Robotics
Control Strategies for the Index Finger of a Tendon-driven Hand
A. Deshpande, J. Ko, D. Fox, Y. Matsuoka, The International Journal of Robotics Research (IJRR) 32:1, 2013.
Attribute Based Object Identification
Y. Sun, L. Bo, D. Fox, IEEE International Conference on Robotics and Automation (ICRA), 2013.
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Compact RGBD surface models based on sparse coding
M. Ruhnke, L. Bo, D. Fox, D. Burgard, Proc. of the AAAI Conference on Artificial Intelligence, 2013.
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RGB-D Flow: Dense 3-D Motion Estimation Using Color and Depth
E. Herbst, X. Ren, D. Fox, IEEE International Conference on Robotics and Automation (ICRA), 2013.
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DuploTrack: A Realtime System for Authoring and Guiding Duplo Block Assembly
A. Gupta, D. Fox, B. Curless, M. Cohen, ACM Symposium on User Interface Software and Technology (UIST), 2012.
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Automatic extraction of command hierarchies for adaptive brain-robot interfacing
M. Bryan, G. Nicoll, V. Thomas, M. Chung, J.R. Smith, R.P.N. Rao, Robotics and Automation (ICRA), 2012 IEEE International Conference on, 2012.
A Joint Model of Language and Perception for Grounded Attribute Learning
C. Matuszek, N. FitzGerald, L. Zettlemoyer, L. Bo, D. Fox, Proceedings of the International Conference on Machine Learning (ICML), 2012.
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Learning to Parse Natural Language Commands to a Robot Control System
C. Matuszek, E. Herbst, L. Zettlemoyer, D. Fox, International Symposium on Experimental Robotics (ISER), 2012.
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Aggregation methods for linearly-solvable MDPs
M. Zhong, E. Todorov, World Congress of the International Federation of Automatic Control, 2011.
A unifying framework for linearly-solvable control
K. Dvijotham, E. Todorov, Uncertainty in Artificial Intelligence, 2011.
Classification and Semantic Mapping of Urban Environments
B. Douillard, D. Fox, F. Ramos, H. Durrant-Whyte, International Journal of Robotics Research 30:1, 2011.
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Finding the most likely trajectories of optimally-controlled stochastic systems
E. Todorov, World Congress of the International Federation of Automatic Control, 2011.
Gambit: An Autonomous Chess Playing Manipulator
C. Matuszek, B. Mayton, R. Aimi, L. Bo, M. Deisenroth, R. Chu, M. Kung, L. LeGrand, J. Smith, D. Fox, ICRA, 2011.
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High-order local dynamic programming
Y. Tassa, E. Todorov, IEEE Adaptive Dynamic Programming and Reinforcement Learning, 2011.
Moving least-squares approximations for linearly-solvable stochastic optimal control problems
M. Zhong, E. Todorov, Journal of Control Theory Applications 9, 2011.
Interactive Hierarchical Brain-Computer Interfacing: Uncertainty-Based Interaction between Humans and Robots
M. Chung, M. Bryan, W. Cheung, R. Scherer, R.P.N. Rao, Fifth International Brain-Computer Interface Conference 2011 (BCI2011) (to appear), 2011.
An Adaptive Brain-Computer Interface for Humanoid Robot Control
M. Bryan, J. Green, Mike Chung, R. Scherer, L. Chang, J.R. Smith, R. Rao, IEEE Humanoids, 2011.
A convex, smooth and invertible contact model for trajectory optimization
E. Todorov, International Conference on Robotics and Automation, 2011.
Complex object manipulation with hierarchical optimal control
A. Simpkins, E. Todorov, IEEE Adaptive Dynamic Programming and Reinforcement Learning, 2011.
Design and analysis of an artificial finger joint for anthropomorphic robotic hands
Z. Xu, E. Todorov, B. Dellon, Y. Matsuoka, International Conference on Robotics and Automation, 2011.
First-exit model predictive control of fast discontinuous dynamics: Application to ball bouncing
P. Kulchenko, E. Todorov, International Conference on Robotics and Automation, 2011.
Infinite-horizon model predictive control for nonlinear periodic tasks with contacts
T. Erez, Y. Tassa, E. Todorov, Robotics: Science and Systems, 2011.
Modular bio-mimetic robots that can interact with the world the way we do
A. Simpkins, M. Kelley, E. Todorov, International Conference on Robotics and Automation, 2011.
Optimal limit-cycle control recast as Bayesian inference
Y. Tassa, T. Erez, E. Todorov, World Congress of the International Federation of Automatic Control, 2011.
Policy gradient methods with model predictive control applied to ball bouncing
P. Kulchenko, E. Todorov, IEEE Adaptive Dynamic Programming and Reinforcement Learning, 2011.
Identification and control of a pneumatic robot
E. Todorov, C. Hu, A. Simpkins, J. Movellan, IEEE BioRob, 2010.
Inverse optimal control with linearly-solvable MDPs
K. Dvijotham, T. E., International Conference on Machine Learning, 2010.
Policy gradients in linearly-solvable MDPs
E. Todorov, Advances in Neural Information Processing Systems, 2010.
Position estimation and control of compact BLDC motors based on analog linear Hall effect sensors
A. Simpkins, E. Todorov, American Control Conference, 2010.
Stochastic differential dynamic programming
E. Theodorou, Y. Tassa, E. Todorov, American Control Conference, 2010.
RFID: From Supply Chains to Sensor Nets
S. Roy, V. Jandhyala, J.R. Smith, D.J. Wetherall, B.P. Otis, R. Chakraborty, M. Buettner, D.J. Yeager, Y.C. Ko, A.P. Sample, Proceedings of the IEEE 98:9, 2010.
An Electric Field Pretouch System for Grasping and Co-Manipulation
B. Mayton, L. LeGrand, J.R. Smith, Proceedings of the 2010 IEEE International Conference on Robotics and Automation, 2010.
Implicit nonlinear complementarity: A new approach to contact dynamics
E. Todorov, International Conference on Robotics and Automation, 2010.
Robot, Feed Thyself: Plugging in to Unmodified Electrical Outlets by Sensing Emitted AC Electric Fields
B. Mayton, L. LeGrand, J.R. Smith, Proceedings of the 2010 IEEE International Conference on Robotics and Automation, 2010.
Stochastic complementarity for local control of discontinuous dynamics
Y. Tassa, E. Todorov, Robotics: Science and Systems, 2010.
Compositionality of optimal control laws
E. Todorov, Advances in Neural Information Processing Systems, 2009.
Efficient computation of optimal actions
Todorov, Proceedings of the National Academy of Science 106, 2009.
Eigenfunction approximation methods for linearly-solvable optimal control problems
E. Todorov, IEEE Adaptive Dynamic Programming and Reinforcement Learning, 2009.
Hierarchical optimal control of a 7-DOF arm model
D. Liu, E. Todorov, IEEE Adaptive Dynamic Programming and Reinforcement Learning, 2009.
Iterative local dynamic programming
E. Todorov, Y. Tassa, IEEE Adaptive Dynamic Programming and Reinforcement Learning, 2009.
A Spotlight on Security and Privacy Risks with Future Household Robots: Attacks and Lessons
T. Denning, C. Matuszek, K. Koscher, J.R. Smith, T. Kohno, Proceedings of the 11th International Conference on Ubiquitous Computing, 2009.
Distributed Multirobot Exploration, Mapping, and Task Allocation
R. Vincent, D. Fox, J. Ko, K. Konolige, B. Limketkai, B. Morisset, C. Ortiz, D. Schulz, B. Stewart, Annals of Mathematics and Artificial Intelligence 52:2–4, 2008.
General duality between optimal control and estimation
E. Todorov, IEEE Conference on Decision and Control, 2008.
Optimal trade-off between exploration and exploitation
A. Simpkins, R. Callafon, E. Todorov, American Control Conference, 2008.
Rao-Blackwellized Particle Filters for Recognizing Activities and Spatial Context From Wearable Sensors
A. Raj, A. Subramanya, D. Fox, J. Bilmes, Experimental Robotics: The 10th International Symposium, Springer Verlag 39, 2008.
Design of an RFID-Based Battery-Free Programmable Sensing Platform
A.P. Sample, D.J. Yeager, P.S. Powledge, A.V. Mamishev, J.R. Smith, IEEE Transactions on Instrumentation and Measurement 57:11, 2008.
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Electric Field Servoing for Robotic Manipulation
R. Wistort, J.R. Smith, Proceedings of IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, 2008.
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RFID Sensor Networks with the Intel WISP
M. Buettner, B. Greenstein, R. Prasad, A. Sample, J.R. Smith, D. Yeager, D. Wetherall, 6th ACM Conference on Embedded Networked Sensor Systems, 2008.
Winner of Best Demo award
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Iterative linearization methods for approximately optimal control and estimation of non-linear stochastic systems
W. Li, E. Todorov, International Journal of Control 80, 2007.
State estimation with finite signals-to-noise models via linear matrix inequalities
W. Li, R. Skelton, E. Todorov, Journal of Dynamic Systems, Measurement and Control 129, 2007.
Electric Field Imaging Pretouch for Robotic Graspers
J.R. Smith, E. Garcia, R. Wistort, G. Krishnamoorthy, IEEE/RSJ 2007 International Conference on Intelligent Robots and Systems, 2007.
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Hierarchical Conditional Random Fields for GPS-based Activity Recognition
L. Liao, D. Fox, H. Kautz, Robotics Research – Results of the 12th International Symposium ISRR, 2007.
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Learning and Inferring Transportation Routines
L. Liao, D. J. Patterson, D. Fox, H. Kautz, Artificial Intelligence 171:5-6, 2007.
AAAI Outstanding Paper Award
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Iterative optimal control and estimation design for nonlinear stochastic systems
W. Li, E. Todorov, IEEE Conference on Decision and Control, 2006.
Linearly-solvable Markov decision problems
E. Todorov, Advances in Neural Information Processing Systems, 2006.
A wirelessly powered platform for sensing and computation
J.R. Smith, A. Sample, P. Powledge, A. Mamishev, S. Roy, Proceedings of Ubicomp 2006: 8th International Conference on Ubiquitous Computing, 2006.
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Centibots: Very large scale distributed robotic teams
K. Konolige, D. Fox, C. Ortiz, A. Agno, M. Eriksen, B. Limketkai, J. Ko, B. Morisset, D. Schulz, B. Stewart, R. Vincent, Experimental Robotics: The 9th International Symposium, Springer Verlag 21, 2006.
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Distributed Multi-robot Exploration and Mapping
D. Fox, J. Ko, K. Konolige, B. Limketkai, B. Stewart, Proc. of the IEEE 94:7, 2006.
Special Issue on Multirobot Systems
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A generalized iterative LQG method for locally-optimal feedback control of constrained nonlinear stochastic systems
E. Todorov, W. Li, American Control Conference, 2005.
A Hierarchical Bayesian Approach to the Revisiting Problem in Mobile Robot Map Building
D. Fox, J. Ko, K. Konolige, B. Stewart, Robotics Research: The Eleventh International Symposium, Springer Verlag, 2005.
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Estimation and control of systems with multiplicative noise via linear matrix inequalities
W. Li, R. Skelton, E. Todorov, American Control Conference, 2005.
From task parameters to motor synergies: A hierarchical framework for approximately-optimal control of redundant manipulators
E. Todorov, W. Li, X. Pan, Journal of Robotic Systems 22, 2005.
Probabilistic Robotics
S. Thrun, W. Burgard, D. Fox, Probabilistic Robotics, MIT Press, 2005.
ISBN 0-262-20162-3
Fine-Grained Activity Recognition by Aggregating Abstract Object Usage
D. Patterson, D. Fox, H. Kautz, M. Philipose, Proc. of the International Symposium on Wearable Computers, 2005.
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Real-time particle filters
C.T. Kwok, D. Fox, M. Meilă, Proceedings of the IEEE 92:2, 2004.
Special Issue on Sequential State Estimation
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Opportunity Knocks: a System to Provide Cognitive Assistance with Transportation Services
D. Patterson, L. Liao, K. Gajos, M. Collier, N. Livic, K. Olson, S. Wang, D. Fox, H. Kautz, UbiComp, 2004.
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Bayesian Techniques for Location Estimation
D. Fox, J. Hightower, H. Kautz, L. Liao, D. J. Patterson, Proc. of the UbiComp-2003 Workshop on Location-Aware Computing, 2003.
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Distributed Multi-Robot Mapping
D. Fox, J. Ko, B. Stewart, K. Konolige, B. Limetkai, Multi-Robot Systems: From Swarms to Intelligent Automata, Kluwer II, 2003.
Map merging for distributed robot navigation
K. Konolige, D. Fox, J. Ko, B. Limketkai, B. Stewart, IROS, 2003.
Bayesian Filtering for Location Estimation
D. Fox, J. Hightower, L. Liao, D. Schulz, G. Borriello, IEEE Pervasive Computing Magazine 2:3, 2003.
Special Issue on Dealing with Uncertainty
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CentiBOTS: Large-Scale Robot Teams
K. Konolige, C. Ortiz, R. Vincent, A. Agno, M. Eriksen, B. Limetkai, M. Lewis, L. Briesemeister, E. Ruspini, D. Fox, J. Ko, B. Stewart, L. Guibas, Multi-Robot Systems: From Swarms to Intelligent Automata, Kluwer II, 2003.
Research on Statistical Relational Learning at the University of Washington
P. Domingos, Y. Abe, C. Anderson, A. Doan, D. Fox, A. Halevy, G. Hulten, H. Kautz, T. Lau, L. Liao, J. Madhavan, D. Mausam, M. Richardson, S. Sanghai, D. Weld, S. Wolfman, Proc. of the IJCAI-2003 Workshop on Learning Statistical Models from Relational Data, 2003.
An Overview of the Assisted Cognition Project
H. Kautz, L. Arnstein, G. Borriello, O. Etzioni, D. Fox, AAAI Workshop on Automation as Caregiver: The Role of Intelligent Technology in Elder Care, 2002.
Intelligent Ubiquitous Computing to Support Alzheimer's Patients: Enabling the Cognitively Disabled
D. Patterson, O. Etzioni, D. Fox, H. Kautz, UbiCog '02: First International Workshop on Ubiquitous Computing for Cognitive Aids, 2002.
Learning Hierarchical Object Maps Of Non-Stationary Environments With Mobile Robots
D. Anguelov, R. Biswas, D. Koller, B. Limketkai, S. Sanner, S. Thrun, UAI, 2002.
Real-time Particle Filters Using Mixtures of Samples Sets
C.T. Kwok, D. Fox, M. Meilă, AAAI/KDD/UAI-2002 Joint Workshop on Real-Time Decision Support and Diagnosis Systems, 2002.
Toward Object Mapping in Dynamic Environments With Mobile Robots
R. Biswas, B. Limketkai, S. Sanner, S. Thrun, IROS, 2002.
Making sensor networks practical with robots
A. LaMarca, W. Brunette, D. Koizumi, M. Lease, S.B. Sigurdsson, K. Sikorski, D. Fox, G. Borriello, Pervasive, 2002.
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PlantCare: An investigation in practical ubiquitous systems
A. LaMarca, W. Brunette, D. Koizumi, M. Lease, S.B. Sigurdsson, K. Sikorski, D. Fox, G. Borriello, UbiComp, 2002.
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Integrated Plan-based Control of Autonomous Service Robots in Human Environments
M. Beetz, T. Arbuckle, T. Belker, M. Bennewitz, W. Burgard, A.B. Cremers, D. Fox, H. Grosskreutz, D. Hähnel, D. Schulz, IEEE Intelligent Systems 16:5, 2001.
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Coordinated Deployment of Multiple, Heterogeneous Robots
R. Simmons, D. Apfelbaum, D. Fox, R.P. Goldman, K.Z. Haigh, D.J. Musliner, M. Pelican, S. Thrun, IROS, 2000.
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Efficient multi-robot localization based on Monte Carlo approximation
D. Fox, W. Burgard, H. Kruppa, S. Thrun, Robotics Research: the Ninth International Symposium, Springer-Verlag, 2000.
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Coordination for Multi-Robot Exploration and Mapping
R. Simmons, D. Apfelbaum, W. Burgard, D. Fox, M. Moors, S. Thrun, H. Younes, AAAI, 2000.
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Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot Minerva.
S. Thrun, M. Beetz, M. Bennewitz, W. Burgard, A. B. Cremers, F. Dellaert, D. Fox, D. Hähnel, C. Rosenberg, N. Roy, J. Schulte, D. Schulz, International Journal of Robotics Research 19:11, 2000.
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Web Interfaces for Mobile Robots in Public Places
D. Schulz, W. Burgard, D. Fox, S. Thrun, A. B. Cremers, IEEE Robotics and Automation Magazine 7:1, 2000.
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Coastal navigation: Mobile robot navigation with uncertainty in dynamic environments
N. Roy, W. Burgard, D. Fox, S. Thrun, ICRA, 1999.
Markov Localization for Reliable Robot Navigation and People Detection
D. Fox, W. Burgard, S. Thrun, Modelling and Planning for Sensor-Based Intelligent Robot Systems, Springer Verlag, 1999.
Probabilistic Methods for Mobile Robot Mapping
D. Fox, W. Burgard, S. Thrun, Proc. of the IJCAI-99 Workshop on Adaptive Spatial Representations of Dynamic Environments, 1999.
Invited presentation
Experiences with an Interactive Museum Tour-Guide Robot
W. Burgard, A. B. Cremers, D. Fox, D. Hähnel, G. Lakemeyer, D. Schulz, W. Steiner, S. Thrun, Artificial Intelligence 114:1-2, 1999.
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Experiences with two deployed interactive tour-guide robots
S. Thrun, M. Bennewitz, W. Burgard, A. B. Cremers, F. Dellaert, D. Fox, D. Hähnel, C. Rosenberg, N. Roy, J. Schulte, D. Schulz, W. Steiner, FSR, 1999.
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MINERVA: A second generation mobile tour-guide robot
S. Thrun, M. Bennewitz, W. Burgard, A. B. Cremers, F. Dellaert, D. Fox, D. Hähnel, C. Rosenberg, N. Roy, J. Schulte, D. Schulz, ICRA, 1999.
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Coastal Navigation: Robot Motion with Uncertainty
N. Roy, W. Burgard, D. Fox, S. Thrun, Proc. of the 1998 AAAI Fall Symposium, 1998.
Integrating Active Localization into High-level Robot Control Systems
M. Beetz, W. Burgard, D. Fox, A. B. Cremers, Robotics and Autonomous Systems 23, 1998.
Probabilistic Mapping of an Environment by a Mobile Robot
S. Thrun, D. Fox, W. Burgard, ICRA, 1998.
The Interactive Museum Tour-Guide Robot
W. Burgard, A. B. Cremers, D. Fox, D. Hähnel, G. Lakemeyer, D. Schulz, W. Steiner, S. Thrun, AAAI, 1998.
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A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
S. Thrun, D. Fox, W. Burgard, Machine Learning 31, 1998.
Also appeared in Autonomous Robots 5:253–271, joint issue
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Real Robots for the Real World –- The RHINO Museum Tour-guide Project
W. Burgard, D. Fox, D. Hähnel, G. Lakemeyer, D. Schulz, W. Steiner, S. Thrun, A. B. Cremers, Proc. of the AAAI 1998 Spring Symposium on Integrating Robotics Research: Taking the Next Leap, 1998.
The Museum Tour-Guide Robot RHINO
W. Burgard, A. B. Cremers, D. Fox, D. Hähnel, G. Lakemeyer, D. Schulz, W. Steiner, S. Thrun, Proc. of Fachgespräch Autonome Mobile Systeme (AMS'98), 1998.
Active Localization for Service Robot Applications
M. Beetz, W. Burgard, A. B. Cremers, D. Fox, Proc. of the 5th Symposium for Intelligent Robotics Systems (SIRS'97), Stockholm, Sweden, 1997.
Active Mobile Robot Localization by Entropy Minimization
W. Burgard, D. Fox, S. Thrun, Proc. of the Second Euromicro Workshop on Advanced Mobile Robots, IEEE Computer Society Press, 1997.
Probabilistic State Estimation in Robotics
S. Thrun, D. Fox, W. Burgard, Proc. of the Workshop on Self-Organization of Adaptive Behavior, Ilmenau, Germany, VDI-Verlag, 1997.
Controlling Synchro-drive Robots with the Dynamic Window Approach to Collision Avoidance
D. Fox, W. Burgard, S. Thrun, IROS, 1996.
Position Tracking with Position Probability Grids
W. Burgard, D. Fox, D. Hennig, T. Schmidt, Proc. of the First Euromicro Workshop on Advanced Mobile Robots, IEEE Computer Society Press, 1996.
Map Learning and High-Speed Navigation in RHINO
S. Thrun, A. Bücken, W. Burgard, D. Fox, T. Fröhlinghaus, D. Hennig, T. Hofmann, M. Krell, T. Schimdt, 1996.
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The Mobile Robot RHINO
J. Buhmann, W. Burgard, A. B. Cremers, D. Fox, T. Hofmann, F. Schneider, J. Strikos, S. Thrun, AI Magazine 16:2, 1995.

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