A Base Force/Torque Sensor Approach to Robot Manipulator Inertial Parameter Estimation. - Guangjun Liu; Karl Iagnemma; Steven Dubowsky; Guillaume Morel (ICRA, 1998)

Rapid Physics-Based Rough-Terrain Rover Planning with Sensor and Control Uncertainty. - Karl Iagnemma; Frank Génot; Steven Dubowsky (ICRA, 1999)

Experimental Validation of Physics-Based Planning and Control Algorithms for Planetary Robotic Rovers. - Karl Iagnemma; Robert Burn; Eric Wilhelm; Steven Dubowsky (ISER, 1999)

The precise control of manipulators with high joint-friction using base force/torque sensing. - Guillaume Morel; Karl Iagnemma; Steven Dubowsky (Autom., 2000)

On-Line Terrain Parameter Estimation for Planetary Rovers. - Karl Iagnemma; Hassan Shibly; Steven Dubowsky (ICRA, 2002)

Experimental Study of High-speed Rough-terrain Mobile Robot Models for Reactive Behaviors. - Karl Iagnemma; Dariusz Golda; Matthew Spenko; Steven Dubowsky (ISER, 2002)

Control of Robotic Vehicles with Actively Articulated Suspensions in Rough Terrain. - Karl Iagnemma; Adam Rzepniewski; Steven Dubowsky; Paul S. Schenker (Auton. Robots, 2003)

Mobile Robots in Rough Terrain - Estimation, Motion Planning, and Control with Application to Planetary Rovers - Karl Iagnemma; Steven Dubowsky (Springer, 2004)

Probabilistic Modeling and Analysis of High-speed Rough-terrain Mobile Robots. - Dariusz Golda; Karl Iagnemma; Steven Dubowsky (ICRA, 2004)

Traction Control of Wheeled Robotic Vehicles in Rough Terrain with Application to Planetary Rovers. - Karl Iagnemma; Steven Dubowsky (Int. J. Robotics Res., 2004)

Online terrain parameter estimation for wheeled mobile robots with application to planetary rovers. - Karl Iagnemma; Shinwoo Kang; Hassan Shibly; Steven Dubowsky (IEEE Trans. Robotics, 2004)

Vibration-based Terrain Analysis for Mobile Robots. - Christopher A. Brooks 002; Karl Iagnemma; Steven Dubowsky (ICRA, 2005)

Potential Field Navigation of High Speed Unmanned Ground Vehicles on Uneven Terrain. - Shingo Shimoda; Yoji Kuroda; Karl Iagnemma (ICRA, 2005)

Vibration-based terrain classification for planetary exploration rovers. - Christopher A. Brooks 002; Karl Iagnemma (IEEE Trans. Robotics, 2005)

An Analysis of Rollover Stability Measurement for High-speed Mobile Robots. - Steven C. Peters; Karl Iagnemma (ICRA, 2006)

Mobile in vivo Biopsy Robot. - Mark Rentschler; Jason Dumpert; Stephen R. Platt; Dmitry Oleynikov; Shane Farritor; Karl Iagnemma (ICRA, 2006)

Visual wheel sinkage measurement for planetary rover mobility characterization. - Christopher A. Brooks 002; Karl Iagnemma; Steven Dubowsky (Auton. Robots, 2006)

Editorial for Journal of Field Robotics - Special Issue on the DARPA grand challenge. - Karl Iagnemma; Martin Buehler (J. Field Robotics, 2006)

Hazard avoidance for high-speed mobile robots in rough terrain. - Matthew Spenko; Yoji Kuroda; Steven Dubowsky; Karl Iagnemma (J. Field Robotics, 2006)

Modeling, Analysis, and Experimental Study of In Vivo Wheeled Robotic Mobility. - Mark Rentschler; Jason Dumpert; Stephen R. Platt; Karl Iagnemma; Dmitry Oleynikov; Shane Farritor (IEEE Trans. Robotics, 2006)

Model-Based Wheel Slip Detection for Outdoor Mobile Robots. - Chris C. Ward; Karl Iagnemma (ICRA, 2007)

Classification-Based Wheel Slip Detection and Detector Fusion for Outdoor Mobile Robots. - Chris C. Ward; Karl Iagnemma (ICRA, 2007)

Kinematic analysis and control of an omnidirectional mobile robot in rough terrain. - Martin Udengaard; Karl Iagnemma (IROS, 2007)

High-speed navigation of unmanned ground vehicles on uneven terrain using potential fields. - Shingo Shimoda; Yoji Kuroda; Karl Iagnemma (Robotica, 2007)

Design of an omnidirectional mobile robot for rough terrain. - Martin Udengaard; Karl Iagnemma (ICRA, 2008)

Near-optimal navigation of high speed mobile robots on uneven terrain. - Karl Iagnemma; Shingo Shimoda; Zvi Shiller (IROS, 2008)

A stochastic response surface approach to statistical prediction of mobile robot mobility. - Gaurav Kewlani; Karl Iagnemma (IROS, 2008)

Mobile robot path tracking of aggressive maneuvers on sloped terrain. - Steven C. Peters; Karl Iagnemma (IROS, 2008)

Crawler vehicle with circular cross-section unit to realize sideways motion. - Kenjiro Tadakuma; Riichiro Tadakuma; Keiji Nagatani; Kazuya Yoshida; Steven C. Peters; Martin Udengaard; Karl Iagnemma (IROS, 2008)

Editorial. - Martin Buehler; Karl Iagnemma; Sanjiv Singh (J. Field Robotics, 2008)

A study of visual and tactile terrain classification and classifier fusion for planetary exploration rovers. - Ibrahim Halatci; Christopher A. Brooks 002; Karl Iagnemma (Robotica, 2008)

A Dynamic-Model-Based Wheel Slip Detector for Mobile Robots on Outdoor Terrain. - Chris C. Ward; Karl Iagnemma (IEEE Trans. Robotics, 2008)

Experimental Study of an Optimal-Control- Based Framework for Trajectory Planning, Threat Assessment, and Semi-Autonomous Control of Passenger Vehicles in Hazard Avoidance Scenarios. - Sterling J. Anderson; Steven C. Peters; Tom E. Pilutti; Karl Iagnemma (FSR, 2009)

Tracked vehicle with circular cross-section to realize sideways motion. - Kenjiro Tadakuma; Riichiro Tadakuma; Keiji Nagatani; Kazuya Yoshida; Steven C. Peters; Martin Udengaard; Karl Iagnemma (ICRA, 2009)

A Multi-Element generalized Polynomial Chaos approach to analysis of mobile robot dynamics under uncertainty. - Gaurav Kewlani; Karl Iagnemma (IROS, 2009)

Stochastic mobility-based path planning in uncertain environments. - Gaurav Kewlani; Genya Ishigami; Karl Iagnemma (IROS, 2009)

Throwable tetrahedral robot with transformation capability. - Kenjiro Tadakuma; Riichiro Tadakuma; Keiji Nagatani; Kazuya Yoshida; Aigo Ming; Makoto Shimojo; Karl Iagnemma (IROS, 2009)

Basic running test of the cylindrical tracked vehicle with sideways mobility. - Kenjiro Tadakuma; Riichiro Tadakuma; Keiji Nagatani; Kazuya Yoshida; Aigo Ming; Makoto Shimojo; Karl Iagnemma (IROS, 2009)

Design and Development of an Optimal-Control-Based Framework for Trajectory Planning, Threat Assessment, and Semi-autonomous Control of Passenger Vehicles in Hazard Avoidance Scenarios. - Sterling J. Anderson; Steven C. Peters; Tom E. Pilutti; Karl Iagnemma (ISRR, 2009)

Visual detection of novel terrain via two-class classification. - Christopher A. Brooks 002; Karl Iagnemma (SAC, 2009)

A Unified Approach to Semi-Autonomous Control of Passenger Vehicles in Hazard Avoidance Scenarios. - Sterling J. Anderson; Steven C. Peters; Tom E. Pilutti; Karl Iagnemma (SMC, 2009)

Classification-based wheel slip detection and detector fusion for mobile robots on outdoor terrain. - Karl Iagnemma; Chris C. Ward (Auton. Robots, 2009)

Predictable mobility. - Genya Ishigami; Gaurav Kewlani; Karl Iagnemma (IEEE Robotics Autom. Mag., 2009)

Design and analysis of a soft mobile robot composed of multiple thermally activated joints driven by a single actuator. - Nadia Cheng; Genya Ishigami; Stephan Hawthorne; Hao Chen; Malik Hansen; Maria J. Telleria; Robert Playter; Karl Iagnemma (ICRA, 2010)

Statistical mobility prediction for planetary surface exploration rovers in uncertain terrain. - Genya Ishigami; Gaurav Kewlani; Karl Iagnemma (ICRA, 2010)

Ground plane identification using LIDAR in forested environments. - Matthew W. McDaniel; Takayuki Nishihata; Christopher A. Brooks 002; Karl Iagnemma (ICRA, 2010)

Stabilizing a vehicle near rollover: An analogy to cart-pole stabilization. - Steven C. Peters; James E. Bobrow; Karl Iagnemma (ICRA, 2010)

Self-supervised learning method for unstructured road detection using Fuzzy Support Vector Machines. - Shengyan Zhou; Karl Iagnemma (IROS, 2010)

Road detection using support vector machine based on online learning and evaluation. - Shengyan Zhou; Jianwei Gong; Guangming Xiong; Huiyan Chen; Karl Iagnemma (Intelligent Vehicles Symposium, 2010)

Seventh International Conference on Field and Service Robotics. - Andrew Howard; Karl Iagnemma; Alonzo Kelly (Int. J. Robotics Res., 2010)

Introduction: Vehicle-terrain interaction for mobile robots. - Karl Iagnemma; Philippe Martinet; Danwei Wang (J. Field Robotics, 2010)

Performance analysis and odometry improvement of an omnidirectional mobile robot for outdoor terrain. - Genya Ishigami; Elvine Pineda; James L. Overholt; Gregory R. Hudas; Karl Iagnemma (IROS, 2011)

Differential flatness of a front-steered vehicle with tire force control. - Steven C. Peters; Emilio Frazzoli; Karl Iagnemma (IROS, 2011)

Design, Development, and Mobility Test of an Omnidirectional Mobile Robot for Rough Terrain. - Genya Ishigami; Elvine Pineda; James L. Overholt; Gregory R. Hudas; Karl Iagnemma (FSR, 2012)

Design and Analysis of a Robust, Low-cost, Highly Articulated manipulator enabled by jamming of granular media. - Nadia Cheng; Maxim B. Lobovsky; Steven J. Keating; Adam M. Setapen; Katy I. Gero; Anette E. Hosoi; Karl Iagnemma (ICRA, 2012)

Natural landmark extraction in cluttered forested environments. - Meng Song; Fengchi Sun; Karl Iagnemma (ICRA, 2012)

Reactive control in environments with hard and soft hazards. - Sisir Karumanchi; Karl Iagnemma (IROS, 2012)

Design of a tubular snake-like manipulator with stiffening capability by layer jamming. - Yong-Jae Kim; Shanbao Cheng; Sangbae Kim; Karl Iagnemma (IROS, 2012)

Natural feature based localization in forested environments. - Meng Song; Fengchi Sun; Karl Iagnemma (IROS, 2012)

Constraint-based planning and control for safe, semi-autonomous operation of vehicles. - Sterling J. Anderson; Sisir Karumanchi; Karl Iagnemma (Intelligent Vehicles Symposium, 2012)

Robotic wheeled vehicle ripple tentacles motion planning method. - Hongxiao Yu; Jianwei Gong; Karl Iagnemma; Yan Jiang 003; Jianmin Duan (Intelligent Vehicles Symposium, 2012)

A controllably adhesive climbing robot using magnetorheological fluid. - Nicholas Wiltsie; Michele Lanzetta; Karl Iagnemma (TePRA, 2012)

Self-supervised terrain classification for planetary surface exploration rovers. - Christopher A. Brooks 002; Karl Iagnemma (J. Field Robotics, 2012)

Terrain classification and identification of tree stems using ground-based LiDAR. - Matthew W. McDaniel; Takayuki Nishihata; Christopher A. Brooks 002; Phil Salesses; Karl Iagnemma (J. Field Robotics, 2012)

Self-supervised learning to visually detect terrain surfaces for autonomous robots operating in forested terrain. - Shengyan Zhou; Junqiang Xi; Matthew W. McDaniel; Takayuki Nishihata; Phil Salesses; Karl Iagnemma (J. Field Robotics, 2012)

Multi-Material Anisotropic Friction Wheels for Omnidirectional Ground Vehicles. - Genya Ishigami; Jim Overholt; Karl Iagnemma (J. Robotics Mechatronics, 2012)

Optimal motion planning with the half-car dynamical model for autonomous high-speed driving. - Jeong hwan Jeon; Raghvendra V. Cowlagi; Steven C. Peters; Sertac Karaman; Emilio Frazzoli; Panagiotis Tsiotras; Karl Iagnemma (ACC, 2013)

Mobility Erosion: High speed motion safety for mobile robots operating in off-road terrain. - Sisir Karumanchi; Karl Iagnemma; Steve Scheding (ICRA, 2013)

Matching of ground-based LiDAR and aerial image data for mobile robot localization in densely forested environments. - Marwan Hussein; Matthew Renner; Masaaki Watanabe; Karl Iagnemma (IROS, 2013)

Characteristics of controllable adhesion using magneto-rheological fluid and its application to climbing robotics. - Masaaki Watanabe; Nicholas Wiltsie; Anette E. Hosoi; Karl Iagnemma (IROS, 2013)

Experimental study and analysis of the wheels' steering mechanics for planetary exploration wheeled mobile robots moving on deformable terrain. - Liang Ding 001; Zongquan Deng; Haibo Gao; Junlong Guo; Dapeng Zhang; Karl Iagnemma (Int. J. Robotics Res., 2013)

Foot-terrain interaction mechanics for legged robots: Modeling and experimental validation. - Liang Ding 001; Haibo Gao; Zongquan Deng; Jianhu Song; Yiqun Liu 004; Guangjun Liu; Karl Iagnemma (Int. J. Robotics Res., 2013)

The intelligent copilot: A constraint-based approach to shared-adaptive control of ground vehicles. - Sterling J. Anderson; Sisir Karumanchi; Karl Iagnemma; James M. Walker (IEEE Intell. Transp. Syst. Mag., 2013)

A Novel Layer Jamming Mechanism With Tunable Stiffness Capability for Minimally Invasive Surgery. - Yong-Jae Kim; Shanbao Cheng; Sangbae Kim; Karl Iagnemma (IEEE Trans. Robotics, 2013)

A summary of team MIT's approach to the virtual robotics challenge. - Russ Tedrake; Maurice F. Fallon; Sisir Karumanchi; Scott Kuindersma; Matthew E. Antone; Toby Schneider; Thomas M. Howard; Matthew R. Walter; Hongkai Dai; Robin Deits; Michael Fleder; Dehann Fourie; et al. (ICRA, 2014)

A margin-based approach to threat assessment for autonomous highway navigation. - Alexandre Constantin; Junghee Park; Karl Iagnemma (Intelligent Vehicles Symposium, 2014)

Simulations of Mars Rover Traverses. - Feng Zhou; Raymond E. Arvidson; Keith Bennett; Brian Trease; Randel Lindemann; Paolo Bellutta; Karl Iagnemma; Carmine Senatore (J. Field Robotics, 2014)

Experimental Performance Analysis of a Homotopy-Based Shared Autonomy Framework. - Sterling J. Anderson; James M. Walker; Karl Iagnemma (IEEE Trans. Hum. Mach. Syst., 2014)

A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery. - Yong-Jae Kim; Shanbao Cheng; Sangbae Kim; Karl Iagnemma (IEEE Trans. Robotics, 2014)

Sampling-based planning for maximum margin input space obstacle avoidance. - Junghee Park; Karl Iagnemma (IROS, 2015)

Interaction Mechanics Model for Rigid Driving Wheels of Planetary Rovers Moving on Sandy Terrain with Consideration of Multiple Physical Effects. - Liang Ding 001; Zongquan Deng; Haibo Gao; Jianguo Tao; Karl D. Iagnemma; Guangjun Liu (J. Field Robotics, 2015)

An Architecture for Online Affordance-based Perception and Whole-body Planning. - Maurice F. Fallon; Scott Kuindersma; Sisir Karumanchi; Matthew E. Antone; Toby Schneider; Hongkai Dai; Claudia Pérez-D'Arpino; Robin Deits; Matt DiCicco; Dehann Fourie; Twan Koolen; Pat Marion; et al. (J. Field Robotics, 2015)

Introduction. - Karl Iagnemma; Jim Overholt (J. Field Robotics, 2015)

Design, Development, and Mobility Evaluation of an Omnidirectional Mobile Robot for Rough Terrain. - Genya Ishigami; Karl Iagnemma; Jim Overholt; Gregory R. Hudas (J. Field Robotics, 2015)

Homotopy-Based Divide-and-Conquer Strategy for Optimal Trajectory Planning via Mixed-Integer Programming. - Junghee Park; Sisir Karumanchi; Karl Iagnemma (IEEE Trans. Robotics, 2015)

Behavioral Impact of Drivers' Roles in Automated Driving. - Bryan Reimer; Anthony Pettinato; Lex Fridman 001; Joonbum Lee; Bruce Mehler; Bobbie Seppelt; Junghee Park; Karl Iagnemma (AutomotiveUI, 2016)

Robust sampling-based motion planning for autonomous tracked vehicles in deformable high slip terrain. - Sang Uk Lee; Ramón González; Karl Iagnemma (ICRA, 2016)

Robust motion planning methodology for autonomous tracked vehicles in rough environment using online slip estimation. - Sang Uk Lee; Karl Iagnemma (IROS, 2016)

Wheeled Robots. - Woojin Chung; Karl Iagnemma (Springer Handbook of Robotics, 2nd Ed., 2016)

Local Path Optimizer for an Autonomous Truck in a Harbor Scenario. - Jennifer David; Rafael Valencia; Roland Philippsen; Karl Iagnemma (FSR, 2017)

Gradient based path optimization method for autonomous driving. - Jennifer David; Rafael Valencia; Roland Philippsen; Pascal Bosshard; Karl Iagnemma (IROS, 2017)

Stochastic mobility prediction of ground vehicles over large spatial regions: a geostatistical approach. - Ramón González; Paramsothy Jayakumar; Karl Iagnemma (Auton. Robots, 2017)

Mars Science Laboratory Curiosity Rover Megaripple Crossings up to Sol 710 in Gale Crater. - Raymond E. Arvidson; Karl D. Iagnemma; Mark W. Maimone; Abigail A. Fraeman; Feng Zhou; Matt Heverly; Paolo Bellutta; David Rubin; Nathan T. Stein; John P. Grotzinger; Ashwin R. Vasavada (J. Field Robotics, 2017)

Editorial. - Matthew Spenko; Steve Buerger; Karl Iagnemma (J. Field Robotics, 2017)

DeepTerramechanics: Terrain Classification and Slip Estimation for Ground Robots via Deep Learning. - Ramón González; Karl Iagnemma (CoRR, 2018)

Slippage and immobilization detection for planetary exploration rovers via machine learning and proprioceptive sensing. - Ramón González; Dimi Apostolopoulos; Karl Iagnemma (J. Field Robotics, 2018)

Slippage estimation and compensation for planetary exploration rovers. State of the art and future challenges. - Ramón González; Karl Iagnemma (J. Field Robotics, 2018)

Nonlinear Optimization of Multimodal Two-Dimensional Map Alignment With Application to Prior Knowledge Transfer. - Saeed Gholami Shahbandi; Martin Magnusson 002; Karl Iagnemma (IEEE Robotics Autom. Lett., 2018)

Slippage prediction for off-road mobile robots via machine learning regression and proprioceptive sensing. - Ramón González; Mirko Fiacchini; Karl Iagnemma (Robotics Auton. Syst., 2018)

Improving rover mobility through traction control: simulating rovers on the Moon. - Ramón González; Dimi Apostolopoulos; Karl Iagnemma (Auton. Robots, 2019)

Data-driven mobility risk prediction for planetary rovers. - Krzysztof Skonieczny; Dhara K. Shukla; Michele Faragalli; Matthew Cole; Karl D. Iagnemma (J. Field Robotics, 2019)

A User Study of Semi-Autonomous and Autonomous Highway Driving: An Interactive Simulation Study. - Junghee Park; Karl Iagnemma; Bryan Reimer (IEEE Pervasive Comput., 2019)