Simulated and experimental results of dual resolution sensor based planning for hyper-redundant manipulators. - Nobuaki Takanashi; Howie Choset; Joel W. Burdick (IROS, 1993)

Sensor-Based Planning and Nonsmooth Analysis. - Howie Choset; Joel W. Burdick (ICRA, 1994)

Sensor Based Planing, Part I: The Generalized Voronoi Graph. - Howie Choset; Joel W. Burdick (ICRA, 1995)

Sensor Based Planing, Part II: Incremental COnstruction of the Generalized Voronoi Graph. - Howie Choset; Joel W. Burdick (ICRA, 1995)

Sensor based planning for a planar rod robot. - Howie Choset; Joel W. Burdick (ICRA, 1996)

Sensor based planning for a planar rod robot: incremental construction of the planar rod-HGVG. - Howie Choset; Brian Mirtich; Joel W. Burdick (ICRA, 1997)

Parcel manipulation and dynamics with a distributed actuator array: the virtual vehicle. - Jonathan E. Luntz; William C. Messner; Howie Choset (ICRA, 1997)

Mobile robot navigation: implementing the GVG in the presence of sharp corners. - E. Ilhan Konukseven; Howie Choset (IROS, 1997)

Sensor-based planning: using a honing strategy and local map method to implement the generalized Voronoi graph. - Howie Choset; Keiji Nagatani; Alfred A. Rizzi (Mobile Robots, 1997)

Towards Exact Localization without Explicit Localization with the Generalized Voronoi Graph. - Keiji Nagatani; Howie Choset; Sebastian Thrun (ICRA, 1998)

Autonomous mobile robot exploration based on the generalized Voronoi graph in the presence of localization error. - Keiji Nagatani; Howie Choset (Mobile Robots / Intelligent Transportation Systems, 1998)

Sensor Based Coverage of Unknown Environments for Land Mine Detection. - Ercan U. Acar; Morgan Simmons; Michael Rosenblatt; Maayan Roth; Mary Berna; Yonatan Mittlefehldt; Howie Choset (AAAI/IAAI, 1999)

Path Planning and Control for AERCam, a Free-Flying Inspection Robot in Space. - Howie Choset; Ross A. Knepper; Joleen Flasher; Sean Walker; Andrew Alford; Dean Jackson; David Kortenkamp; Jaime J. Fernandez; Robert R. Burridge (ICRA, 1999)

Discrete Actuator Array Vectorfield Design for Distributed Manipulation. - Jonathan E. Luntz; William C. Messner; Howie Choset (ICRA, 1999)

Open-Loop Orientability of Objects on Actuator Arrays. - Jonathan E. Luntz; William C. Messner; Howie Choset (ICRA, 1999)

The Arc-Transversal Median Algorithm: An Approach to Increasing Ultrasonic Sensor Accuracy. - Keiji Nagatani; Howie Choset; Nicole A. Lazar (ICRA, 1999)

Toward robust sensor based exploration by constructing reduced generalized Voronoi graph. - Keiji Nagatani; Howie Choset (IROS, 1999)

Nonsmooth Analysis, Convex Analysis, and their Applications to Motion Planning. - Howie Choset (Int. J. Comput. Geom. Appl., 1999)

Critical Point Sensing in Unknown Environments. - Ercan U. Acar; Howie Choset (ICRA, 2000)

Exact Cellular Decompositions in Terms of Critical Points of Morse Functions. - Howie Choset; Ercan U. Acar; Alfred A. Rizzi; Jonathan E. Luntz (ICRA, 2000)

Closed-Loop Operation of Actuator Arrays. - Jonathan E. Luntz; William C. Messner; Howie Choset (ICRA, 2000)

Sensor-based planning: exact cellular decompositions in terms of critical points. - Howie Choset; Ercan U. Acar; Alfred A. Rizzi; Jonathan E. Luntz (Mobile Robots / Telemanipulator and Telepresence Technologies, 2000)

Coverage of Known Spaces: The Boustrophedon Cellular Decomposition. - Howie Choset (Auton. Robots, 2000)

Designing and Implementing Hands-On Robotics Labs. - Michael Rosenblatt; Howie Choset (IEEE Intell. Syst., 2000)

Editorial: Special Issue on Field and Service Robotics. - John Bares; Howie Choset; Alexander Zelinsky (Int. J. Robotics Res., 2000)

Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph. - Howie Choset; Joel W. Burdick (Int. J. Robotics Res., 2000)

Sensor-Based Exploration: Incremental Construction of the Hierarchical Generalized Voronoi Graph. - Howie Choset; Sean Walker; Kunnayut Eiamsa-Ard; Joel W. Burdick (Int. J. Robotics Res., 2000)

Exact Cellular Decomposition of Closed Orientable Surfaces Embedded in R3. - Prasad N. Atkar; Howie Choset; Alfred A. Rizzi; Ercan U. Acar (ICRA, 2001)

Sensor Based Planning for Rod-Shaped Robots in Three-Dimensions: Piece-wise Retracts of R3 x S2. - Ji Yeong Lee; Howie Choset; Alfred A. Rizzi (ICRA, 2001)

Robust sensor-based coverage of unstructured environments. - Ercan U. Acar; Howie Choset (IROS, 2001)

Complete sensor-based coverage with extended-range detectors: a hierarchical decomposition in terms of critical points and Voronoi diagrams. - Ercan U. Acar; Howie Choset; Prasad N. Atkar (IROS, 2001)

Limitations imposed by single DOF actuators on discrete actuator arrays. - Mark Bedillion; William C. Messner; Howie Choset (IROS, 2001)

Probabilistic methods for robotic landmine search. - Yangang Zhang; Mark J. Schervish; Ercan U. Acar; Howie Choset (IROS, 2001)

Toward sensor-based coverage with robot teams. - DeWitt Latimer IV; Siddhartha S. Srinivasa; Vincent Lee-Shue; Samuel Sonne; Howie Choset; Aaron P. Hurst (Mobile Robots, 2001)

Coverage for robotics - A survey of recent results. - Howie Choset (Ann. Math. Artif. Intell., 2001)

Distributed Manipulation Using Discrete Actuator Arrays. - Jonathan E. Luntz; William C. Messner; Howie Choset (Int. J. Robotics Res., 2001)

Sensor-based construction of a retract-like structure for a planar rod robot. - Howie Choset; Ji Yeong Lee (IEEE Trans. Robotics Autom., 2001)

Topological simultaneous localization and mapping (SLAM): toward exact localization without explicit localization. - Howie Choset; Keiji Nagatani (IEEE Trans. Robotics Autom., 2001)

Exploiting Critical Points to Reduce Positioning Error for Sensor-Based Navigation. - Ercan U. Acar; Howie Choset (ICRA, 2002)

Towards Sensor Based Coverage with Robot Teams. - DeWitt Latimer IV; Siddhartha S. Srinivasa; Vincent Lee-Shue; Samuel Sonne; Howie Choset; Aaron P. Hurst (ICRA, 2002)

Development of deposition models for paint application on surfaces embedded in R3 for use in automated path planning. - David C. Conner; Prasad N. Atkar; Alfred A. Rizzi; Howie Choset (IROS, 2002)

Probabilistic hierarchical spatial model for mine locations and its application in robotic landmine search. - Yangang Zhang; Mark J. Schervish; Howie Choset (IROS, 2002)

Experimental Verification of Deposition Models for Automotive Painting with Electrostatic Rotating Bell Atomizers. - David C. Conner; Prasad N. Atkar; Alfred A. Rizzi; Howie Choset (ISER, 2002)

Sensor-Based Coverage: Incremental Construction of Cellular Decompositions. - Ercan U. Acar; Howie Choset (WAFR, 2002)

Sensor-based Coverage of Unknown Environments. - Ercan U. Acar; Howie Choset (Int. J. Robotics Res., 2002)

Morse Decompositions for Coverage Tasks. - Ercan U. Acar; Howie Choset; Alfred A. Rizzi; Prasad N. Atkar; Douglas Hull (Int. J. Robotics Res., 2002)

Accurate relative localization using odometry. - Nakju Lett Doh; Howie Choset; Wan Kyun Chung (ICRA, 2003)

Towards optimal coverage of 2-dimensional surfaces embedded in IR3: choice of start curve. - Prasad N. Atkar; Howie Choset; Alfred A. Rizzi (IROS, 2003)

Composition of local potential functions for global robot control and navigation. - David C. Conner; Alfred A. Rizzi; Howie Choset (IROS, 2003)

An enhanced occupancy map for exploration via pose separation. - Robert Grabowski; Pradeep K. Khosla; Howie Choset (IROS, 2003)

Autonomous exploration via regions of interest. - Robert Grabowski; Pradeep K. Khosla; Howie Choset (IROS, 2003)

Hierarchical simultaneous localization and mapping. - Brad Lisien; Deryck Morales; David Silver; George Kantor; Ioannis M. Rekleitis; Howie Choset (IROS, 2003)

New joint design for three-dimensional hyper redundant robots. - Elie A. Shammas; Alon Wolf; H. Ben Brown Jr.; Howie Choset (IROS, 2003)

A mobile hyper redundant mechanism for search and rescue tasks. - Alon Wolf; H. Benjamin Brown; Randall W. Casciola; Albert Costa; Michael Schwerin; E. Shamas; Howie Choset (IROS, 2003)

Topology in Motion Planning. - Howie Choset; Alfred A. Rizzi (ISRR, 2003)

Path Planning for Robotic Demining: Robust Sensor-based Coverage of Unstructured Environments and Probabilistic Methods. - Ercan U. Acar; Howie Choset; Yangang Zhang; Mark J. Schervish (Int. J. Robotics Res., 2003)

The arc-transversal median algorithm: a geometric approach to increasing ultrasonic sensor azimuth accuracy. - Howie Choset; Keiji Nagatani; Nicole A. Lazar (IEEE Trans. Robotics Autom., 2003)

Bearing-only Landmark Initialization with Unknown Data Association. - Albert Costa; George Kantor; Howie Choset (ICRA, 2004)

Development and Deployment of a Line of Sight Virtual Sensor for Heterogeneous Teams. - Robert Grabowski; Pradeep K. Khosla; Howie Choset (ICRA, 2004)

Motion Planning for a Rod-shaped Robot in ℝ3: Connecting the Rod-HGVG using the Point-HGVG. - Ji Yeong Lee; Howie Choset (ICRA, 2004)

Design of a High-impact Survivable Robot. - Daniel O'Halloran; Alon Wolf; Howie Choset (ICRA, 2004)

Limited Communication, Multi-robot Team Based Coverage. - Ioannis M. Rekleitis; Vincent Lee-Shue; Ai Peng New; Howie Choset (ICRA, 2004)

Arc Carving: Obtaining Accurate, Low Latency Maps from Ultrasonic Range Sensors. - David Silver; Deryck Morales; Ioannis M. Rekleitis; Brad Lisien; Howie Choset (ICRA, 2004)

Uniform Coverage of Simple Surfaces Embedded in for Auto-Body Painting. - Prasad N. Atkar; David C. Conner; Aaron Greenfield; Howie Choset; Alfred A. Rizzi (WAFR, 2004)

Hierarchical Segmentation of Surfaces Embedded in R3 for Auto-Body Painting. - Prasad N. Atkar; Aaron Greenfield; David C. Conner; Howie Choset; Alfred A. Rizzi (ICRA, 2005)

Dynamic Ambiguities in Frictional Rigid-body Systems with Application to Climbing via Bracing. - Aaron Greenfield; Alfred A. Rizzi; Howie Choset (ICRA, 2005)

Sensor-based Planning for Planar Multi-Convex Rigid Bodies. - Ji Yeong Lee; Howie Choset (ICRA, 2005)

Natural Gait Generation Techniques for Multi-bodied Isolated Mechanical Systems. - Elie A. Shammas; Klaus Schmidt 002; Howie Choset (ICRA, 2005)

A Context-Based State Estimation Technique for Hybrid Systems. - Sarjoun Skaff; Alfred A. Rizzi; Howie Choset; Pei-Chun Lin (ICRA, 2005)

Natural Gait Generation Techniques for Principally Kinematic Mechanical Systems. - Elie A. Shammas; Howie Choset; Alfred A. Rizzi (Robotics: Science and Systems, 2005)

Design and control of a mobile hyper-redundant urban search and rescue robot. - Alon Wolf; Howie Choset; H. Benjamin Brown; Randall W. Casciola (Adv. Robotics, 2005)

Uniform Coverage of Automotive Surface Patches. - Prasad N. Atkar; Aaron Greenfield; David C. Conner; Howie Choset; Alfred A. Rizzi (Int. J. Robotics Res., 2005)

Sensor-based Planning for a Rod-shaped Robot in Three Dimensions: Piecewise Retracts of R3 x S2. - Ji Yeong Lee; Howie Choset (Int. J. Robotics Res., 2005)

Paint deposition modeling for trajectory planning on automotive surfaces. - David C. Conner; Aaron Greenfield; Prasad N. Atkar; Alfred A. Rizzi; Howie Choset (IEEE Trans Autom. Sci. Eng., 2005)

Undergraduate embedded system education at Carnegie Mellon. - Philip Koopman; Howie Choset; Rajeev Gandhi; Bruce H. Krogh; Diana Marculescu; Priya Narasimhan; JoAnn M. Paul; Ragunathan Rajkumar; Daniel P. Siewiorek; Asim Smailagic; Peter Steenkiste; Donald E. Thomas; et al. (ACM Trans. Embed. Comput. Syst., 2005)

Sensor-based exploration for convex bodies: a new roadmap for a convex-shaped robot. - Ji Yeong Lee; Howie Choset (IEEE Trans. Robotics, 2005)

The hierarchical atlas. - Brad Lisien; Deryck Morales; David Silver; George Kantor; Ioannis M. Rekleitis; Howie Choset (IEEE Trans. Robotics, 2005)

Highly Articulated Robotic Probe for Minimally Invasive Surgery. - Amir Degani; Howie Choset; Alon Wolf; Marco A. Zenati (ICRA, 2006)

Towards Automated Gait Generation for Dynamic Systems with Non-holonomic Constraints. - Elie A. Shammas; Howie Choset; Alfred A. Rizzi (ICRA, 2006)

Integrated Planning and Control for Convex-bodied Nonholonomic Systems using Local Feedback Control Policies. - David C. Conner; Howie Choset; Alfred A. Rizzi (Robotics: Science and Systems, 2006)

Motion Planning for Variable Inertia Mechanical Systems. - Elie A. Shammas; Howie Choset; Alfred A. Rizzi (WAFR, 2006)

Relative localization using path odometry information. - Nakju Lett Doh; Howie Choset; Wan Kyun Chung (Auton. Robots, 2006)

Sensor-based coverage with extended range detectors. - Ercan U. Acar; Howie Choset; Ji Yeong Lee (IEEE Trans. Robotics, 2006)

Frictional Compliance Model Development and Experiments for Snake Robot Climbing. - Amir Shapiro; Aaron Greenfield; Howie Choset (ICRA, 2007)

Design and control of a second-generation hyper-redundant mechanism. - H. Benjamin Brown; Michael Schwerin; Elie A. Shammas; Howie Choset (IROS, 2007)

Valet parking without a valet. - David C. Conner; Hadas Kress-Gazit; Howie Choset; Alfred A. Rizzi; George J. Pappas (IROS, 2007)

A dynamic single actuator vertical climbing robot. - Amir Degani; Amir Shapiro; Howie Choset; Matthew T. Mason (IROS, 2007)

Differentiable and piecewise differentiable gaits for snake robots. - Kevin Lipkin; Isaac Brown; Aaron Peck; Howie Choset; Justine Rembisz; Philip Gianfortoni; Allison Naaktgeboren (IROS, 2007)

Context identification for efficient multiple-model state estimation. - Sarjoun Skaff; Alfred A. Rizzi; Howie Choset (IROS, 2007)

Hybrid localization using the hierarchical atlas. - Stephen Tully; Hyungpil Moon; Deryck Morales; George Kantor; Howie Choset (IROS, 2007)

Design of a modular snake robot. - Cornell Wright III; Aaron M. Johnson 001; Aaron Peck; Zachary McCord; Allison Naaktgeboren; Philip Gianfortoni; Manuel González-Rivero; Ross L. Hatton; Howie Choset (IROS, 2007)

Geometric Motion Planning Analysis for Two Classes of Underactuated Mechanical Systems. - Elie A. Shammas; Howie Choset; Alfred A. Rizzi (Int. J. Robotics Res., 2007)

Towards a Unified Approach to Motion Planning for Dynamic Underactuated Mechanical Systems with Non-holonomic Constraints. - Elie A. Shammas; Howie Choset; Alfred A. Rizzi (Int. J. Robotics Res., 2007)

An optimization approach to planning for mobile manipulation. - Dmitry Berenson; James Kuffner; Howie Choset (ICRA, 2008)

Toroidal skin drive for snake robot locomotion. - James C. McKenna; David J. Anhalt; Frederick M. Bronson; H. Benjamin Brown; Michael Schwerin; Elie A. Shammas; Howie Choset (ICRA, 2008)

Iterated filters for bearing-only SLAM. - Stephen Tully; Hyungpil Moon; George Kantor; Howie Choset (ICRA, 2008)

Efficient Boustrophedon Multi-Robot Coverage: an algorithmic approach. - Ioannis M. Rekleitis; Ai Peng New; Edward Samuel Rankin; Howie Choset (Ann. Math. Artif. Intell., 2008)

Editorial: Search and rescue robots. - Richard M. Voyles; Howie Choset (J. Field Robotics, 2008)

Courteous Cars. - Hadas Kress-Gazit; David C. Conner; Howie Choset; Alfred A. Rizzi; George J. Pappas (IEEE Robotics Autom. Mag., 2008)

Search and Rescue Robotics. - Robin R. Murphy; Satoshi Tadokoro; Daniele Nardi; Adam Jacoff; Paolo Fiorini; Howie Choset; Aydan M. Erkmen (Springer Handbook of Robotics, 2008)

Leap-Frog Path Design for Multi-Robot Cooperative Localization. - Stephen Tully; George Kantor; Howie Choset (FSR, 2009)

Generating gaits for snake robots by annealed chain fitting and Keyframe wave extraction. - Ross L. Hatton; Howie Choset (IROS, 2009)

A multi-hypothesis topological SLAM approach for loop closing on edge-ordered graphs. - Stephen Tully; George Kantor; Howie Choset; Felix Werner (IROS, 2009)

Topological SLAM using neighbourhood information of places. - Felix Werner; Frédéric Maire; Joaquin Sitte; Howie Choset; Stephen Tully; George Kantor (IROS, 2009)

Approximating displacement with the body velocity integral. - Ross L. Hatton; Howie Choset (Robotics: Science and Systems, 2009)

Parameterized and Scripted Gaits for Modular Snake Robots. - Matthew Tesch; Kevin Lipkin; Isaac Brown; Ross L. Hatton; Aaron Peck; Justine Rembisz; Howie Choset (Adv. Robotics, 2009)

Hierarchical Segmentation of Piecewise Pseudoextruded Surfaces for Uniform Coverage. - Prasad N. Atkar; David C. Conner; Aaron Greenfield; Howie Choset; Alfred A. Rizzi (IEEE Trans Autom. Sci. Eng., 2009)

Flow-Through Policies for Hybrid Controller Synthesis Applied to Fully Actuated Systems. - David C. Conner; Howie Choset; Alfred A. Rizzi (IEEE Trans. Robotics, 2009)

A Single-Step Maximum A Posteriori Update for Bearing-Only SLAM. - Stephen Tully; George Kantor; Howie Choset (AAAI, 2010)

DSAC - Dynamic, Single Actuated Climber: Local stability and bifurcations. - Amir Degani; Howie Choset; Matthew T. Mason (ICRA, 2010)

Minimalistic, dynamic, tube climbing robot. - Amir Degani; Siyuan Feng 003; Howie Choset; Matthew T. Mason (ICRA, 2010)

Sidewinding on slopes. - Ross L. Hatton; Howie Choset (ICRA, 2010)

Optimizing coordinate choice for locomoting systems. - Ross L. Hatton; Howie Choset (ICRA, 2010)

Generating gaits for snake robots: annealed chain fitting and keyframe wave extraction. - Ross L. Hatton; Howie Choset (Auton. Robots, 2010)

Editorial: Special Issue on the Eighth International Workshop on the Algorithmic Foundations of Robotics. - Gregory S. Chirikjian; Howie Choset; Marco Morales 001; Todd D. Murphey (Int. J. Robotics Res., 2010)

The ParkourBot - a dynamic BowLeg climbing robot. - Amir Degani; Siyuan Feng 003; H. Benjamin Brown; Kevin M. Lynch; Howie Choset; Matthew T. Mason (ICRA, 2011)

Incremental construction of the saturated-GVG for multi-hypothesis topological SLAM. - Tong Tao; Stephen Tully; George Kantor; Howie Choset (ICRA, 2011)

Monte Carlo Localization using 3D texture maps. - Yu Fu; Stephen Tully; George Kantor; Howie Choset (IROS, 2011)

Geometric maneuverability with applications to low reynolds number swimming. - Ross L. Hatton; Lisa J. Burton; Anette E. Hosoi; Howie Choset (IROS, 2011)

State estimation for snake robots. - David Rollinson; Austin Buchan; Howie Choset (IROS, 2011)

Virtual chassis for snake robots. - David Rollinson; Howie Choset (IROS, 2011)

Adapting control policies for expensive systems to changing environments. - Matthew Tesch; Jeff G. Schneider; Howie Choset (IROS, 2011)

Using response surfaces and expected improvement to optimize snake robot gait parameters. - Matthew Tesch; Jeff G. Schneider; Howie Choset (IROS, 2011)

Inequality constrained Kalman filtering for the localization and registration of a surgical robot. - Stephen Tully; George Kantor; Howie Choset (IROS, 2011)

Shape estimation for image-guided surgery with a highly articulated snake robot. - Stephen Tully; George Kantor; Marco A. Zenati; Howie Choset (IROS, 2011)

M*: A complete multirobot path planning algorithm with performance bounds. - Glenn Wagner; Howie Choset (IROS, 2011)

Kinematic Cartography for Locomotion at Low Reynolds Numbers. - Ross L. Hatton; Howie Choset (Robotics: Science and Systems, 2011)

Integrating planning and control for single-bodied wheeled mobile robots. - David C. Conner; Howie Choset; Alfred A. Rizzi (Auton. Robots, 2011)

Geometric motion planning: The local connection, Stokes' theorem, and the importance of coordinate choice. - Ross L. Hatton; Howie Choset (Int. J. Robotics Res., 2011)

DTAR - A Dynamic, Tube-Ascending Robot. - Amir Degani; Howie Choset; Matthew T. Mason (IEEE Trans. Robotics, 2011)

Context Identification for Efficient Multiple-Model State Estimation of Systems With Cyclical Intermittent Dynamics. - Sarjoun Skaff; Alfred A. Rizzi; Howie Choset; Matthew Tesch (IEEE Trans. Robotics, 2011)

Over-tube apparatus for increasing the capabilities of an articulated robotic probe. - Amir Degani; Stephen Tully; Brett Zubiate; Howie Choset (ICRA, 2012)

Simplified motion modeling for snake robots. - Florian Enner; David Rollinson; Howie Choset (ICRA, 2012)

Conical sidewinding. - Chaohui Gong; Ross L. Hatton; Howie Choset (ICRA, 2012)

Multi-agent deterministic graph mapping via robot rendezvous. - Chaohui Gong; Stephen Tully; George Kantor; Howie Choset (ICRA, 2012)

Constrained filtering with contact detection data for the localization and registration of continuum robots in flexible environments. - Stephen Tully; Andrea Bajo; George Kantor; Howie Choset; Nabil Simaan (ICRA, 2012)

Probabilistic path planning for multiple robots with subdimensional expansion. - Glenn Wagner; Minsu Kang; Howie Choset (ICRA, 2012)

Design and architecture of the unified modular snake robot. - Cornell Wright III; Austin Buchan; Ben Brown; Jason Geist; Michael Schwerin; David Rollinson; Matthew Tesch; Howie Choset (ICRA, 2012)

Subdimensional Expansion and Optimal Task Reassignment. - Glenn Wagner; Howie Choset; Nora Ayanian (SOCS, 2012)

Dog and snake marsupial cooperation for urban search and rescue deployment. - Alexander Ferworn; Cornell Wright III; Jimmy Tran; Chao Li; Howie Choset (SSRR, 2012)

Proposal of EARLI for the snake robot's obstacle aided locomotion. - Tetsushi Kamegawa; Ryoma Kuroki; Matthew J. Travers; Howie Choset (SSRR, 2012)

Using kinesthetic input to overcome obstacles with snake robots. - Matthew Tesch; Alexander O'Neill; Howie Choset (SSRR, 2012)

Virtual Chassis for Snake Robots: Definition and Applications. - David Rollinson; Austin Buchan; Howie Choset (Adv. Robotics, 2012)

A unified Bayesian framework for global localization and SLAM in hybrid metric/topological maps. - Stephen Tully; George Kantor; Howie Choset (Int. J. Robotics Res., 2012)

Minimum perturbation coordinates on SO(3). - Matthew J. Travers; Ross L. Hatton; Howie Choset (ACC, 2013)

Expensive Function Optimization with Stochastic Binary Outcomes. - Matthew Tesch; Jeff G. Schneider; Howie Choset (ICML (3), 2013)

Motion estimation of snake robots in straight pipes. - Florian Enner; David Rollinson; Howie Choset (ICRA, 2013)

ODrM* optimal multirobot path planning in low dimensional search spaces. - Cornelia Ferner; Glenn Wagner; Howie Choset (ICRA, 2013)

Extended gait equation for sidewinding. - Chaohui Gong; Matthew J. Travers; Xiaozhou Fu; Howie Choset (ICRA, 2013)

Snakes on a plan: Toward combining planning and control. - Ross L. Hatton; Ross A. Knepper; Howie Choset; David Rollinson; Chaohui Gong; Enric Galceran (ICRA, 2013)

Gait-based compliant control for snake robots. - David Rollinson; Howie Choset (ICRA, 2013)

Expensive multiobjective optimization for robotics. - Matthew Tesch; Jeff G. Schneider; Howie Choset (ICRA, 2013)

Monocular feature-based periodic motion estimation for surgical guidance. - Stephen Tully; George Kantor; Howie Choset (ICRA, 2013)

Geometric Swimming at Low and High Reynolds Numbers. - Ross L. Hatton; Howie Choset (IEEE Trans. Robotics, 2013)

Planning end effector trajectories for a serially linked, floating-base robot with changing support polygon. - Ellen A. Cappo; Howie Choset (ACC, 2014)

Online calibration of a compact series elastic actuator. - Steven Ford; David Rollinson; Andrew Willig; Howie Choset (ACC, 2014)

Visual sensing for developing autonomous behavior in snake robots. - Hugo Ponte; Max Queenan; Chaohui Gong; Christoph Mertz; Matthew J. Travers; Florian Enner; Martial Hebert; Howie Choset (ICRA, 2014)

Expensive multiobjective optimization for robotics with consideration of heteroscedastic noise. - Ryo Ariizumi; Matthew Tesch; Howie Choset; Fumitoshi Matsuno (IROS, 2014)

Nonlinear dimensionality reduction for kinematic cartography with an application toward robotic locomotion. - Tony Dear; Ross L. Hatton; Howie Choset (IROS, 2014)

Parameterized controller generation for multiple mode behavior. - Chaohui Gong; Matthew J. Travers; Hsien-Tang Kao; Howie Choset (IROS, 2014)

Snakes on an inclined plane: Learning an adaptive sidewinding motion for changing slopes. - Chaohui Gong; Matthew Tesch; David Rollinson; Howie Choset (IROS, 2014)

Guided locomotion in 3D for snake robots based on contact force optimization. - Hugo Ponte; Matthew J. Travers; Howie Choset (IROS, 2014)

Torque control strategies for snake robots. - David Rollinson; Kalyan Vasudev Alwala; Nico Zevallos; Howie Choset (IROS, 2014)

Design and architecture of a series elastic snake robot. - David Rollinson; Yigit Bilgen; Ben Brown; Florian Enner; Steven Ford; Curtis Layton; Justine Rembisz; Michael Schwerin; Andrew Willig; Pras Velagapudi; Howie Choset (IROS, 2014)

Using Lie algebra for shape estimation of medical snake robots. - Rangaprasad Arun Srivatsan; Matthew J. Travers; Howie Choset (IROS, 2014)

Recursive dynamics and feedback linearizing control of serial-chain manipulators. - Matthew J. Travers; Howie Choset (IROS, 2014)

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

Simultaneous Compliance and Registration Estimation for Robotic Surgery. - Siddharth Sanan; Stephen Tully; Andrea Bajo; Nabil Simaan; Howie Choset (Robotics: Science and Systems, 2014)

The Feasible Transition Graph: Encoding Topology and Manipulation Constraints for Multirobot Push-Planning. - Laura Lindzey; Ross A. Knepper; Howie Choset; Siddhartha S. Srinivasa (WAFR, 2014)

Fourth Biennial North American Summer School on Surgical Robotics [Education]. - Cameron N. Riviere; Howie Choset (IEEE Robotics Autom. Mag., 2014)

Design and Open-Loop Control of the ParkourBot, a Dynamic Climbing Robot. - Amir Degani; Andrew W. Long; Siyuan Feng 003; H. Benjamin Brown; Robert D. Gregg; Howie Choset; Matthew T. Mason; Kevin M. Lynch (IEEE Trans. Robotics, 2014)

Mobile manufacturing of large structures. - David A. Bourne; Howie Choset; Humphrey Hu; George Kantor; Chris Niessl; Zachary B. Rubinstein; Reid G. Simmons; Stephen F. Smith (ICRA, 2015)

Robot-inspired biology: The compound-wave control template. - Jin Dai; Matthew J. Travers; Tony Dear; Chaohui Gong; Henry C. Astley; Daniel I. Goldman; Howie Choset (ICRA, 2015)

Snakeboard motion planning with viscous friction and skidding. - Tony Dear; Scott David Kelly; Matthew J. Travers; Howie Choset (ICRA, 2015)

Limbless locomotors that turn in place. - Chaohui Gong; Matthew J. Travers; Henry C. Astley; Daniel I. Goldman; Howie Choset (ICRA, 2015)

Use of the nonlinear observability rank condition for improved parametric estimation. - Matthew J. Travers; Howie Choset (ICRA, 2015)

Gaussian reconstruction of swarm behavior from partial data. - Glenn Wagner; Howie Choset (ICRA, 2015)

Constraint Manifold Subsearch for multirobot path planning with cooperative tasks. - Glenn Wagner; Jae-il Kim; Konrad Urban; Howie Choset (ICRA, 2015)

Locomotive reduction for snake robots. - Xuesu Xiao; Ellen A. Cappo; Weikun Zhen; Jin Dai; Ke Sun 002; Chaohui Gong; Matthew J. Travers; Howie Choset (ICRA, 2015)

Modeling rolling gaits of a snake robot. - Weikun Zhen; Chaohui Gong; Howie Choset (ICRA, 2015)

Modularity for maximum mobility and manipulation: Control of a reconfigurable legged robot with series-elastic actuators. - Simon Kalouche; David Rollinson; Howie Choset (SSRR, 2015)

Shape-constrained whole-body adaptivity. - Matthew J. Travers; Chaohui Gong; Howie Choset (SSRR, 2015)

Subdimensional expansion for multirobot path planning. - Glenn Wagner; Howie Choset (Artif. Intell., 2015)

Continuum Robots for Medical Applications: A Survey. - Jessica Burgner-Kahrs; D. Caleb Rucker; Howie Choset (IEEE Trans. Robotics, 2015)

The three-link nonholonomic snake as a hybrid kinodynamic system. - Tony Dear; Scott David Kelly; Matthew J. Travers; Howie Choset (ACC, 2016)

Locomotive analysis of a single-input three-link snake robot. - Tony Dear; Scott David Kelly; Matthew J. Travers; Howie Choset (CDC, 2016)

A physical parameter-based skidding model for the snakeboard. - Hadi Salman; Tony Dear; Sevag Babikian; Elie A. Shammas; Howie Choset (CDC, 2016)

A dynamical systems approach to obstacle navigation for a series-elastic hexapod robot. - Matthew J. Travers; Alex Ansari; Howie Choset (CDC, 2016)

Shape-based compliant control with variable coordination centralization on a snake robot. - Julian Whitman; Francesco Ruscelli; Matthew J. Travers; Howie Choset (CDC, 2016)

Using Bayesian optimization to guide probing of a flexible environment for simultaneous registration and stiffness mapping. - Elif Ayvali; Rangaprasad Arun Srivatsan; Long Wang 007; Rajarshi Roy 005; Nabil Simaan; Howie Choset (ICRA, 2016)

Complementary model update: A method for simultaneous registration and stiffness mapping in flexible environments. - Rangaprasad Arun Srivatsan; Elif Ayvali; Long Wang 007; Rajarshi Roy 005; Nabil Simaan; Howie Choset (ICRA, 2016)

Optimal control for geometric motion planning of a robot diver. - Roberto Shu; Avinash Siravuru; Akshara Rai; Tony Dear; Koushil Sreenath; Howie Choset (IROS, 2016)

Multirobot sequential composition. - Glenn Wagner; Howie Choset; Avinash Siravuru (IROS, 2016)

Geometric Swimming on a Granular Surface. - Jin Dai; Hossein Faraji; Chaohui Gong; Ross L. Hatton; Daniel I. Goldman; Howie Choset (Robotics: Science and Systems, 2016)

Simplifying Gait Design via Shape Basis Optimization. - Chaohui Gong; Daniel I. Goldman; Howie Choset (Robotics: Science and Systems, 2016)

Estimating SE(3) elements using a dual quaternion based linear Kalman filter. - Rangaprasad Arun Srivatsan; Gillian T. Rosen; D. Feroze Naina Mohamed; Howie Choset (Robotics: Science and Systems, 2016)

Shape-Based Compliance in Locomotion. - Matthew J. Travers; Julian Whitman; Perrin E. Schiebel; Daniel I. Goldman; Howie Choset (Robotics: Science and Systems, 2016)

Recursive Constraint Manifold Subsearch for Multirobot Path Planning with Cooperative Tasks. - Péter Karkus; Glenn Wagner; Howie Choset (SOCS, 2016)

Multiple Start Branch and Prune Filtering Algorithm for Nonconvex Optimization. - Rangaprasad Arun Srivatsan; Howie Choset (WAFR, 2016)

A review on locomotion robophysics: the study of movement at the intersection of robotics, soft matter and dynamical systems. - Jeffrey Aguilar; Tingnan Zhang; Feifei Qian; Mark Kingsbury; Benjamin McInroe; Nicole Mazouchova; Chen Li 017; Ryan D. Maladen; Chaohui Gong; Matthew J. Travers; Ross L. Hatton; Howie Choset; et al. (CoRR, 2016)

Next Generation Robotics. - Henrik I. Christensen; Allison M. Okamura; Maja J. Mataric; Vijay Kumar 001; Gregory D. Hager; Howie Choset (CoRR, 2016)

Kinematic gait synthesis for snake robots. - Chaohui Gong; Matthew J. Travers; Henry C. Astley; Lu Li; Joseph Mendelson; Daniel I. Goldman; Howie Choset (Int. J. Robotics Res., 2016)

Pipe Network Locomotion with a Snake Robot. - David Rollinson; Howie Choset (J. Field Robotics, 2016)

Science for robotics and robotics for science. - James G. Bellingham; Howie Choset; Paolo Dario; Peer Fischer; Toshio Fukuda; Neil Jacobstein; Bradley J. Nelson; Manuela M. Veloso; Jeremy M. Berg (Sci. Robotics, 2016)

A Filtering Approach for Image-Guided Surgery With a Highly Articulated Surgical Snake Robot. - Stephen Tully; Howie Choset (IEEE Trans. Biomed. Eng., 2016)

Snake-Like and Continuum Robots. - Ian D. Walker; Howie Choset; Gregory S. Chirikjian (Springer Handbook of Robotics, 2nd Ed., 2016)

Multi-Agent Ergodic Coverage with Obstacle Avoidance. - Hadi Salman; Elif Ayvali; Howie Choset (ICAPS, 2017)

Path Planning for Multiple Agents under Uncertainty. - Glenn Wagner; Howie Choset (ICAPS, 2017)

Control and locomotion of hydrodynamically coupled rigid spheres. - Tony Dear; Scott David Kelly; Howie Choset (ACC, 2017)

Ergodic coverage in constrained environments using stochastic trajectory optimization. - Elif Ayvali; Hadi Salman; Howie Choset (IROS, 2017)

Development of an inexpensive tri-axial force sensor for minimally invasive surgery. - Lu Li; Bocheng Yu; Chen Yang; Prasad Vagdargi; Rangaprasad Arun Srivatsan; Howie Choset (IROS, 2017)

Deformed state lattice planning. - Zhongqiang Ren; Chaohui Gong; Howie Choset (IROS, 2017)

Generating gaits for simultaneous locomotion and manipulation. - Julian Whitman; Shuang Su; Stelian Coros; Alex Ansari; Howie Choset (IROS, 2017)

Sparse Point Registration. - Rangaprasad Arun Srivatsan; Prasad Vagdargi; Howie Choset (ISRR, 2017)

Geometric Mechanics Applied to Tetrapod Locomotion on Granular Media. - Yasemin Ozkan Aydin; Baxi Chong; Chaohui Gong; Jennifer M. Rieser; Jeffery W. Rankin; Krijn B. Michel; Alfredo G. Nicieza; John R. Hutchinson; Howie Choset; Daniel I. Goldman (Living Machines, 2017)

Bingham Distribution-Based Linear Filter for Online Pose Estimation. - Arun Srivatsan Rangaprasad; Mengyun Xu; Nicolas Zevallos; Howie Choset (Robotics: Science and Systems, 2017)

Rapid Randomized Restarts for Multi-Agent Path Finding Solvers. - Liron Cohen 002; Glenn Wagner; T. K. Satish Kumar; Howie Choset; Sven Koenig (CoRR, 2017)

Modelling and Path Planning of Snake Robot in cluttered environment. - Akash Singh; Chaohui Gong; Howie Choset (CoRR, 2017)

Utility-Guided Palpation for Locating Tissue Abnormalities. - Elif Ayvali; Alexander R. Ansari; Long Wang 007; Nabil Simaan; Howie Choset (IEEE Robotics Autom. Lett., 2017)

Multiobjective Optimization Based on Expensive Robotic Experiments under Heteroscedastic Noise. - Ryo Ariizumi; Matthew Tesch; Kenta Kato; Howie Choset; Fumitoshi Matsuno (IEEE Trans. Robotics, 2017)

Kinematic Cartography and the Efficiency of Viscous Swimming. - Ross L. Hatton; Tony Dear; Howie Choset (IEEE Trans. Robotics, 2017)

Geometric Motion Planning for a Three-Link Swimmer in a Three-Dimensional low Reynolds-Number Regime. - Jaskaran Grover; Jake Zimmer; Tony Dear; Matthew J. Travers; Howie Choset; Scott David Kelly (ACC, 2018)

Rapid Randomized Restarts for Multi-Agent Path Finding: Preliminary Results. - Liron Cohen 002; Sven Koenig; T. K. Satish Kumar; Glenn Wagner; Howie Choset; David M. Chan; Nathan R. Sturtevant (AAMAS, 2018)

Distributed Reinforcement Learning for Multi-robot Decentralized Collective Construction. - Guillaume Sartoretti; Yue Wu; William Paivine; T. K. Satish Kumar; Sven Koenig; Howie Choset (DARS, 2018)

Proprioceptive-Inertial Autonomous Locomotion for Articulated Robots. - Francesco Ruscelli; Guillaume Sartoretti; Junyu Nan; Zhixin Feng; Matthew J. Travers; Howie Choset (ICRA, 2018)

Trajectory-Optimized Sensing for Active Search of Tissue Abnormalities in Robotic Surgery. - Hadi Salman; Elif Ayvali; Rangaprasad Arun Srivatsan; Yifei Ma; Nicolas Zevallos; Rashid Yasin; Long Wang 007; Nabil Simaan; Howie Choset (ICRA, 2018)

Central Pattern Generator With Inertial Feedback for Stable Locomotion and Climbing in Unstructured Terrain. - Guillaume Sartoretti; Samuel Shaw; Katie Lam; Naixin Fan; Matthew J. Travers; Howie Choset (ICRA, 2018)

Distributed Learning for the Decentralized Control of Articulated Mobile Robots. - Guillaume Sartoretti; Yunfei Shi; William Paivine; Matthew J. Travers; Howie Choset (ICRA, 2018)

Stabilize an Unsupervised Feature Learning for LiDAR-based Place Recognition. - Peng Yin 001; Lingyun Xu; Zhe Liu 022; Lu Li; Hadi Salman; Yuqing He; Weiliang Xu 001; Hesheng Wang 001; Howie Choset (IROS, 2018)

A surgical system for automatic registration, stiffness mapping and dynamic image overlay. - Nicolas Zevallos; Rangaprasad Arun Srivatsan; Hadi Salman; Lu Li; Jianing Qian; Saumya Saxena; Mengyun Xu; Kartik Patath; Howie Choset (ISMR, 2018)

Coordination of back bending and leg movements for quadrupedal locomotion. - Baxi Chong; Yasemin Ozkan Aydin; Chaohui Gong; Guillaume Sartoretti; Yunjin Wu; Jennifer M. Rieser; Haosen Xing; Jeffery W. Rankin; Krijn B. Michel; Alfredo G. Nicieza; John R. Hutchinson; Daniel I. Goldman; et al. (Robotics: Science and Systems, 2018)

A Real-time Augmented Reality Surgical System for Overlaying Stiffness Information. - Nicolas Zevallos; Arun Srivatsan Rangaprasad; Hadi Salman; Lu Li; Jianing Qian; Saumya Saxena; Mengyun Xu; Kartik Patath; Howie Choset (Robotics: Science and Systems, 2018)

Rapid Randomized Restarts for Multi-Agent Path Finding Solvers. - Liron Cohen 002; Glenn Wagner; David M. Chan; Howie Choset; Nathan R. Sturtevant; Sven Koenig; T. K. Satish Kumar (SOCS, 2018)

Snake Robot Urban Search After the 2017 Mexico City Earthquake. - Julian Whitman; Nico Zevallos; Matthew J. Travers; Howie Choset (SSRR, 2018)

Learning to Sequence Robot Behaviors for Visual Navigation. - Hadi Salman; Puneet Singhal; Tanmay Shankar; Peng Yin 001; Ali Salman; William Paivine; Guillaume Sartoretti; Matthew J. Travers; Howie Choset (CoRR, 2018)

Trajectory Generation for Millimeter Scale Ferromagnetic Swimmers: Theory and Experiments. - Jaskaran Grover; Daniel Vedova; Nalini Jain; Patrick Vedova; Matthew J. Travers; Howie Choset (CoRR, 2018)

Probabilistic pose estimation using a Bingham distribution-based linear filter. - Rangaprasad Arun Srivatsan; Mengyun Xu; Nicolas Zevallos; Howie Choset (Int. J. Robotics Res., 2018)

Shape-based coordination in locomotion control. - Matthew J. Travers; Julian Whitman; Howie Choset (Int. J. Robotics Res., 2018)

Creating xBD: A Dataset for Assessing Building Damage from Satellite Imagery. - Ritwik Gupta; Bryce Goodman; Nirav Patel; Ricky Hosfelt; Sandra Sajeev; Eric T. Heim; Jigar Doshi; Keane Lucas; Howie Choset; Matthew E. Gaston (CVPR Workshops, 2019)

A Multi-modal Sensor Array for Safe Human-Robot Interaction and Mapping. - Colette Abah; Andrew L. Orekhov; Garrison L. H. Johnston; Peng Yin 001; Howie Choset; Nabil Simaan (ICRA, 2019)

Workspace CPG with Body Pose Control for Stable, Directed Vision during Omnidirectional Locomotion. - Samuel Shaw; Guillaume Sartoretti; Jake Olkin; William Paivine; Howie Choset (ICRA, 2019)

A Hierarchical Geometric Framework to Design Locomotive Gaits for Highly Articulated Robots. - Baxi Chong; Yasemin Ozkan Aydin; Guillaume Sartoretti; Jennifer M. Rieser; Chaohui Gong; Haosen Xing; Howie Choset; Daniel I. Goldman (Robotics: Science and Systems, 2019)

Motion Planning, Design Optimization and Fabrication of Ferromagnetic Swimmers. - Jaskaran Singh Grover; Daniel Vedova; Nalini Jain; Matthew J. Travers; Howie Choset (Robotics: Science and Systems, 2019)

A-MHA*: Anytime Multi-Heuristic A. - Ramkumar Natarajan; Muhammad Suhail Saleem; Sandip Aine; Maxim Likhachev; Howie Choset (SOCS, 2019)

PCRNet: Point Cloud Registration Network using PointNet Encoding. - Vinit Sarode; Xueqian Li; Hunter Goforth; Yasuhiro Aoki; Rangaprasad Arun Srivatsan; Simon Lucey; Howie Choset (CoRR, 2019)

Globally optimal registration of noisy point clouds. - Rangaprasad Arun Srivatsan; Tejas Zodage; Howie Choset (CoRR, 2019)

Design and Implementation of a Three-Link Brachiation Robot with Optimal Control Based Trajectory Tracking Controller. - Shuo Yang; Zhaoyuan Gu; Ruohai Ge; Aaron M. Johnson 001; Matthew J. Travers; Howie Choset (CoRR, 2019)

State Estimation for Legged Robots Using Contact-Centric Leg Odometry. - Shuo Yang; Hans Kumar; Zhaoyuan Gu; Xiangyuan Zhang; Matthew J. Travers; Howie Choset (CoRR, 2019)

xBD: A Dataset for Assessing Building Damage from Satellite Imagery. - Ritwik Gupta; Richard Hosfelt; Sandra Sajeev; Nirav Patel; Bryce Goodman; Jigar Doshi; Eric T. Heim; Howie Choset; Matthew E. Gaston (CoRR, 2019)

FusionMapping: Learning Depth Prediction with Monocular Images and 2D Laser Scans. - Peng Yin 001; Jianing Qian; Yibo Cao; David Held; Howie Choset (CoRR, 2019)

Adversary A3C for Robust Reinforcement Learning. - Zhaoyuan Gu; Zhenzhong Jia; Howie Choset (CoRR, 2019)

One Framework to Register Them All: PointNet Encoding for Point Cloud Alignment. - Vinit Sarode; Xueqian Li; Hunter Goforth; Yasuhiro Aoki; Animesh Dhagat; Rangaprasad Arun Srivatsan; Simon Lucey; Howie Choset (CoRR, 2019)

Registration with a small number of sparse measurements. - Rangaprasad Arun Srivatsan; Nicolas Zevallos; Prasad Vagdargi; Howie Choset (Int. J. Robotics Res., 2019)

PRIMAL: Pathfinding via Reinforcement and Imitation Multi-Agent Learning. - Guillaume Sartoretti; Justin Kerr; Yunfei Shi; Glenn Wagner; T. K. Satish Kumar; Sven Koenig; Howie Choset (IEEE Robotics Autom. Lett., 2019)

Task-Specific Manipulator Design and Trajectory Synthesis. - Julian Whitman; Howie Choset (IEEE Robotics Autom. Lett., 2019)

Ten robotics technologies of the year. - Robert J. Full; Neil Jacobstein; Peer Fischer; James G. Bellingham; Howie Choset; Henrik I. Christensen; Paolo Dario; Bradley J. Nelson; Russell H. Taylor (Sci. Robotics, 2019)

Distributed Learning of Decentralized Control Policies for Articulated Mobile Robots. - Guillaume Sartoretti; William Paivine; Yunfei Shi; Yue Wu; Howie Choset (IEEE Trans. Robotics, 2019)

MaskNet: A Fully-Convolutional Network to Estimate Inlier Points. - Vinit Sarode; Animesh Dhagat; Rangaprasad Arun Srivatsan; Nicolas Zevallos; Simon Lucey; Howie Choset (3DV, 2020)

Correspondence Matrices are Underrated. - Tejas Zodage; Rahul Chakwate; Vinit Sarode; Rangaprasad Arun Srivatsan; Howie Choset (3DV, 2020)

Communication Learning via Backpropagation in Discrete Channels with Unknown Noise. - Benjamin Freed; Guillaume Sartoretti; Jiaheng Hu; Howie Choset (AAAI, 2020)

Modular Robot Design Synthesis with Deep Reinforcement Learning. - Julian Whitman; Raunaq M. Bhirangi; Matthew J. Travers; Howie Choset (AAAI, 2020)

Directional Compliance in Obstacle-Aided Navigation for Snake Robots. - Tianyu Wang 010; Julian Whitman; Matthew J. Travers; Howie Choset (ACC, 2020)

Hierarchical Coverage Path Planning in Complex 3D Environments. - Chao Cao; Ji Zhang 003; Matthew J. Travers; Howie Choset (ICRA, 2020)

A Compact and Infrastructure-free Confined Space Sensor for 3D Scanning and SLAM. - Daqian Cheng; Haowen Shi; Michael Schwerin; Michelle Crivella; Lu Li; Howie Choset (IEEE SENSORS, 2020)

A Tunable Magnet-based Tactile Sensor Framework. - Evan Harber; Evan Schindewolf; Vickie A. Webster-Wood; Howie Choset; Lu Li (IEEE SENSORS, 2020)

Sparse Discrete Communication Learning for Multi-Agent Cooperation Through Backpropagation. - Benjamin Freed; Rohan James; Guillaume Sartoretti; Howie Choset (IROS, 2020)

Optimizing coordinate choice for locomotion systems with toroidal shape spaces. - Bo Lin; Baxi Chong; Yasemin Ozkan Aydin; Enes Aydin; Howie Choset; Daniel I. Goldman; Greg Blekherman (IROS, 2020)

The Omega Turn: A Biologically-Inspired Turning Strategy for Elongated Limbless Robots. - Tianyu Wang 010; Baxi Chong; Kelimar Diaz; Julian Whitman; Hang Lu; Matthew J. Travers; Daniel I. Goldman; Howie Choset (IROS, 2020)

SeqSphereVLAD: Sequence Matching Enhanced Orientation-invariant Place Recognition. - Peng Yin 001; Fuying Wang; Anton Egorov; Jiafan Hou; Ji Zhang 003; Howie Choset (IROS, 2020)

Frequency Modulation of Body Waves to Improve Performance of Limbless Robots. - Baxi Zhong; Tianyu Wang 010; Jennifer M. Rieser; Abdul Kaba; Howie Choset; Daniel I. Goldman (Robotics: Science and Systems, 2020)

A Study of Domain Generalization on Ultrasound-based Multi-Class Segmentation of Arteries, Veins, Ligaments, and Nerves Using Transfer Learning. - Edward Chen; Tejas Sudharshan Mathai; Vinit Sarode; Howie Choset; John M. Galeotti (CoRR, 2020)

Locomotion of a multi-link non-holonomic snake robot with passive joints. - Tony Dear; Blake Buchanan; Rodrigo Abrajan-Guerrero; Scott David Kelly; Matthew J. Travers; Howie Choset (Int. J. Robotics Res., 2020)

Simultaneous Policy and Discrete Communication Learning for Multi-Agent Cooperation. - Benjamin Freed; Guillaume Sartoretti; Howie Choset (IEEE Robotics Autom. Lett., 2020)

Combating COVID-19 - The role of robotics in managing public health and infectious diseases. - Guang-Zhong Yang; Bradley J. Nelson; Robin R. Murphy; Howie Choset; Henrik I. Christensen; Steven H. Collins; Paolo Dario; Ken Goldberg; Koji Ikuta; Neil Jacobstein; Danica Kragic; Russell H. Taylor; et al. (Sci. Robotics, 2020)

Spectral-Based Distributed Ergodic Coverage for Heterogeneous Multi-agent Search. - Guillaume Sartoretti; Ananya Rao; Howie Choset (DARS, 2021)

Exploring Large and Complex Environments Fast and Efficiently. - Chao Cao; Hongbiao Zhu; Howie Choset; Ji Zhang 003 (ICRA, 2021)

Visual-Laser-Inertial SLAM Using a Compact 3D Scanner for Confined Space. - Daqian Cheng; Haowen Shi; Albert Xu; Michael Schwerin; Michelle Crivella; Lu Li; Howie Choset (ICRA, 2021)

Multi-objective Conflict-based Search for Multi-agent Path Finding. - Zhongqiang Ren; Sivakumar Rathinam; Howie Choset (ICRA, 2021)

MS*: A New Exact Algorithm for Multi-agent Simultaneous Multi-goal Sequencing and Path Finding. - Zhongqiang Ren; Sivakumar Rathinam; Howie Choset (ICRA, 2021)

Autonomous Decentralized Shape-Based Navigation for Snake Robots in Dense Environments. - Guillaume Sartoretti; Tianyu Wang 010; Gabriel Chuang; Qingyang Li; Howie Choset (ICRA, 2021)

Equality Constrained Linear Optimal Control With Factor Graphs. - Shuo Yang; Gerry Chen; Yetong Zhang; Howie Choset; Frank Dellaert (ICRA, 2021)

Geometric Motion Planning for a System on the Cylindrical Surface. - Shuoqi Chen; Ruijie Fu; Ross L. Hatton; Howie Choset (IROS, 2021)

Loosely Synchronized Search for Multi-agent Path Finding with Asynchronous Actions. - Zhongqiang Ren; Sivakumar Rathinam; Howie Choset (IROS, 2021)

Uncertainty-Based Adaptive Data Augmentation For Ultrasound Imaging Anatomical Variations. - Edward Chen; Howie Choset; John M. Galeotti (ISBI, 2021)

Toward Robotically Automated Femoral Vascular Access. - Nico Zevallos; Evan Harber; Abhimanyu; Kirtan Patel; Yizhu Gu; Kenny Sladick; Francis Guyette; Leonard S. Weiss; Michael R. Pinsky; Hernando Gomez; John M. Galeotti; Howie Choset (ISMR, 2021)

TARE: A Hierarchical Framework for Efficiently Exploring Complex 3D Environments. - Chao Cao; Hongbiao Zhu; Howie Choset; Ji Zhang 003 (Robotics: Science and Systems, 2021)

Moving sidewinding forward: optimizing contact patterns for limbless robots via geometric mechanics. - Baxi Chong; Tianyu Wang 010; Bo Lin; Shengkai Li; Howie Choset; Grigoriy Blekherman; Daniel I. Goldman (Robotics: Science and Systems, 2021)

i3dLoc: Image-to-range Cross-domain Localization Robust to Inconsistent Environmental Conditions. - Peng Yin 001; Lingyun Xu; Ji Zhang 003; Howie Choset; Sebastian A. Scherer (Robotics: Science and Systems, 2021)

Guest Editorial: Special issue on "Topological methods in robotics". - Subhrajit Bhattacharya; Florian T. Pokorny; Howie Choset (Auton. Robots, 2021)

Stability and Control of Chaplygin Beanies Coupled to a Platform through Nonholonomic Constraints. - Blake Buchanan; Matthew J. Travers; Howie Choset; Scott David Kelly (CoRR, 2021)

Optimal Control for Structurally Sparse Systems using Graphical Inference. - Roshan Pradhan; Shuo Yang; Frank Dellaert; Howie Choset; Matthew J. Travers (CoRR, 2021)

Multi-Objective Path-Based D* Lite. - Zhongqiang Ren; Sivakumar Rathinam; Howie Choset (CoRR, 2021)

Multi-objective Conflict-based Search Using Safe-interval Path Planning. - Zhongqiang Ren; Sivakumar Rathinam; Howie Choset (CoRR, 2021)

The Geometric Structure of Externally Actuated Planar Locomoting Systems in Ambient Media. - Blake Buchanan; Tony Dear; Scott David Kelly; Matthew J. Travers; Howie Choset (CoRR, 2021)

Subdimensional Expansion Using Attention-Based Learning For Multi-Agent Path Finding. - Lakshay Virmani; Zhongqiang Ren; Sivakumar Rathinam; Howie Choset (CoRR, 2021)

A general locomotion control framework for serially connected multi-legged robots. - Baxi Chong; Yasemin Ozkan Aydin; Jennifer M. Rieser; Guillaume Sartoretti; Tianyu Wang 010; Julian Whitman; Abdul Kaba; Enes Aydin; Ciera McFarland; Howie Choset; Daniel I. Goldman (CoRR, 2021)

A Roadmap for US Robotics - From Internet to Robotics 2020 Edition. - Henrik I. Christensen; Nancy M. Amato; Holly A. Yanco; Maja J. Mataric; Howie Choset; Ann W. Drobnis; Ken Goldberg; Jessy W. Grizzle; Gregory D. Hager; John M. Hollerbach; Seth Hutchinson 001; Venkat Krovi; et al. (Found. Trends Robotics, 2021)

Coordination of lateral body bending and leg movements for sprawled posture quadrupedal locomotion. - Baxi Chong; Yasemin Ozkan Aydin; Chaohui Gong; Guillaume Sartoretti; Yunjin Wu; Jennifer M. Rieser; Haosen Xing; Perrin E. Schiebel; Jeffery W. Rankin; Krijn B. Michel; Alfredo G. Nicieza; John R. Hutchinson; et al. (Int. J. Robotics Res., 2021)

Frequency modulation of body waves to improve performance of sidewinding robots. - Baxi Chong; Tianyu Wang 010; Jennifer M. Rieser; Bo Lin; Abdul Kaba; Grigoriy Blekherman; Howie Choset; Daniel I. Goldman (Int. J. Robotics Res., 2021)

Interleaving Graph Search and Trajectory Optimization for Aggressive Quadrotor Flight. - Ramkumar Natarajan; Howie Choset; Maxim Likhachev (IEEE Robotics Autom. Lett., 2021)

Reconstruction of Backbone Curves for Snake Robots. - Tianyu Wang 010; Bo Lin; Baxi Chong; Julian Whitman; Matthew J. Travers; Daniel I. Goldman; Greg Blekherman; Howie Choset (IEEE Robotics Autom. Lett., 2021)

3D Segmentation Learning From Sparse Annotations and Hierarchical Descriptors. - Peng Yin 001; Lingyun Xu; Jianmin Ji; Sebastian A. Scherer; Howie Choset (IEEE Robotics Autom. Lett., 2021)

FusionVLAD: A Multi-View Deep Fusion Networks for Viewpoint-Free 3D Place Recognition. - Peng Yin 001; Lingyun Xu; Ji Zhang 003; Howie Choset (IEEE Robotics Autom. Lett., 2021)

Subdimensional Expansion for Multi-Objective Multi-Agent Path Finding. - Zhongqiang Ren; Sivakumar Rathinam; Howie Choset (IEEE Robotics Autom. Lett., 2021)

GLSO: Grammar-guided Latent Space Optimization for Sample-efficient Robot Design Automation. - Jiaheng Hu; Julian Whitman; Howie Choset (CoRL, 2022)

Sparse Sensing in Ergodic Optimization. - Ananya Rao; Ian Abraham; Guillaume Sartoretti; Howie Choset (DARS, 2022)

Autonomous Exploration Development Environment and the Planning Algorithms. - Chao Cao; Hongbiao Zhu; Fan Yang 092; Yukun Xia; Howie Choset; Jean Oh; Ji Zhang 003 (ICRA, 2022)

Multi-Agent Dynamic Ergodic Search with Low-Information Sensors. - Howard Coffin; Ian Abraham; Guillaume Sartoretti; Tyler Dillstrom; Howie Choset (ICRA, 2022)

Design of a Biomimetic Tactile Sensor for Material Classification. - Kevin Dai; Xinyu Wang; Allison M. Rojas; Evan Harber; Yu Tian; Nicholas Paiva; Joseph Gnehm; Evan Schindewolf; Howie Choset; Victoria A. Webster-Wood; Lu Li (ICRA, 2022)

Autonomous Ultrasound Scanning using Bayesian Optimization and Hybrid Force Control. - Raghavv Goel; Abhimanyu; Kirtan Patel; John M. Galeotti; Howie Choset (ICRA, 2022)

Modular Robot Design Optimization with Generative Adversarial Networks. - Jiaheng Hu; Julian Whitman; Matthew J. Travers; Howie Choset (ICRA, 2022)

Periodic SLAM: Using Cyclic Constraints to Improve the Performance of Visual-Inertial SLAM on Legged Robots. - Hans Kumar; J. Joe Payne; Matthew J. Travers; Aaron M. Johnson 001; Howie Choset (ICRA, 2022)

Generalized Omega Turn Gait Enables Agile Limbless Robot Turning in Complex Environments. - Tianyu Wang 010; Baxi Chong; Yuelin Deng; Ruijie Fu; Howie Choset; Daniel I. Goldman (ICRA, 2022)

RGB-X Classification for Electronics Sorting. - Abhimanyu; Tejas Zodage; Umesh Thillaivasan; Xinyue Lai; Rahul Chakwate; Javier Santillan; Emma Oti; Ming Zhao; Ralph Boirum; Howie Choset; Matthew J. Travers (IROS, 2022)

Conflict-Based Steiner Search for Multi-Agent Combinatorial Path Finding. - Zhongqiang Ren; Sivakumar Rathinam; Howie Choset (Robotics: Science and Systems, 2022)

A Local Optimization Framework for Multi-Objective Ergodic Search. - Zhongqiang Ren; Akshaya Kesarimangalam Srinivasan; Howard Coffin; Ian Abraham; Howie Choset (Robotics: Science and Systems, 2022)

Enhanced Multi-Objective A* Using Balanced Binary Search Trees. - Zhongqiang Ren; Richard Zhan; Sivakumar Rathinam; Maxim Likhachev; Howie Choset (SOCS, 2022)

A Comparison of Point Cloud Registration Techniques for on-site Disaster Data from the Surfside Structural Collapse. - Ananya Bal; Robert Ladig; Pranav Goyal; John M. Galeotti; Howie Choset; David F. Merrick; Robin R. Murphy (SSRR, 2022)

Analysis of Interior Rubble Void Spaces at Champlain Towers South Collapse. - Ananya Rao; Robin R. Murphy; David F. Merrick; Howie Choset (SSRR, 2022)

Large-Scale Heterogeneous Multi-robot Coverage via Domain Decomposition and Generative Allocation. - Jiaheng Hu; Howard Coffin; Julian Whitman; Matthew J. Travers; Howie Choset (WAFR, 2022)

A Lower Bounding Framework for Motion Planning Amid Dynamic Obstacles in 2D. - Zhongqiang Ren; Sivakumar Rathinam; Howie Choset (WAFR, 2022)

Enhanced Multi-Objective A* Using Balanced Binary Search Trees. - Zhongqiang Ren; Sivakumar Rathinam; Maxim Likhachev; Howie Choset (CoRR, 2022)

ALITA: A Large-scale Incremental Dataset for Long-term Autonomy. - Peng Yin 001; Shiqi Zhao; Ruohai Ge; Ivan Cisneros; Ruijie Fu; Ji Zhang 003; Howie Choset; Sebastian A. Scherer (CoRR, 2022)

AutoMerge: A Framework for Map Assembling and Smoothing in City-scale Environments. - Peng Yin 001; Haowen Lai; Shiqi Zhao; Ruijie Fu; Ivan Cisneros; Ruohai Ge; Ji Zhang 003; Howie Choset; Sebastian A. Scherer (CoRR, 2022)

ALTO: A Large-Scale Dataset for UAV Visual Place Recognition and Localization. - Ivan Cisneros; Peng Yin 001; Ji Zhang 003; Howie Choset; Sebastian A. Scherer (CoRR, 2022)

General Place Recognition Survey: Towards the Real-world Autonomy Age. - Peng Yin 001; Shiqi Zhao; Ivan Cisneros; Abulikemu Abuduweili; Guoquan Huang 001; Michael J. Milford; Changliu Liu; Howie Choset; Sebastian A. Scherer (CoRR, 2022)

iSimLoc: Visual Global Localization for Previously Unseen Environments with Simulated Images. - Peng Yin 001; Ivan Cisneros; Ji Zhang 003; Howie Choset; Sebastian A. Scherer (CoRR, 2022)

Mathematical Justification of Hard Negative Mining via Isometric Approximation Theorem. - Albert Xu; Jhih-Yi Hsieh; Bhaskar Vundurthy; Eliana Cohen; Howie Choset; Lu Li (CoRR, 2022)

Learning Modular Robot Locomotion from Demonstrations. - Julian Whitman; Howie Choset (CoRR, 2022)

Enhanced Multi-Objective A* with Partial Expansion. - Valmiki Kothare; Zhongqiang Ren; Sivakumar Rathinam; Howie Choset (CoRR, 2022)

Continuum Robots for Medical Interventions. - Pierre E. Dupont; Nabil Simaan; Howie Choset; D. Caleb Rucker (Proc. IEEE, 2022)

Learning Cooperative Multi-Agent Policies With Partial Reward Decoupling. - Benjamin Freed; Aditya Kapoor; Ian Abraham; Jeff G. Schneider; Howie Choset (IEEE Robotics Autom. Lett., 2022)

Multi-Objective Path-Based D* Lite. - Zhongqiang Ren; Sivakumar Rathinam; Maxim Likhachev; Howie Choset (IEEE Robotics Autom. Lett., 2022)

Multi-Objective Safe-Interval Path Planning With Dynamic Obstacles. - Zhongqiang Ren; Sivakumar Rathinam; Maxim Likhachev; Howie Choset (IEEE Robotics Autom. Lett., 2022)

Online Kinematic Calibration for Legged Robots. - Shuo Yang; Howie Choset; Zachary Manchester (IEEE Robotics Autom. Lett., 2022)

The Geometry of Optimal Gaits for Inertia-Dominated Kinematic Systems. - Ross L. Hatton; Zachary Brock; Shuoqi Chen; Howie Choset; Hossein Faraji; Ruijie Fu; Nathan Justus; Suresh Ramasamy (IEEE Trans. Robotics, 2022)

Binary Branching Multi-Objective Conflict-Based Search for Multi-Agent Path Finding. - Zhongqiang Ren; Jiaoyang Li 001; Han Zhang 018; Sven Koenig; Sivakumar Rathinam; Howie Choset (ICAPS, 2023)

Learning Temporally AbstractWorld Models without Online Experimentation. - Benjamin Freed; Siddarth Venkatraman; Guillaume Adrien Sartoretti; Jeff Schneider 001; Howie Choset (ICML, 2023)

A Curvature and Trajectory Optimization-based 3D Surface Reconstruction Pipeline for Ultrasound Trajectory Generation. - Ananya Bal; Ashutosh Gupta; Abhimanyu; John M. Galeotti; Howie Choset (ICRA, 2023)

Reslicing Ultrasound Images for Data Augmentation and Vessel Reconstruction. - Cecilia G. Morales; Jason Yao; Tejas Rane; Robert Edman; Howie Choset; Artur Dubrawski (ICRA, 2023)

Torque-Limited Manipulation Planning through Contact by Interleaving Graph Search and Trajectory Optimization. - Ramkumar Natarajan; Garrison L. H. Johnston; Nabil Simaan; Maxim Likhachev; Howie Choset (ICRA, 2023)

Multi-Objective Ergodic Search for Dynamic Information Maps. - Ananya Rao; Abigail Breitfeld; Alberto Candela; Benjamin Jensen; David Wettergreen; Howie Choset (ICRA, 2023)

Search Algorithms for Multi-Agent Teamwise Cooperative Path Finding. - Zhongqiang Ren; Chaoran Zhang; Sivakumar Rathinam; Howie Choset (ICRA, 2023)

Learning Modular Robot Visual-motor Locomotion Policies. - Julian Whitman; Howie Choset (ICRA, 2023)

Unsupervised Deformable Ultrasound Image Registration and Its Application for Vessel Segmentation. - Abhimanyu; Andrew L. Orekhov; Ananya Bal; John M. Galeotti; Howie Choset (IROS, 2023)

Towards Automated Void Detection for Search and Rescue with 3D Perception. - Ananya Bal; Ashutosh Gupta; Pranav Goyal; David F. Merrick; Robin R. Murphy; Howie Choset (IROS, 2023)

Fast Point to Mesh Distance by Domain Voxelization. - Geordan Gutow; Howie Choset (IROS, 2023)

Multi-Objective Sparse Sensing with Ergodic Optimization. - Ananya Rao; Howie Choset (IROS, 2023)

Toward Closed-Loop Additive Manufacturing: Paradigm Shift in Fabrication, Inspection, and Repair. - Manpreet Singh; Fujun Ruan; Albert Xu; Yuchen Wu; Archit Rungta; Luyuan Wang; Kevin Song; Howie Choset; Lu Li (IROS, 2023)

Multi-Agent Multi-Objective Ergodic Search Using Branch and Bound. - Akshaya Kesarimangalam Srinivasan; Geordan Gutow; Zhongqiang Ren; Ian Abraham; Bhaskar Vundurthy; Howie Choset (IROS, 2023)

Multi-Agent Collective Construction Using 3D Decomposition. - Akshaya Kesarimangalam Srinivasan; Shambhavi Singh; Geordan Gutow; Howie Choset; Bhaskar Vundurthy (IROS, 2023)

EELS: Towards Autonomous Mobility in Extreme Terrain with a Versatile Snake Robot with Resilience to Exteroception Failures. - Rohan Thakker; Michael Paton; Marlin P. Strub; R. Michael Swan; Guglielmo Daddi; Rob Royce; L. Phillipe Tosi; Matthew Gildner; Tiago Vaquero; Marcel Veismann; Peter V. Gavrilov; Eloise Marteau; et al. (IROS, 2023)

Visual-Inertial-Laser-Lidar (VILL) SLAM: Real-Time Dense RGB-D Mapping for Pipe Environments. - Tina Tian; Luyuan Wang; Xinzhi Yan; Fujun Ruan; G. Jaya Aadityaa; Howie Choset; Lu Li (IROS, 2023)

Real-Time Video Inpainting for RGB-D Pipeline Reconstruction. - Luyuan Wang; Tina Tian; Xinzhi Yan; Fujun Ruan; G. Jaya Aadityaa; Howie Choset; Lu Li (IROS, 2023)

Statics Modeling of Discrete Joint Surgical Probes with Tendon-based Stiffening. - Yilin Cai; Andrew L. Orekhov; Howie Choset (ISMR, 2023)

Gait design for limbless obstacle aided locomotion using geometric mechanics. - Baxi Chong; Tianyu Wang 010; Daniel Irvine; Velin Kojouharov; Bo Lin; Howie Choset; Daniel I. Goldman; Grigoriy Blekherman (Robotics: Science and Systems, 2023)

Search Algorithms for Multi-Agent Teamwise Cooperative Path Finding [Extended Abstract]. - Zhongqiang Ren; Sivakumar Rathinam; Howie Choset (SOCS, 2023)

Unsupervised Deformable Image Registration for Respiratory Motion Compensation in Ultrasound Images. - Abhimanyu; Andrew L. Orekhov; John M. Galeotti; Howie Choset (CoRR, 2023)

Heuristic Search for Path Finding with Refuelling. - Anushtup Nandy; Zhongqiang Ren; Sivakumar Rathinam; Howie Choset (CoRR, 2023)

Motion Informed Needle Segmentation in Ultrasound Images. - Raghavv Goel; Cecilia G. Morales; Manpreet Singh; Artur Dubrawski; John M. Galeotti; Howie Choset (CoRR, 2023)

DMS*: Minimizing Makespan for Multi-Agent Combinatorial Path Finding. - Zhongqiang Ren; Anushtup Nandy; Sivakumar Rathinam; Howie Choset (CoRR, 2023)

A Conflict-Based Search Framework for Multiobjective Multiagent Path Finding. - Zhongqiang Ren; Sivakumar Rathinam; Howie Choset (IEEE Trans Autom. Sci. Eng., 2023)

iSimLoc: Visual Global Localization for Previously Unseen Environments With Simulated Images. - Peng Yin 001; Ivan Cisneros; Shiqi Zhao; Ji Zhang 003; Howie Choset; Sebastian A. Scherer (IEEE Trans. Robotics, 2023)

Representation granularity enables time-efficient autonomous exploration in large, complex worlds. - Chao Cao; Hongbiao Zhu; Zhongqiang Ren; Howie Choset; Ji Zhang 003 (Sci. Robotics, 2023)

CBSS: A New Approach for Multiagent Combinatorial Path Finding. - Zhongqiang Ren; Sivakumar Rathinam; Howie Choset (IEEE Trans. Robotics, 2023)

Optimizing contact patterns for robot locomotion via geometric mechanics. - Baxi Chong; Tianyu Wang 010; Bo Lin; Shengkai Li; Pranav C. Muthukrishnan; Juntao He; Daniel Irvine; Howie Choset; Grigoriy Blekherman; Daniel I. Goldman (Int. J. Robotics Res., 2023)

A Pareto-Optimal Local Optimization Framework for Multiobjective Ergodic Search. - Zhongqiang Ren; Akshaya Kesarimangalam Srinivasan; Bhaskar Vundurthy; Ian Abraham; Howie Choset (IEEE Trans. Robotics, 2023)

Learning Modular Robot Control Policies. - Julian Whitman; Matthew J. Travers; Howie Choset (IEEE Trans. Robotics, 2023)

AutoMerge: A Framework for Map Assembling and Smoothing in City-Scale Environments. - Peng Yin 001; Shiqi Zhao; Haowen Lai; Ruohai Ge; Ji Zhang 003; Howie Choset; Sebastian A. Scherer (IEEE Trans. Robotics, 2023)

ERCA*: A New Approach for the Resource Constrained Shortest Path Problem. - Zhongqiang Ren; Zachary B. Rubinstein; Stephen F. Smith; Sivakumar Rathinam; Howie Choset (IEEE Trans. Intell. Transp. Syst., 2023)

Motion-aware Needle Segmentation in Ultrasound Images. - Raghavv Goel; Cecilia G. Morales; Manpreet Singh; Artur Dubrawski; Jonh Galeotti; Howie Choset (CVPR Workshops, 2024)

Mathematical Justification of Hard Negative Mining via Isometric Approximation Theorem. - Albert Xu; Jhih-Yi Hsieh; Bhaskar Vundurthy; Nithya Kemp; Eliana Cohen; Lu Li; Howie Choset (ICLR, 2024)

Preprocessing-based Kinodynamic Motion Planning Framework for Intercepting Projectiles using a Robot Manipulator. - Ramkumar Natarajan; Hanlan Yang; Qintong Xie; Yash Oza; Manash Pratim Das; Fahad Islam; Muhammad Suhail Saleem; Howie Choset; Maxim Likhachev (ICRA, 2024)

Learning Heterogeneous Multi-Agent Allocations for Ergodic Search. - Ananya Rao; Guillaume Sartoretti; Howie Choset (ICRA, 2024)

Hierarchical Planning for Long-Horizon Multi-Agent Collective Construction. - Shambhavi Singh; Zejian Huang; Akshaya Kesarimangalam Srinivasan; Geordan Gutow; Bhaskar Vundurthy; Howie Choset (ICRA, 2024)

PINSAT: Parallelized Interleaving of Graph Search and Trajectory Optimization for Kinodynamic Motion Planning. - Ramkumar Natarajan; Shohin Mukherjee; Howie Choset; Maxim Likhachev (IROS, 2024)

A Mixed-Integer Conic Program for the Moving-Target Traveling Salesman Problem based on a Graph of Convex Sets. - Allen George Philip; Zhongqiang Ren; Sivakumar Rathinam; Howie Choset (IROS, 2024)

GESCE: Graph-based Ergodic Search in Cluttered Environments. - Burhanuddin Shirose; Adam Johnson; Bhaskar Vundurthy; Howie Choset; Matthew Travers (IROS, 2024)

Motion-Aware Needle Segmentation in Ultrasound Images. - Raghavv Goel; Cecilia G. Morales; Manpreet Singh; Artur Dubrawski; John M. Galeotti; Howie Choset (ISBI, 2024)

Reinforcement learning-driven parametric curve fitting for snake robot gait design. - Jack Naish; Jacob Rodriguez; Jenny Zhang; Bryson Jones; Guglielmo Daddi; Andrew L. Orekhov; Rob Royce; Michael Paton; Howie Choset; Masahiro Ono; Rohan Thakker (L4DC, 2024)

Unifying Model-Based and Model-Free Reinforcement Learning with Equivalent Policy Sets. - Benjamin Freed; Thomas Wei; Roberto Calandra; Jeff Schneider 001; Howie Choset (RLJ, 2024)

Assigning Credit with Partial Reward Decoupling in Multi-Agent Proximal Policy Optimization. - Aditya Kapoor; Benjamin Freed; Jeff Schneider 001; Howie Choset (RLJ, 2024)

Implicit Graph Search for Planning on Graphs of Convex Sets. - Ramkumar Natarajan; Chaoqi Liu; Howie Choset; Maxim Likhachev (Robotics: Science and Systems, 2024)

Heuristic Search for the Orienteering Problem with Time-Varying Reward. - Chao Cao; Jinyun Xu; Ji Zhang 003; Howie Choset; Zhongqiang Ren (SOCS, 2024)

Search and Rescue Base of Operation Prioritization with Aerial Orthomosaics. - Alyssa Hargis; Ananya Rao; Howie Choset (SSRR, 2024)

Optimizing Start Locations in Ergodic Search for Disaster Response. - Ananya Rao; Alyssa Hargis; David Wettergreen; Howie Choset (SSRR, 2024)

A Convex Formulation of the Soft-Capture Problem. - Ibrahima Sory Sow; Geordan Gutow; Howie Choset; Zachary Manchester (CoRR, 2024)

General Place Recognition Survey: Towards Real-World Autonomy. - Peng Yin 001; Jianhao Jiao; Shiqi Zhao; Lingyun Xu; Guoquan Huang 001; Howie Choset; Sebastian A. Scherer; Jianda Han (CoRR, 2024)

Propagative Distance Optimization for Constrained Inverse Kinematics. - Yu Chen; Yilin Cai; Jinyun Xu; Zhongqiang Ren; Guanya Shi; Howie Choset (CoRR, 2024)

Measure Preserving Flows for Ergodic Search in Convoluted Environments. - Albert Xu; Bhaskar Vundurthy; Geordan Gutow; Ian Abraham; Jeff G. Schneider; Howie Choset (CoRR, 2024)

A Complete Algorithm for a Moving Target Traveling Salesman Problem with Obstacles. - Anoop Bhat; Geordan Gutow; Bhaskar Vundurthy; Zhongqiang Ren; Sivakumar Rathinam; Howie Choset (CoRR, 2024)

LiPO: LiDAR Inertial Odometry for ICP Comparison. - Darwin Mick; Taylor Pool; Madankumar Sathenahally Nagaraju; Michael Kaess; Howie Choset; Matthew J. Travers (CoRR, 2024)

EELS: Autonomous snake-like robot with task and motion planning capabilities for ice world exploration. - Tiago Stegun Vaquero; Guglielmo Daddi; Rohan Thakker; Michael Paton; Ashkan Jasour; Marlin P. Strub; R. Michael Swan; Rob Royce; Matthew Gildner; L. Phillipe Tosi; Marcel Veismann; Peter V. Gavrilov; et al. (Sci. Robotics, 2024)

Graph-Propagation-Based Kinematic Algorithm for In-Pipe Truss Structure Robots. - Yu Chen; Jinyun Xu; Yilin Cai; Shuo Yang; Ben Brown; Fujun Ruan; Yizhu Gu; Howie Choset; Lu Li (IEEE Robotics Autom. Lett., 2024)

DMS*: Towards Minimizing Makespan for Multi-Agent Combinatorial Path Finding. - Zhongqiang Ren; Anushtup Nandy; Sivakumar Rathinam; Howie Choset (IEEE Robotics Autom. Lett., 2024)

EMOA*: A framework for search-based multi-objective path planning. - Zhongqiang Ren; Carlos Hernández 003; Maxim Likhachev; Ariel Felner; Sven Koenig; Oren Salzman; Sivakumar Rathinam; Howie Choset (Artif. Intell., 2025)

A Bounded Sub-Optimal Approach for Multi-Agent Combinatorial Path Finding. - Zhongqiang Ren; Sivakumar Rathinam; Howie Choset (IEEE Trans Autom. Sci. Eng., 2025)

C$^{*}$: A New Bounding Approach for the Moving-Target Traveling Salesman Problem. - Allen George Philip; Zhongqiang Ren; Sivakumar Rathinam; Howie Choset (IEEE Trans. Robotics, 2025)

General Place Recognition Survey: Toward Real-World Autonomy. - Peng Yin 001; Jianhao Jiao; Shiqi Zhao; Lingyun Xu; Guoquan Huang 001; Howie Choset; Sebastian A. Scherer; Jianda Han (IEEE Trans. Robotics, 2025)

A Mixed-Integer Conic Program for the Multi-Agent Moving-Target Traveling Salesman Problem. - Allen George Philip; Zhongqiang Ren; Sivakumar Rathinam; Howie Choset (CoRR, 2025)

Multi-Agent Ergodic Exploration under Smoke-Based, Time-Varying Sensor Visibility Constraints. - Elena Wittemyer; Ananya Rao; Ian Abraham; Howie Choset (CoRR, 2025)

Ergodic Exploration over Meshable Surfaces. - Dayi Dong; Albert Xu; Geordan Gutow; Howie Choset; Ian Abraham (CoRR, 2025)

A Complete and Bounded-Suboptimal Algorithm for a Moving Target Traveling Salesman Problem with Obstacles in 3D. - Anoop Bhat; Geordan Gutow; Bhaskar Vundurthy; Zhongqiang Ren; Sivakumar Rathinam; Howie Choset (CoRR, 2025)

Heuristic Search for Path Finding With Refuelling. - Shizhe Zhao; Anushtup Nandy; Howie Choset; Sivakumar Rathinam; Zhongqiang Ren (IEEE Robotics Autom. Lett., 2025)

Automatic Cannulation of Femoral Vessels in a Porcine Shock Model. - Nico Zevallos; Cecilia G. Morales; Andrew L. Orekhov; Tejas Rane; Hernando Gomez; Francis X. Guyette; Michael R. Pinsky; John M. Galeotti; Artur Dubrawski; Howie Choset (CoRR, 2025)

A Synchronized Task Formulation for Robotic Convoy Operations. - Charles Noren; Bhaskar Vundurthy; Sebastian A. Scherer; Howie Choset; Matthew J. Travers (IEEE Robotics Autom. Lett., 2025)