Publications

AdamsRZH:96: Postscript 1769Kb
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John Adams, Andrew Robertson, Kurt Zimmerman, and Dr. Jonathan How.
Technologies for Spacecraft Formation Flying.
In Proceedings of the Institute of Navigation GPS-96 Conference, pages 1321--1330, Kansas City MO, September 1996.
AdamsCBHC:2000: John Carl Adams, Tobe Corazzini, Franz Busse, Jonathan How, and Larry Capots.
Pseudolite Augmented Navigation for GEO Communication Satellite Collocation.
In Proceedings of the 2000 IEEE Aerospace Conference, volume 7, pages 89--97, Big Sky MT, March 2000.
Alder:91: L. J. Alder and S. M. Rock.
Control of a Flexible Robotic Manipulator with Unknown Payload Dynamics: Initial Experiments.
In Proceedings of the ASME Winter Annual Meeting, Atlanta GA, December 1991.
Alder:93: Lawrence Alder.
Control of a Flexible-Link Robotic Arm Manipulating An Unknown Dynamic Payload.
PhD thesis, Stanford University, Stanford, CA 94305, February 1993.
Also published as SUDAAR 632.
AlderR:93: gzipped Postscript 82Kb
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Lawrence J. Alder and Stephen M. Rock.
Adaptive Control of a Flexible-Link Robotic Manipulator with Unknown Payload Dynamics.
In Proceedings of the American Control Conference, pages 2088--2092, San Francisco CA, June 1993.
AlderR:94: gzipped Postscript 138Kb
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Lawrence J. Alder and Stephen M. Rock.
Experiments in control of a flexible-link robotic manipulator with unknown payload dynamics: an adaptive approach.
International Journal of Robotics Research, 13(6):481--95, December 1994.
AlderR:96: Lawrence J. Alder and Stephen M. Rock.
Frequency-weighted state estimation with application to estimation in the presence of sensor bias.
IEEE Transactions on Control Systems Technology, 4(4):427--36, July 1996.
Alexander:87: Harold L. Alexander.
Experiments in Control of Satellite Manipulators.
PhD thesis, Stanford University, Department of Electrical Engineering, Stanford, CA 94305, December 1987.
AlexanderC:86: Harold L. Alexander and Robert H. Cannon, Jr.
Experiments on the control of a satellite manipulator.
In Proceedings of the American Control Conference, Minneapolis, MN, June 1986.
AlexanderC:86a: Harold L. Alexander and Robert H. Cannon, Jr.
Experiments on the control of a satellite manipulator.
In Proceedings of the Material Handling Research Focus, Georgia Institute of Technology, September 1986.
Andersen:90: Brian L. Andersen.
Experiments in End-Point Position and Force Control of a Minimanipulator on a Flexible-Drive Manipulator.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, September 1990.
Also published as SUDAAR 596.
BallhausACDU:92: W. L. Ballhaus, L. J. Alder, V. W. Chen, W. C. Dickson, and M. A. Ullman.
Stanford aerospace robotics laboratory research overview.
In Proceedings of the Space Operations, Applications and Research Symposium, Houston, TX, August 1992.
BallhausR:92b: W. L. Ballhaus and S. M. Rock.
End-point control of a two-link flexible robotic manipulator with a mini-manipulator: Dynamic coupling issues.
In Proceedings of the ASME Winter Annual Meeting, Anaheim, CA, November 1992.
BallhausR:92a: W. L. Ballhaus and S. M. Rock.
End-point control of a two-link flexible robotic manipulator with a mini-manipulator: Initial experiments.
In Proceedings of the American Control Conference, Chicago, IL, June 1992.
BallhausRB:92: W. L. Ballhaus, S. M. Rock, and A. E. Bryson, Jr.
Optimal Control of a Two-Link Flexible Manipulator Using Time-Varying Controller Gains: Initial Experiments.
In Proceedings of the American Astronautical Society Guidance and Control Conference, Keystone, CO, February 1992.
Ballhaus:94: William L. Ballhaus.
Experiments in High-Performance Control of a Multi-Link Flexible Manipulator with a Mini-Manipulator.
PhD thesis, Stanford University, Stanford, CA 94305, April 1994.
Also published as SUDAAR 649.
BarfootCRD:2002: PDF 2964Kb
Timothy D. Barfoot, Christopher M. Clark, Stephen M. Rock, and Gabriele M. T. D'Eleuterio.
Kinematic Path-planning for Formations of Mobile Robots with a Nonholonomic Constraint.
In Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 2002. IEEE/RSJ.
BretlLLR:2004: PDF 2287Kb
Timothy Bretl, Sanjay Lall, Jean-Claude Latombe, and Stephen Rock.
Multi-Step Motion Planning for Free-Climbing Robots.
In Proceedings of the 2004 Workshop on the Algorithmic Foundations of Robotics, Utrecht/Zeist, The Netherlands, July 2004.
BretlLR:2003: PDF 3746Kb
Timothy Bretl, Jean-Claude Latombe, and Stephen Rock.
Toward Autonomous Free-Climbing Robots.
In Proceedings of the 2003 International Symposium of Robotics Research, Siena, Italy, October 2003.
BretlMRL:2003: PDF 1495Kb
Timothy Bretl, Teresa Miller, Stephen Rock, and Jean-Claude Latombe.
Climbing Robots in Natural Terrain.
In Proceedings of the 7th International Symposium on Artificial Intelligence, Robotics and Automation in Space, Nara, Japan, May 2003.
BretlRL:2003: PDF 1746Kb
Timothy Bretl, Stephen Rock, and Jean-Claude Latombe.
Motion Planning for a Three-Limbed Climbing Robot in Vertical Natural Terrain.
In Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, May 2003.
BretlRLKA:2004: PDF 2888Kb
Timothy Bretl, Stephen Rock, Jean-Claude Latombe, Brett Kennedy, and Hrand Aghazarian.
Free-Climbing with a Multi-Use Robot.
In Proceedings of the 2004 International Symposium on Experimental Robotics, Singapore, June 2004.
BretlR:2002b: Postscript 658Kb
PDF 217Kb
Timothy C. Bretl and Stephen Rock.
Planning Robust Dynamic Transitions for Enhanced Mobility of Planetary Rovers.
In Proceedings of the 2nd IFAC Conference on Mechatronic Systems, pages 109--114, Berkeley, CA, December 2002.
BretlR:2002a: Postscript 1011Kb
PDF 607Kb
Timothy C. Bretl and Stephen M. Rock.
Robust Execution of Aggressive Maneuvers for Planetary Robotics.
In Proceedings of the 2002 AIAA Guidance, Navigation, and Control Conference and Exhibit, Monterey, CA, August 2002.
ONRFinal:93: Robert H. Cannon, Stephen M. Rock, Richard L. Marks, Timothy W. McLain, David W. Miles, and Howard H. Wang.
Object Control for Undersea Robotic Vehicles.
Final report to the Office of Naval Research, Stanford University Aerospace Robotics Laboratory, September 1993.
ONR Contract N0014-92-J-1943.
ONRProposal:92: Robert H. Cannon, Stephen M. Rock, Richard L. Marks, Timothy W. McLain, and Howard H. Wang.
Object Control for Undersea Robotic Vehicles.
Proposal to the Office of Naval Research, Stanford University Aerospace Robotics Laboratory, March 1992.
Cannon:67: Robert H. Cannon, Jr.
Dynamics of Physical Systems.
McGraw-Hill, New York, NY, 1967.
NASAfinal:85: Robert H. Cannon, Jr. and Harold Alexander.
NASA Final Report on Space Robot Simulator Vehicle.
Final, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, May 1985.
NASAsemiannual:85: Robert H. Cannon, Jr. and Harold Alexander.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems.
Semi-Annual Report 1, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, July 1985.
NASAsemiannual:86: Robert H. Cannon, Jr. and Harold Alexander.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems.
Semi-Annual Report 2, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, February 1986.
NASAsemiannual:86a: Robert H. Cannon, Jr., Harold Alexander, Marc Ullman, and Ross Koningstein.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems.
Semi-Annual Report 3, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, August 1986.
NASAsemiannual:87: Robert H. Cannon, Jr., Harold Alexander, Marc Ullman, and Ross Koningstein.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems.
Semi-Annual Report 4, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, February 1987.
AFOSRfinal:89: Robert H. Cannon, Jr. and Thomas O. Binford.
AFOSR Final Report of the Center For Automation and Manufacturing Science on Basic Research in Robotics.
Final report, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, October 1989.
AFOSRannual:90: Robert H. Cannon, Jr., Gene F. Franklin, Jr. Arthur E. Bryson, and Robert L. Kosut.
AFOSR Annual Report on Research on Fundamental Research in Modelling and Control of Multi-Link Flexible Articulated Structures.
Annual Report 1, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, October 1990.
AFOSRannual:86: Robert H. Cannon, Jr., Michael Hollars, Chris Uhlik, Dennis Morse, Celia Oakley, Daniel Rovner, and Vincent Chen.
AFOSR Annual Report 1986.
Annual Report 1, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, October 1986.
AFOSRannual:87: Robert H. Cannon, Jr., Michael Hollars, Chris Uhlik, Dennis Morse, Celia Oakley, Daniel Rovner, and Vincent Chen.
AFOSR Annual Report 1987.
Annual Report 2, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, October 1987.
DARPAannual:87: Robert H. Cannon, Jr., Lawrence Pfeffer, Brian Andersen, and Raymond Kraft.
DARPA Annual Report 1987.
Annual Report 1, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, October 1987.
CannonR:84: Robert H. Cannon, Jr. and Dan E. Rosenthal.
Experiments in Control of Flexible Structures with Noncollocated Sensors and Actuators.
AIAA Journal of Guidance and Control, 7(5):546--553, September--October 1984.
CannonS:84: Robert H. Cannon, Jr. and Eric Schmitz.
Initial Experiments on the End-Point Control of a Flexible One-Link Robot.
The International Journal of Robotics Research, 3(3):62--75, Fall 1984.
NASAsemiannual:91a: Robert H. Cannon, Jr., Marc Ullman, William Dickson, Lawrence Alder, Edward Wilson, and Kurt Zimmerman.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems.
Semi-Annual Report 10, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, February 1991.
NASAsemiannual:91b: Robert H. Cannon, Jr., Marc Ullman, William Dickson, Lawrence Alder, Edward Wilson, and Kurt Zimmerman.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems.
Semi-Annual Report 11, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, August 1991.
NASAsemiannual:90: Robert H. Cannon, Jr., Marc Ullman, Ross Koningstein, William Dickson, Warren Jasper, and Lawrence Alder.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems.
Semi-Annual Report 9, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, August 1990.
NASAsemiannual:87a: Robert H. Cannon, Jr., Marc Ullman, Ross Koningstein, Stan Schneider, Warren Jasper, and Roberto Zanutta.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems.
Semi-Annual Report 5, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, August 1987.
NASAsemiannual:88: Robert H. Cannon, Jr., Marc Ullman, Ross Koningstein, Stan Schneider, Warren Jasper, and Roberto Zanutta.
NASA Sixth Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems.
Semi-Annual Report 6, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, February 1988.
NASAsemiannual:88a: Robert H. Cannon, Jr., Marc Ullman, Ross Koningstein, Stan Schneider, Warren Jasper, Roberto Zanutta, and William Dickson.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems.
Semi-Annual Report 7, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, August 1988.
NASAsemiannual:89: Robert H. Cannon, Jr., Marc Ullman, Ross Koningstein, Stan Schneider, Warren Jasper, Roberto Zanutta, and William Dickson.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems.
Semi-Annual Report 8, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, February 1989.
Chen:90: Vincent Chen.
Point Grabber II User's Manual.
Stanford University Aerospace Robotics Laboratory, Stanford, CA, September 1990.
ChenC:94: Vincent Chen and Jr. Robert H. Cannon.
Experiments in Nonlinear Adaptive Control of Free-Flying Space Robots.
In Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, CA, May 1994.
Chen:92: Vincent W. Chen.
Experiments in Adaptive Control of Multiple Cooperating Manipulators on a Free-Flying Space Robot.
PhD thesis, Stanford University, Stanford, CA 94305, December 1992.
Also published as SUDAAR 631.
Chiang:86: Wen-Wei Chiang.
Rapid Precise End Point Control of a Wrist Carried by a Flexible Manipulator.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, March 1986.
Also published as SUDAAR 550.
ChiangC:85: Wen-Wei Chiang and Robert H. Cannon, Jr.
The experimental results of a self tuning adaptive controller using online frequency identification.
The Journal of Astronautical Sciences, 33(1):71--83, January--March 1985.
Clark:2004: PDF 2762Kb
Christopher M. Clark.
Dynamic Robot Networks: A Coordination Platform for Multi-Robot Systems.
PhD thesis, Stanford University, Stanford, California, June 2004.
ClarkBR:2002: PDF 897Kb
Christopher M. Clark, Tim Bretl, and Stephen M. Rock.
Applying Kinodynamic Randomized Motion Planning with a Dynamic Priority System to Multi-Robot Space Systems.
In Proceedings of the 2002 IEEE Aerospace Conference, Big Sky, MT, March 2002. IEEE.
ClarkFJR:2003: PDF 356Kb
Christopher M. Clark, Eric W. Frew, Henry L. Jones, and Stephen M. Rock.
An Integrated System for Command and Control of Cooperative Robotic Systems.
In Proceedings of the 11th International Conference on Advanced Robotics, Portugal, June 2003.
ClarkR:2001: PDF 406Kb
Christopher M. Clark and Stephen M. Rock.
Randomized Motion Planning for Groups of Nonholonomic Robots.
In Proceedings of the 6th International Symposium on Artificial Intelligence, Robotics, and Automation in Space, Montreal Canada, June 2001.
ClarkRL:2003a: PDF 524Kb
Christopher M. Clark, Stephen M. Rock, and Jean-Claude Latombe.
Dynamic Robot Networks for Motion Planning in Multi-Robot Space Systems.
In Proceedings of the 7th International Sympsium on Artificial Intelligence, Robotics, and Automation in Space, Nara, Japan, May 2003. ISAIRAS.
ClarkRL:2003b: PDF 388Kb
Christopher M. Clark, Stephen M. Rock, and Jean-Claude Latombe.
Motion Planning for Multiple Mobile Robots using Dynamic Networks.
In Proceedings of the 2003 International Conference on Robotics and Automation, Taipei, Taiwan, May 2003. IEEE.
Conway:95: gzipped Postscript 1766Kb
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Andrew R. Conway.
Autonomous Control of an Unstable Helicopter Using Carrier Phase GPS Only.
PhD thesis, Stanford University, Stanford, CA 94305, March 1995.
Also published as SUDAAR 664.
CorazziniH:98: Postscript 4536Kb
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Tobe Corazzini and Jonathan How.
Onboard gps signal augmentation for spacecraft formation flying.
In Proceedings of the Institute of Navigation GPS-98 Conference, Nashville TN, September 1998.
CorazziniRAHH:97: Postscript 1536Kb
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Tobe Corazzini, Andrew Robertson, John Carl Adams, Arash Hassibi, and Jonathan P. How.
GPS Sensing for Spacecraft Formation Flying.
In Proceedings of the Institute of Navigation GPS-97 Conference, Kansas City MO, September 1997.
CosteManiereW:96b: PDF 272Kb
\`E. Coste-Mani\'ere, H. H. Wang, S. M. Rock, A. Peuch, M. Perrier, V. Rigaud, and M. J. Lee.
Joint evaluation of mission programming for underwater robots.
In Proceedings of IEEE International Conference on Robotics and Automation, pages 2492--2497, Minneapolis, MN, April 1996. IEEE.
CosteManiereW:96a: PDF 313Kb
\`E. Coste-Mani\'ere, H. H. Wang, S. M. Rock, V. Rigaud, A. Peuch, and M. Perrier.
Cooperative research in underwater robot mission-level programming methodologies.
In Proceedings of IARP Sixth Workshop on Underwater Robotics, Toulon-La Seyne, France, March 1996. International Advanced Robotics Program.
Dickson:93: William C. Dickson.
Experiments in Cooperative Manipulation of Objects by Free-Flying Robot Teams.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, December 1993.
Also published as SUDAAR 643.
FeatherstoneSK:97: Postscript 2291Kb
gzipped Postscript 549Kb
PDF 217Kb
Roy Featherstone, Stef Sonck, and Oussama Khatib.
A general contact model for dynamically-decoupled force/motion control.
In Preprints of the ISER Proceedings, 1997.
FleischerM:95: gzipped Postscript 897Kb
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S. D. Fleischer, R. L. Marks, S. M. Rock, and M. J. Lee.
Improved Real-Time Video Mosaicking of the Ocean Floor.
In Proceedings of the OCEANS 95 Conference, pages 1935--1944, San Diego, CA, October 1995. MTS/IEEE.
FleischerR:98: gzipped Postscript 380Kb
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S. D. Fleischer and S. M. Rock.
Experimental Validation of a Real-Time Vision Sensor and Navigation System for Intelligent Underwater Vehicles.
In 1998 IEEE Conference on Intelligent Vehicles, Stuttgart, Germany, October 1998. IEEE.
FleischerR2:98: gzipped Postscript 382Kb
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S. D. Fleischer and S. M. Rock.
Experimental Validation of a Real-Time Vision Sensor and Navigation System for Intelligent Underwater Vehicles (color version).
In 1998 IEEE Conference on Intelligent Vehicles, pages 201--206, Stuttgart, Germany, October 1998. IEEE.
FleischerR:97: gzipped Postscript 243Kb
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S. D. Fleischer, S. M. Rock, and R. L. Burton.
Global Position Determination and Vehicle Path Estimation from a Vision Sensor for Real-Time Video Mosaicking and Navigation.
In Proceedings of the OCEANS 97 Conference, Halifax, Nova Scotia, October 1997. MTS/IEEE.
FleischerR2:97: gzipped Postscript 443Kb
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S. D. Fleischer, S. M. Rock, and R. L. Burton.
Global Position Determination and Vehicle Path Estimation from a Vision Sensor for Real-Time Video Mosaicking and Navigation (color version).
In Proceedings of the OCEANS 97 Conference, Halifax, Nova Scotia, October 1997. MTS/IEEE.
FleischerR:95: gzipped Postscript 58Kb
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S. D. Fleischer, S. M. Rock, and M. J. Lee.
Underwater Vehicle Control from a Virtual Environment Interface.
In Proceedings of the Symposium on Interactive 3D Graphics, Monterey, CA, April 1995. SIGGRAPH.
FleischerW:96: gzipped Postscript 344Kb
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S. D. Fleischer, H. H. Wang, S. M. Rock, and M. J. Lee.
Video Mosaicking Along Arbitrary Vehicle Paths.
In Proceedings of the Symposium on Autonomous Underwater Vehicle Technology, pages 293--299, Monterey, CA, June 1996. OES/IEEE.
Fleischer:2000: gzipped Postscript 4669Kb
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Stephen D. Fleischer.
Bounded-Error Vision-Based Navigation of Autonomous Underwater Vehicles.
PhD thesis, Stanford University, Stanford, CA 94305, May 2000.
Frew:2003: PDF 3865Kb
Eric W. Frew.
Observer Trajectory Generation for Target-Motion Estimation Using Monocular Vision.
PhD thesis, Stanford University, Stanford, California, August 2003.
FrewR:2002: PDF 516Kb
Eric W. Frew and Stephen M. Rock.
Exploratory Motion Generation for Monocular Vision-Based Target Localization.
In Proceedings of the 2002 IEEE Aerospace Conference, Big Sky, MT, March 2002. IEEE.
FrewR:2003: PDF 200Kb
Eric W. Frew and Stephen M. Rock.
Trajectory Generation for Monocular-Vision Based Tracking of a Constant-Velocity Target.
In Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September 2003. IEEE.
HealeyR:94: A. J. Healey, S. M. Rock, S. Cody, D. Miles, and J. P. Brown.
Toward an improved understanding of thruster dynamics for underwater vehicles.
In Proceedings of AUV '94, pages 340--352, Cambridge MA, July 1994. OES/IEEE.
HealeyR:95: A. J. Healey, S. M. Rock, S. Cody, D. Miles, and J. P. Brown.
Toward an improved understanding of thruster dynamics for underwater vehicles.
IEEE Journal of Oceanic Engineering, 20(4):354--361, October 1995.
HirataV:87: H. Hirata and R. Vasquez.
Optimal multirate sampling policy experiments on a two disk system.
Stanford University, AA 290 Directed Study Report, September 1987.
Hirata:89: Hidetoshi Hirata.
Sample rate effects on disturbance rejection for digital control systems.
PhD thesis, Stanford University, Stanford, CA, 1989.
Also published as SUDAAR 587.
Hollars:88: Michael G. Hollars.
Experiments in End-Point Control of Manipulators with Elastic Drives.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, May 1988.
Also published as SUDAAR 568.
HollarsC:85: Michael G. Hollars and Robert H. Cannon, Jr.
Initial experiments on the end-point control of a two-link manipulator with flexible tendons.
In Proceedings of the ASME Winter Annual Meeting, Miami Beach, FL, November 1985.
HollarsC:86: Michael G. Hollars and Robert H. Cannon, Jr.
Experiments on the end-point control of a two-link robot with elastic drives.
In Proceedings of the AIAA Guidance, Navigation and Control Conference, pages 19--27, Williamsburg, VA, August 1986.
Paper No. 86--1977.
HollarsC:89: Michael G. Hollars and Robert H. Cannon, Jr.
Experimental implementation of a nonlinear estimator in the control of flexible joint manipulators.
In Proceedings of the IFAC Aerospace Conference, Tsukuba, Japan, July 1989.
HollarsC:87: Michael G. Hollars, Robert H. Cannon, Jr., Harold L. Alexander, and Dennis F. Morse.
Experiments in advanced control concepts for space robotics: An overview of the Stanford Aerospace Robotics Laboratory.
In Robert D. Culp and Terry J. Kelly, editors, Proceedings of the Annual Rocky Mountain Guidance and Control Conference, pages 417--434, Keystone, CO, February 1987. American Astronautical Society.
Paper No. 87--044.
How:94c: J. P. How, R. M. Glaese, S. C. O. Grocott, and D. W. Miller.
Finite element model based robust controllers for the MIT {M}iddeck {A}ctive {C}ontrol {E}xperiment (MACE).
In Proceedings of the American Control Conference, Baltimore, MD, June 1994.
Huster:2003: PDF 2686Kb
Andreas Huster.
Relative Position Sensing by Fusing Monocular Vision and Inertial Rate Sensors.
PhD thesis, Stanford University, Stanford, California, July 2003.
Individual chapters available at http://arl.stanford.edu/huster/dissertation/.
HusterFR:1998: gzipped Postscript 434Kb
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Andreas Huster, Stephen D. Fleischer, and Stephen M. Rock.
Demonstration of a vision-based dead-reckoning system for navigation of an underwater vehicle.
In Proceedings of the OCEANS 98 Conference, Nice, France, September 1998. IEEE.
HusterFR:2002: PDF 557Kb
Andreas Huster, Eric W. Frew, and Stephen M. Rock.
Relative position estimation for AUVs by fusing bearing and inertial rate sensor measurements.
In Proceedings of the Oceans 2002 Conference, pages 1857--1864, Biloxi, MS, October 2002. MTS/IEEE.
HusterR:2001a: PDF 138Kb
Andreas Huster and Stephen M. Rock.
Relative position estimation for intervention-capable AUVs by fusing vision and inertial measurements.
In Proceedings of the 12th International Symposium on Unmanned Untethered Submersible Technology, Durham, NH, August 2001. Autonomous Undersea Systems Institute.
HusterR:2001b: PDF 240Kb
Andreas Huster and Stephen M. Rock.
Relative position estimation for manipulation tasks by fusing vision and inertial measurements.
In Proceedings of the Oceans 2001 Conference, volume 2, pages 1025--1031, Honolulu, USA, November 2001. MTS/IEEE.
HusterR:2003: PDF 549Kb
Andreas Huster and Stephen M. Rock.
Relative position sensing by fusing monocular vision and inertial rate sensors.
In Proceedings of the 11th International Conference on Advanced Robotics, volume 3, pages 1562--1567, Coimbra, Portugal, July 2003. IEEE.
Jones:2003: PDF 3400Kb
Henry L. Jones II.
An Object-Based Interaction Framework for the Operation of Multiple Field Robots.
PhD thesis, Stanford University, Stanford, CA 94305, February 2003.
Also published as SUDAAR 764.
Rife:2003: PDF 2776Kb
Jason Rife.
Automated Robotic Tracking of Gelatinous Animals in the Deep Ocean.
PhD thesis, Stanford University, Stanford, California, December 2003.
RifeR:2002: PDF 519Kb
Jason Rife and Stephen Rock.
Field experiments in the control of a jellyfish tracking ROV.
In Proceedings of the IEEE OCEANS Conference, pages 2031--2038, 2002.
Jasper:90: Warren Jasper.
Experiments in Thrusterless Robot Locomotion Control for Space Applications.
PhD thesis, Stanford University, Stanford, CA 94305, September 1990.
Also published as SUDAAR 595.
JasperC:90: Warren Jasper and R. H. Cannon, Jr.
Initial Experiments in Thrusterless Locomotion Control Of A Free-Flying Robot.
In Proceedings of the ASME Winter Annual Meeting, Dallas, TX, November 1990.
Jasper:86: Warren J. Jasper.
Real-time data acquisition on the pdp 11/83.
ARL Memo 13, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, October 1986.
JonesS:2003: Hank Jones and Martin Snyder.
Robotic control \& 3D GUIs.
Dr. Dobb's Journal, 28(1):16--24, January 2003.
JonesFWR:1998: Postscript 1931Kb
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Henry L. Jones, Eric W. Frew, Bruce R. Woodley, and Stephen M. Rock.
Human-Robot Interaction for Field Operation of an Autonomous Helicopter.
In Mobile Robots XIII and Intelligent Transportation Systems, volume 3525, pages 244--252, Boston MA, November 1998. SPIE.
JonesH:2002: PDF 569Kb
Henry L. Jones and Pamela J. Hinds.
Extreme Work Groups: Using SWAT Teams As a Model for Coordinating Distributed Robots.
In Proceedings of the ACM 2002 Conference on Computer Supported Cooperative Work (CSCW 2002), pages 372--381, New Orleans LA, November 2002. ACM.
JonesR:2002: PDF 703Kb
Henry L. Jones and Stephen M. Rock.
Dialogue-Based Human-Robot Interaction for Space Construction Teams.
In Proceedings of the 2002 IEEE Aerospace Conference, Big Sky MT, March 2002. IEEE.
JonesRBM:2002: PDF 226Kb
Henry L. Jones, Stephen M. Rock, Dennis Burns, and Steve Morris.
Autonomous Robots in SWAT Applications: Research, Design, and Operations Challenges.
In Proceedings of the 2002 Symposium for the Association of Unmanned Vehicle Systems International (AUVSI '02), Orlando FL, July 2002. AUVSI.
JonesS:2001: PDF 205Kb
Henry L. Jones and Martin Snyder.
Supervisory Control of Multiple Robots based on a Real-Time Strategy Game Interaction Paradigm.
In Proceedings of the 2001 IEEE International Conference on Systems, Man, and Cybernetics, pages 383--388, Tucson AZ, October 2001. IEEE.
KimR:2006: PDF 327Kb
Jinwhan Kim and Stephen Rock.
Stochastic feedback controller design considering the dual effect.
In Proceedings of the AIAA Guidance, Navigation and Control Conference, Keystone CO, August 2006.
KindelHLR:2000: Robert Kindel, David Hsu, Jean-Claude Latombe, and Stephen Rock.
Kinodynamic Motion Planning Amidst Moving Obstacles.
In Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco CA, April 2000.
Koningstein:90: Ross Koningstein.
Experiments in Cooperative-Arm Object Manipulation with a Two-Armed Free-Flying Robot.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, October 1990.
Also published as SUDAAR 597.
KoningsteinU:89: Ross Koningstein, Marc Ullman, and Robert H. Cannon, Jr.
Computed torque control of a free-flying cooperating-arm robot.
In Proceedings of the NASA Conference on Space Telerobotics, Pasadena, CA, February 1989.
Kraft:89: Raymond H. Kraft.
Experiments in End-Point Control of a Flexible Robot with a Mini-Manipulator.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, May 1989.
Also published as SUDAAR 581.
RichmondBSR:2003: PDF 339Kb
Kristof Richmond and David Black-Schaffer and Stephen Rock.
Automatic Determination of Vision Lock on the Seafloor in the Presence of Dust.
In Proceedings of the Unmanned Untethered Submersible Technology Conference (UUST), Durham, NH, Aug 2003. AUSI.
LeabourneRFB:97: gzipped Postscript 367Kb
PDF 241Kb
K. N. Leabourne, S. M. Rock, S. D. Fleischer, and R. L. Burton.
Station Keeping of an ROV Using Vision Technology.
In Proceedings of the OCEANS 97 Conference, Halifax, Nova Scotia, October 1997. MTS/IEEE.
LeabourneR:98: gzipped Postscript 244Kb
PDF 348Kb
Kortney N. Leabourne and Stephen M. Rock.
Model development of an underwater manipulator for coordinated arm-vehicle control.
In Proceedings of the OCEANS 98 Conference, Nice, France, September 1998. IEEE.
LeMaster:2002: PDF 2196Kb
Edward A. LeMaster.
Self-Calibrating Pseudolite Arrays: Theory and Experiment.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, May 2002.
Also published as SUDAAR 757.
LeMaster:2003: PDF 253Kb
Edward A. LeMaster.
GPS on the Web: Applications of GPS Pseudolites.
GPS Solutions, 6(4):268--270, Mar 2003.
LeMasterMR:2002: PDF 170Kb
Edward A. LeMaster, Masayoshi Matsuoka, and Stephen M. Rock.
Field Demonstration of a Mars Navigation System Utilizing GPS Pseudolite Transceivers.
In Proceedings of the 2002 IEEE Position, Location, and Navigation Symposium, pages 150--155, Palm Springs CA, April 2002.
LeMasterMR:2003: PDF 470Kb
Edward A. LeMaster, Masayoshi Matsuoka, and Stephen M. Rock.
Mars Navigation System Utilizes GPS.
IEEE Aerospace and Electronic Systems Magazine, 18(4):3--8, Apr 2003.
LeMasterR:1998: PDF 272Kb
Edward A. LeMaster and Stephen M. Rock.
Mars Exploration Using Self-Calibrating Pseudolite Arrays.
In Proceedings of the Institute of Navigation GPS-98 Conference, pages 1967--1974, Nashville TN, September 1998.
LeMasterR:1999: PDF 218Kb
Edward A. LeMaster and Stephen M. Rock.
Self-Calibration of Pseudolite Arrays Using Self-Differencing Transceivers.
In Proceedings of the Institute of Navigation GPS-99 Conference, pages 1549--1558, Nashville TN, September 1999.
LeMasterR:2000: PDF 370Kb
Edward A. LeMaster and Stephen M. Rock.
Field Test Results for a Self-Calibrating Pseudolite Array.
In Proceedings of the Institute of Navigation GPS-2000 Conference, pages 1046--1055, Salt Lake City UT, September 2000.
LeMasterR:2001: PDF 176Kb
Edward A. LeMaster and Stephen M. Rock.
A Local-Area GPS Pseudolite-Based Mars Navigation System.
In Proceedings of the IEEE 10th International Conference on Advanced Robotics, Budapest Hungary, August 2001.
LeMasterR:2002: PDF 212Kb
Edward A. LeMaster and Stephen M. Rock.
An Improved Solution Algorithm for Self-Calibrating Pseudolite Arrays.
In Proceedings of the 2002 Institute of Navigation National Technical Meeting, San Diego CA, January 2002.
LeMasterR:2003: PDF 1766Kb
Edward A. LeMaster and Stephen M. Rock.
A Local-Area GPS Pseudolite-Based Navigation System for Mars Rovers.
Journal of Autonomous Robots, 14(2-3):209--224, Mar-May 2003.
LyB:85: U. L. Ly, A. E. Bryson, and R. H. Cannon, Jr.
Design of low-order compensators using parameter optimization.
Automatica, 21(3):315--318, 1985.
Also SUDAAR 536, Stanford University, Nov., 1982, and 4th IFAC Workshop on Control Applications of Nonlinear Programming and Optimization, June, 1983, San Francisco.
Ly:82: Uy-Loi Ly.
A Design Algorithm for Robust Low-Order Controllers.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, November 1982.
Also published as SUDAAR 536. The program SANDY is available from the Office of Technology Licensing, 105 Encina Hall, Stanford University, Stanford, CA 94305.
Maples:85: James A. Maples.
Force Control of Robotic Manipulators with Structural Flexibility.
PhD thesis, Stanford University, Department of Electrical Engineering, Stanford, CA 94305, June 1985.
Also published as SUDAAR 549.
MaplesB:86: James A. Maples and Joseph J. Becker.
Experiments in force control of robotic manipulators.
In Proceedings of the International Conference on Robotics and Automation, pages 695--702, San Francisco, CA, April 1986. IEEE, IEEE Computer Society.
MarksR:94b: gzipped Postscript 1911Kb
PDF 477Kb
R. L. Marks, M. J. Lee, and S. M. Rock.
Visual sensing for control of an underwater robotic vehicle.
In Proceedings of IARP Second Workshop on Mobile Robots for Subsea Environments, Monterey, May 1994. IARP.
MarksR:93: gzipped Postscript 42Kb
PDF 128Kb
R. L. Marks, S. M. Rock, and M. J. Lee.
Automatic object tracking for an unmanned underwater vehicle using real-time image filtering and correlation.
In Proceedings of IEEE Systems, Man, and Cybernetics, France, October 1993. IEEE.
MarksR:94a: gzipped Postscript 768Kb
PDF 335Kb
R. L. Marks, S. M. Rock, and M. J. Lee.
Real-time video mosaicking of the ocean floor.
In Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology, Cambridge, MA, July 1994. IEEE.
MarksW:94: gzipped Postscript 396Kb
PDF 260Kb
R. L. Marks, H. H. Wang, M. J. Lee, and S. M. Rock.
Automatic visual station keeping of an underwater robot.
In Proceedings of IEEE Oceans 94 Osates, Brest, France, September 1994. IEEE.
Marks:95: Richard L. Marks.
Experiments in Visual Sensing for Automatic Control of an Underwater Robot.
PhD thesis, Stanford University, Stanford, CA 94305, June 1995.
Also published as SUDAAR 681.
MarksR:95: R.L. Marks, S.M. Rock, and M.J. Lee.
Real-time video mosaicking of the ocean floor.
IEEE Journal of Oceanic Engineering, 20(3):229--241, July 1995.
Martin:78: Gary D. Martin.
On The Control of Flexible Mechanical Systems.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, May 1978.
Also published as SUDAAR 511.
MatsuokaLR:2002: PDF 425Kb
Masayoshi Matsuoka, Edward A. LeMaster, and Stephen M. Rock.
3-D Capabilities for GPS Transceiver Arrays.
In Proceedings of the Institute of Navigation GPS-2002 Conference, Portland OR, September 2002.
MatsuokaRB:2004: PDF 535Kb
Masayoshi Matsuoka, Stephen M. Rock, and Maria G. Bualat.
Autonomous Deployment of a Self-Calibrating Pseudolite Array for Mars Rover Navigation.
In Proceedings of the 2004 IEEE Position, Location, and Navigation Symposium (PLANS), Monterey CA, April 2004.
``Walter R. Fried Memorial Award for the Best Paper at the IEEE PLANS 2004''.
McLainR:92: gzipped Postscript 120Kb
PDF 192Kb
T. W. McLain and S. M. Rock.
Experimental Measurement of ROV Tether Tension.
In Proceedings of Intervention/ROV '92, pages 291--296, San Diego CA, June 1992. IEEE.
McLainRL:95: gzipped Postscript 442Kb
PDF 356Kb
T. W. McLain, S. M. Rock, and M. J. Lee.
Experiments in the coordination of underwater manipulator and vehicle control.
In Proceedings of Oceans '95, pages 1208--1215, San Diego CA, October 1995. MTS/IEEE.
McLainRL:96: gzipped Postscript 1055Kb
PDF 693Kb
T. W. McLain, S. M. Rock, and M. J. Lee.
Experiments in the coordinated control of an underwater arm/vehicle system.
Journal of Autonomous Robots, 3(2 and 3), 1996.
McLain:95: Timothy W. McLain.
Modelling of Underwater Manipulator Hydrodynamics with Application to the Coordinated Control of an Arm/Vehicle System.
PhD thesis, Stanford University, August 1995.
Also published as SUDAAR 670.
McLainR:96: gzipped Postscript 273Kb
PDF 290Kb
Timothy W. McLain and Stephen M. Rock.
Experiments in the hydrodynamic modeling of an underwater manipulator.
In Symposium on Autonomous Underwater Vehicle Technology, pages 463--469. IEEE, June 1996.
McLainR:97: gzipped Postscript 527Kb
PDF 381Kb
Timothy W. McLain and Stephen M. Rock.
Development and experimental validation of an underwater manipulator hydrodynamic model.
IJRR, submitted for review, 1997.
Meer:94: gzipped Postscript 1974Kb
PDF 1227Kb
David W. Meer.
Experiments in Cooperative Manipulation of Flexible Objects.
PhD thesis, Stanford University, Department of Mechanical Engineering, Stanford, CA 94305, 1994.
Also published as SUDAAR 658.
MeerR:92: gzipped Postscript 140Kb
PDF 206Kb
David W. Meer and Stephen M. Rock.
Cooperative Manipulation of Flexible Objects: Initial Experiments.
In Proceedings of the ASME Winter Annual Meeting: Dynamics of Flexible Multibody Systems: Theory and Experiment, pages 1--4, Anaheim, CA, November 1992.
MeerR:94: gzipped Postscript 144Kb
PDF 292Kb
David W. Meer and Stephen M. Rock.
Experiments in object impedance control for flexible objects.
In Proceedings of the IEEE International Conference on Robotics and Automation, pages 1222--1227, San Diego, CA, May 1994.
MeerR:95: gzipped Postscript 534Kb
PDF 305Kb
David W. Meer and Stephen M. Rock.
Coupled-system stability of flexible-object impedance control.
In Proceedings of the International Conference on Robotics and Automation, Nagoya, Japan, May 1995. IEEE, IEEE Computer Society.
Miles:97a: David W. Miles.
Real-Time Dynamic Trajectory Optimization with Application to Free-Flying Space Robots.
PhD thesis, Stanford University, Stanford, CA 94305, December 1997.
MilesR:96: David W. Miles and Stephen M. Rock.
Real-time dynamic trajectory optimization.
In Proceedings of the AIAA Guidance, Navigation and Control Conference, Reston, VA, July 1996.
Paper No. 96-3741.
Miles:97: Eric S. Miles.
A Real-Time Human Perception Interface for Task-Level Control of a Robot in Unfamiliar Environments.
PhD thesis, Stanford University, Stanford, CA 94305, June 1997.
Also published as SUDAAR 701.
MilesC:95: Eric S. Miles and R. H. Cannon Jr.
Utilizing Human Vision and Computer Vision to Direct a Robot in a Semi-Structured Environment via Task-Level Commands.
In Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages Vol. 1, 366--371, Pittsburgh PA, August 1995.
MilesC:96: Eric S. Miles and R. H. Cannon Jr.
An Interactive Operator Interface for Task-Level Direction of a Robot in Uncertain Environments.
In Proceedings of the 2nd ASCE Conference on Robotics for Challenging Environments, pages 50--56, Albuquerque NM, June 1996.
MillerBR:2006: PDF 1053Kb
Teresa G. Miller, Timothy W. Bretl, and Stephen M. Rock.
Control of a climbing robot using real-time convex optimization.
In Proceedings of the IFAC Symposium on Mechatronic Systems, September 2006.
Morse:87: Dennis F. Morse.
Control of the vertical axis of the two-link manipulator.
ARL Memo 30, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, July 1987.
OakleyC:88: C. M. Oakley and R. H. Cannon, Jr.
Initial Experiments on the Control of a Two-Link Manipulator with a Very Flexible Forearm.
In Proceedings of the American Control Conference, Atlanta, GA, June 1988.
OakleyC:89: C. M. Oakley and R. H. Cannon, Jr.
End-Point Control of a Two-Link Manipulator with a Very Flexible Forearm: Issues and Experiments.
In Proceedings of the American Control Conference, Pittsburgh, PA, June 1989.
OakleyC:89b: C. M. Oakley and R. H. Cannon, Jr.
Equations of Motion for an Experimental Planar Two-Link Flexible Manipulator.
In Proceedings of the ASME Winter Annual Meeting, San Francisco, CA, December 1989.
OakleyC:89a: C. M. Oakley and R. H. Cannon, Jr.
Theory and Experiments in Selecting Mode Shapes for Two-Link Flexible Manipulators.
In Proceedings of the First International Symposium on Experimental Robotics, Montr\'{e}al, Canada, June 1989.
OakleyC:90: C. M. Oakley and R. H. Cannon, Jr.
Anatomy of an Experimental Two-link Flexible Manipulator under End-point Control.
In Proceedings of the IEEE Conference on Decision and Control, Honolulu, HI, December 1990.
Oakley:91: Celia M. Oakley.
Experiments in Modelling and End-Point Control of Two-Link Flexible Manipulators.
PhD thesis, Stanford University, Department of Mechanical Engineering, Stanford, CA 94305, April 1991.
OakleyB:90: Celia M. Oakley and Craig H. Barratt.
End-Point Controller Design For An Experimental Two-Link Flexible Manipulator Using Convex Optimization.
In Proceedings of the American Control Conference, San Diego, CA, May 1990.
PardoC:96: gzipped Postscript 314Kb
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G. Pardo-Castellote and R. H. Cannon Jr.
Proximate time-optimal algorithm for on-line path parameterization and modification.
In Proceedings of IEEE International Conference on Robotics and Automation, pages 1539--1546, Minneapolis, MN, April 1996. IEEE.
PardoS:94a: G. Pardo-Castellote and S. A. Schneider.
The Network Data Delivery Service: A Real-Time Data Connectivity System.
In Proceedings of the AIAA/NASA Conference on Intelligent Robots in Field, Factory, Service and Space, volume II, pages 591--7, Houston, TX, March 1994. AIAA, AIAA.
PardoS:94b: Postscript 556Kb
gzipped Postscript 112Kb
PDF 240Kb
G. Pardo-Castellote and S. A. Schneider.
The Network Data Delivery Service: Real-Time Data Connectivity for Distributed Control Applications.
In Proceedings of the International Conference on Robotics and Automation, San Diego, CA, May 1994. IEEE, IEEE Computer Society.
PardoSC:95: Postscript 2326Kb
gzipped Postscript 612Kb
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G. Pardo-Castellote, S. A. Schneider, and R. H. Cannon Jr.
System Design and Interfaces for Intelligent Manufacturing Workcell.
In Proceedings of the International Conference on Robotics and Automation, Nagoya, Japan, May 1995. IEEE, IEEE Computer Society.
Pardo:95: Postscript 38214Kb
gzipped Postscript 10700Kb
PDF 3707Kb
Gerardo Pardo-Castellote.
Experimental Integration of Planning and Control for a Intelligent Manufacturing Workcell.
PhD thesis, Stanford University, Department of Electrical Engineering, Stanford, CA 94305, June 1995.
Pardo:92: gzipped Postscript 141Kb
PDF 401Kb
Gerardo Pardo-Castellote and Robert H. Cannon Jr.
Proximate Time-Optimal Parameterization of Robot Paths.
STAN-ARL-92- 88, Stanford University Aerospace Robotics Laboratory, April 1992.
PardoLKCLS:93: Postscript 645Kb
gzipped Postscript 125Kb
PDF 240Kb
Gerardo Pardo-Castellote, Tsai-Yen Li, Yoshihito Koga, Robert H. Cannon Jr., Jean-Claude Latombe, and Stan Schneider.
Experimental Integration of Planning in a Distributed Control System.
In Tsuneo Yoshikawa and Fumio Miyazaki, editors, Experimental Robotics III: The third International Symposium, volume 200 of Lecture Notes in Control and Information Sciences, pages 50--61. Springer-Verlag, Kyoto Japan, October 28-30 1993.
PardoM:91: Postscript 745Kb
gzipped Postscript 94Kb
PDF 178Kb
Gerardo Pardo-Castellote and Henrique A. S. Martins.
Real-Time Motion Scheduling for a SMALL Workcell.
In Proceedings of the International Conference on Robotics and Automation, volume 1, pages 810--817, Sacramento, California, April 1991.
PfefferK:86: Lawrence Pfeffer, Oussama Khatib, and John Hake.
Joint torque sensory feedback in the control of a PUMA manipulator.
In Proceedings of the American Control Conference, pages 818--824, Seattle, WA, June 1986.
Pfeffer:93: Lawrence E. Pfeffer.
The Design and Control of a Two-Armed, Cooperating, Flexible-Drivetrain Robot System.
PhD thesis, Stanford University, Stanford, CA 94305, December 1993.
Also published as SUDAAR 644.
PfefferC:93: Postscript 600Kb
gzipped Postscript 170Kb
PDF 228Kb
Lawrence E. Pfeffer and Robert H. Cannon Jr.
Experiments with a Dual-Armed, Cooperative, Flexible-Drivetrain Robot System.
In Proceedings of the International Conference on Robotics and Automation, pages 601--608, Atlanta, GA, May 1993. IEEE, IEEE Computer Society.
PfefferKH:89: Lawrence E. Pfeffer, Oussama Khatib, and John Hake.
Joint torque sensory feedback in the control of a PUMA manipulator.
IEEE Transactions on Robotics and Automation, 5(4):418--425, August 1989.
PlotnikR:2002: PDF 659Kb
Aaron Plotnik and Stephen Rock.
Quantification of cyclic motion of marine animals from computer vision.
In Proceedings of the IEEE OCEANS Conference, pages 1575--1581, 2002.
PlotnikR:2006: PDF 458Kb
Aaron Plotnik and Stephen Rock.
Visual servoing of an ROV for servicing of tethered ocean moorings.
In Proceedings of the MTS/IEEE OCEANS Conference, Boston, September 2006. IEEE.
Plotnik:2007: PDF 4512Kb
Aaron M. Plotnik.
Applied Estimation for Hybrid Dynamical Systems Using Perceptional Information.
PhD thesis, Stanford University, Stanford, California, March 2007.
PlotnikR:2003: PDF 605Kb
Aaron M. Plotnik and Stephen M. Rock.
Improving Performance of a Jelly-Tracking Underwater Vehicle Using Recognition of Animal Motion Modes.
In Proceedings of the Unmanned Untethered Submersible Technology Conference (UUST), Durham, NH, Aug 2003. AUSI.
PlotnikR:2005c: PDF 507Kb
Aaron M. Plotnik and Stephen M. Rock.
Improved estimation of target velocity using multiple model estimation and a dynamic bayesian network for a robotic tracker of ocean animals.
In Proceedings of the 12th International Symposium of Robotics Research, San Francisco, CA, Oct 2005.
PlotnikR:2005b: PDF 1221Kb
Aaron M. Plotnik and Stephen M. Rock.
A multi-sensor approach to automatic tracking of midwater targets by an ROV.
In Proceedings of the AIAA Guidance, Navigation and Control Conference, San Francisco, CA, Aug 2005.
PlotnikR:2005a: PDF 476Kb
Aaron M. Plotnik and Stephen M. Rock.
Relative position sensing and automatic control for observation in the midwater by an underwater vehicle.
In Proceedings of the Unmanned Untethered Submersible Technology Conference (UUST), Durham, NH, Aug 2005. AUSI.
DARPAfinal:91: Jr. R.H. Cannon, J.C. Latombe, B. Andersen, Barraquand, W. Choi, R. Hosey, B. Langlois, L. Kravaki, Y. Koga, A. Lazanas, T.S. Li, T. McLain, D. Morse, G. Pardo-Castellote, L. E. Pfeffer, S. Shekhar, C. Uhlik, R. Vasquez, and D. Zhu.
Integrated Planning and Control for Cooperating, Flexible Robotic Manipulators.
DARPA Final Report 1, Stanford University Aerospace Robotics Laboratory and Stanford Computer Science Robotics Laboratory, Stanford, CA 94305, October 1991.
RichmondR:2005: PDF 406Kb
Kristof Richmond and Stephen Rock.
A real-time visual mosaicking and navigation system.
In Proceedings of the Unmanned Untethered Submersible Technology Conference (UUST), Durham, NH, Aug 2005. AUSI.
RichmondR:2006: PDF 459Kb
Kristof Richmond and Stephen Rock.
An operational real-time large-scale visual mosaicking and navigation system.
In Proceedings of the MTS/IEEE OCEANS Conference, Boston, September 2006. IEEE.
RifeR:2001b: PDF 109Kb
Jason Rife and Stephen M. Rock.
A Low Energy Sensor for AUV-Based Jellyfish Tracking.
In 12th International Symposium on Unmanned Untethered Submersible Technology, Durham, NH, August 2001. AUSI.
RifeR:2001c: PDF 562Kb
Jason Rife and Stephen M. Rock.
A Pilot-Aid for ROV Based Tracking of Gelatinous Animals in the Midwater .
In Proceedings of the OCEANS 2001 Conference, Honolulu, HI, November 2001.
RifeR:2001a: PDF 247Kb
Jason Rife and Stephen M. Rock.
Visual Tracking of Jellyfish in Situ.
In Proc. of the 2001 International Conference on Image Processing, Thessaloniki, Greece, October 2001. IEEE.
RobertsonCH:98: Postscript 1804Kb
gzipped Postscript 468Kb
PDF 190Kb
Andrew Robertson, Tobe Corazzini, and Jonathan P. How.
Formation Sensing and Control Technologies for a Separated Spacecraft Interferometer.
In Proc. of the 1998 American Control Conference, Philadelphia, June 1998.
RobertsonIH:99: PDF 254Kb
Andrew Robertson, Gokhan Inalhan, and Jonathan P. How.
Formation Control Strategies for a Separated Spacecraft Interferometer.
In Proc. of the 1999 American Controls Conference, San Diego, June 1999. ACC.
RobertsonIH2:99: PDF 409Kb
Andrew Robertson, Gokhan Inalhan, and Jonathan P. How.
Spacecraft Formation Flying Control Design for the Orion Mission.
In Proc. of the 1999 AIAA GNC Conference, Potland OR, August 1999. AIAA.
Robertson:2001: PDF 1709Kb
Andrew D. Robertson.
Control System Design for Spacecraft Formation Flying: Theory and Experiment.
PhD thesis, Stanford University, Stanford, CA 94305, June 2001.
RockFJLW:98: Postscript 5700Kb
PDF 555Kb
Steve Rock, Eric Frew, Hank Jones, Bruce Woodley, and Ed LeMaster.
Combined CDGPS and Vision-Based Control of a Small Autonomous Helicopter.
In Proceedings 1998 American Control Conference, Philadelphia, June 1998. American Automatic Control Council.
Rosenthal:84: Dan E. Rosenthal.
Experiments in Control of Flexible Structures with Uncertain Parameters.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, March 1984.
Also published as SUDAAR 542.
Rosenthal:88: Dan E. Rosenthal.
Order N Formulation for Equations of Motion of Multibody Systems.
In G. Man and R. Laskin, editors, Proceedings of the Workshop on Multibody Simulation, pages 1122--1150, Pasadena, CA, April 1988. NASA Jet Propulsion Laboratory.
JPL D-5190, Volume III.
RosenthalS:83: Dan E. Rosenthal and Mike A. Sherman.
Symbolic multibody equations via kane's method.
In Proceedings of the AAS/AIAA Astrodynamics Specialist Conference, Lake Placid, NY, August 1983.
Paper No. 83--303.
RovnerC:87: Daniel M. Rovner and Robert H. Cannon, Jr.
Experiments Toward On-Line Identification and Control of a Very Flexible One-Link Manipulator.
International Journal of Robotics Research, 6(4):3--19, Winter 1987.
RovnerF:87: Daniel M. Rovner and Gene F. Franklin.
Experiments in Load-Adaptive Control of a Very Flexible One-Link Manipulator.
Automatica, 24(4):541--8, July 1988.
Rovner:87: Daniel Mark Rovner.
Experiments in Adaptive Control of a Very Flexible One-Link Manipulator.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, August 1987.
Russakow:95: J. Russakow.
Experiments in Manipulation and Assembly by Two-Arm, Free-Flying Space Robots.
PhD thesis, Stanford University, Stanford, CA 94305, December 1995.
Also published as SUDAAR 674.
RussakowK:92: J. Russakow and O. Khatib.
A New Control Structure for Free-Flying Space Robots.
In i-SAIRIS: International Symposium on Artificial Intelligence, Robotics, and Automation in Space, volume 2, Toulouse FR, October 1992.
RussakowKR:95: J. Russakow, O. Khatib, and S. Rock.
The extended operational space formulation for serial-to-parallel (branching) manipulators.
In Proc. of the IEEE ICRA, Nagoya JP, May 1995.
RussakowRK:95: Postscript 6712Kb
gzipped Postscript 2591Kb
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J. Russakow, S. Rock, and O. Khatib.
An operational space formulation for a free-flying, multi-arm space robot.
In Proc. of the 4th Int'l Symp. on Experimental Robotics (ISER), Stanford CA, June 30 - July 2 1995.
RussakowR:94: J. Russakow and S. M. Rock.
Generalized Object Control and Assembly for Space Robots.
In Proceedings of the ASCE: Robotics for Challenging Environments, Albuquerque NM, February 28 - March 3 1994.
Schmitz:85: Eric Schmitz.
Experiments on the End-Point Position Control of a Very Flexible One-Link Manipulator.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, June 1985.
Also published as SUDAAR 548.
Schneider:89: S. Schneider.
Experiments in the Dynamic and Strategic Control of Cooperating Manipulators.
PhD thesis, Stanford University, Stanford, CA 94305, September 1989.
Also published as SUDAAR 586.
SchneiderC:89d: S. Schneider and R. H. Cannon.
A Real-time Sub-pixel Vision System for Motion Feedback.
Paper in progress.
SchneiderC:89c: S. Schneider and R. H. Cannon.
Experimental Object-Level Strategic Control with Cooperating Manipulators.
In Proceedings of the ASME Winter Annual Meeting, San Francisco, CA, December 1989.
SchneiderC:89a: S. Schneider and R. H. Cannon.
Experiments in Cooperative Manipulation: A System Perspective.
In Proceedings of the NASA Conference on Space Telerobotics, Pasadena, CA, February 1989. NASA.
SchneiderC:89b: S. Schneider and R. H. Cannon.
Object Impedance Control for Cooperative Manipulation: Theory and Experimental Results.
In Proceedings of the IEEE International Conference on Robotics and Automation, pages 1076--1083, Scottsdale, AZ, April 1989.
Accepted for publication in IEEE Transactions of Robotics and Automation.
SchneiderC:92: S. Schneider and R. H. Cannon.
Object Impedance Control for Cooperative Manipulation: Theory and Experimental Results.
IEEE Journal of Robotics and Automation, 8(3), June 1992.
Paper number B90145.
RTI: S. A. Schneider.
Real-time innovations, inc.
954 Aster, Sunnyvale, CA. email: info@rti.com.
SchneiderC:93: S. A. Schneider and R. H. Cannon.
Experimental Object-Level Strategic Control With Cooperating Manipulators.
The International Journal of Robotics Research, 12(4):338--350, August 1993.
SchneiderCP:95: gzipped Postscript 512Kb
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S. A. Schneider, V. Chen, and G. Pardo-Castellote.
Object-Oriented Framework for Real-Time System Development.
In Proceedings of the International Conference on Robotics and Automation, Nagoya, Japan, May 1995. IEEE, IEEE Computer Society.
SchneiderCP:94: gzipped Postscript 93Kb
PDF 143Kb
S. A. Schneider, V. W. Chen, and G. Pardo-Castellote.
ControlShell: A Real-Time Software Framework.
In Proceedings of the AIAA/NASA Conference on Intelligent Robots in Field, Factory, Service and Space, volume II, pages 870--7, Houston, TX, March 1994. AIAA, AIAA.
SchneiderUC:91: S. A. Schneider, M. A. Ullman, and V. W. Chen.
ControlShell: A Real-Time Software Framework.
In Proceedings of the 1991 IEEE International Conference on Systems Engineering, Dayton, OH, August 1991.
SchubertH:97: Postscript 2615Kb
gzipped Postscript 832Kb
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Heidi Schubert and Jonathan P. How.
Space construction: an experimental testbed to develop enabling technologies.
In Telemanipulator and Telepresence Technologies IV, Pittsburgh, October 1997.
SchubertH:2000: gzipped Postscript 5595Kb
PDF 1937Kb
Heidi C. Schubert.
Impedance Control of Flexible Macro/Mini Manipulators.
PhD thesis, Stanford University, Stanford, CA 94305, December 2000.
Also published as SUDAAR 736.
Sidman:86: Michael D. Sidman.
Adaptive Control of a Flexible Structure.
PhD thesis, Stanford University, Department of Electrical Engineering, Stanford, CA 94305, June 1986.
Also published as SUDAAR 556.
SidmanF:86: Michael D. Sidman and Gene F. Franklin.
Adaptive Control of a Flexible Structure.
In Proceedings of the Second IFAC Workshop on Adaptive Control and Signal Processing, pages 131--136, Lund, Sweden, July 1986. International Federation of Automatic Control.
StevensH:97: H.D. Stevens.
Manipulation of a Free-Floating Object Using a Macro/Mini-Manipulator With Structural Flexiblity.
PhD thesis, Stanford University, Stanford, CA 94305, July 1997.
Also published as SUDAAR 704.
StevensH:96: gzipped Postscript 153Kb
PDF 219Kb
H.D. Stevens and J.P. How.
The Limitations of Independent Controller Design for a Multiple-Link Flexible Macro-Manipulator Carrying a Rigid Mini-Manipulator.
In Proceedings of the 2nd ASCE Conference on Robotics for Challenging Environments, pages 93--99, Albuquerque NM, June 1996.
StevensMRC:94: H.D. Stevens, E.S. Miles, S. M. Rock, and R.H. Cannon.
Object-Based Task-Level Control: A Hierarchical Control Architecture for Remote Operation of Space Robots.
In Proceedings of the AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space, pages 264--73, Houston TX, March 1994.
StoneLPR:1999: PDF 587Kb
Jonathan M. Stone, Edward A. LeMaster, J. David Powell, and Stephen M. Rock.
GPS Pseudolite Transceivers and their Applications.
In Proceedings of the 1999 Institute of Navigation National Technical Meeting, San Diego CA, January 1999.
TilleyF:89: S. W. Tilley, C. M. Francis, K. Emerick, and M. G. Hollars.
Preliminary results on noncolocated torque control of space robot actuators.
In Proceedings of the NASA Conference on Space Telerobotics, Pasadena, CA, February 1989. NASA.
TilleyH:89: S. W. Tilley, M. G. Hollars, and K. S. Emerick.
Experimental control results in a compact space robot actuator.
In Proceedings of the ASME Winter Annual Meeting, San Francisco, CA, December 1989.
TilleyC:86: Scott W. Tilley and Robert H. Cannon, Jr.
End Point Position and Force Control of a Flexible Manipulator with a Quick Wrist.
In Proceedings of the AIAA Guidance, Navigation and Control Conference, pages 41--49, Williamsburg, VA, August 1986.
TilleyC:86a: Scott W. Tilley, Robert H. Cannon, Jr., and Raymond Kraft.
End-point force control of a very flexible manipulator with a fast end effector.
In Proceedings of the ASME Winter Annual Meeting, pages v3, 1--9, Anaheim, CA, December 1986.
Uhlik:87: Chris Uhlik.
An exact computed torque solution for the two-link manipulator with elastic drives.
Stanford University EE 391 Directed Study Report, 1987.
Uhlik:90: Christopher R. Uhlik.
Experiments in High-Performance Nonlinear and Adaptive Control of a Two-Link, Flexible-Drive-Train Manipulator.
PhD thesis, Stanford University, Department of Electrical Engineering, Stanford, CA 94305, May 1990.
Also published as SUDAAR 592.
Ullman:93: M. A. Ullman.
Experiments in Autonomous Navigation and Control of Multi-Manipulator Free-Flying Space Robots.
PhD thesis, Stanford University, Stanford, CA 94305, March 1993.
Also published as SUDAAR 630.
UllmanCR:93: M. A. Ullman, R. H. Cannon, and S. M. Rock.
A Modular System Architecture for Multi-Manipulator, Free-Flying Space Robots.
In Proceedings of the International Symposium on Intelligent Control, pages 90--97, Chicago, IL, August 1993.
Ullman:89: Marc A. Ullman and Robert H. Cannon.
Experiments in Global Navigation and Control of a Free-Flying Space Robot.
In Proceedings of the ASME Winter Annual Meeting, San-Francisco, CA, December 1989.
Vasquez:92: R. L. Vasquez.
Experiments in Two-Cooperating-Arm Manipulation from a Platform with Unknown Motion.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, January 1992.
Also published as SUDAAR 617.
Vasquez:90: R. L. Vasquez and R. H. Cannon, Jr.
Initial experiments in cooperative manipulation from a moving platform.
In Proceedings of the ASME Winter Annual Meeting, Dallas, TX, November 1990.
VasquezC:94: R. L. Vasquez and R. H. Cannon Jr.
Experiments in Cooperative Manipulation from a Flexibly-Mounted Platform.
Mechatronics, 4(3), 1994.
WangM:95: H. H. Wang, R. L. Marks, T. W. McLain, S. D. Fleischer, D. W. Miles, G. A. Sapilewski, S. M. Rock, M. J. Lee, and R. C. Burton.
OTTER: a testbed submersible for robotics research.
In Proceedings of the ANS 6th Topical Meeting on Robotics and Remote Systems, pages 587--594, Monterey, CA, February 1995. American Nuclear Society.
WangM:93: H. H. Wang, R. L. Marks, S. M. Rock, and M. J. Lee.
Task-Based Control Architecture for an Untethered, Unmanned Submersible.
In Proceedings of the 8th Annual Symposium of Unmanned Untethered Submersible Technology, pages 137--147. Marine Systems Engineering Laboratory, Northeastern University, September 1993.
WangM:92: gzipped Postscript 57Kb
PDF 146Kb
H. H. Wang, R. L. Marks, S. M. Rock, M. J. Lee, and R. C. Burton.
Combined Camera and Vehicle Tracking of Underwater Objects.
In Proceedings of Intervention/ROV '92, San Diego CA, June 1992.
WangR:95: gzipped Postscript 453Kb
PDF 223Kb
H. H. Wang, S. M. Rock, and M. J. Lee.
Experiments in the automatic retrieval of underwater objects with an AUV.
In Proceedings of Oceans '95, pages 366--373, San Diego CA, October 1995. MTS/IEEE.
WangRL:96: gzipped Postscript 2130Kb
PDF 718Kb
H. H. Wang, S. M. Rock, and M. J. Lee.
OTTER: The design and development of an intelligent underwater robot.
Autonomous Robots, 3(2-3):297--320, June-July 1996.
Wang:96: Howard H. Wang.
Experiments in Semi-Autonomous Underwater Intervention Robotics.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, November 1996.
Also published as SUDAAR 693.
Wie:81: Bong Wie.
On the Modeling and Control of Flexible Space Structures.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, June 1981.
Also published as SUDAAR 525.
Wilson:93: gzipped Postscript 244Kb
PDF 278Kb
Edward Wilson.
Experiments in neural network control of a free-flying space robot.
In Proceedings of the Fifth Workshop on Neural Networks: Academic/Industrial/NASA/Defense, pages 204--209, San Francisco CA, November 1993.
Also published in Society of Photo-optical Instrumentation Engineers, Vol 2204.
Wilson:94: gzipped Postscript 269Kb
PDF 253Kb
Edward Wilson.
Backpropagation learning for systems with discrete-valued functions.
In Proceedings of the World Congress on Neural Networks, volume 3, pages 332--339, San Diego CA, June 1994.
Wilson:95: gzipped Postscript 5675Kb
PDF 1151Kb
Edward Wilson.
Experiments in Neural-Network Control of a Free-Flying Space Robot.
PhD thesis, Stanford University, Stanford, CA 94305, March 1995.
Also published as SUDAAR 666.
WilsonR:93: gzipped Postscript 197Kb
PDF 194Kb
Edward Wilson and Stephen M. Rock.
Experiments in control of a free-flying space robot using fully-connected neural networks.
In Proceedings of the World Congress on Neural Networks, volume 3, pages 157--162, Portland OR, July 1993.
WilsonR:94: gzipped Postscript 220Kb
PDF 286Kb
Edward Wilson and Stephen M. Rock.
Neural network control of a free-flying space robot.
In Proceedings of the World Congress on Neural Networks, volume 2, pages 15--22, San Diego CA, June 1994.
WilsonR:95a: gzipped Postscript 250Kb
PDF 339Kb
Edward Wilson and Stephen M. Rock.
Neural network control of a free-flying space robot.
Simulation, 65(2):103--115, August 1995.
WilsonR:95b: gzipped Postscript 222Kb
PDF 191Kb
Edward Wilson and Stephen M. Rock.
Reconfigurable control of a free-flying space robot using neural networks.
In Proceedings of the American Control Conference, Seattle, Washington, June 1995.
WoodleyJCR:95: Postscript 679Kb
gzipped Postscript 183Kb
PDF 147Kb
Bruce Woodley, Chad Jennings, Andrew Conway, and Stephen Rock.
A Contestant in the 1995 International Aerial Robotics Competition. Aerospace Robotics Laboratory Stanford University.
In Proceedings Manual. AUVS '95 Technical Papers, pages 669--676, Washington, DC, July 1995. Association for Unmanned Vehicle Systems.
WoodleyJFLR:96: Postscript 118Kb
gzipped Postscript 32Kb
PDF 95Kb
Bruce Woodley, Hank Jones, Eric Frew, Ed LeMaster, and Dr. Stephen Rock.
A Contestant in the 1996 International Aerial Robotics Competition. Aerospace Robotics Laboratory Stanford University.
In AUVSI '96 Proceedings, pages 939--946, Orlando FL, July 1996. Association for Unmanned Vehicle Systems, International.
WoodleyJFLR:97: Postscript 339Kb
gzipped Postscript 60Kb
PDF 121Kb
Bruce Woodley, Hank Jones, Eric Frew, Ed LeMaster, and Dr. Stephen Rock.
A Contestant in the 1997 International Aerial Robotics Competition. Aerospace Robotics Laboratory Stanford University.
In AUVSI '97 Proceedings. Association for Unmanned Vehicle Systems, International, July 1997.
Woodley:2001: gzipped Postscript 486Kb
PDF 1041Kb
Bruce R. Woodley.
Model Free Subspace Based H_infinity Control.
PhD thesis, Stanford University, Stanford, CA 94305, January 2001.
WoodleyHK:1999: PDF 218Kb
Bruce R. Woodley, Jonathan P. How, and Robert L. Kosut.
Direct Unfalsified Control Design - Solution Via Convex Optimization.
In Proceedings 1999 American Control Conference, San Diego, June 1999. American Automatic Control Council.
WoodleyJLFR:96b: Postscript 1304Kb
gzipped Postscript 175Kb
PDF 170Kb
Bruce R. Woodley, Henry L. Jones, Edward A. LeMaster, Eric W. Frew, and Stephen M. Rock.
Carrier Phase GPS and Computer Vision for the Control of an Autonomous Helicopter.
In Proceedings of the Institute of Navigation GPS-96 Conference, pages 461--465, Kansas City MO, September 1996.
WoodleyKH:1998: PDF 152Kb
Bruce R. Woodley, Robert L. Kosut, and Jonathan P. How.
Uncertainty Model Unfalsification With Simulation.
In Proceedings 1998 American Control Conference, Philadelphia, June 1998. American Automatic Control Council.
Workman:87: Michael L. Workman.
Adaptive Proximate Time-Optimal Servomechanisms.
PhD thesis, Stanford University, Department of Electrical Engineering, Stanford, CA 94305, 1987.
Zanutta:91: Roberto Zanutta.
Experiments in Adaptive Control of Cooperating Manipulators.
PhD thesis, Stanford University, Department of Mechanical Engineering, Stanford, CA 94305, January 1991.
Also published as SUDAAR 602.
ZimmermanC:94a: K. R. Zimmerman and R. H. Cannon Jr.
GPS-Based Control for Space Vehicle Rendezvous.
In Proceedings of the ASCE: Robotics for Challenging Environments, Albuquerque NM, February 28 - March 3 1994.
ZimmermanC:94b: Postscript 2499Kb
gzipped Postscript 668Kb
PDF 249Kb
K. R. Zimmerman and R. H. Cannon Jr.
GPS-Based Control for Space Vehicle Rendezvous.
In Proceedings of the Institute of Navigation GPS-94 Conference, Salt Lake City UT, September 1994.
ZimmermanC:95: Postscript 3730Kb
gzipped Postscript 1056Kb
PDF 231Kb
K. R. Zimmerman and R. H. Cannon Jr.
Experimental Demonstration of GPS for Rendezvous Between Two Prototype Space Vehicles.
In Proceedings of the Institute of Navigation GPS-95 Conference, Palm Springs CA, September 1995.
Zimmerman:96: Kurt R. Zimmerman.
Experiments in the Use of the Global Positioning System for Space Vehicle Rendezvous.
PhD thesis, Stanford University, Stanford, CA 94305, December 1996.
Also published as SUDAAR 692.

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