Motion planning for a three-limbed climbing robot in vertical natural terrain. - Timothy Bretl; Stephen M. Rock; Jean-Claude Latombe (ICRA, 2003)

Toward Autonomous Free-Climbing Robots. - Timothy Bretl; Jean-Claude Latombe; Stephen M. Rock (ISRR, 2003)

Free-Climbing with a Multi-Use Robot. - Timothy Bretl; Stephen M. Rock; Jean-Claude Latombe; Brett Kennedy; Hrand Aghazarian (ISER, 2004)

Multi-Step Motion Planning for Free-Climbing Robots. - Timothy Bretl; Sanjay Lall; Jean-Claude Latombe; Stephen M. Rock (WAFR, 2004)

Non-gaited humanoid locomotion planning. - Kris K. Hauser; Timothy Bretl; Jean-Claude Latombe (Humanoids, 2005)

Learning-Assisted Multi-Step Planning. - Kris K. Hauser; Timothy Bretl; Jean-Claude Latombe (ICRA, 2005)

A Fast and Adaptive Test of Static Equilibrium for Legged Robots. - Timothy Bretl; Sanjay Lall (ICRA, 2006)

Natural Motion Generation for Humanoid Robots. - Kensuke Harada; Kris K. Hauser; Timothy Bretl; Jean-Claude Latombe (IROS, 2006)

Using Motion Primitives in Probabilistic Sample-Based Planning for Humanoid Robots. - Kris K. Hauser; Timothy Bretl; Kensuke Harada; Jean-Claude Latombe (WAFR, 2006)

Motion Planning for a Six-Legged Lunar Robot. - Kris K. Hauser; Timothy Bretl; Jean-Claude Latombe; Brian Wilcox (WAFR, 2006)

Motion Planning of Multi-Limbed Robots Subject to Equilibrium Constraints: The Free-Climbing Robot Problem. - Timothy Bretl (Int. J. Robotics Res., 2006)

Kinematic and dynamic control of a wheeled mobile robot. - David DeVon; Timothy Bretl (IROS, 2007)

Control of Many Agents Using Few Instructions. - Timothy Bretl (Robotics: Science and Systems, 2007)

Policies for neural prosthetic control: Initial experiments with a text interface. - Cyrus Omar; Miles Johnson; Timothy Bretl; Todd P. Coleman (ACC, 2008)

Querying the user properly for high-performance brain-machine interfaces: Recursive estimation, control, and feedback information-theoretic perspectives. - Cyrus Omar; Miles Johnson; Timothy Bretl; Todd P. Coleman (ICASSP, 2008)

Motion Planning for Legged Robots on Varied Terrain. - Kris K. Hauser; Timothy Bretl; Jean-Claude Latombe; Kensuke Harada; Brian Wilcox (Int. J. Robotics Res., 2008)

Testing Static Equilibrium for Legged Robots. - Timothy Bretl; Sanjay Lall (IEEE Trans. Robotics, 2008)

Control of many robots moving in the same direction with different speeds: A decoupling approach. - David DeVon; Timothy Bretl (ACC, 2009)

Automated manipulation of spherical objects in three dimensions using a gimbaled air jet. - Aaron T. Becker; Robert Sandheinrich; Timothy Bretl (IROS, 2009)

A control theoretic approach to robot-assisted locomotor therapy. - Robert D. Gregg; Timothy Bretl; Mark W. Spong (CDC, 2010)

A Probabilistic Language Model for Hand Drawings. - Abdullah Akce; Timothy Bretl (ICPR, 2010)

Remote teleoperation of an unmanned aircraft with a brain-machine interface: Theory and preliminary results. - Abdullah Akce; Miles Johnson; Timothy Bretl (ICRA, 2010)

Asymptotically stable gait primitives for planning dynamic bipedal locomotion in three dimensions. - Robert D. Gregg; Timothy Bretl; Mark W. Spong (ICRA, 2010)

An optimal solution to the linear search problem for a robot with dynamics. - Irene Ruano de Pablo; Aaron T. Becker; Timothy Bretl (IROS, 2010)

Motion planning under bounded uncertainty using ensemble control. - Aaron T. Becker; Timothy Bretl (Robotics: Science and Systems, 2010)

Comments on "An Optimality Principle Governing Human Walking". - Timothy Bretl; Gustavo Arechavaleta; Abdullah Akce; Jean-Paul Laumond (IEEE Trans. Robotics, 2010)

A compact representation of locally-shortest paths and its application to a human-robot interface. - Abdullah Akce; Timothy Bretl (ICRA, 2011)

Maximum entropy inverse reinforcement learning in continuous state spaces with path integrals. - Navid Aghasadeghi; Timothy Bretl (IROS, 2011)

Probably approximately correct coverage for robots with uncertainty. - Colin Das; Aaron T. Becker; Timothy Bretl (IROS, 2011)

A Feedback Information-Theoretic Approach to the Design of Brain-Computer Interfaces. - Cyrus Omar; Abdullah Akce; Miles Johnson; Timothy Bretl; Rui Ma 002; Edward L. Maclin; Martin McCormick; Todd P. Coleman (Int. J. Hum. Comput. Interact., 2011)

Prediction of distal arm joint angles from EMG and shoulder orientation for prosthesis control. - Aadeel Akhtar; Levi J. Hargrove; Timothy Bretl (EMBC, 2012)

Inverse optimal control for a hybrid dynamical system with impacts. - Navid Aghasadeghi; Andrew Long; Timothy Bretl (ICRA, 2012)

Modelling search with a binary sensor utilizing self-conjugacy of the exponential family. - Devin Bonnie; Salvatore Candido; Timothy Bretl; Seth Hutchinson 001 (ICRA, 2012)

Robust optimal deployment of mobile sensor networks. - Seth Hutchinson 001; Timothy Bretl (ICRA, 2012)

Mechanics and manipulation of planar elastic kinematic chains. - Zoe McCarthy; Timothy Bretl (ICRA, 2012)

Proving path non-existence using sampling and alpha shapes. - Zoe McCarthy; Timothy Bretl; Seth Hutchinson 001 (ICRA, 2012)

A convex approach to inverse optimal control and its application to modeling human locomotion. - Anne-Sophie Puydupin-Jamin; Miles Johnson; Timothy Bretl (ICRA, 2012)

A brain-machine interface to navigate mobile robots along human-like paths amidst obstacles. - Abdullah Akce; James J. S. Norton; Timothy Bretl (IROS, 2012)

Approximate steering of a plate-ball system under bounded model perturbation using ensemble control. - Aaron T. Becker; Timothy Bretl (IROS, 2012)

Feedback control of many differential-drive robots with uniform control inputs. - Aaron T. Becker; Cem Onyuksel; Timothy Bretl (IROS, 2012)

Experiments in quasi-static manipulation of a planar elastic rod. - Dennis Matthews; Timothy Bretl (IROS, 2012)

Motion primitives for path following with a self-assembled robotic swimmer. - Carlos Orduno; Aaron T. Becker; Timothy Bretl (IROS, 2012)

Equilibrium Configurations of a Kirchhoff Elastic Rod under Quasi-static Manipulation. - Timothy Bretl; Zoe McCarthy (WAFR, 2012)

Approximate Steering of a Unicycle Under Bounded Model Perturbation Using Ensemble Control. - Aaron T. Becker; Timothy Bretl (IEEE Trans. Robotics, 2012)

Minimum-Time Optimal Control of Many Robots that Move in the Same Direction at Different Speeds. - Timothy Bretl (IEEE Trans. Robotics, 2012)

Control and Planning of 3-D Dynamic Walking With Asymptotically Stable Gait Primitives. - Robert D. Gregg; Adam K. Tilton; Salvatore Candido; Timothy Bretl; Mark W. Spong (IEEE Trans. Robotics, 2012)

Inverse optimal control for deterministic continuous-time nonlinear systems. - Miles Johnson; Navid Aghasadeghi; Timothy Bretl (CDC, 2013)

Sequential selection of window length for improved SSVEP-based BCI classification. - Erik C. Johnson; James J. S. Norton; David M. Jun; Timothy Bretl; Douglas L. Jones (EMBC, 2013)

Robust coverage by a mobile robot of a planar workspace. - Timothy Bretl; Seth Hutchinson 001 (ICRA, 2013)

Learning impedance controller parameters for lower-limb prostheses. - Navid Aghasadeghi; Huihua Zhao; Levi J. Hargrove; Aaron D. Ames; Eric J. Perreault; Timothy Bretl (IROS, 2013)

Mechanics and Quasi-Static Manipulation of Planar Elastic Kinematic Chains. - Timothy Bretl; Zoe McCarthy (IEEE Trans. Robotics, 2013)

Efficient motion planning for quasi-static elastic rods using geometry neighborhood approximation. - Olivier Roussel; Michel Taïx; Timothy Bretl (AIM, 2014)

Geometric optimal control for symmetry breaking cost functions. - Andy D. Borum; Timothy Bretl (CDC, 2014)

Playing checkers with your mind: An interactive multiplayer hardware game platform for brain-computer interfaces. - Aadeel Akhtar; James J. S. Norton; Mahsa Kasraie; Timothy Bretl (EMBC, 2014)

A two-stage suboptimal approximation for variable compliance and torque control. - P. Geoffroy; O. Bordron; Nicolas Mansard; Maxime Raison; Olivier Stasse; Timothy Bretl (ECC, 2014)

The relationship between energy, phase charge, impedance, and perceived sensation in electrotactile stimulation. - Aadeel Akhtar; Brandon Boyce; Timothy Bretl (HAPTICS, 2014)

Passive Mechanical Skin Stretch for Multiple Degree-of-Freedom Proprioception in a Hand Prosthesis. - Aadeel Akhtar; Mary Nguyen; Logan Wan; Brandon Boyce; Patrick Slade; Timothy Bretl (EuroHaptics (2), 2014)

Inverse optimal control for differentially flat systems with application to locomotion modeling. - Navid Aghasadeghi; Timothy Bretl (ICRA, 2014)

State estimation and tracking of deforming planar elastic rods. - Andy Borum; Dennis Matthews; Timothy Bretl (ICRA, 2014)

Quasi-static manipulation of a planar elastic rod using multiple robotic grippers. - Mustafa Mukadam; Andy Borum; Timothy Bretl (IROS, 2014)

Controlling many differential-drive robots with uniform control inputs. - Aaron T. Becker; Cem Onyuksel; Timothy Bretl; James McLurkin (Int. J. Robotics Res., 2014)

Quasi-static manipulation of a Kirchhoff elastic rod based on a geometric analysis of equilibrium configurations. - Timothy Bretl; Zoe McCarthy (Int. J. Robotics Res., 2014)

The free configuration space of a Kirchhoff elastic rod is path-connected. - Andy Borum; Timothy Bretl (ICRA, 2015)

Manipulation planning with contacts for an extensible elastic rod by sampling on the submanifold of static equilibrium configurations. - Olivier Roussel; Andy Borum; Michel Taïx; Timothy Bretl (ICRA, 2015)

Tact: Design and performance of an open-source, affordable, myoelectric prosthetic hand. - Patrick Slade; Aadeel Akhtar; Mary Nguyen; Timothy Bretl (ICRA, 2015)

A passive mechanism for relocating payloads with a quadrotor. - Joseph DeGol; David Hanley; Navid Aghasadeghi; Timothy Bretl (IROS, 2015)

Helices, relative equilibria, and optimality on the special Euclidean group. - Andy Borum; Timothy Bretl (CDC, 2016)

A low-cost, open-source, compliant hand for enabling sensorimotor control for people with transradial amputations. - Aadeel Akhtar; Kyung Yun Choi; Michael Fatina; Jesse Cornman; Edward Wu; Joseph Sombeck; Chris Yim; Patrick Slade; Jason Lee; Jack Moore; Daniel Gonzales; Alvin Wu; et al. (EMBC, 2016)

Automatic grasp selection using a camera in a hand prosthesis. - Joseph DeGol; Aadeel Akhtar; Bhargava Manja; Timothy Bretl (EMBC, 2016)

Sufficient Conditions for a Path-Connected Set of Local Solutions to an Optimal Control Problem. - Andy Borum; Timothy Bretl (SIAM J. Appl. Math., 2016)

ChromaTag: A Colored Marker and Fast Detection Algorithm. - Joseph DeGol; Timothy Bretl; Derek Hoiem (ICCV, 2017)

A compliant four-bar linkage mechanism that makes the fingers of a prosthetic hand more impact resistant. - Kyung Yun Choi; Aadeel Akhtar; Timothy Bretl (ICRA, 2017)

MagPIE: A dataset for indoor positioning with magnetic anomalies. - David Hanley; Alexander B. Faustino; Scott D. Zelman; David A. Degenhardt; Timothy Bretl (IPIN, 2017)

A portable, arbitrary waveform, multichannel constant current electrotactile stimulator. - Jesse Cornman; Aadeel Akhtar; Timothy Bretl (NER, 2017)

Reduction of Sufficient Conditions for Optimal Control Problems With Subgroup Symmetry. - Andy Borum; Timothy Bretl (IEEE Trans. Autom. Control., 2017)

FEATS: Synthetic Feature Tracks for Structure from Motion Evaluation. - Joseph DeGol; Jae Yong Lee 006; Rajbir Kataria; Daniel Yuan; Timothy Bretl; Derek Hoiem (3DV, 2018)

Improved Structure from Motion Using Fiducial Marker Matching. - Joseph DeGol; Timothy Bretl; Derek Hoiem (ECCV (3), 2018)

Making Testing Less Trying: Lessons Learned from Operating a Computer-Based Testing Facility. - Craig B. Zilles; Matthew West 001; David Mussulman; Timothy Bretl (FIE, 2018)

Feature-constrained Active Visual SLAM for Mobile Robot Navigation. - Xinke Deng; Zixu Zhang; Avishai Sintov; Jing Huang; Timothy Bretl (ICRA, 2018)

Experimental Evaluation of the Planar Assumption in Magnetic Positioning. - David Hanley; Xiangyuan Zhang; Augusto S. Dantas de Oliveira; Daniel Steinberg; Timothy Bretl (IPIN, 2018)

Motion Planning of Fully Actuated Closed Kinematic Chains With Revolute Joints: A Comparative Analysis. - Avishai Sintov; Andy Borum; Timothy Bretl (IEEE Robotics Autom. Lett., 2018)

Controlling sensation intensity for electrotactile stimulation in human-machine interfaces. - Joseph Sombeck; Brandon Boyce; Timothy Bretl (Sci. Robotics, 2018)

Effect of Discrete and Continuous Parameter Variation on Difficulty in Automatic Item Generation. - Binglin Chen; Craig B. Zilles; Matthew West 001; Timothy Bretl (AIED (1), 2019)

Every University Should Have a Computer-Based Testing Facility. - Craig B. Zilles; Matthew West 001; Geoffrey L. Herman; Timothy Bretl (CSEDU (1), 2019)

PoseRBPF: A Rao-Blackwellized Particle Filter for6D Object Pose Estimation. - Xinke Deng; Arsalan Mousavian; Yu Xiang 001; Fei Xia 002; Timothy Bretl; Dieter Fox (Robotics: Science and Systems, 2019)

PoseRBPF: A Rao-Blackwellized Particle Filter for 6D Object Pose Tracking. - Xinke Deng; Arsalan Mousavian; Yu Xiang 001; Fei Xia 002; Timothy Bretl; Dieter Fox (CoRR, 2019)

Epstein, Project Maven, and Some Reasons to Think About Where We Get Our Funding [Ethical, Legal, and Societal Issues]. - Timothy Bretl; Ludovic Righetti; Raj Madhavan 001 (IEEE Robotics Autom. Mag., 2019)

Comparison of Grade Replacement and Weighted Averages for Second-Chance Exams. - Geoffrey L. Herman; Zhouxiang Cai; Timothy Bretl; Craig B. Zilles; Matthew West 001 (ICER, 2020)

Self-supervised 6D Object Pose Estimation for Robot Manipulation. - Xinke Deng; Yu Xiang 001; Arsalan Mousavian; Clemens Eppner; Timothy Bretl; Dieter Fox (ICRA, 2020)

A Quantitative Analysis of When Students Choose to Grade Questions on Computerized Exams with Multiple Attempts. - Ashank Verma; Timothy Bretl; Matthew West 001; Craig B. Zilles (L@S, 2020)

Motion Planning for Dual-Arm Manipulation of Elastic Rods. - Avishai Sintov; Steven Macenski; Andy Borum; Timothy Bretl (IEEE Robotics Autom. Lett., 2020)

The Impact of Height on Indoor Positioning with Magnetic Fields. - David Hanley; Augusto S. Dantas de Oliveira; Xiangyuan Zhang; Dae Hyun Kim 006; Yusheng Wei; Timothy Bretl (IEEE DataPort, 2020)

The Impact of Height on Indoor Positioning with Magnetic Fields. - David Hanley; Augusto S. Dantas de Oliveira; Xiangyuan Zhang; Dae Hyun Kim 006; Yusheng Wei; Timothy Bretl (IEEE DataPort, 2020)

Students' Perceptions and Behavior Related to Second-Chance Testing. - Chinedu Emeka; Timothy Bretl; Geoffrey L. Herman; Matthew West 001; Craig B. Zilles (FIE, 2021)

The Impact of Height on Indoor Positioning With Magnetic Fields. - David Hanley; Augusto S. Dantas de Oliveira; Xiangyuan Zhang; Dae Hyun Kim 006; Yusheng Wei; Timothy Bretl (IEEE Trans. Instrum. Meas., 2021)

Erratum to "The Impact of Height on Indoor Positioning With Magnetic Fields". - David Hanley; Augusto S. Dantas de Oliveira; Xiangyuan Zhang; Dae Hyun Kim 006; Yusheng Wei; Timothy Bretl (IEEE Trans. Instrum. Meas., 2021)

PoseRBPF: A Rao-Blackwellized Particle Filter for 6-D Object Pose Tracking. - Xinke Deng; Arsalan Mousavian; Yu Xiang 001; Fei Xia 002; Timothy Bretl; Dieter Fox (IEEE Trans. Robotics, 2021)

Truly Deterministic Policy Optimization. - Ehsan Saleh; Saba Ghaffari; Timothy Bretl; Matthew West 001 (NeurIPS, 2022)

Insights from an Industrial Collaborative Assembly Project: Lessons in Research and Collaboration. - Tan Chen 001; Zhe Huang 010; James Motes; Junyi Geng; Quang Minh Ta; Holly Dinkel; Hameed Abdul-Rashid; Jessica Myers; Ye-Ji Mun; Wei-che Lin; Yuan-yung Huang; Sizhe Liu; et al. (CoRR, 2022)

iCaps: Iterative Category-Level Object Pose and Shape Estimation. - Xinke Deng; Junyi Geng; Timothy Bretl; Yu Xiang 001; Dieter Fox (IEEE Robotics Autom. Lett., 2022)

Extrinsic Calibration of Multiple Inertial Sensors From Arbitrary Trajectories. - Jongwon Lee; David Hanley; Timothy Bretl (IEEE Robotics Autom. Lett., 2022)

Environment Warped Gait Trajectory Optimization for Complex Terrains. - Zherong Pan; Tan Chen 001; Xianzhong Fang; Timothy Bretl; Xifeng Gao; Kui Wu 003 (IEEE Robotics Autom. Lett., 2022)

Comparative Study of Visual SLAM-Based Mobile Robot Localization Using Fiducial Markers. - Jongwon Lee; Su Yeon Choi; David Hanley; Timothy Bretl (CoRR, 2023)

The Use of Multi-Scale Fiducial Markers To Aid Takeoff and Landing Navigation by Rotorcraft. - Jongwon Lee; Su Yeon Choi; Timothy Bretl (CoRR, 2023)

Dynamic Manipulation of a Deformable Linear Object: Simulation and Learning. - Qi Jing Chen; Timothy Bretl; Nghia Vuong; Quang-Cuong Pham (CoRR, 2023)

The Impact of Time Step Frequency on the Realism of Robotic Manipulation Simulation for Objects of Different Scales. - Minh Q. Ta; Holly Dinkel; Hameed Abdul-Rashid; Yangfei Dai; Jessica Myers; Tan Chen 001; Junyi Geng; Timothy Bretl (CoRR, 2023)

Pointwise Sufficient Conditions for One-Dimensional Optimal Control Problems. - Andy Borum; Timothy Bretl (IEEE Control. Syst. Lett., 2023)

TrackDLO: Tracking Deformable Linear Objects Under Occlusion With Motion Coherence. - Jingyi Xiang; Holly Dinkel; Harry Zhao 002; Naixiang Gao; Brian Coltin; Trey Smith; Timothy Bretl (IEEE Robotics Autom. Lett., 2023)

Hypergraph-Based Multi-robot Task and Motion Planning. - James Motes; Tan Chen 001; Timothy Bretl; Marco Morales 001; Nancy M. Amato (IEEE Trans. Robotics, 2023)

Learning from Integral Losses in Physics Informed Neural Networks. - Ehsan Saleh; Saba Ghaffari; Timothy Bretl; Luke N. Olson; Matthew West 001 (ICML, 2024)

Efficient Extrinsic Self-Calibration of Multiple IMUs using Measurement Subset Selection. - Jongwon Lee; David Hanley; Timothy Bretl (IROS, 2024)

GSFeatLoc: Visual Localization Using Feature Correspondence on 3D Gaussian Splatting. - Jongwon Lee; Timothy Bretl (CoRR, 2025)

DLO-Splatting: Tracking Deformable Linear Objects Using 3D Gaussian Splatting. - Holly Dinkel; Marcel Büsching; Alberta Longhini; Brian Coltin; Trey Smith; Danica Kragic; Mårten Björkman; Timothy Bretl (CoRR, 2025)

KnotDLO: Toward Interpretable Knot Tying. - Holly Dinkel; Raghavendra Navaratna; Jingyi Xiang; Brian Coltin; Trey Smith; Timothy Bretl (CoRR, 2025)