Legged Robots
Using Motion Primitives in Probabilistic Sample-Based Planning for Humanoid Robots. K. Hauser, T. Bretl, K. Harada, and J.C. Latombe. To appear in Workshop on the Algorithmic Foundations of Robotics (WAFR), New York, NY, 2006. [PDF]
Motion Planning for a Six-Legged Lunar Robot. K. Hauser, T. Bretl, J.C. Latombe, and B. Wilcox. To appear in Workshop on the Algorithmic Foundations of Robotics (WAFR), New York, NY, 2006. [PDF]
A Fast and Adaptive Test of Static Equilibrium for Legged Robots. T. Bretl and S. Lall. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Orlando, FL, 2006. [PDF]
Motion Planning of Multi-Limbed Robots Subject to Equilibrium Constraints: The Free-Climbing Robot Problem. T. Bretl. International Journal of Robotics Research, 25(4):317-342, Apr 2006. [PDF]
Non-Gaited Humanoid Locomotion Planning. K. Hauser, T. Bretl, and J.C. Latombe. In Humanoids 2005, Tsukuba, Japan, Dec 2005. [PDF]
Multi-Step Motion Planning: Application to Free-Climbing Robots. T. Bretl. PhD Thesis, Stanford University, Stanford, CA, Jun 2005. [PDF-SingleSided] [PDF-DoubleSided]
Learning-Assisted Multi-Step Planning. K. Hauser, T. Bretl, and J.C. Latombe. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Barcelona, Spain, Apr 2005. [PDF]
Multi-Step Motion Planning for Free-Climbing Robots. T. Bretl, S. Lall, J.C. Latombe, and S. Rock. In Workshop on the Algorithmic Foundations of Robotics (WAFR), Utrecht/Zeist, The Netherlands, Jul 2004. [PDF]
Free-Climbing with a Multi-Use Robot. T. Bretl, S. Rock, J.C. Latombe, Brett Kennedy, and Hrand Aghazarian. In Proc. Int. Symp. on Experimental Robotics (ISER), Singapore, Jun 2004. [PDF]
Toward Autonomous Free-Climbing Robots. T. Bretl, J.C. Latombe, and S. Rock. In Proc. Int. Symp. of Robotics Research (ISRR), Siena, Italy, Oct 2003. [PDF]
Motion Planning for a Three-Limbed Climbing Robot in Vertical Natural Terrain. T. Bretl, S. Rock, and J.C. Latombe. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Taipei, Taiwan, Sep 2003. [PDF]
Climbing Robots in Natural Terrain. T. Bretl, T. Miller, S. Rock, and J.C. Latombe. In Proc. 7th Int. Symp. on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS), Nara, Japan, May 2003. [PDF]
Dynamic Movement
Planning Robust Dynamic Transitions for Enhanced Mobility of Planetary Rovers. T. Bretl and S. Rock. In Proc. 2nd IFAC Conference on Mechatronic Systems, pp. 109-114, Berkeley, CA, Dec 2002. [PDF] [PS]
Robust Execution of Aggressive Maneuvers for Planetary Robotics. T. Bretl and S. Rock. In Proc. AIAA Guidance, Navigation, and Control Conference and Exhibit (AIAA-GNC), Monterey, CA, Aug 2002. [PDF] [PS]
Cooperative Mobile Robotics
Applying Kinodynamic Randomized Motion Planning with a Dynamic Priority System to Multi-Robot Space Systems. C. Clark, T. Bretl, and S. Rock. In Proc. IEEE Aerospace Conference, Big Sky, MT, Mar 2002. [PDF]
Computational Fluid Dynamics
Fluid-Structure Interaction Simulation of a Cross Parachute: Comparison of Numerical Predictions with Wind Tunnel Data. K. Stein, R. Benney, T. Tezduyar, V. Kalro, J. Potvin and T. Bretl. In Proc. 15th CEAS/AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar, AIAA Paper 99-1725, Toulouse, France, 1999.