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Applications

Education

Journal Papers

Undergraduate Embedded System Education at Carnegie Mellon
Philip Koopman, Howie Choset, Rajeev Gandhi, Bruce Krogh, Diana Marculescu, Priya Narasimhan, Joann M. Paul, Ragunathan Rajkumar, Daniel Siewiorek, Asim Smailagic, Peter Steenkiste, Donald E. Thomas, Chenxi Wang
ACM Transactions on Embedded Computing Systems (TECS) archive, Volume 4 , Issue 3 (August 2005), Pages: 500 - 528
Link

Designing and Implementing Hands-on Robotics Labs
Rosenblatt, M.; Choset, H.
IEEE Intelligent Systems [see also IEEE Expert] , Volume: 15 Issue: 6 , Nov.-Dec. 2000
Link

Medical

Chapters in Books

Enabling Medical Robotics for the Next Generation of Minimally Invasive Procedures: Minimally Invasive Cardiac Surgery with Single Port Access
Howie Choset, Marco Zenati Takeyoshi Ota, Amir Degani, David Schwartzman, Brett Zubiate, and Cornell Wright
Surgical Robotics - System Applications and Visions Edited by Jacob Rosen, Blake Hannaford, Richard Satava, Springer, 2010

Conference Papers

Dynamic Texture Mapping of 3D models for Stiffness Map Visualization
K. Patath, R. A. Srivatsan, N. Zevallos and H. Choset
IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Medical Imaging, 2017
Link

Ergodic Coverage In Constrained Environments Using Stochastic Trajectory Optimization
E. Ayvali, H. Salman, H. Choset
IEEE/RSJ International Conference on Intelligent Robots and Systems Vancouver(IROS), BC, Canada, September 2017
Link

Multimodal Registration Using Stereo Imaging and Contact Sensing
R. A. Srivatsan, P. Vagdargi, N. Zevallos and H. Choset
Robotics: Science and Systems, workshop on 'Revisiting Contact - Turning a problem into a solution', MIT, Boston, USA, 2017
Link

Multi-agent Ergodic Coverage with Obstacle Avoidance
H. Salman, E. Ayvali, H. Choset
Proceedings of the Twenty-Seventh International Conference on Automated Planning and Scheduling (ICAPS 2017)
Link / Video

Complementary Model Update: A Method for Simultaneous Registration and Stiffness Mapping in Flexible Environments
R. A. Srivatsan, E. Ayvali, L. Wang, R. Roy, N. Simaan and H. Choset
IEEE International Conference on Robotics and Automation (ICRA), pages 924-930, Stockholm, Sweden, 2016
Link / Video

Using Bayesian Optimization to Guide Probing of a Flexible Environment for Simultaneous Registration and Stiffness Mapping
E. Ayvali, R. A. Srivatsan, L. Wang, R. Roy, N. Simaan and H. Choset
IEEE International Conference on Robotics and Automation (ICRA), pages 924-930, Stockholm, Sweden, 2016
Link / Video

Model-Guided Single Port Epicardial Interventions Using a Highly Articulated Robotic System
M. A. Zenati, T. Yokota, D. Schwartzman, T. Ota, B. Zubiate, C. Wright, C. Nikou, and H. Choset
Proceedings of the Minimally Invasive Robotic Association Fifth International Congress, San Diego, CA, January 29, 2010.

Model-Guided Epicardial Interventions using a Novel Snake Robot (Cardio-Arm) through a Subxiphoid Port Access
M. A. Zenati, T. Yokota, D. Schwartzman, T. Ota, B. Zubiate, C. Wright, C. Nikou, and H. Choset.
Proceedings of the The 14th IASTED International Conference on Robotics Applications, Cambridge, MA, November, 2009.

Model-Guided Single Port Interventions using a Novel Highly Articulated Mechatronic System.
T. Yokota, T. Ota, D. Schwartzman, C. Nikou, B. Jaramaz, B. Zubiate, H. Choset, M. A. Zenati.
Proceedings of the BMES (BIOMEDICAL ENGINEERING SOCIETY) 2009 Annual Fall Scientific Meeting, Pittsburgh, PA, October 7-10, 2009.

Highly Articulated Robotic Probe for Minimally Invasive Surgery
A. Degani, H. Choset. M. A. Zenati, T. Ota and B. Zubiate
Proceedings of the International Conference of the IEEE Engineering in Medicine and Biology Society, Vancouver, British Columbia, Canada, 20th - 24th August, 2008.

A Novel Highly Articulated Robotic Surgical System for Cardiac Ablation.
T. Ota, A. Degani, D. Schwartzman, B. Zubiate, J. McGarvey, H. Choset, and M. A. Zenati.
Proceedings of the International Conference of the IEEE Engineering in Medicine and Biology Society, Vancouver, British Columbia, Canada, 20th - 24th August, 2008.

Journal Papers

A Highly Articulated Robotic Surgical System for Minimally Invasive Surgery
T. Ota, A. Degani, D. Schwartzman, B. Zubiate, J. McGarvey, H. Choset, M. Zenati.
The Annals of Thoracic Surgery, Vol. 87, No. 4, pp. 1253-1256, April, 2009.

Epicardial Atrial Ablation Using a Novel Highly Articulated Robotic Probe Through a Subxiphoid Approachs
T. Ota, A. Degani, A. Wolf, H. Choset, and M. Zenati
Innovations: Technology and Techniques in Cardiothoracic and Vascular Surgery, vol. 1, pp. 335-340, 2006

Search and Rescue

Chapters in Books

Search and Rescue
H. Choset
Berkshire Encyclopedia of Human-Computer Interaction Edited by William Sims Bainbridge, Berkshire Publishing Group, Great Barrington, MA, 2004

Journal Papers

Search and Rescue Robotics
Robin R. Murphy, Satoshi Tadokoro, Daniele Nardi, Adam Jacoff, Paoli Fiorini, Howie Choset and Aydan M. Erkmen
Springer Handbook of Robotics Edited by Bruno Siciliano, Oussama Khatib, Springer 2008

Design and Control of a Mobile Hyper-Redundant Urban Search and Rescue Robot
A. Wolf, H. M. Choset, H. B. Brown, and R. Casciola
International Journal of Advanced Robotics, Vol. 19 (8) pp.221-248, 2005

Estimation

Behaviors

Conference Papers

Gaussian Reconstruction of Swarm Behavior from Partial Data
G. Wagner and H. Choset
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, 2015.
Link

Context Identification for Efficient Multiple-Model State Estimation
Sarjoun Skaff, Alfred A. Rizzi, and Howie Choset
In Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, San Diego, CA, USA, Oct 29 - Nov 2, 2007, Pages 2435-2440.
Link

A Context-Based State Estimation Technique for Hybrid Systems
Sarjoun Skaff , Alfred Rizzi, Howie Choset, and Pei-Chun Lin
Proc. 2005 IEEE International Conference on Robotics & Automation, Barcelona Spain, April 2005
Link

Journal Papers

Context Identification for Efficient Multiple-Model State Estimation of Systems With Cyclical Intermittent Dynamics
S. Skaff, A. Rizzi, H. Choset, and M. Tesch
IEEE Transactions on Robotics, Vol. 27, No. 1, pp. 14 - 28, Feb 2011
Link

Medical

Conference Papers

Estimating SE(3) elements using a dual quaternion based linear Kalman filter
Rangaprasad Arun Srivatsan, Gillian T. Rosen, D. Feroze Naina Mohamed, Howie Choset
Proceedings of Robotics: Science and Systems, Ann Arbor Michigan, 2016
Link / Video

Simultaneous Registration and Stiffness mapping of a Flexible Environment using Stiffness and Geometric Prior
R. A. Srivatsan, L. Wang, E. Ayvali, N. Simaan and H. Choset
In proceedings of the Hamlyn Symposium on Medical Robotics, pp. 78-79, London, 2016,
Link

Using Lie Algebra to estimate the shape of medical snake robots
Rangaprasad Arun Srivatsan, Matthew Travers and Howie Choset
In the proceedings of the 27th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, USA, September 2014
Link / Video

Simultaneous Compliance and Registration Estimation for Robotic Surgery
Siddharth Sanan , Stephen Tully , Andrea Bajo , Nabil Simaan and Howie Choset
Proceedings of Robotics: Science and Systems, Berkeley, USA, 2014
Link

Monocular Feature-Based Periodic Motion Estimation for Surgical Guidance
S. Tully, G. Kantor and H. Choset
Proceedings of the IEEE International Conference on Robotics and Automation, Karlsruhe, DE, May, 2013
Link

Constrained Filtering with Contact Detection Data for the Localization and Registration of Continuum Robots in Flexible Environments
S. Tully, A. Bajo, G. Kantor, H. Choset and N. Simaan
Proc. 2012 IEEE International Conference on Robotics and Automation, St. Paul, MN, May, 2012.
Link

Inequality Constrained Kalman Filtering for the Localization and Registration of a Surgical Robot
Stephen Tully, George Kantor, and Howie Choset
Proc. 2011 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, San Francisco, CA, USA, September 2011.
Link

Shape Estimation for Image-Guided Surgery with a Highly Articulated Snake Robot
Stephen Tully, George Kantor, Marco A. Zenati, and Howie Choset
Proc. 2011 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, San Francisco, CA, USA, September 2011.
Link

Sensor Processing for Mapping

Conference Papers

The Arc-Transversal Median Algorithm: an Approach to Increasing Ultrasonic Sensor Accuracy
Howie Choset, Keiji Nagatani, and Nicole Lazar
IEEE/ICRA Detroit, 1999.
Link

Arc Carving: Obtaining Accurate, Low Latency Maps from Ultrasonic Range Sensors
Silver, Morales, Rekleitis, Liesen and Choset
Proceedings of the 2004 IEEE International Conference on Robotics & Automation, New Orleans, LA, April 2004
Link

Autonomous Exploration via Regions of Interest
Robert Grabowski, Pradeep Khosla and Howie Choset
In Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 2003, Volume 1, Pages 705-710.
Link

An Enhanced Occupancy Map for Exploration via Pose Separation
Robert Grabowski, Pradeep Khosla and Howie Choset
In Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 2003, Volume 2, Pages 1691-1696.
Link

Critical Point Sensing in Unknown Environments
Ercan Acar and Howie Choset
IEEE/ICRA International Conference on Robtics and Automation, pgs 3803-3810, San Francisco, CA 2000.
Link

Sensor Based Planning: Using a Honing Strategy and Local Map Method to Implement the Generalized Voronoi Graph
Howie Choset, Keiji Nagatani and Alfred Rizzi
SPIE Mobile Robotics, Pittsburgh, PA, 1997
Link

Mobile Robot Navigation: Implementing the GVG in the Presence of Sharp Corners
Ilhan Konukseven and Howie Choset
IROS, Grenoble, France, 1997
Link

Mobile Robot Navigation: Issues in Implementation the Generalized Voronoi Graph in the Plane
Howie Choset, Ilhan Konukseven, and Joel Burdick
IEEE/MFI, Washington DC, 1996
Link

Journal Papers

The Arc-Transversal Median Algorithm: A Geometric Approach to Increasing Ultrasonic Sensor Azimuth Accuracy
Howie Choset, Keiji Nagatani and Nicole A. Lazar
IEEE Transaction of Robotics and Automation, Vol 19, No. 3, June 2003, pp. 513-523
Link

SLAM

Conference Papers

Monte Carlo Localization using 3D Texture Maps
Yu Fu, Stephen Tully, George Kantor, and Howie Choset
Proc. 2011 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, San Francisco, CA, USA, September 2011.
Link

Incremental Construction of the Saturated-GVG for Multi-Hypothesis Topological SLAM
Tong Tao, Stephen Tully, George Kantor, and Howie Choset
Proc. 2011 IEEE International Conference on Robotics & Automation, Shanghai, China, May 2011.
Link

A Single-Step Maximum A Posteriori Update for Bearing-Only SLAM
Stephen Tully, George Kantor, and Howie Choset
Proceedings of the 2010 Conference on Artificial Intelligence (AAAI). Atlanta, Georgia, USA. July, 2010.
Link

A Multi-Hypothesis Topological SLAM Approach for Loop Closing on Edge-Ordered Graphs
Stephen Tully, George Kantor, Howie Choset, and Felix Werner
Proc. 2009 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, Saint Louis, MO, USA, October 2009.
Link

Topological SLAM using Neighbourhood Information of Places
Felix Werner, Frederic Maire, Joaquin Sitte, Howie Choset, Stephen Tully, and George Kantor
Proc. 2009 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, Saint Louis, MO, USA, October 2009.
Link

Path Planning between Two Points for a Robot Experiencing Localization Error in Known and Unknown Environment
Howie Choset, Marco La Civita, and Jong Chul Park
FSR, Pittsburgh, PA 1999.
Link

Leap-Frog Path Design for Multi-Robot Cooperative Localization
Stephen Tully, George Kantor, and Howie Choset
Proc. 2009 Field and Service Robotics Conference, FSR 2009, Cambridge, Mass, USA, July 2009.
Link

Iterated Filters for Bearing-Only SLAM
Stephen Tully, Hyungpil Moon, George Kantor, and Howie Choset
Proc. 2008 IEEE International Conference on Robotics & Automation, Pasadena, California, USA, May 2008
Link

Square Root Iterated Kalman Filter for Bearing-Only SLAM
Hyungpil Moon, Stephen Tully, George Kantor, and Howie Choset
The 4th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2007), Pohang, Korea.
Link

Hybrid Localization Using the Hierarchical Atlas
Stephen Tully, Hyungpil Moon, Deryck Morales, George Kantor, and Howie Choset
In Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, San Diego, CA, USA, Oct 29 - Nov 2, 2007, Pages 2857-2864.
Link

Bearing-only Landmark Initialization with Unknown Data Association
Al Costa, George Kantor, and Howie Choset
Proceedings of the 2004 IEEE International Conference on Robotics & Automation, New Orleans, LA, April 2004
Link

Hierarchical Simultaneous Localization and Mapping
Brad Lisien, Deryck Morales, David Silver, George Kantor, Ioannis Rekleitis and Howie Choset
In Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 2003, Volume 1, Pages 448-453.
Link

Toward Robust Sensor Based Exploration by Constructing Reduced Generalized Voronoi Graph
Keiji Nagatani and Howie Choset
IROS, Kyongju, Korea 1999.
Link

Towards Exact Location without Explicit Localization
Keiji Nagatani, Howie Choset, and Sebastian Thrun.
IEEE/ICRA Lueven, Belgium, 1998.
Link

Journal Papers

A Unified Bayesian Framework for Global Localization and SLAM in Hybrid Metric/Topological Maps
S. Tully, G. Kantor, and H. Choset
International Journal of Robotics Research (IJRR), Vol. 31, No. 3, March 2012
Link

Relative Localization using Path Odometry Information
N. Doh, H. Choset and W. K. Chung
Autonomous Systems, Vol. 20, Number 2, pp. 143-154, Sep., 2006
Link

The Hierarchical Atlas
Lisien, B.; Morales, D.; Silver, D.; Kantor, G.; Rekleitis, I.; Choset, H.;
Robotics and Automation, IEEE Transactions on, Volume 21, Issue 3, June 2005 Pages: 473 - 481
Link

Topological simultaneous localization and mapping (SLAM): toward exact localization without explicit localization
Choset, H.; Nagatani, K
Robotics and Automation, IEEE Transactions on , Volume: 17 Issue: 2 , Apr 2001
Link

Snake Robot Estimation

Conference Papers

Online Calibration of a Compact Series Elastic Actuator
S. Ford, D. Rollinson, A. Willig, H. Choset
American Control Conference (ACC), June 4-6, 2014
Link

Robust State Estimation with Redundant Proprioceptive Sensors
David Rollinson, Howie Choset, and Stephen Tully
Proceedings of the ASME Dynamic Systems and Controls Conference, Stanford, CA, October 2013
Link

Estimating Motion of Snake Robots in Straight Pipes
F. Enner, D. Rollinson and H. Choset
Proceedings of the IEEE International Conference on Robotics and Automation, Karlsruhe, DE, May, 2013
Link

Simplified Motion Modeling for Snake Robots
F. Enner, D. Rollinson and H. Choset
Proc. 2012 IEEE International Conference on Robotics and Automation, St. Paul, MN, May, 2012.
Link

Virtual Chassis for Snake Robots
Dave Rollinson and Howie Choset
IEEE/RSJ International Conference on Intelligent Robots and Systems, September 2011. San Francisco, CA, USA
Link

State Estimation for Snake Robots
Dave Rollinson and Howie Choset
IEEE/RSJ International Conference on Intelligent Robots and Systems, September 2011. San Francisco, CA, USA
Link

Journal Papers

Virtual Chassis for Snake Robots: Definition and Applications
D. Rollinson, A. Buchan and H. Choset
Advanced Robotics, 2012.
Link

Spatial Parameter Estimation

Conference Papers

Sparse Point Registration
R. A. Srivatsan, P. Vagdargi and H. Choset
The 18th International Symposium on Robotics Research Dec.11-14, 2017, Puerto Varas, Chile
Link / Video

Bingham Distribution-Based Linear Filter for Online Pose Estimation
R. A. Srivatsan, M. Xu, N. Zevallos and H. Choset
Robotics: Science and Systems (RSS), July 2017
Link / Video

Multiple Start Branch and Prune Filtering Algorithm for Nonconvex Optimization
Rangaprasad Arun Srivatsan and Howie Choset
Workshop on the Algorithmic Foundations of Robotics (WAFR), December 2016
Link / Video

Use of the Nonlinear Observability Rank Condition for Improved Parametric Estimation
M. Travers and H. Choset
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, 2015
Link

Probabilistic hierarchical spatial model for mine locations and its application in robotic landmine search
Yangang Zhang; Schervish, M.; Choset, H.
Intelligent Robots and System, 2002. IEEE/RSJ International Conference on ,Vol.1, 2002 Pages: 681- 689 PDF
Link

Probabilistic Methods for Robotic Landmine Search
Yangang Zhang, Mark Schervish, Ercan U. Acar, Howie Choset
Proc. of IEEE IROS'01, International Conference on Intelligent Robots and Systems, pgs 1525-1532, 2001, Maui, Hawaii, USA
Link

Hybrid Control

Control

Conference Papers

A Dynamical Systems Approach to Obstacle Navigation for a Series-Elastic Hexapod Robot
M. Travers, A. Ansari, and H. Choset
IEEE Conference on Decision and Control, December 2016
Link

Optimal Control for Geometric Motion Planning of a Robot Diver
R. Shu, A. Siravuru, A. Rai., T. Dear, K. Sreenath and H. Choset
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea., October 2016.
Link

Shape-Based Compliance in Locomotion
Matt Travers, Julian Whitman, Perrin Schiebel, Dan Goldman and Howie Choset
Proceedings of Robotics: Science and Systems, Ann Arbor, Michigan, 2016
Link

Modularity for Maximum Mobility and Manipulation: Control of a Reconfigurable Legged Robot with Series-Elastic Actuators
S. Kalouche, D. Rollinson, and H. Choset
Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2015
Link

Torque Control Strategies for Snake Robots
D. Rollinson, K. Vasudev, N. Zevallos and H. Choset.
In the proceedings of the 27th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, USA, September 2014.
Link

Parameterized Controller Generation for Multiple Mode Behavior
Chaohui Gong, Matthew J. Travers, Hsien-Tang Kao and Howie Choset
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL
Link

Snakes on an Inclined Plane: Learning an Adaptive Sidewinding Motion for Changing Slopes
Chaohui Gong, Matthew Tesch, David Rollinson and Howie Choset
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, USA
Link

Conditioned Basis Array Factorization: An Approach to Gait Pattern Extraction
Chaohui Gong, Matthew Travers, Henry C. Astley, Lu Li, Joseph Mendelson David Hu, Daniel I. Goldman and Howie Choset
Robotics: Science and Systems 2014 (RSS 2014), Berkeley, USA
Link

Valet Parking Without a Valet
David C. Conner, Hadas Kress-Gazit, Howie Choset, Alfred A. Rizzi, and George J. Pappas
Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, San Diego, CA, USA, Oct 29 - Nov 2, 2007, Pages 572-577
Link

Integrated Planning and Control for Convex-bodied Nonholonomic systems using Local Feedback Control Policies
David C. Conner, Alfred A. Rizzi, and Howie Choset
Proceedings of Robotics: Science and Systems II, August, 2006, pp. 57-64.
Link

Towards Provable Navigation and Control of Nonholonomically Constrained Convex-Bodied Systems (Poster)
David C. Conner, H. Choset and Alfred A. Rizzi
Proc. 2006 IEEE International Conference on Robotics & Automation, Orlando, USA, May 2006
Link

Construction and Automated Deployment of Local Potential Functions for Global Robot Control and Navigation
David C. Conner, Alfred A. Rizzi, and Howie Choset
tech. report CMU-RI-TR-03-22, Robotics Institute, Carnegie Mellon University, November, 2003
Link

Composition of Local Potential Functions for Global Robot Control and Navigation
David C. Conner, Alfred A. Rizzi, and H. Choset
In Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 2003, Volume 4, Pages 3546-3551.
Link

Journal Papers

Flow-through Policies for Hybrid Controller Synthesis Applied to Fully Actuated Systems
D. Conner, H. Choset and A. A. Rizzi
Transactions on Robotics, Vol 25, No. 1, Feb, 2009

Magazine Articles

Courteous Cars
H. Kress-Gazit, D.C. Conner, H. Choset, A.A. Rizzi, G.J. Pappas
Robotics and Automation Magazine, IEEE Volume 15, Issue 1, March 2008 Page(s):30-38

Mechanism Design

Distributed Manipulation

Journal Papers

Parcel Manipulation and Dynamics with a Distributed Actuator Array: The Virtual Vehicle
Jonathan E. Luntz, William Messner, and Howie Choset
IEEE/ICRA, New Mexico, USA, 1997
Link

Medical

Conference Papers

Development of an Inexpensive Tri-axial Force Sensor for Minimally Invasive Surgery
Lu Li, Bocheng Yu, Chen Yang, Prasad Vagdargi, Rangaprasad Arun Srivatsan and Howie Choset
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) September 24-28, 2017, Vancouver, BC, Canada
Link / Video

Percutaneous Intrapericardial Interventions Using a Highly Articulated Robotic Probe
Amir Degani, Howie Choset, Alon Wolf, Takeyoshi Ota and Marco Zenati
Proc. 2006 IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Pisa, Italy, Feb. 2006

Mobile Robots

Conference Papers

Design of a High-Impact Survivable Robot
O'Halloran, Wolf and Choset
Proceedings of the 2004 Conference on Robotics & Automation, New Orleasn, LA, April 2004
Link

Path Planning for Robotic Demining and Development of a Test Platform
Ercan U. Acar, Yangang Zhang, Howie Choset, Mark Schervish, Albert G. Costa, Renata Melamud, David C. Lean, Amy Graveline
International Conference on Field and Service Robotics, pgs 161-168. 2001, Helsinki, Finland.
Link

Snakes

Conference Papers

Design and Architecture of a Series Elastic Snake Robot
David Rollinson, Yigit Bilgen, Ben Brown, Florian Enner, Steven Ford, Curtis Layton, Justine Rembisz, Mike Schwerin, Andrew Willig, Pras Velagapudi and Howie Choset
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Link / Video

Design and Modeling of a Series Elastic Element for Snake Robots
David Rollinson, Steven Ford, Ben Brown, and Howie Choset
Proceedings of the ASME Dynamic Systems and Controls Conference, Stanford, CA, October 2013
Link

Design and Architecture of the Unified Modular Snake Robot
C. Wright, A. Buchan, B. Brown, J. Geist, M. Schwerin, D. Rollinson, M. Tesch and H. Choset
Proc. the 2012 IEEE International Conference on Robotics and Automation, St. Paul, MN, May, 2012
Link

Toroidal Skin Drive for Snake Robot Locomotion
James McKenna, David Anhalt, Frederick Bronson, Ben Brown, Michael Schwerin, Elie Shammas, and Howie Choset
Proc. 2008 IEEE International Conference on Robotics & Automation, Pasadena, California, USA, May 2008

Differentiable and Piecewise Differentiable Gaits for Snake Robots
Kevin Lipkin, Isaac Brown, Aaron Peck, Howie Choset, Justine Rembisz, Philip Gianfortoni, and Allison Naaktgeboren
In Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, San Diego, CA, USA, Oct 29 - Nov 2, 2007, Pages 1864-1869.
Link

Design of a Modular Snake Robot
Cornell Wright, Aaron Johnson, Aaron Peck, Zachary McCord, Allison Naaktgeboren, Philip Gianfortoni, Manuel Gonzalez-Rivero, Ross Hatton, and Howie Choset
In Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, San Diego, CA, USA, Oct 29 - Nov 2, 2007, Pages 2609-2614.
Link

Design and Control of a Second-Generation Hyper-Redundant Mechanism
H. Ben Brown, Michael Schwerin, E. Shammas, and H. Choset
In Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, San Diego, CA, USA, Oct 29 - Nov 2, 2007, Pages 2603-2608.
Link

New Joint Design for Three-dimensional Hyper Redundant Robots Choice of Start Curve
Elie Shammas, Alon Wolf, H. Ben Brown Jr. and Howie Choset
In Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 2003, Volume 4, Pages 3594-3599.
Link

A Mobile Hyper Redundant Mechanism for Search and Rescue Tasks
A. Wolf, H. Ben Brown Jr., R. Casciola, A. Costa, M. Schwerin, E. Shammas and Howie Choset
In Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 2003, Volume 3, Pages 2889-2895.
Link

Journal Papers

Three Degrees-of-freedom joint for spatial hyper-redundant robots
E. Shammas, A. Wolf, and H. Choset
Journal of Mechanism and Machine Theory, April, 2005, pp. 170 - 190
Link

A Follow-the-Leader Approach to Serpentine Robot Motion Planning
H. Choset and W. Henning
ASCE Journal of Aerospace Engineering, Volume 12, Issue 2, 65?73.
Link

Motion Planning

Behaviors

Conference Papers

Planning End Effector Trajectories for a Serially Linked, Floating-base Robot with Changing Support Polygon
E.A. Cappo, H. Choset
American Control Conference (ACC), June 4-6, 2014
Link

Distributed Manipulation

Chapters in Books

Velocity Field Design for Parcel Manipulation on the Virtual Vehicle, a Discrete Distributed Actuator Array
Luntz, J.E., Messner, W., and Choset, H.
Algorithms for Robotic Motion and Manipulation

Conference Papers

Closed-Loop Operation of Actuator Arrays
Jon Luntz, Bill Messner, and Howie Choset
IEEE/ICRA International Conference on Robtics and Automation, pgs 3803-3810, San Francisco, CA 2000.
Link

Discrete Actuator Array Vectorfield Design for Distributed Manipulation
Luntz, J.E., Messner, W., and Choset, H.
1999 IEEE International Conference on Robotics and Automation
Link

Open Loop Orientability of Objects on Actuator Arrays
Luntz, J.E., Messner, W., and Choset, H.
Submitted to 1999 IEEE International Conference on Robotics and Automation
Link

Stick-Slip Operation of The Modular Distributed Manipulated System
Luntz, J.E., Messner, W., and Choset, H.
1998 AACC American Controls Conference
Link

Velocity Field Design for the Modular Distributed Manipulator System
Luntz, J.E., Messner, W., and Choset, H.
1998 Workshop on the Algorithmic Fundamentals of Robotics
Link

Virtual Vehicle: Parcel Manipulation and Dynamics with a Distributed Actuator Array
Luntz, J.E., Messner, W., and Choset, H.
SPIE vol 3201. Sensors and Controls for Advanced Manufacturing. 1997 International Symposium on Intelligent Systems and Advanced Manufacturing
Link

Journal Papers

Distributed Manipulation Using Discrete Actuator Arrays
Jon Luntz, Bill Messner, and Howie Choset
The International Journal of Robotics Research, 0278-3649 Vol. 20, No. 7, 2001 (p. 553)
Link

Dynamic Climbing

Conference Papers

DSAC - Dynamic, Single Actuated Climber. Local Stability and Bifurcations
Degani, A., Choset, H., and Mason, M.T.
Proc. of the 2010 IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, 2010.
Link / Video

Minimalistic, Dynamic, Tube Climbing Robot Video Submission
Degani, A., Feng, S., Choset, H., and Mason, M.T.
Proc. of the 2010 IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, 2010.
Link / Video

A Dynamic Single Actuator Vertical Climbing Robot
Amir Degani, Amir Shapiro, Howie Choset and Matthew T. Mason
In Proceedings of the 2007 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, San Diego, CA, USA, Oct 29 - Nov 2, 2007, Pages 2901-2906.
Link

Mechanics

Conference Papers

Locomotive Analysis of a Single-Input Three-Link Snake Robot
T. Dear, S. D. Kelly, M. Travers and H. Choset
IEEE Conference on Decision and Control, December 2016
Link

A Physical Parameter-Based Skidding Model for the Snakeboard
H. Salman, T. Dear, S. Babikian, E. Shammas, and H. Choset
IEEE Conference on Decision and Control, December 2016
Link

Experimental Gait Analysis of Waveboard Locomotion
A. Agrawal, H. Zaini, T. Dear and H. Choset
Proceedings of the ASME Dynamic Systems and Control Conference, Minneapolis, USA, October 2016.
Link

Variations on the Role of Principal Connections in Robotic Locomotion
T. Dear, S. D. Kelly and H. Choset
Proceedings of the ASME Dynamic Systems and Control Conference, Minneapolis, USA, October 2016.
Link

The Three-Link Nonholonomic Snake as a Hybrid Kinodynamic System
T. Dear, S. D. Kelly, M. Travers and H. Choset
Proceedings of the American Control Conference, Boston, USA, July 2016.
Link

Motion Planning and Differential Flatness of Mechanical Systems on Principal Bundles
T. Dear, S. D. Kelly, M. Travers and H. Choset
Proceedings of the ASME Dynamic Systems and Controls Conference, Columbus, USA, October 2015.
Link

Snakeboard Motion Planning with Viscous Friction and Skidding
T. Dear, S. D. Kelly, M. Travers, and H. Choset
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, 2015.
Link

Dissipation-Induced Self-Recovery in Systems on Principal Bundles
T. Dear, S. D. Kelly, M. Travers, and H. Choset
Proceedings of the ASME Dynamic Systems and Controls Conference, San Antonio, TX, October 2014
Link

Nonlinear Dimensionality Reduction for Kinematic Cartography with an Application Toward Robotic Locomotion
T. Dear, R. L. Hatton, and H. Choset
In the proceedings of the 27th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, USA, September 2014
Link

Mechanics and Control of a Terrestrial Vehicle Exploiting a Nonholonomic Constraint for Fishlike Locomotion
Tony Dear, Scott David Kelly, Matthew Travers, and Howie Choset
Proceedings of the ASME Dynamic Systems and Controls Conference, Stanford, CA, October 2013
Link

Snakeboard Motion Planning with Local Trajectory Information
Tony Dear, Ross L. Hatton, Matthew Travers, and Howie Choset
Proceedings of the ASME Dynamic Systems and Controls Conference, Stanford, CA, October 2013
Link

Optimal Gait Design for Systems with Drift on SO(3)
Matthew Travers and Howie Choset
Proceedings of the ASME Dynamic Systems and Controls Conference, Stanford, CA, October 2013
Link

Minimum Perturbation Coordinates on SO(3)
Matthew Travers, Ross Hatton, and Howie Choset
Proc. 2013 American Control Conference, Washington, DC, June, 2013.
Link

Geometric Mechanics for Sand-swimming
R. L. Hatton, Y. Ding, D. I. Goldman, and H. Choset
International Conference on Climbing and Walking Robots (CLAWAR), July 2012, Baltimore MD, USA

Geometric Maneuverability with Applications to Low Reynolds Number Swimming
R. L. Hatton, L. J. Burton, A. E. Hosoi, and H. Choset
EEE/RSJ International Conference on Intelligent Robots and Systems, September 2011, San Francisco CA, USA
Link

Kinematic Cartography for Locomotion at Low Reynolds Numbers
R. L. Hatton and H. Choset
Robotics: Science and Systems, June 2011, Los Angeles CA, USA
Link

Connection Vector Fields and Optimized Coordinates for Swimming Systems at Low and Hight Reynolds Numbers
R. L. Hatton and H. Choset
Proceedings of the ASME Dynamic Systems and Controls Conference, Cambridge, MA, September 2010
Link

Optimizing Coordinate Choice for Locomoting Systems
R. L. Hatton and H. Choset
Proceedings of the IEEE International Conference on Robotics and Automation, Anchorage, AK, May 2010
Link

Approximating Displacement with the Body Velocity Integral
R. L. Hatton and H. Choset
Proceedings of Robotics: Science and Systems, Seattle, USA, June 2009
Link

Connection Vector Fields for Underactuated Systems
R. L. Hatton and H. Choset
Proceedings of the IEEE BioRobotics Conference, October 2008
Link

Towards Motion Planning for Dynamic Variable Inertia Mechanical Systems with Non-holonomic Constraints
Elie Shammas, Howie Choset, Alfred Rizzi
Proc. 2006 of the Seventh International Workshop on the Algorithmic Foundations of Robotics New York City, USA, 2006
Link

Towards Automated Gait Generation for Dynamic Systems with Non-holonomic Constraints
Elie Shammas, Howie Choset, Alfred Rizzi
Proc. 2006 IEEE International Conference on Robotics & Automation, Orlando, USA, May 2006
Link

Natural Gait Generation Techniques for Principally Kinematic Mechanical Systems
Elie Shammas, Howie Choset, Alfred Rizzi
In Proceedings of Robotics: Science and Systems, Cambridge, USA, June 2005.
Link

Natural Gait Generation Techniques for Multi-bodied Isolated Mechanical Systems
Elie Shammas, Klaus Schmidt, and Howie Choset
Proc. 2005 IEEE International Conference on Robotics & Automation, pages 3675-3680, Barcelona Spain, April 2005
Link

Journal Papers

Geometric Motion Planning: the Local Connection, Stokes's Theorem, and the Importance of Coordinate Choice
R. L. Hatton and H. Choset
International Journal of Robotics Research, Available via OnlineFirst, June 2011
Link

Two Link Swimming using Buoyant Orientation
L. J. Burton, R. L. Hatton, H. Choset and A. E. Hosoi
Physics of Fluids 22(091703), September 2010
Link

Towards a Unified Approach to Motion Planning for Dynamic Underactuated Mechanical Systems with Non-holonomic Constraints
Shammas, Elie A., Choset, H., Rizzi, Alfred A.
International Journal of Robotics Research v. 26 no10 (October 2007) p. 1075-124
Link

Geometric Motion Planning Analysis for Two Classes of Underactuated Mechanical Systems
Shammas, Elie A., Choset, H., Rizzi, Alfred A.
International Journal of Robotics Research v. 26 no10 (October 2007) p. 1043-73
Link

Snake Locomotion

Conference Papers

Shape-based Compliant Control with Variable Coordination Centralization on a Snake Robot
J. Whitman, F. Ruscelli, M. Travers and H. Choset
IEEE Conference on Decision and Control, December 2016
Link

Geometric Swimming on a Granular Surface
Jin Dai, Hossein Faraji, Chaohui Gong, Ross L. Hatton, Daniel I. Goldman and Howie Choset
Proceedings of Robotics: Science and Systems, Ann Arbor Michigan, 2016
Link

Simplifying Gait Design via Shape Basis Optimization
Chaohui Gong, Daniel I. Goldman and Howie Choset
Proceedings of Robotics: Science and Systems, Ann Arbor, Michigan, 2016
Link

Locomotive Reduction for Snake Robots
X. Xiao, E. Cappo, W. Zhen, J. Dai, K. Su, C. Gong, M. Travers, and H. Choset
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, 2015.
Link

Modeling Rolling Gaits of a Snake Robot
W. Zhen, C. Gong, and H. Choset
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, 2015.
Link

Limbless Locomotors That Turn in Place
C. Gong, M. Travers, H. Astley, D. Goldman, and H. Choset
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, 2015.
Link

Robot-Inspired Biology: The Compound-Wave Control Template
J. Dai, M. Travers, T. Dear, C. Gong, H. Astley, D. Goldman, and H. Choset
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, 2015.
Link

Expensive Function Optimization with Stochastic Binary Outcomes
M. Tesch, J. Schneider, and H. Choset
International Conference on Machine Learning (ICML), June 2013
Link

Snakes on a Plan: Toward Combining Planning and Control
R. Hatton, R. Knepper, H. Choset, D. Rollinson, C. Gong and E. Galceran
Proceedings of the IEEE International Conference on Robotics and Automation, Karlsruhe, DE, May, 2013
Link

Extended Gait Equation for Sidewinding
C. Gong, M. Travers, X. Fu and H. Choset
Proceedings of the IEEE International Conference on Robotics and Automation, Karlsruhe, DE, May, 2013
Link

Gait-Based Compliant Control for Snake Robots
D. Rollinson and H. Choset
Proceedings of the IEEE International Conference on Robotics and Automation, Karlsruhe, DE, May, 2013
Link

Expensive Multiobjective Optimization for Robotics
M. Tesch, J. Schneider and H. Choset
Proceedings of the IEEE International Conference on Robotics and Automation, Karlsruhe, DE, May, 2013
Link

Using Kinesthetic Input to Overcome Obstacles with Snake Robots
Matthew Tesch, Alex O'Neill, and Howie Choset
International Symposium on Safety, Security, and Rescue Robotics
Link

Coordinates Matter: Virtual Chassis and Minimum Perturbation Coordinate Representations
D. Rollinson, R. L. Hatton, and H. Choset
International Conference on Climbing and Walking Robots (CLAWAR), July 2012, Baltimore MD, USA
Link

Environmentally Adaptive Control Policies for Expensive Systems
M. Tesch, J. Schneider, and H. Choset
International Conference on Climbing and Walking Robots (CLAWAR), July 2012, Baltimore MD, USA
Link

Conical Sidewinding
C. Gong, R. Hatton and H. Choset
2012 IEEE International Conference on Robotics and Automation, St. Paul, MN, May, 2012
Link

Adapting Control Policies for Expensive Systems to Changing Environments
Matt Tesch, Jeff Schneider, and Howie Choset
IEEE/RSJ International Conference on Intelligent Robots and Systems, September 2011, San Francisco CA, USA
Link

Using Response Surfaces and Expected Improvement to Optimize Snake Robot Gait Parameters
Matt Tesch, Jeff Schneider, and Howie Choset
IEEE/RSJ International Conference on Intelligent Robots and Systems, September 2011, San Francisco CA, USA
Link

Sidewinding on Slopes
R. L. Hatton and H. Choset
Proceedings of the IEEE International Conference on Robotics and Automation, May 2010
Link

Generating Gaits for Snake Robots by Annealed Chain Fitting and Keyframe Wave Extraction
R. L. Hatton and H. Choset
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2009
Link

Motion Planning for Serpentine Robots
W. Henning, F. Hickman, H. Choset
ASCE Space and Robotics Albuquerque, New Mexico, 1998,
Link

Extensibility in Local Sensor Based Planning For Hyper Redundant Manipulators (Robot Snakes)
H. Choset and J. Burdick
AIAA/NASA CIRFFSS, Houston, Texas, 1994
Link

Experimental Results for Sensor Based Planning for Hyper-redundant Manipulators
N. Takanashi, H. Choset, and J. Burdick
1993 IEEE/RSJ International Conference on Intelligent Robots and Systems Yokohama, Japan July 26-30,1993.
Link

Journal Papers

Nonconservativity and noncommutativity in locomotion
Ross L. Hatton, Howie Choset
The European Physical Journal Special Topics
Link

Modulation of orthogonal body waves enables high maneuverability in sidewinding locomotion
H. C. Astley, C. Gong, J. Dai, M. Travers, M. M. Serrano, P. A. Vela, H. Choset, J. R. Mendelson, III, D. L. Hu, and D. I. Goldman
Proceedings of the National Academy of Sciences of the United States of America
Link

Sidewinding with minimal slip: Snake and robot ascent of sandy slopes.
Marvi, Hamidreza, Chaohui Gong, Nick Gravish, Henry Astley, Matthew Travers, Ross L. Hatton, Joseph R. Mendelson, Howie Choset, David L. Hu, and Daniel I. Goldman
Science 346, no. 6206 (2014): 224-229
Link

Generating Gaits for Snake Robots: Annealed Chain Fitting and Keyframe Wave Extraction
R. L. Hatton and H. Choset
Autonomous Robots, Special Issue on Locomotion, 28(3), April 2010.

Parameterized and Scripted Gaits for Modular Snake Robots
M. Tesch, K. Lipkin, I. Brown, R. Hatton, A. Peck, J. Rembisz, and H. Choset
Advanced Robotics, 23(9):1131-1158, 2009

Static Climbing

Conference Papers

Dynamic Ambiguities in Frictional Rigid-body Systems with Application to Climbing via Bracing
Aaron Greenfield, Alfred Rizzi, and Howie Choset
Proc. 2005 IEEE International Conference on Robotics & Automation, Barcelona, Spain, April 2005
Link

Path Planning

Coverage

Chapters in Books

Sensor-Based Coverage: Incremental Construction of Cellular Decompositions
E. Acar and H. Choset
Algorithmic Foundations of Robotics V. Edited J.D. Boissonnat, J. Burdick, K. Goldberg, S. Hutchinson, Springer-Verlag, Berlin, Germany, 2003

Experimental Verification of Deposition Models for Automotive Painting with Electrostatic Rotating Bells
D. Conner, P. Atkar, A. Rizzi, and H. Choset
Experimental Robotics, VIII, Edited B Siciliano and P Dario, Springer-Verlag, Berlin, Germany, 2003

Coverage Path Planning: The Boustrophedon Cellular Decomposition
H. Choset and P. Pignon
Field and Service Robotics, Edited Alex Zelinsky, Springer-Verlag, 1998.

Conference Papers

Hierarchical Segmentation of Surfaces Embedded in R^3 for Auto-Body Painting
Prasad Atkar, Aaron Greenfield, Dave C. Conner, Howie Choset, and Alfred Rizzi
Proc. 2005 IEEE International Conference on Robotics & Automation, Barcelona Spain, April 2005
Link

Uniform Covreage of Simple Surfaces Embedded in R^3 for Auto-Body Painting
Prasad N. Atkar, David C. Conner, Aaron Greenfield, Howie Choset, and Alfred A. Rizzi
Accepted for Publication, Sixth Workshop on the Algorithmic Foundations of Robotics, Utrecht/Zeist, The Netherlands, 2004
Link

Limited Communication, Multi-Robot Team Based Coverage
Rekleitis, Lee-Shue, New, Choset
Proceedings of the 2004 Conference on Robotics & Automation, New Orleasn, LA, April 2004
Link

Towards Optimal Covreage of 2-Dimensional Surfaces Embedded in R^3 : Choice of Start Curve
Prasad N. Atkar, Howie Choset, and Alfred A. Rizzi
In Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 2003, Volume 4, Pages 3581-3587.
Link

Development of deposition models for paint application on surfaces embedded in R^3 for use in automated path planning
Conner, D.C.; Atkar, P.N.; Rizzi, A.A.; Choset, H.
Intelligent Robots and System, 2002. IEEE/RSJ International Conference on , Vol.2, 2002 Pages: 1844- 1849.
Link

Exploiting Critical Points to Reduce Positioning Error for Sensor-based Navigation
Ercan U. Acar, Howie Choset
Proc. 2002 IEEE International Conference on Robotics & Automation, Washington DC, May 2002
Link

Robust Sensor-based Coverage of Unstructured Environments
Ercan U. Acar, Howie Choset
Proc. of IEEE IROS'01, International Conference on Intelligent Robots and Systems, pgs 61-68, 2001, Maui, Hawaii, USA
Link

Complete Sensor-based Coverage with Extended-range Detectors: A Hierarchical Decomposition in Terms of Critical Points and Voronoi Diagrams
Ercan U. Acar, Howie Choset
Proc. of IEEE IROS'01, International Conference on Intelligent Robots and Systems, pgs 1305-1311, 2001, Maui, Hawaii, USA
Link

Exact Cellular Decomposition of Closed Orientable Surfaces Embedded in R^3
Prasad N. Atkar, Howie Choset, Alfred A. Rizzi, Ercan U. Acar
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, ICRA 2001, May 21-26, 2001, Seoul, Korea.
Link

Exact Cellular Decompositions in Terms of Critical Points of Morse Functions
Howie Choset, Ercan Acar, Alfred A. Rizzi, and Jonathan Luntz
IEEE/ICRA, International Conference on Robtics and Automation, pgs 2270-2277, April 24-28, San Francisco, CA, USA, 2000.
Link

Coverage Path Planning: The Boustrophedon Decomposition
Howie Choset and Philippe Pignon
International Conference on Field and Service Robotics, Canberra, Australia, 1997
Link

Journal Papers

Utility-Guided Palpation for Locating Tissue Abnormalities
E. Ayvali, A. Ansari, L. Wang, N. Simaan and H. Choset
IEEE Robotics and Automation Letters, Jan 2017
Link

Efficient Boustrophedon Multi-Robot Coverage: an algorithmic approach
Rekleitis, I., New, A. P., Rankin E., and Choset, H.
Annals of Mathematics and Artificial Intelligence, Vol. 52, Numbers 2-4, pages 109-142, April, 2009

Sensor-based Coverage with Extended Range Detectors
E. U. Acar, H. Choset, and J.Y. Lee
IEEE Transactions on Robotics, Feb., Vol 22, Number 1, pp. 189-198, 2006

A Potential Function Approach to Surface Coverage for a Surgical Robot
N. Abraham, A. Wolf, and H. Choset
Accepted to the Journal of Computer Aided Surgery, 2005

Uniform Coverage of Automotive Surface Patches
Prasad N. Atkar, Aaron Greenfield, David C. Conner, Howie Choset and Alfred A. Rizzi
The International Journal of Robotics Research, Vol.24, No.11, November 2005, pp.883-898
Link

Paint Deposition Modeling for Trajectory Planning on Automotive Surfaces
David C. Conner, Aaron Greenfield, Prasad N. Atkar, Alfred A. Rizzi and Howie Choset
IEEE Transactions on Automation Science and Engineering, Vol.2, No.4, October 2005, pp.381-392
Link

Path Planning for Robotic Demining: Robust Sensor-based Coverage of Unstructured Environments and Probabilistic Methods
Ercan U. Acar, Howie Choset, Yangang Zhang, Mark Schervish
The International Jounal of Robotics Research, Vol. 22, No. 7-8, July-August 2003, pp. 441-466
Link

Morse Decompositions for Coverage Tasks
Ercan U. Acar, Howie Choset, Alfred A. Rizzi, Prasad N. Atkar, Douglas Hull
The International Jounal of Robotics Research, Vol. 21, No. 4, April 2002, pp. 331-344
Link

Sensor-Based Coverage of Unknown Environments: Incremental Construction of Morse Decompositions
Ercan U. Acar, Howie Choset
The International Jounal of Robotics Research, Vol. 21, No. 4, April 2002, pp. 345-366
Link

Coverage for robotics - A survey of recent results
Howie Choset
Annals of Mathematics and Artificial Intelligence 31: 113-126, 2001.
Link

Coverage of Known Spaces: The Boustrophedon Cellupdar Decomposition
Howie Choset
Autonomos Robots 9: 247-253, 2000.
Link

Mobile Manipulation

Conference Papers

Mobile Manufacturing of Large Structures
D. Bourne, H. Choset, G. Kantor, H. Hu, C. Niessl, Z. Rubinstein, R. Simmons, and S. Smith
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, 2015.
Link

An Optimization Approach to Planning for Mobile Manipulation
Dmitry Berenson, James Kuffner, and Howie Choset
Proc. 2008 IEEE International Conference on Robotics & Automation, Pasadena, California, USA, May 2008

Multi-Robot

Conference Papers

Constraint Manifold Subsearch for Multirobot Path Planning with Cooperative Tasks
G. Wagner, J. I. Kim, K. Urban, and H. Choset
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, 2015.
Link

ODrM* - Optimal Multirobot Path Planning in Low Dimensional Search Spaces
C. Ferner, G. Wagner and H. Choset
Proceedings of the IEEE International Conference on Robotics and Automation, Karlsruhe, DE, May, 2013
Link

Subdimensional Expansion and Optimal Task Reassignment
Glenn Wagner, Howie Choset, and Nora Ayanian
Proceedings of the AAAI Symposium on Combinatorial Search, Niagara Falls, ON, Canada, 2012.
Link

Probabilistic Path Planning for Multiple Robots with Subdimensional Expansion
G. Wagner, M. Kang and H. Choset
2012 IEEE International Conference on Robotics and Automation, St. Paul, MN, May, 2012
Link

Multi-Agent Deterministic Graph Mapping via Robot Rendezvous
C. Gong, S. Tully, G. Kantor and H. Choset
2012 IEEE International Conference on Robotics and Automation, St. Paul, MN, May, 2012
Link

M*: A Complete Multirobot Path Planning Algorithm with Performance Bounds
Glenn Wagner and Howie Choset
2011 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, San Francisco, CA, USA, September 2011
Link

Predicting the Size of Spring Network Swarm in Quadratic Potential Fields
Hyungpil Moon, Howie Choset, and Jonathan E. Luntz
The 4th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2007), Pohang, Korea.
Link

Development and Deployment of a Line of Sight Virtual Sensor for Heterogeneous Teams
Grabowski, Koshla, Choset
Proceedings of the 2004 IEEE International Conference on Robotics & Automation, New Orleans, LA, April 2004
Link

Toward Sensor Based Coverage with Robot Teams
Latimer, Srinivasa, Lee-Shue, Sonne, Choset, Hurst
Proc. 2002 IEEE International Conference on Robotics & Automation, Washington DC, May 2002
Link

Journal Papers

Subdimensional Expansion for Multirobot Path Planning
Glenn Wagner and Howie Choset
Artificial Intelligence Volume 219, February 2015, Pages 1-24
Link

Non-Smooth Analysis

Conference Papers

Deformed State Lattice Planning
Z. Ren, C. Gong and H. Choset
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Link

Sensor Based Planning and Nonsmooth Analysis
H. Choset and J. Burdick
Proceedings of the 1994 International Conference on Robotics and Automation, San Diego, CA, USA, May 1994.
Link

Journal Papers

Nonsmooth Analysis, Convex Analysis, and their Applications to Motion Planning
H. Choset
International Journal of Computational Geometry and Applications, Special Issue, vol. 9, pp. 447?469, 1999.

Retracts

Chapters in Books

Topology in Motion Planning
H. Choset and A. Rizzi
In Robotics Research: The Eleventh International Symposium Edited by P. Dario and R. Chatila, Springer-Verlag, Berlin, Germany, 2005
Link

The Hierarchical Generalized Voronoi Graph
H. Choset and J. Burdick
Algorithms for Robotic Motion and Manipulation Edited J.P. Laumond and M. Overmars, A.K. Peters, Boston, MA, 1997

Conference Papers

A New Roadmap for a Sensor-based Planning for Planar Multi-Convex Rigid Bodies
Ji Yeong Lee, Howie Choset
Proc. 2005 IEEE International Conference on Robotics & Automation, Barcelona Spain, April 2005
Link

Motion Planning for a Rod-shaped Robot in R3: Connecting the rod-HGVG using the point-HGVG
Ji Yeong Lee and Howie Choset
Proceedings of the 2004 Conference on Robotics & Automation, New Orleans, LA, April 2004
Link

Toward Automatic Process Planning of a Multi-Axis Hybrid Laser Aided Manufacturing System: Skeleton-based Offset Edge Generation
Eiamsa-ard, Liou, Landers and Choset
Proceedings of IDETC'03, ASME 2003 Design Engineering Techincal Conferences and Computers and Information in Engineering Conference, 2003
Link

Incremental Construction of the Generalized Voronoi Diagram, the Generalized Voronoi Graph, and the Hierarchical Generalized Voronoi Graph
Howie Choset
First CGC Workshop on Computational Geometry, Baltimore, MD, October 1997
Link

Sensor Based Planning: A Control Law for Generating the Generalized Voronoi Graph
Howie Choset, Ilhan Konukseven, and Al RIzzi
IEEE/ICAR, Montery, CA, 1997
Link

Sensor Based Planning for a Planar Rod Robot: Incremental Construction of the Planar Rod-HGVG
Howie Choset, Brian Mirtich, and Joel Burdick
Proceedings of the 1997 IEEE International Conference on Robotics and Automation (ICRA '97), April, 1997, pp. 3427 - 3434.
Link

Sensor Based Motion Planning: The Hierarchical Generalized Voronoi Graph
H. Choset and J. Burdick
Workshop on Algorithmic Foundations of Robotics, 1996
Link

Sensor Based Planning for a Rod Robot
H. Choset and J. Burdick
IEEE/ICRA Minneapolis, MN, 1996
Link

Sensor Based Planning, Part I: The Generalized Voronoi Graph
H. Choset and J. Burdick
Proceedings of the 1995 IEEE International Conference on Robotics and Automation (ICRA '95), May, 1995, pp. 1649 - 1655.
Link

Sensor Based Planning, Part II: Incremental Construction of the Generalized Voronoi Graph
H. Choset and J. Burdick
IEEE/ICRA Nagoya, Japan, 1995
Link

Journal Papers

Sensor-based Planning for a Rod-shaped Robot in Three Dimensions: Piecewise Retracts of R^3 x S^2
Ji Yeong Lee and Howie Choset
International Journal of Robotics Research, Vol.24, No.5, May 2005, pp.343-383
Link

Sensor-Based Exploration for Convex Bodies: A New Roadmap for a Convex-Shaped Robot
Ji Yeong Lee and Howie Choset
IEEE Transactions of Robotics and Automation, Vol 21, No. 2, April 2005, pp. 240-247
Link

Sensor-Based Construction of a Retract-Like Structure for a Planar Rod Robot
Howie Choset and Ji Yeong Lee
IEEE Transactions of Robotics and Automation, Vol 17, No. 4, August 2001
Link

Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph
Howie Choset and Joel Burdick
The International Journal of Robotics Research 19, no. 2 (2000): 126-148
Link

Path Planning and Control for AERCam, a Free-flying Inspection Robot in Space.
H. Choset and D. Kortenkamp
ASCE Journal of Aerospace Engineering, Vol. 12, No. 2, April, 1999, pp. 74 - 81.
Link