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Publications

Thesis

  • Ross A. Knepper, On the Fundamental Relationships Among Path Planning Alternatives, doctoral dissertation, tech. report CMU-RI-TR-11-19, Robotics Institute, Carnegie Mellon University, June, 2011. [PDF]

Peer-Reviewed Journal Papers

  • Huichan Zhao, Jonathan Jalving, Rukang Huang, Ross A. Knepper, Andy Ruina, and Robert Shepherd, “Soft orthosis with integrated optical strain sensors and EMG control”, IEEE Robotics and Automation Magazine, at press.
  • Mehmet Dogar, Ross A. Knepper, Andrew Spielberg, Changhyun Choi, Henrik I. Christensen, and Daniela Rus. “Multi-Scale Assembly with Robot Teams”. International Journal of Robotics Research (IJRR) At press (2015).
  • Ross A. Knepper, Stefanie Tellex, Adrian Li, Nicholas Roy, and Daniela Rus. “Recovering from Failure by Asking for Help”. Autonomous Robots At press (2015).
  • Thomas Howard, Mihail Pivtoraiko, Ross A. Knepper, and Alonzo Kelly. “Model-Predictive Motion Planning”. IEEE Robotics and Automation Magazine, 21(1):64-73, March 2014 [PDF].
  • Ross A. Knepper and Matthew T. Mason. “Realtime Informed Path Sampling for Motion Planning Search,” International Journal of Robotics Research (IJRR), 31(11):1231-1250, September 2012. [PDF]
  • Siddhartha S. Srinivasa, Dmitry Berenson, Maya Cakmak, Alvaro Collet, Mehmet R. Dogar, Anca D. Dragan, Ross A. Knepper, Tim Niemueller, Kyle Strabala, Mike Vande Weghe, Julius Ziegler, “HERB 2.0: Lessons Learned From Developing a Mobile Manipulator for the Home,” Proceedings of the IEEE, 100(8):2410-2428, August 2012. [PDF]
  • Ross A. Knepper, Siddhartha S. Srinivasa, and Matthew T. Mason, “Toward a Deeper Understanding of Motion Alternatives,” International Journal of Robotics Research (IJRR), 31(2):168–187, February 2012. [PDF]
  • Mihail Pivtoraiko, Ross A. Knepper, and Alonzo Kelly, “Differentially Constrained Mobile Robot Motion Planning in State Lattices,” Journal of Field Robotics (JFR), 26(3): 308-333, March 2009. [PDF]

Peer-Reviewed Conference Papers

  • Abhishek Anand and Ross Knepper. “ROSCoq: Robots powered by constructive reals”. The 6th Conference on Interactive Theorem Proving. Nanjing, China, Aug. 2015.
  • Ian Lenz, Ross A. Knepper, and Ashutosh Saxena. “DeepMPC: Learning Deep Latent Features for Model Predictive Control”. Proceedings of the Robotics Science and Systems Conference (RSS). Rome, Italy, July 2015.
  • Javier Alonso-Mora, Ross A. Knepper, Roland Siegwart, and Daniela Rus. “Local Motion Planning for Collaborative Multi-Robot Manipulation of Deformable Objects”. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Seattle, USA, May 2015. [PDF]
  • Laura Lindzey, Ross A. Knepper, Howie Choset, and Siddhartha S. Srinivasa. “The Feasible Transition Graph: Encoding Topology and Manipulation Constraints for Multirobot Push-Planning”. In: Proceedings of the Workshop on the Algorithmic Foundations of Robotics. Istanbul, Turkey, Aug. 2014.
  • Stefanie Tellex, Ross A. Knepper, Adrian Li, Nicholas Roy, and Daniela Rus. “Asking for Help Using Inverse Semantics”. Proceedings of the Robotics Science and Systems (RSS) Conference. Berkeley, USA, July 2014. Awarded Best Paper. [PDF]
  • Mehmet Dogar, Ross A. Knepper, Andrew Spielberg, Changhyun Choi, Henrik I. Christensen, and Daniela Rus. “Towards Coordinated Precision Assembly with Robot Teams”. Proceedings of the International Symposium of Experimental Robotics. Marrakesh and Essaouira, Morocco, June 2014. [PDF]
  • Jue Wang, Fadel Adib, Ross A. Knepper, Dina Katabi, and Daniela Rus. “RF-Compass: Robot Object Manipulation using RFIDs”. Proceedings of MobiCom: International Conference on Mobile Computing and Networking. Miami, USA, September 2013. [PDF]
  • Ross A. Knepper, Todd Layton, John Romanishin, and Daniela Rus. “IkeaBot: An Autonomous Multi-Robot Coordinated Furniture Assembly System”. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Karlsruhe, Germany, May 2013. Best Automation Paper Finalist. [PDF]
  • Ross A. Knepper and Daniela Rus. “On the Completeness of Ensembles of Motion Planners for Decentralized Planning”. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Karlsruhe, Germany, May 2013. [PDF]
  • Dan Feldman, Stephanie Gil, Ross A. Knepper, Brian Julian, and Daniela Rus. “K-Robots Clustering of Moving Sensors Using Coresets”. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Karlsruhe, Germany, May 2013. [PDF]
  • Ross L. Hatton, Ross A. Knepper, Howie Choset, David Rollinson, Chaohui Gong, and Enric Galceran. “Snakes on a Plan: Toward Combining Planning and Control”. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Karlsruhe, Germany, May 2013. [PDF]
  • Ross A. Knepper, Stefanie Tellex, Adrian Li, Nicholas Roy, and Daniela Rus. “Single Assembly Robot in Search of Human Partner: Versatile Grounded Language Generation”. Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI). Tokyo, Japan, March 2013.
  • Ross A. Knepper and Daniela Rus, “Pedestrian-Inspired Sampling-Based Multi-Robot Collision Avoidance”, in Proceedings of the International Symposium on Robot and Human Interactive Communication (RO-MAN), Paris, France, September 2012. [PDF]
  • Ross A. Knepper and Matthew T. Mason. “Improved hierarchical planner performance using local path equivalence”, Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA, September 2011. [PDF]
  • Ross A. Knepper and Matthew T. Mason. “Realtime informed path sampling for motion planning search”, Proceedings of the International Symposium on Robotics Research (ISRR), Flagstaff, USA, August 2011. [PDF]
  • Ross A. Knepper, Siddhartha S. Srinivasa, and Matthew T. Mason, “An Equivalence Relation for Local Path Sets”, Proceedings of the Ninth International Workshop on the Algorithmic Foundations of Robotics (WAFR), Singapore, December 2010. [PDF]
  • Ross A. Knepper, Siddhartha S. Srinivasa, and Matthew T. Mason, “Hierarchical Planning Architectures for Mobile Manipulation Tasks in Indoor Environments”, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, USA, May 2010. [PDF]
  • Ross A. Knepper and Matthew T. Mason, “Path Diversity is Only Part of the Problem,” Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 2009. [PDF]
  • Ross A. Knepper and Matthew T. Mason, “Empirical Sampling of Path Sets for Local Area Motion Planning,” Proceedings of the International Symposium on Experimental Robotics (ISER), Athens, Greece, July 2008. [PDF]
  • Michael S. Branicky, Ross A. Knepper, and James J. Kuffner, “Path and Trajectory Diversity: Theory and Algorithms,” Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Pasadena, USA, May 2008. [PDF]
  • Ross A. Knepper and Alonzo Kelly, “High Performance State Lattice Planning Using Heuristic Look-Up Tables,” Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Beijing, China, October 2006. [PDF]
  • Thomas M. Howard, Ross A. Knepper, and Alonzo Kelly, “Constrained Optimization Path Following of Wheeled Robots in Natural Terrain,” Proceedings of the International Symposium on Experimental Robotics (ISER), Rio de Janeiro, Brazil, July 2006. [PDF]
  • Howie Choset, Ross Knepper, Joleen Flasher, Sean Walker, Andrew Alford, Dean Jackson, David Kortenkamp, Jaime J. Fernandez, Robert R. Burridge, “Path Planning and Control for AERCam, a Free-Flying Inspection Robot in Space,” Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Detroit, USA, May 1999. [PDF]

Workshops

  • Ross A. Knepper, Dishaan Ahuja, Geoffrey Lalonde, and Daniela Rus, “Distributed Assembly with AND/OR Graphs”, Workshop on AI Robotics, at the International Conference on Intelligent Robots and Systems (IROS), Chicago, USA, September 2014.
  • Stefanie Tellex, Ross A. Knepper, Adrian Li, Thomas M. Howard, Daniela Rus, and Nicholas Roy, “Asking for Help: Assembling Furniture by Asking for Help from a Human Partner”, Collaborative Manipulation: New Challenges for Robotics and HRI, at the ACM/IEEE International Conference on Human-Robot Interaction (HRI), Tokyo, Japan, March 2013.
  • Ross A. Knepper and Daniela Rus, “Human-Inspired Distributed Collision Avoidance”, Many-Robot Systems: Crossing the Reality Gap, at the International Conference on Robotics and Automation (ICRA), St. Paul, USA, May 2012.

Technical Reports

  • Laura Lindzey, Howie Choset, Siddhartha Srinivasa, and Ross A. Knepper, Multirobot Pushing --- How Many Robots are Sufficient? Technical Report CMU-RI-TR-12-15, Robotics Institute, Carnegie Mellon University, May, 2012. [PDF]
  • Ross A. Knepper, Siddhartha S. Srinivasa, and Matthew T. Mason. “Curvature bounds on the weighted Voronoi diagram of two proximal paths with shape constraints”. Technical Report CMU-RI-TR-10-25, Robotics Institute, Carnegie Mellon University, 2010.
  • Mihail Pivtoraiko, Ross A Knepper, and Alonzo Kelly, “Optimal, Smooth, Nonholonomic Mobile Robot Motion Planning in State Lattices,” Tech. report CMU-RI-TR-07-15, Robotics Institute, Carnegie Mellon University, May 2007. [PDF]

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