RPAL Publications
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Peer-Reviewed Conference Papers
- Valts Blukis, Yannick Terme, Eyvind Niklasson, Ross A. Knepper, and Yoav Artzi. "Learning to Map Natural Language Instructions to Physical Quadcopter Control using Simulated Flight". In: Proceedings of the Conference on Robot Learning (CoRL). Osaka, Japan, October 2019.
- Wil Thomason and Ross A. Knepper. "A unified sampling-based approach to integrated task and motion planning". In: Proceedings of the International Symposium on Robotics Research (ISRR). Hanoi, Vietnam, October 2019.
- Claire Liang, Julia Proft, Erik Andersen, and Ross A. Knepper. "Implicit communication of actionable information in human-AI teams". In: Proceedings of the ACM Conference on Human Factors in Computing Systems (CHI). Best Paper Honorable Mention. Glasgow, United Kingdom, May 2019.
- Christoforos I. Mavrogiannis, Alena M. Hutchinson, John Macdonald, Patrícia Alves-Oliveira, and Ross A. Knepper. "Effects of distinct robot navigation strategies on human behavior in a crowded environment". In: Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI). Daegu, South Korea, March 2019.
- Christoforos I. Mavrogiannis and Ross A. Knepper. "Multi-agent trajectory prediction and generation with topological invariants enforced by Hamiltonian dynamics". In: Proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR). Mérida, Mexico, December 2018.
- Euisun Yoon, Erik Andersen, Bharath Hariharan, and Ross A. Knepper. "Design mining for Minecraft architecture". In: Proceedings of the AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment (AIIDE). Edmonton, Canada, November 2018.
- Valts Blukis, Dipendra Misra, Ross A. Knepper, and Yoav Artzi. "Mapping navigation instructions to actions with position-visitation prediction". In: Proceedings of the Conference on Robot Learning (CoRL). Zurich, Switzerland, October 2018.
- Valts Blukis, Nataly Brukhim, Andrew Bennett, Ross A. Knepper, and Yoav Artzi. "Following high-level navigation instructions on a simulated quadcopter with imitation learning". In: Proceedings of the Robotics Science and Systems Conference (RSS). Pittsburgh, USA, June 2018.
- Christoforos I. Mavrogiannis, Wil Thomason, and Ross A. Knepper. "Social momentum: A framework for legible navigation in dynamic multi-agent environments". In: Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI). Chicago, USA, March 2018.
- Christoforos I. Mavrogiannis, Valts Blukis, and Ross A. Knepper. "Socially competent navigation planning by deep learning of multi-agent path topologies". In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vancouver, Canada, September 2017.
- Ross A. Knepper, Christoforos I. Mavrogiannis, Julia Proft, and Claire Liang. "Implicit communication in a joint action". In: Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI). Best Paper Finalist. Vienna, Austria, March 2017.
- Christoforos I. Mavrogiannis and Ross A. Knepper. "Decentralized multi-agent navigation planning with braids". In: Proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR). San Francisco, USA, December 2016.
- Wil Thomason and Ross A. Knepper. "Recognizing unfamiliar gestures for human-robot interaction through zero-shot learning". In: Proceedings of the International Symposium of Experimental Robotics (ISER). Tokyo, Japan, October 2016.
- Minae Kwon, Malte F. Jung, and Ross A. Knepper. "Human expectations of social robots". In: Late-Breaking Report at the ACM/IEEE International Conference on Human-Robot Interaction (HRI). Christchurch, New Zealand, March 2016.
- Abhishek Anand and Ross Knepper. "ROSCoq: Robots powered by constructive reals". In: Proceedings of the International Conference on Interactive Theorem Proving (ITP). Nanjing, China, August 2015.
- Ian Lenz, Ross A. Knepper, and Ashutosh Saxena. "DeepMPC: Learning deep latent features for model predictive control". In: Proceedings of the Robotics Science and Systems Conference (RSS). Rome, Italy, July 2015.
- Javier Alonso-Mora, Ross A. Knepper, Roland Siegwart, and Daniela Rus. "Local motion planning for collaborative multi-robot manipulation of deformable objects". In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Seattle, USA, May 2015.
- Laura Lindzey, Ross A. Knepper, Howie Choset, and Siddhartha S. Srinivasa. "The feasible transition graph: Encoding topology and manipulation constraints for multirobot push-planning". In: Proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR). Istanbul, Turkey, August 2014.
- Stefanie Tellex, Ross A. Knepper, Adrian Li, Daniela Rus, and Nicholas Roy. "Asking for help using inverse semantics". In: Proceedings of the Robotics Science and Systems Conference (RSS). Best Paper. Berkeley, USA, July 2014.
- Mehmet Dogar, Ross A. Knepper, Andrew Spielberg, Changhyun Choi, Henrik I. Christensen, and Daniela Rus. "Towards coordinated precision assembly with robot teams". In: Proceedings of the International Symposium of Experimental Robotics (ISER). Marrakesh; Essaouira, Morocco, June 2014.
- Jue Wang, Fadel Adib, Ross A. Knepper, Dina Katabi, and Daniela Rus. "RF-Compass: Robot object manipulation using RFIDs". In: Proceedings of the International Conference on Mobile Computing and Networking (MobiCom). Miami, USA, October 2013.
- Dan Feldman, Stephanie Gil, Ross A. Knepper, Brian Julian, and Daniela Rus. "K-robots clustering of moving sensors using coresets". In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Karlsruhe, Germany, May 2013.
- Ross A. Knepper and Daniela Rus. "On the completeness of ensembles of motion planners for decentralized planning". In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Karlsruhe, Germany, May 2013.
- Ross A. Knepper, Todd Layton, John Romanishin, and Daniela Rus. "IkeaBot: An autonomous multi-robot coordinated furniture assembly system". In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Best Automation Paper Finalist. Karlsruhe, Germany, May 2013.
- Ross L. Hatton, Ross A. Knepper, Howie Choset, David Rollinson, Chaohui Gong, and Enric Galceran. "Snakes on a plan: Toward combining planning and control". In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Karlsruhe, Germany, May 2013.
- Ross A. Knepper, Stefanie Tellex, Adrian Li, Nicholas Roy, and Daniela Rus. "Single assembly robot in search of human partner: Versatile grounded language generation". In: Late-Breaking Report at the ACM/IEEE International Conference on Human-Robot Interaction (HRI). Tokyo, Japan, March 2013.
- Ross A. Knepper and Daniela Rus. "Pedestrian-inspired sampling-based multi-robot collision avoidance". In: Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). Paris, France, September 2012.
- Ross A. Knepper and Matthew T. Mason. "Improved hierarchical planner performance using local path equivalence". In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). San Francisco, USA, September 2011.
- Ross A. Knepper and Matthew T. Mason. "Realtime informed path sampling for motion planning search". In: Proceedings of the International Symposium on Robotics Research (ISRR). Flagstaff, USA, August 2011.
- Ross A. Knepper, Siddhartha S. Srinivasa, and Matthew T. Mason. "An equivalence relation for local path sets". In: Proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR). Singapore, December 2010.
- Ross A. Knepper, Siddhartha S. Srinivasa, and Matthew T. Mason. "Hierarchical planning architectures for mobile manipulation tasks in indoor environments". In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Anchorage, USA, May 2010.
- Ross A. Knepper and Matthew T. Mason. "Path diversity is only part of the problem". In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Kobe, Japan, May 2009.
- Ross A. Knepper and Matthew T. Mason. "Empirical sampling of path sets for local area motion planning". In: Proceedings of the International Symposium of Experimental Robotics (ISER). Athens, Greece, July 2008.
- Michael S. Branicky, Ross A. Knepper, and James J. Kuffner. "Path and trajectory diversity: Theory and algorithms". In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Pasadena, USA, May 2008.
- Ross A. Knepper and Alonzo Kelly. "High performance state lattice planning using heuristic look-up tables". In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Beijing, China, October 2006.
- Thomas M. Howard, Ross A. Knepper, and Alonzo Kelly. "Constrained optimization path following of wheeled robots in natural terrain". In: Proceedings of the International Symposium of Experimental Robotics (ISER). Rio de Janeiro, Brazil, July 2006.
- Howie Choset, Ross Knepper, Joleen Flasher, Sean Walker, Andrew Alford, Dean Jackson, David Kortenkamp, Jaime J. Fernandez, and Robert R. Burridge. "Path planning and control for AERCam, a free-flying inspection robot in space". In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Detroit, USA, May 1999.
Peer-Reviewed Journal Papers
- Christoforos I. Mavrogiannis and Ross A. Knepper. "Multi-agent path topology in support of socially competent navigation planning". In: International Journal of Robotics Research (IJRR) (June 2018).
- Huichan Zhao, Jonathan Jalving, Rukang Huang, Ross A. Knepper, Andy Ruina, and Robert Shepherd. "A helping hand: Soft orthosis with integrated optical strain sensors and EMG control". In: IEEE Robotics and Automation Magazine 23.3 (September 2016), pp. 55–64.
- Mehmet Dogar, Ross A. Knepper, Andrew Spielberg, Changhyun Choi, Henrik I. Christensen, and Daniela Rus. "Multi-scale assembly with robot teams". In: International Journal of Robotics Research (IJRR) 34.13 (November 2015). Invited Submission.
- Ross A. Knepper, Stefanie Tellex, Adrian Li, Nicholas Roy, and Daniela Rus. "Recovering from failure by asking for help". In: Autonomous Robots 39.3 (October 2015). Invited Submission, pp. 347–362.
- Thomas Howard, Mihail Pivtoraiko, Ross A. Knepper, and Alonzo Kelly. "Model-predictive motion planning for autonomous mobile robots". In: IEEE Robotics and Automation Magazine 21.1 (March 2014), pp. 64–73.
- Ross A. Knepper and Matthew T. Mason. "Realtime informed path sampling for motion planning search". In: International Journal of Robotics Research (IJRR) 31.11 (September 2012). Invited Submission, pp. 1231–1250.
- Siddhartha S. Srinivasa, Dmitry Berenson, Maya Cakmak, Alvaro Collet, Mehmet R. Dogar, Anca D. Dragan, Ross A. Knepper, Tim Niemueller, Kyle Strabala, Mike Vande Weghe, and Julius Ziegler. "HERB 2.0: Lessons learned from developing a mobile manipulator for the home". In: Proceedings of the IEEE 100.8 (August 2012). Invited Submission, pp. 2410–2428.
- Ross A. Knepper, Siddhartha S. Srinivasa, and Matthew T. Mason. "Toward a deeper understanding of motion alternatives via an equivalence relation on local paths". In: International Journal of Robotics Research (IJRR) 31.2 (February 2012). Invited Submission, pp. 168–187.
- Mihail Pivtoraiko, Ross A. Knepper, and Alonzo Kelly. "Differentially constrained mobile robot motion planning in state lattices". In: Journal of Field Robotics (JFR) 26.3 (March 2009), pp. 308–333.
Workshop Papers
- Elizabeth A. Ricci and Ross A. Knepper. "A bounded suboptimal environmental monitoring algorithm". In: Workshop on Informative Path Planning and Adaptive Sampling. Proceedings of the Robotics Science and Systems Conference (RSS). Freiburg, Germany, June 2019.
- Niko Grupen and Ross Knepper. "Visual primitives for abductive reasoning". In: Workshop on Combining Learning and Reasoning — Towards Human-Level Robot Intelligence. Proceedings of the Robotics Science and Systems Conference (RSS). Freiburg, Germany, June 2019.
- Soham Sankaran and Ross A. Knepper. "Usability squared: Principles for doing good systems research in robotics". In: Workshop on Cloud and Fog Robotics in the Age of Deep Robot Learning. Proceedings of the Robotics Science and Systems Conference (RSS). Freiburg, Germany, June 2019.
- Wil Thomason and Ross A. Knepper. "A flexible sampling-based approach to task and motion planning". In: Workshop on Robust Task and Motion Planning. Proceedings of the Robotics Science and Systems Conference (RSS). Freiburg, Germany, June 2019.
- Claire Liang and Ross Knepper. "Minimalist motion planning using global topological guarantees". In: Workshop on Topological Methods in Robot Planning. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Montréal, Canada, May 2019.
- Christoforos I. Mavrogiannis and Ross A. Knepper. "Decentralized navigation planning using multi-agent trajectory prediction governed by Hamiltonian dynamics". In: Workshop on Multi-Robot Perception-Driven Control and Planning. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid, Spain, October 2018.
- Christoforos I. Mavrogiannis. "Online multi-agent trajectory generation for adaptive navigation planning". In: Pioneers Workshop. Proceedings of the Robotics Science and Systems Conference (RSS). Pittsburgh, USA, June 2018.
- Minae Kwon, Melissa Ferguson, Thomas Mann, and Ross A. Knepper. "An exploration of implicit attitudes towards robots using implicit measures". In: Workshop on Explainable Robotic Systems. Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI). Chicago, USA, March 2018.
- Christoforos Mavrogiannis, Valts Blukis, and Ross A. Knepper. "Inferring strategies of avoidance: Towards socially competent navigation in human environments". In: Workshop on Mathematical Models, Algorithms, and Human-Robot Interaction. Proceedings of the Robotics Science and Systems Conference (RSS). Cambridge, USA, July 2017.
- Claire Liang, Julia Proft, and Ross A. Knepper. "Implicature-based inference for socially-fluent robotic teammates". In: Workshop on Mathematical Models, Algorithms, and Human-Robot Interaction. Proceedings of the Robotics Science and Systems Conference (RSS). Cambridge, USA, July 2017.
- Minae Kwon, Melissa Ferguson, Thomas Mann, and Ross A. Knepper. "Forming and updating implicit impressions of robot competence". In: Workshop on Morality and Social Trust in Autonomous Robots. Proceedings of the Robotics Science and Systems Conference (RSS). Cambridge, USA, July 2017.
- Wil Thomason and Ross A. Knepper. "Exploiting heterogeneity in robot teams through a formalism of capabilities". In: Workshop on Heterogeneity and Diversity for Resilience in Multi-Robot Systems. Proceedings of the Robotics Science and Systems Conference (RSS). Cambridge, USA, July 2017.
- Wil Thomason and Ross Knepper. "Toward contextual grounding of unfamiliar gestures for human-robot interaction". In: Workshop on Adaptive Shot Learning for Gesture Understanding and Production. Proceedings of the IEEE Conference on Automatic Face and Gesture Recognition. Arlington, USA, May 2017.
- Ross A. Knepper. "On the communicative aspect of human-robot joint action". In: Workshop Towards a Framework for Joint Action — What about Common Ground?. Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). New York, USA, August 2016.
- Christoforos I. Mavrogiannis and Ross A. Knepper. "Towards socially competent navigation of pedestrian environments". In: Workshop on Social Trust in Autonomous Robots. Proceedings of the Robotics Science and Systems Conference (RSS). Ann Arbor, USA, June 2016.
- Wil Thomason and Ross A. Knepper. "Recognizing unfamiliar gestures for human-robot interaction through zero-shot learning". In: Workshop on Model Learning for Human-Robot Communication. Proceedings of the Robotics Science and Systems Conference (RSS). Ann Arbor, USA, June 2016.
- Christoforos I. Mavrogiannis and Ross A. Knepper. "Interpretation and communication of pedestrian intentions using braid groups". In: Workshop on Intention Recognition in HRI. Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI). Christchurch, New Zealand, March 2016.
- Minae Kwon, Malte F. Jung, and Ross A. Knepper. "Human expectations of social robots". In: Workshop on Challenges and Best Practices to Study HRI in Natural Interaction Settings. Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI). Christchurch, New Zealand, March 2016.
- Ross A. Knepper, Dishaan Ahuja, Geoffrey Lalonde, and Daniela Rus. "Distributed assembly with AND/OR graphs". In: Workshop on AI Robotics. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Chicago, USA, September 2014.
- Stefanie Tellex, Ross A. Knepper, Adrian Li, Thomas M. Howard, Daniela Rus, and Nicholas Roy. "Asking for help: Assembling furniture by asking for help from a human partner". In: Collaborative Manipulation: New Challenges for Robotics and HRI. Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI). Tokyo, Japan, March 2013.
- Ross A. Knepper and Daniela Rus. "Human-inspired distributed collision avoidance". In: Workshop on Many-Robot Systems: Crossing the Reality Gap. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). St. Paul, USA, May 2012.
Technical Reports
- Laura Lindzey, Howie Choset, Siddhartha Srinivasa, and Ross A. Knepper. Multirobot pushing — How many robots are sufficient?. Tech. rep. CMU-RI-TR-12-15. Robotics Institute, Carnegie Mellon University, May 2012.
- Mihail Pivtoraiko, Ross Knepper, and Alonzo Kelly. Optimal, smooth, nonholonomic mobile robot motion planning in state lattices. Tech. rep. CMU-RI-TR-07-15. Robotics Institute, Carnegie Mellon University, May 2007.