Recent Publications

2007 | 2006 | 2005 | 2004 | 2003

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Note also that most of the papers available here differ slightly from the versions that appeared in the cited journals.

Publications in 2007

 
N. Chakraborty, S. Berard, S. Akella, and J.C. Trinkle. An implicit compliant model for multibody systems with frictional intermittent contact. In ASME International Design Engineering Technical Conferences, September 2007.
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N. Chakraborty, S. Berard, S. Akella, and J.C. Trinkle. An implicit time-stepping method for multibody systems with intermittent contact. In Robotics: Science and Systems, June 2007. Best Student Paper Award.
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N. Shvalb, L.G. Liu, M. Shoham, and J.C. Trinkle. Motion planning for a class of planar closed-chain manipulators. International Journal of Robotics Research, 26(5):???-???, May 2007. in press.
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Kristopher R. Beevers and Wesley H. Huang. Fixed-lag sampling strategies for particle filtering SLAM. In 2007 International Conference on Robotics and Automation (ICRA 2007), Rome, Italy, April 2007.
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Stephen Berard, Binh Nguyen, Benjamin Roghani, Jeff Trinkle, Jon Fink, and Vijay Kumar. daVinci Code: A multi-model simulation and analysis tool for multi-body systems. In IEEE International Conference on Robotics and Automation, 2007.
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S. Kamath, E. M. Meisner, and V. Isler. Triangulation based multi target tracking with mobile sensor networks. In Proc. IEEE Int. Conf. on Robotics and Automation, 2007.
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O. Tekdas and V. Isler. Sensor placement algorithms for triangulation based localization. In Proc. IEEE Int. Conf. on Robotics and Automation, 2007.
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Publications in 2006

 
Kristopher R. Beevers. Sampling strategies for particle filtering SLAM. Technical Report 06-11, Department of Computer Science, Rensselaer Polytechnic Institute, Troy, NY, September 2006.
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Kristopher R. Beevers and Wesley H. Huang. Inferring and enforcing relative constraints in SLAM. In 2006 Workshop on the Algorithmic Foundations of Robotics (WAFR 2006), New York, NY, July 2006.
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N. Chakraborty, J. Peng, S. Akella, and J. Mitchell. Proximity queries between convex objects: An interior point approach for implicit surfaces. In 2006 IEEE International Conference on Robotics and Automation, pages 1910-1916, Orlando, FL, May 2006.
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Kristopher R. Beevers and Wesley H. Huang. SLAM with sparse sensing. In 2006 International Conference on Robotics and Automation (ICRA 2006), pages 2285-2290, Orlando, FL, May 2006.
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E. J. Griffith, S. Akella, and M. K. Goldberg. Performance characterization of a reconfigurable planar array digital microfluidic system. IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems, 25(2):340-352, February 2006.
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J.S. Pang, V. Kumar, and J.C. Trinkle. On a continuous-time quasistatic frictional contact model with local compliance. International Journal for Numerical Methods in Engineering, 2006. submitted.
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G.F. Liu, J.C. Trinkle, and N. Shvalb. Motion planning for a class of planar closed-chain manipulators. In IEEE International Conference on Robotics and Automation, pages 133-138, 2006.
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D. Cappelleri, J. Fink, B. Munkundakrisnam, V. Kumar, and J.C. Trinkle. Designing open-loop plans for planar micro-manipulation. In IEEE International Conference on Robotics and Automation, pages 637-642, 2006.
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Stephen Berard. Cooking with complementarity: A recipe guide for complementarity based rigid-multi-body dynamics simulation. Technical Report 06-08, Department of Computer Science, Rensselaer Polytechnic Institute, 2006.
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V. Isler and R. Bajcsy. The sensor selection problem for bounded uncertainty sensing models. IEEE Tran. Automation Science and Engineering, 2006. Accepted to the special issue on Distributed Sensing for Quality and Productivity Improvement.
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V. Isler, S. Kannan, and S. Khanna. Randomized pursuit-evasion with local visibility. SIAM Journal on Discrete Mathematics, 1(20):26-41, 2006.
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N. Bisnik, V. Isler, and A. Abouzeid. Stochastic event capture using mobile sensors subject to a quality metric. In The Annual International Conference on Mobile Computing and Networking (MOBICOM), 2006. to appear.
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V. Isler. Placement and distributed deployment of sensor teams for triangulation based localization. In Proc. IEEE Int. Conf. on Robotics and Automation, 2006. to appear.
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V. Isler, B. Wilson, and R. Bajcsy. Building a 3d virtual museum of native american baskets. In Proc. Third International Symposium on 3D Data Processing, Visualization and Transmission, 2006. to appear.
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Publications in 2005

 
F.R. Potra, M. Anitescu, B. Gavrea, and J.C. Trinkle. Linearly implicit trapezoidal method for integrating stiff multibody dynamics with contact, joints, and friction. International Journal for Numerical Methods in Engineering, 66(7):1079-1124, December 2005.
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E. J. Griffith and S. Akella. Coordinating multiple droplets in planar array digital microfluidic systems. International Journal of Robotics Research, 24(11):933-949, November 2005.
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B. Mukundakrishnan, V. Kumar, P. Song, J.C. Trinkle, and J.S. Pang. A hierarchical approach for design and assembly of mechanisms. In ASME International Design Engineering Technical Conferences, September 2005.
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J.C. Trinkle, S. Berard, and J.S. Pang. A time-stepping scheme for quasistatic multibody systems. In ASME International Design Engineering Technical Conferences, September 2005. submitted by invitation. This paper is identical to paper submitted to ISATP 2005, but this fact was made known to the organizers.
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Y. Girdhar, C. Bystroff, S. Akella, and E. Carlson. Efficient sampling of protein folding pathways using hmmstr and probabilistic roadmaps. In 2005 IEEE Computational Systems Bioinformatics Conference (CSB 2005), Stanford, CA, August 2005. Poster.
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Wesley H. Huang and Kristopher R. Beevers. Topological map merging. International Jounal of Robotics Research, 24(8):601-613, August 2005.
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J.C. Trinkle, S. Berard, and J.S. Pang. A time-stepping scheme for quasistatic multibody systems. In IEEE International Symposium on Assembly and Task Planning, pages 174-181, July 2005.
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P. Song, V. Kumar, J.C. Trinkle, and J.S. Pang. A family of models for manipulation planning. In IEEE International Symposium on Assembly and Task Planning, pages 236-241, July 2005.
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J. Peng and S. Akella. Coordinating multiple robots with kinodynamic constraints along specified paths. International Journal of Robotics Research, 24(4):295-310, April 2005.
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J. Peng and S. Akella. Coordinating multiple double integrator robots on a roadmap: Convexity and global optimality. In IEEE International Conference on Robotics and Automation, pages 2762-2769, Barcelona, Spain, April 2005.
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Kristopher R. Beevers and Wesley H. Huang. Loop closing in topological maps. In 2005 International Conference on Robotics and Automation (ICRA 2005), pages 4378-4383, Barcelona, Spain, April 2005.
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Wesley H. Huang and Kristopher R. Beevers. Complete topological mapping with sparse sensing. Technical Report 05-06, Department of Computer Science, Rensselaer Polytechnic Institute, Troy, NY, March 2005.
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E. Griffith and S. Akella. Coordinating multiple droplets in planar array digital microfluidics systems. In M. Erdmann, D. Hsu, M. Overmars, and A. F. van der Stappen, editors, Algorithmic Foundations of Robotics VI, pages 219-234. Springer-Verlag, Berlin, 2005.
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G.F. Liu and J.C. Trinkle. Complete path planning for planar closed chains among point obstacles. In Robotics: Science and Systems, pages 33-40. MIT Press, 2005.
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Wesley H. Huang and Kristopher R. Beevers. Topological mapping with sensing-limited robots. In M. Erdmann et al., editors, Algorithmic Foundations of Robotics VI, pages 235-250. Springer, 2005.
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Kevin Egan, Stephen Berard, and Jeffrey C. Trinkle. Toward Sensorless Acquisition of Multiple Contact Points Between Planar Parts, pages 113-131. Number 18 in STAR - Springer Tracts in Advanced Robotics. Springer Berlin / Heidelberg, 2005. Workshop on Multi-point Interaction in Robotics and Virtual Reality.
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Publications in 2004

 
Kristopher R. Beevers and Jufeng Peng. A* graph search within the BGL framework. In Boost Graph Library 1.33.0, October 2004.
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E. Griffith and S. Akella. Coordinating multiple droplets in planar array digital microfluidics systems. In Sixth Workshop on the Algorithmic Foundations of Robotics, Utrecht/Zeist, The Netherlands, July 2004.
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Wesley H. Huang and Kristopher R. Beevers. Topological map merging. In 7th International Symposium on Distributed Autonomous Robotic Systems (DARS 2004), pages 91-100, Toulouse, France, June 2004.
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Srinivas Akella and Jufeng Peng. Time-scaled coordination of multiple manipulators. In IEEE International Conference on Robotics and Automation, pages 3337-3344, New Orleans, LA, April 2004.
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J. Peng, M. Anitescu, and S. Akella. Optimal control of multiple robot systems with friction using mpcc. In IEEE International Conference on Robotics and Automation, pages 5224-5231, New Orleans, LA, April 2004.
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W. Son, K. Kim, N.M. Amato, and J.C. Trinkle. A generalized framework for interactive dynamic simulation for multi-rigid-bodies. IEEE Transactions on Systems, Man and Cybernetics, 34(2):912-924, April 2004.
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S. Berard, K.T. Egan, and J.C. Trinkle. Contact modes and complementary cones. In IEEE International Conference on Robotics and Automation, April 2004.
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G.F. Liu, J.C. Trinkle, and R.J. Milgram. Complete path planning for a planar 2r-manipulator with point obstacles. In IEEE International Conference on Robotics and Automation, April 2004.
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P. Song, J.C. Trinkle, V. Kumar, and J.-S. Pang. Design of part feeding and assembly processes with dynamics. In IEEE International Conference on Robotics and Automation, April 2004. Kayamori Best Automation Paper Award (one of seven awards out of about 1600 submissions).
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Kristopher R. Beevers. Topological mapping and map merging with sensing-limited robots. Master's thesis, Rensselaer Polytechnic Institute, Troy, NY, April 2004.
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J.F. Jones, D.M. Kozlowski, and J.C. Trinkle. Microscale force-fit insertion. Journal of Mechatronics, 2(2-3):185-200, 2004.
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R.J. Milgram and J.C. Trinkle. The geometry of configuration spaces of closed chains in two and three dimensions. Homology, Homotopy, and Applications, 6(1):237-267, 2004.
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K.T. Egan, Stephen Berard, and J.C. Trinkle. Computing wrench bounds along a curved surface in 2d. Technical Report 04-09, Department of Computer Science, Rensselaer Polytechnic Institute, 2004.
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Publications in 2003

 
S. Akella, S. J. Blind, C. McCullough, and J. Ponce. Automated reconfigurable object manipulation device with an array of pins. US Patent No. 6,633,797, October 2003.
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J. Peng and S. Akella. Coordinating the motions of multiple robots with kinodynamic constraints. In IEEE International Conference on Robotics and Automation, pages 4066-4073, Taipei, Taiwan, September 2003.
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J.C. Trinkle. Formulations of multibody dynamics as complementarity problems. In ASME International Design Engineering Technical Conferences, September 2003. VIB-48342 (no page numbers in CD proceedings).
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J. Peng and S. Akella. Coordinating multiple robots with kinodynamic constraints along specified paths. In J.-D. Boissonnat, J. Burdick, K. Goldberg, and S. Hutchinson, editors, Algorithmic Foundations of Robotics V, pages 221-237. Springer-Verlag, Heidelberg, Germany, 2003.
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K.T. Egan, Stephen Berard, and J.C. Trinkle. Modeling nonconvex constraints using linear complementarity. Technical Report 03-13, Department of Computer Science, Rensselaer Polytechnic Institute, 2003.
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Atin Gupta and Wesley H. Huang. A carrying task for nonprehensile mobile manipulators. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 2896-2901, 2003.
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Wesley H. Huang, Kartik Babu, and Jonathan A. Bandlow. Cartop manipulation. In IEEE International Conference on Robotics and Automation, pages 3613-3618, 2003.
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Wesley H. Huang. Control strategies for fine positioning via tapping. In Proceedings of the IEEE International Symposium on Assembly and Task Planning, pages 198-203, 2003.
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