Technical Reports

Institute for Robotics and Intelligent Systems
School of Engineering
University of Southern California

The following is a listing of all the technical reports published by USC-IRIS. Wherever available, they are stored as postscript or PDF documents. The abstract is also available as a html document.

For any questions or suggestions about IRIS technical reports, please contact Dr. Gaurav Sukhatme by email.

You may also access:


IRIS-04-423 Abstract--PDF Version of Full Report
CAMSHIFT Tracker Design Experiments with Intel OpenCV and SAI
Alexandre R.J. Francois
IRIS-04-422 Abstract--PDF Version of Full Report
Real-Time Multi-Resolution Blob Tracking
Alexandre R.J. Francois
IRIS-03-421 Abstract--PDF Version of Full Report
Fast and Robust 2D Parametric Image Registration
Eun-Young Elaine Kang, Isaac Cohen and Gerard Medioni
IRIS-03-420 Abstract--PDF Version of Full Report
Software Architecture for Computer Vision: Beyond Pipes and Filters
Alexandre RJ Francois
IRIS-03-419 Abstract--PDF Version of Full Report
A Voting-Based Computational Framework for Visual Motion Analysis and Interpretation
Mircea Nicolescu
IRIS-02-418 Abstract--PDF Version of Full Report
Motion Segmentation with Accurate Boundaries - A Tensor Voting Approach
Mircea Nicolescu and Gerard Medioni
IRIS-02-417 Abstract--PDF Version of Full Report
A Testbed for Experiments with Sensor/Actuator Networks
Mohammed Rahimi, Rohit Mediratta, Karthik Dantu, and Gaurav S. Sukhatme
IRIS-02-416 Abstract--PDF Version of Full Report
Mezzanine User Manual, Version 0.00
Andrew Howard
IRIS-02-415 Abstract--PDF Version of Full Report
Team Localization: A Maximum Likelihood Approach
Andrew Howard, Maja J. Mataric and Gaurav S. Sukhatme
IRIS-02-414Abstract--PDF Version of Full Report--PS Version of Full Report
Sequential Task Execution in a Minimalist Distributed Robotic System
Chris Jones and Maja J. Mataric
IRIS-02-413Abstract--PDF Version of Full Report--PS Version of Full Report
Speed Control of a Pneumatic Monopod using a Neural Network
Kale Harbick and Gaurav S. Sukhatme
IRIS-02-412 Abstract--PDF Version of Full Report
A Testbed for Autonomous Formation Flying
David Naffin and Gaurav S. Sukhatme
IRIS-02-411Abstract--PDF Version of Full Report--PS Version of Full Report
Global Sequential Control in a Minimalist Distributed System
Chris Jones and Maja J. Mataric
IRIS-02-410 Abstract--PDF Version of Full Report
A Segmentation Algorithm For the Comparison Of Human Limb Trajectories
Marc Pomplun and Maja J. Mataric
IRIS-01-409 Abstract--PDF Version of Full Report
Semantic, Interactive Manipulation of Visual Data
Alexandre R.J. Francois
IRIS-01-408 Abstract--PDF Version of Full Report
Computing Dispersion via Local Interaction Geometry in a Robot Group
Maxim Batalin and Gaurav S. Sukhatme
IRIS-01-407 Abstract--PDF Version of Full Report
Localization for Mobile Robot Teams: A Maximum Likelihood Approach
Andrew Howard, Maja J. Mataric and Gaurav S. Sukhatme
IRIS-01-406 Abstract--PS Version of Full Report--PDF Version of Full Report
Height Control for a One-Legged Hopping Robot using a Two-Dimensional Model
Kale Harbick and Gaurav S. Sukhatme
IRIS-01-405 Abstract--PS Version of Full Report--PDF Version of Full Report
Height Control for a One-Legged Hopping Robot using a One-Dimensional Model
Kale Harbick and Gaurav S. Sukhatme
IRIS-01-404 Abstract--PS Version of Full Report--PDF Version of Full Report
Cooperative Tracking with Mobile Robots and Networked Embedded Sensors
Boyoon Jung and Gaurav S. Sukhatme
IRIS-01-403 Abstract--PS Version of Full Report--PDF Version of Full Report
Pusher-watcher: An approach to fault-tolerant tightly-coupled robot coordination
Brian Gerkey and Maja J. Mataric
IRIS-01-402 Abstract--PS Version of Full Report--PDF Version of Full Report
Distributed Multi-Robot Task Allocation for Emergency Handling
Esben Ostergaard, Maja J. Mataric and Gaurav S. Sukhatme
IRIS-01-401 Abstract--PS Version of Full Report--PDF Version of Full Report
Evaluating the Dynamics of Agent-Environment Interaction
Dani Goldberg
IRIS-01-400 Abstract--PS Version of Full Report--PDF Version of Full Report
Laser Tracking and Classification of Multiple Objects
Ajo Fod, Maja J. Mataric and Gaurav S. Sukhatme
IRIS-01-399Abstract--PS Version of Full Report--PDF Version of Full Report
Sold!: Market methods for multi-robot control
Brian Gerkey and Maja J. Mataric
IRIS-01-398 Abstract--PS Version of Full Report--PDF Version of Full Report
Emergent Bucket Brigading - A simple mechanism for improving performance in multi-robot constrained-space foraging tasks
Esben Ostergaard, Gaurav S. Sukhatme and Maja J. Mataric
IRIS-01-397 Abstract--PS Version of Full Report--PDF Version of Full Report
Tracking Multiple Moving Targets using a Camera and Laser Rangefinder
Boyoon Jung and Gaurav S. Sukhatme
IRIS-01-396 Abstract--PS Version of Full Report--PDF Version of Full Report
A General, Local Algorithm for Robot Formations
Jakob Fredslund and Maja J. Mataric
IRIS-01-395 Abstract--PDF Version of Full Report
Learning and Interacting in Human-Robot Domains
Monica N. Nicolescu and Maja J. Mataric
IRIS-00-394 Abstract--PS Version of Full Report
Stage: A Multiple Robot Simulator
Richard T. Vaughan
IRIS-00-393 Abstract--PS Version of Full Report
Localizing a Wireless Node in a Multi-Agent System Using Kalman Filtering
Puneet Goel and Gaurav S. Sukhatme
IRIS-00-392 Abstract--PS Version of Full Report--PDF Version of Full Report
Player Robot Server
Brian Gerkey, Kasper Stoy, and Richard T. Vaughan
IRIS-00-391 Abstract--PS Version of Full Report
On the Properties of a Contrast Descriptor for Aerial Imagery
Pedro J. Garcia-Pardo
IRIS-00-390 Abstract--PS Version of Full Report
The USC Autonomous Flying Vehicle (AFV) Project: Year 2000 Status
James F. Montgomery
IRIS-00-389 Abstract--PDF Version of Full Report
Extending Behavior-Based Systems Capabilities Using An Abstract Behavior Representation
Monica N. Nicolescu and Maja J Mataric
IRIS-00-388 Abstract--PDF Version of Full Report
Multi-view Image-Based Rendering and Modeling
Qian Chen
IRIS-00-387 Abstract--PS Version of Full Report--PDF Version of Full Report
Robust Behavior-Based Control for Distributed Multi-Robot Collection Tasks
Dani Goldberg and Maja J Mataric
IRIS-00-386 Abstract--PS Version of Full Report
Learning human arm movements by imitation: Evaluation of a biologically-inspired connectionist architecture
Aude Billard and Maja J Mataric
IRIS-00-385 Abstract--PDF Version of Full Report
Primitive-Based Movement Classification for Humanoid Imitation
Odest Chadwicke Jenkins, Maja J Mataric, and Stefan Weber
IRIS-00-384 Abstract--PDF Version of Full Report
Evaluation Metrics and Results of Human Arm Movement Imitation
Marc Pomplun and Maja J Mataric
IRIS-00-383 Abstract--PDF Version of Full Report
Research in Knowledge-Based Automatic Feature Extraction
Ram Nevatia and Andres Huertas
IRIS-00-382 Abstract--PS Version of Full Report
Detecting Regime Changes with a Mobile Robot using Multiple Models
Dani Goldberg and Maja J. Mataric
IRIS-00-381 Abstract--PS Version of Full Report
An Attention Selection Mechanism for Moving Human Figures
Odest Chadwicke Jenkins
IRIS-00-380 Abstract--PS Version of Full Report
Simple Human Torso Tracking from Video
Stefan Weber
IRIS-00-379 Abstract--PS Version of Full Report
Synergetic Localization for Groups of Mobile Robots
S. I. Roumeliotis
IRIS-99-378 Abstract--PS Version of Full Report
Exploiting Embodiment in Multi-Robot Teams
Barry B. Werger and Maja J. Mataric
IRIS-99-377 Abstract--PS Version of Full Report
Sensory-Motor Primitives as a Basis for Imitation: Linking Perception to Action and Biology to Robotics
Maja J. Mataric
IRIS-99-375 Abstract--PS Version of Full Report
Behavior Coordination Mechanisms - State-of-the-art
Paolo Pirjanian
IRIS-99-374 Abstract--PS Version ofFull Report
Reliable Mobile Robot Localization
S. I. Roumeliotis
IRIS-99-373 Abstract--PDF Version of Full Report
Dimensional Inspection Planning for Coordinate Measuring Machines
S. N. Spitz
IRIS-99-372 Abstract--Postscript Version of Full Report
Design and Implementation of a Mechanically Heterogeneous Robot Group
Gaurav S. Sukhatme, James F. Montgomery and Maja J. Mataric
IRIS-99-371 Abstract--Postscript Version of Full Report
Research in Knowledge-Based Automatic Feature Extraction
R. Nevatia and A. Huertas
IRIS-99-370 Abstract--Postscript Version of Full Report
Learning Helicopter Control Through "Teaching by Showing"
James F. Montgomery
IRIS-99-369 Abstract--Postscript Version of Full Report
Recursive Learning for Deformable Object Manipulation
Ayanna Howard
IRIS-99-368 Abstract--Postscript Version of Full Report
Tensor Voting for Salient Feature Inference in Computer Vision
Mi-Suen Lee
IRIS-99-367 Abstract--PostScript Version of Full Report
Augmented Markov Models
Dani Goldberg and Maja J. Mataric
IRIS-99-366 Abstract--PDF Version of Full Report
A Confinement-Based Hierarchy for Convex Differences Aggregates
S. Spitz and A. Rappoport
IRIS-98-365 Abstract--PostScript Version of Full Report
Rendering from Uncalibrated Stereo Images
Q. Chen and G. Medioni
IRIS-98-364 Abstract--PostScript Version of Full Report
Smoother-based 3D Attitude Estimation for Mobile Robot Localization
S. I. Roumeliotis, G. S. Sukhatme and G. A. Bekey
IRIS-98-363 Abstract--PostScript Version of Full Report
Slice-Based Motion Planning
M. McHenry
IRIS-98-362 Abstract--Compressed PostScript Version of Full Report
On the Evaluation of Autonomous Mobile Robots
G. Sukhatme
IRIS-98-361 Abstract
Research in Knowledge-Based Automatic Feature Extraction
R. Nevatia and A. Huertas
IRIS-98-360 Abstract--PDF Version of Full Report
Accessibility Analysis for Planning of Dimensional Inspection with Coordinate Measuring Machines
Steven N. Spitz, Antonia J. Spyridi, Aristides A. G. Requicha
IRIS-97-359 Abstract
A Potential Field Method for the Automatic Design of Modular Fixtures
Kamen Penev
IRIS-96-358 Abstract
Inference of Segmented Volumentric Shape from Three Intensity Images
Parag Havaldar
IRIS-96-357 Abstract
Geometric Collision Detection and Potential Field Based Time Delay Planning for Dual Arm Systems
Sukhan Lee, Hadi Moradi, George Kardaras
IRIS-96-356 Abstract
MENO: A Quadruped Microrover for Planetary Exploration
Gaurav S. Sukhatme, Scott Brizius, Scott Cozy and George A. Bekey
IRIS-96-355 Abstract
Marscar and Arnold: Wheeled Rovers for Planetary Exploration
Gaurav S. Sukhatme, Scott Brizius, Scott Cozy and George A. Bekey
IRIS-96-354
Missing
G. Sukhatme
IRIS-96-353
Missing
Missing
IRIS-96-352 Abstract
Perception of 3D-Objects from an Intensity Image Using Simple Geometric Models
Chung-An Lin
IRIS-96-351 Abstract
Research in Model-Based Change Detection and Model Updating
R. Nevatia and A. Huertas
IRIS-96-350
Missing
Andres Huertas
IRIS-96-349 Abstract
Object Description and Recognition in Complex Environments
R. Nevatia
IRIS-96-348
Missing
Missing
IRIS-96-347 Abstract
3D Geometric Reasoning Algorithms for Feature Recognitio
Jung-Hyun Han
IRIS-96-346
Missing
Missing
IRIS-96-345 Abstract
Inference of Multiple Curves and Surfaces from Sparse Data
Gideon Guy
IRIS-96-344 Abstract
Modeler Independent Procedural Interfaces for Solid Modeling
Jung-Hyun Han
IRIS-95-343 Abstract
Geometric Reasoning for Feature Recognition
Jung-Hyun Han
IRIS-95-341 Abstract
Surface Approximation of Complex Objects
Chia-Wei Liao
IRIS-95-340 Abstract
Research in Model-Based Change Detection and Model Updating
Andres Huertas
IRIS-95-339
A Paradigm for the Robust Design of Algorithms for Geometric Modeling
A. Agrawal and A. Requicha
IRIS-95-338
Robust Design of Algorithms for Geometric Modeling
A. Requicha
IRIS-95-337 Abstract
Loading Sensor-Based Fixtures With Compliant Motions
Kyeonah Yu
IRIS-95-336
Image Understanding Research in Complex Environments
Principal Investigator: Ram Nevatia
Program Manager: Abraham Waksman
Editors: R. Nevatia, G. Medioni, and K. Price
IRIS-95-334
Integration of Feature Based Design and Feature Recognition
JungHyun Han and Aristides A. G. Requicha
IRIS-95-333
Incremental Recognition of Machining Features
JungHyun Han and Aristides A. G. Requicha
IRIS-95-332
Fixture Foolproofing for Polygonal Parts
Kamen Penev and Aristides A. G. Requicha
IRIS-95-331
Efficient Learning of RISC Sensor-based Manipulation
Dukhyun Kang
IRIS-94-330
Indoor Robot Navigation with a Generic Map
by Dongsung Kim
IRIS-94-329
12 Open Problems in Industrial Robotics
by Ken Goldberg
IRIS-94-328
Description of Complex Objects Using Multiple Range Images
by Yang Chen
IRIS-94-327
Segmentation and Inference of 3-D Description from an Intensity Image
by Mourad Zerrong
IRIS-94-326
Sorting Parts by Random Grasping
by Dukhyun Kang and Ken Goldberg
IRIS-94-325
Completeness in Robot Motion Planning
by Ken Goldberg
IRIS-94-324
Automatic Generation of High Level Inspection Plans for Coordinate Measuring Machines
by Antonia Spyridi
IRIS-94-323
A Low Cost Reduced Complexity Vision System for Autonomous Robotics
by Parag Batavia and M. Anthony Lewis
IRIS-94-322
Placing Registration Marks on 3D Parts
by Xiaofei Huang and Ken Goldberg
IRIS-94-321
Loading Planar Fixtures in the Presence of Geometric Uncertainty
by Kyeonah Yu and Ken Goldberg
IRIS-94-320
Research In Image Understanding - Final Technical Report
by Ramakant Navatia
IRIS-93-319
Part Decomposition and Shape Description
by Hillel S. Rom
IRIS-93-318
Manipulating Algebraic Parts in the Plane
by Anil Rao and Ken Goldberg
IRIS-93-317
Principles of Sociorobotics
by Arvin Agah
IRIS-93-316
A Pivoting Gripper for Feeding Industrial Parts
by Brian Carlisle, Ken Goldberg, Anil Rao and Jeff Wiegley
IRIS-93-315
``RISC'' for Industrial Robotics: Recent Results and Open Problems
by John Canny and Ken Goldberg
IRIS-93-314
On the Existence of Modular Fixtures
by Yan Zhuang, Ken Goldberg, and Yui-Chung Wong
IRIS-93-313
Planning Grasps for a Pivoting Gripper
by Anil Rao and Ken Goldberg
IRIS-93-312
Integrated Motion Analysis System Guided by Feedback Information
by Yongcheol Kim
IRIS-93-311
Polyagent Intelligent Autonomous Systems
by Arvin Agah and George Bekey
IRIS-93-310
A WSIM: The Artificial World Simulator
by Arvin Agah and George Bekey
IRIS-93-309
The Cognitive Architecture of Machine Cogitans
by Arvin Agah and George Bekey
IRIS-93-308
Scalable Date Algorithms and Implementations for Object Recognition
by Ashfaq Ahmad Khokhar
IRIS-93-307
Analysis of Algorithms to Compute Relative Orientation from Two Views
by Mathias Bejanin and Gerard Medioni
IRIS-93-306
Design-for-Assembly by Reverse Engineering
by Gerard Kim and George Bekey
IRIS-93-305
The USC Autonomous Flying Vehicle:An Experiment in Real-time Behavior-Based Control
by Lewis, Fagg and Bekey
IRIS-93-304
Combining Assembly Planning with Redesign: An Approach for More Effective DFA
by Sukhan Lee, George Bekey and Gerard Kim
IRIS-93-303
Generation and Control of Gait Pattern in a Simulated Horse
by Patti Koenig and George Bekey
IRIS-92-302
Deriving 3-D Shape Descriptions from Stereo Using Hierarchical Features
by Ronald Chung
IRIS-92-300
A Fast Algorithm for Computing Histogram on Reconfigurable Mesh
by Jang, Park and Prasanna
IRIS-92-299
Grasping Curved Planar Parts with Parallel Jaw Gripper
by Anil Rao and Kenneth Y. Goldberg
IRIS-92-298
On the Relation Between Friction and Part Curvature in Parallel-jaw Grasping
by Anil Rao and Kenneth Y. Goldberg
IRIS-92-297
Summary Report: NSF Workshop on Geometric Uncertainty in Motion Planning
by Kenneth Y. Goldberg, Matthew T. Mason and Aristides Requicha
IRIS-92-296
Structural Indexing for Object Recognition
by Stein and Medioni
IRIS-92-295
Implementation of Neural Networks on Parallel Architecture
by Misra
IRIS-92-294
An Optimal Mulplication Algorithm on Reconfigurable Mesh
by Jang and Prasanna
IRIS-92-293
An Optimal Placement of Registration Mark
by Anil Rao and Kenneth Goldberg
IRIS-92-292
Shape from Diameter: Strategies for Recognizing Polygonal Parts
by Anil Rao and Kenneth Goldberg
IRIS-92-291
Positioning Polygonal Parts without Sensors
by Amir Mottaez and Ken Goldberg
IRIS-92-290
Research in Image Understanding
by R. Navatia, G. Medioni and K. Price
IRIS-92-289
Architecture for Tree Search Based Vector Quantization for Single Chip Implementation
by Park, Wang and Prasanna
IRIS-92-288
Orienting Polygonal Parts without Sensors
by Kenneth Y. Goldberg
IRIS-92-286
A Dynamic System for Object Description and Correspondence
by Parvin
IRIS-92-285
Research Review Robotics Research Laboratory
by Bekey, Kim and Lewis
IRIS-92-284
Specifying Parallel Processor Architecture for High-level Computer Vision Algorithm
by Craig Charles Reinhart
IRIS-92-283
VLSI Architecture for Vector Quantization Based on Clustering
by Park, Wang and Prasanna
IRIS-91-278
Perception of 3-D Shape from 2-D Image of Contours
Fatih Ulupmar