• Publications
  • Influence
Multiagent Mission Specification and Execution
The Configuration Description Language (CDL) is developed to capture the recursive composition of configurations in an architecture- and robot-independent fashion and the Societal Agent theory is presented as a basis for constructions of this form. Expand
The state and future of Mars polar science and exploration.
The current state of Mars polar research is assessed, the key questions that motivate the exploration of the polar regions are identified, the extent to which current missions will address these questions are discussed, and what additional capabilities and investigations may be required to address the issues that remain outstanding are speculated. Expand
Modeling Mechanisms with Nonholonomic Joints Using the Boltzmann-Hamel Equations
A new technique for deriving dynamic equations of motion for serial chain and tree topology mech anisms with common nonholonomic constraints by automatically producing a minimum set of equations ofmotion that do not include La grange multipliers. Expand
Recent developments in the ROAMS planetary rover simulation environment
This paper describes recent developments in the ROAMS physics-based simulator for planetary surface exploration rover vehicles. ROAMS includes models for various subsystems and components of theExpand
Optimal Trajectory Planning for Hot-Air Balloons in Linear Wind Fields
This paper solves the intractable nonlinear optimal control problem within a space of a few kilometers and provides insight into the optimal trajectories, such as number of switchings of input and loss of accuracy for specie c wind proe les. Expand
Reactive control for mobile manipulation
Kinematics- and dynamics-based concepts are combined with reactive control approaches in order to move toward a practical level of complexity and performance in mobile manipulators. Expand
Specification and execution of multiagent missions
The design of a multiagent behavioral configuration is simplified by applying an object-oriented approach to the design using a methodology called temporal sequencing to partition the mission into discrete operating states and enumerate the perceptual triggers causing transitions between those states. Expand
Mars Aerobot Validation Program
The Mars Balloon Validation Program (MABVAP) was initiated in August 1997 to develop and validate key technologies needed for aerobot missions on Mars. The major elements of the program are theExpand
Survival of falling robots
As mobile robots are used in more uncertain and dangerous environments, it will become important to design them so that they can survive falls. In this paper, we examine a number of mechanisms andExpand
Qualitative spatial understanding and reactive control for autonomous robots
The work involves integrating two paradigms for robust robotic systems: reactive control and qualitative spatial reasoning. The objective is to produce autonomous robots which can freely wanderExpand