Campus Location:

Newell-Simon Hall, Room 2115
Robotics Institute
Carnegie Mellon University
Pittsburgh, Pennsylvania 15213

Hi. I'm a Research Professor with the Robotics Institute and the Director of the National Robotics Engineering Center at Carnegie Mellon University. My research interests include path planning, multi-robot control, computer vision, system architecture, and artificial intelligence for construction, agricultural, mining, and exploration robots.


Research Interests

Multi-Robot Planning and Coordination

Dynamic Planning

Cross-Country Navigation

Surface Coverage Robotics

Automatic Map Generation


Current Research Projects

Autonomous Agricultural Spraying Project

Autonomous Underground Mining Project

Cognitive Colonies (Software for Distributed Robotics)

Mars Autonomy

Tactical Mobile Robotics


Past Research Projects

NAVLAB

DEMETER

Mass Excavation

Autonomous Mining and Mapping


Publication List


On-Line Publications

Multi-Robot Coordination:

Free market architecture for coordinating multiple robots (tech report with the ideas) ( Postscript or Adobe PDF)

Free market architecture for coordinating multiple robots (IAS-6 paper with preliminary results) ( Postscript or Adobe PDF)

Free market architecture for coordinating multiple robots (ICRA-02 paper with robot results) ( Adobe PDF)

Original GRAMMPS paper in ICRA 96 ( Postscript or Adobe PDF)

Updated GRAMMPS paper in ICRA 98 ( Postscript or Adobe PDF)

UGV and helicopter coordination in AUVSI 02 ( Adobe PDF)

Dynamic Planning:

Original D* paper in ICRA 94 ( Postscript or Adobe PDF)

Focussed D* paper in IJCAI 95 ( Postscript or Adobe PDF)

D*/SMARTY driving NAVLAB paper in Autonomous Robots 95 ( Postscript or Adobe PDF)

Map strategies for using D* in AAAI 96 workshop ( Postscript or Adobe PDF)

Framed Quad-trees with D* in ICRA 98 ( Postscript or Adobe PDF)

Constrained D* (AAAI 02 paper introducing algorithm) ( Adobe PDF)

Constrained D* (ASC 02 paper with example application) ( Adobe PDF)

All Terrain Navigation:

First PerceptOR paper in AUVSI 02 ( Adobe PDF)

Second PerceptOR paper in AUVSI 03 ( Adobe PDF)

UPI overview paper in AUVSI 07 ( Adobe PDF)

Agricultural Robotics:

Original DEMETER vision system paper in ICRA 96 ( Postscript or Adobe PDF)

Updated DEMETER vision system paper in IROS 97 ( Postscript or Adobe PDF)

DEMETER paper on complete system in ANS 99 ( Adobe PDF)

Mining Robotics:

Underground mining paper in FSR 99 ( Postscript or Adobe PDF)

Surface mining paper in IROS 98 ( Postscript or Adobe PDF)

Miscellaneous:

Industrial field robotics in SPIE 01 ( Adobe PDF)


Fun Stuff


Jump to my official Robotics Institute web page.