Thomas Howard

Below is a list of journal articles, book chapters, conference papers, workshop papers, technical reports, and theses that I have led or contributed to.

Journal Articles


T.M. Howard, M. Pivtoriako, R.A. Knepper, and A. Kelly, "Model-Predictive Motion Planning: Several Key Developments for Autonomous Mobile Robots," IEEE Robotics and Automation Magazine, vol. 21, no. 1, pp. 64-73, March 2014. [paper]

N. Hudson, J. Ma, P. Hebert, A. Jain, M. Bajracharya, T. Allen, R. Sharan, M. Horowitz, C. Kuo, T.M. Howard, L. Matthies, P. Backes, and J. Burdick, "Model-Based Autonomous System for Performing Dexterous, Human-Level Manipulation Tasks," Autonomous Robots, vol. 36, no. 1-2, pp. 31-49, January 2014. [paper]

D. Ferguson, T.M. Howard, and M. Likhachev, "Motion Planning in Urban Environments," Journal of Field Robotics, vol. 25, no. 11-12, pp. 939-960, November-December 2008. [paper]

C. Urmson, J. Anhalt, H. Bae, J. Bagnell, C. Baker, R.E. Bittner, T. Brown, M.N. Clark, M. Darms, D. Demitrish, J. Dolan, D. Duggins, D. Ferguson, T. Galatali, C.M. Geyer, M. Gittleman, S. Harbaugh, M. Hebert, T.M. Howard, S. Kolski, M. Likhachev, B. Litkouhi, A. Kelly, M. McNaughton, N. Miller, J. Nickolaou, K. Peterson, B. Pilnick, R. Rajkumar, P. Rybski, V. Sadekar, B. Salesky, Y. Seo, S. Singh, J.M. Snider, J.C. Struble, A. Stentz, M. Taylor, W.L. Whittaker, Z. Wolkowicki, W. Zhang, and J. Ziglar, "Autonomous Driving in Urban Environments: Boss and the Urban Challenge," Journal of Field Robotics, vol. 25, no. 8, pp. 425-466, June 2008. [paper]

T.M. Howard, C. Green, D. Ferguson, and A. Kelly, "State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Complex Environments," Journal of Field Robotics, vol. 25, no. 6-7, pp. 325-345, June-July 2008. [paper]

T.M. Howard and A. Kelly, "Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots," International Journal of Robotics Research, vol. 26, no. 2, pp. 141-166, February 2007. [paper]

Conference Papers


D. Barber, T.M. Howard, and M.R. Walter. “A multimodal interface for real-time soldier-robot teaming”. In: SPIE Defense+ Security. International Society for Optics and Photonics, Apr. 2016. [paper]

J. Oh, T.M. Howard, M. Walter, D. Barber, M. Zhu, S. Park, A. Suppe, L. Navarro-Serment, F. Duvallet, A. Boularias, O. Romero, J. Vinokrov, T. Keegan, R. Dean, C. Lennon, B. Bodt, M. Childers, J. Shi, K. Daniilidis, N. Roy, C. Lebiere, M. Hebert, and A. Stentz. “Integrated Intelligence for Human-Robot Teams”. In: Proceedings of the 2016 International Symposium on Experimental Robotics. Oct. 2016. Forthcoming.

A. Boteanu, T.M. Howard, J. Arkin, and H. Kress-Gazit. “A Model for Verifiable Grounding and Execution of Complex Language Instructions”. In: Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Oct. 2016. [paper]

D. Yi, T.M. Howard, K. Seppi, and M. Goodrich. “Expressing Homotopic Requirements for Mobile Robot Navigation through Natural Language Instructions”. In: Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Oct. 2016. [paper]

M. Wijesundara, C. Tapparello, A. Gamage, G. Yadhavan, L. Gittelson, T.M. Howard, and W. Heinzelman. “Design of a Kinetic Energy Harvester for Elephant Mounted Sensor Nodes”. In: IEEE GLOBECOM 2016. Dec. 2016. Forthcoming.

R. Paul, J. Arkin, N. Roy, and T.M. Howard. “Efficient Grounding of Abstract Spatial Concepts for Natural Language Interaction with Robot Manipulators”. In: Proceedings of the 2016 Robotics: Science and Systems Conference. June 2016. [paper]

I. Chung, O. Propp, M.R. Walter, and T.M. Howard. "On the Performance of Hierarchical Distributed Correspondence Graphs for Efficient Symbol Grounding of Robot Instructions", In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. [paper]

S. Hemachandra, F. Duvallet, T.M. Howard, N. Roy, A. Stentz, and M. Walter, "Learning Models for Following Natural Language Directions in Unknown Environments," Proceedings of the 2015 International Conference on Robotics and Automation, 2015. [paper]

R. Mukherjee, T.M. Howard, S. Myint, J. Chang, and J. Craft, "Vehicle Dynamics Models for Onboard Motion Planning," in Proceedings of the ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2014. [paper]

F. Duvallet, M. Walter, T.M. Howard, S. Hemachandra, J. Oh, S. Teller, N. Roy, and A. Stentz, "A Probabilistic Framework for Inferring Maps and Behaviors from Natural Language", in Proceedings of the 14th International Symposium on Experimental Robotics, 2014. [paper]

T.M. Howard, S. Tellex, and N. Roy, "A Natural Language Planner Interface for Mobile Manipulators," in Proceedings of the 2014 International Conference on Robotics and Automation, 2014. [paper]

N. Hudson, T.M. Howard, J. Ma, A. Jain, M. Bajracharya, S. Myint, C. Kuo, L. Matthies, P. Backes, P. Hebert, T. Fuchs, and J. Burdick, "End-to-End Dexterous Manipulation with Deliberate Interactive Estimation," in Proceedings of the 2012 International Conference on Robotics and Automation, 2012. [paper]

P. Hebert, N. Hudson, J. Ma, T.M. Howard, T. Fuchs, M. Bajracharya, and J. Burdick, "Combined Shape, Appearance and Silhouette for Simultaneous Manipulator and Object Tracking," in Proceedings of the 2012 International Conference on Robotics and Automation, 2012. [paper]

T.M. Howard, A. Morfopolous, J. Morrison, C. Villalpando, L. Matthies, and M. McHenry, "Enabling Continuous Planetary Rover Traverse through FPGA Stereo and Visual Odometry," in Proceedings of the 2012 IEEE Aerospace Conference, 2012. [paper]

T.M. Howard, J. Cameron, S. Myint, H. Nayar, and A. Jain, "A KML Interface for Dynamic Simulation of Robotic Planetary Exploration", in Proceedings of the 2011 IEEE Aerospace Conference, 2011. [paper]

H. Nayar, A. Jain, J. Balaram, J. Cameron, M. DiCicco, T.M. Howard, Y. Kuwata, C. Lim, R. Mukherjee, S. Myint, A. Palkovic, M. Pomerantz, and S. Wall, "Surface Operations Analyses for Lunar Missions," in Proceedings of the American Institute of Aeronautics and Astronautics (AIAA) SPACE 2010 Conference and Exposition, 2010.

P. Krusi, M. Pivtoraiko, A. Kelly, T.M. Howard, and R. Siegwart, "Path Set Relaxation for Mobile Robot Navigation," presented at the 10th International Symposium on Artificial Intelligence, Robotics, and Automation in Space, 2010.

T.M. Howard, C.J. Green, and A. Kelly, "Receding Horizon Model-Predictive Control for Mobile Robot Navigation of Intricate Paths," in Proceedings of the 7th International Symposium on Field and Service Robotics, 2009. [paper]

P.M. Furlong, T.M. Howard, and D. Wettergreen, "Model Predictive Control for Mobile Robots with Actively Articulating Chassis," in Proceedings of the 7th International Symposium on Field and Service Robotics, 2009. [paper]

D. Ferguson, T.M. Howard, and M. Likhachev, "Motion Planning in Urban Environments: Part I," in Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, pp. 1063-1069. [paper]

D. Ferguson, T.M. Howard, and M. Likhachev, "Motion Planning in Urban Environments: Part II," in Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, pp. 1070-1076. [paper]

D. Anderson, T.M. Howard, D. Apfelbaum, H. Herman, and A. Kelly, "Coordinated Control and Range Imaging for Mobile Manipulation," in Proceedings of the 11th International Symposium on Experimental Robotics, 2008, pp. 547-556. [paper]

M. Pivtoraiko, T.M. Howard, I. Nesnas, and A. Kelly, "Field Experiments in Rover Navigation via Model-Based Trajectory Generation and Nonholonomic Motion Planning in State Lattices," presented at the 9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space, 2008. [paper]

T.M. Howard, C. Green, and A. Kelly, "State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Highly Constrained Environments," in Proceedings of the 6th International Conference on Field and Service Robotics, 2007. [paper]

A. Kelly and T.M. Howard, "Terrain Aware Inversion of Predictive Models for Planetary Rovers," presented at the NASA Science and Technology Conference, 2007. [paper]

A. Kelly, T.M. Howard and C. Green, "Terrain Aware Inversion of Predictive Models for High Performance UGVs," presented at the SPIE Defense and Security Symposium, 2007. [paper]

T.M. Howard and A. Kelly, "Trajectory and Spline Generation for All-Wheel Steering Mobile Robots," in Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, pp. 4827-4832. [paper]

T.M. Howard, R.A. Knepper, and A. Kelly, "Constrained Optimization Path Following of Wheeled Robots in Natural Terrain," in Proceedings of the 10th International Symposium on Experimental Robotics, 2006, pp. 343-352. [paper]

T.M. Howard and A. Kelly, "Terrain-Adaptive Generation of Optimal Continuous Trajectories for Mobile Robots," presented at the 8th International Symposium on Artificial Intelligence, Robotics, and Automation in Space, 2005. [paper]

T.M. Howard and A. Kelly, "Trajectory Generation on Rough Terrain Considering Actuator Dynamics," in Proceedings of the 5th International Conference on Field and Service Robotics, 2005, pp. 479-490. [paper]

Book Chapters


Th. Fraichard and T.M. Howard, "Iterative Motion Planning and Safety Issues," In A. Eskandarian, editor, Handbook of Intelligent Vehicles, Springer, 2012. [paper]

Workshop Papers


A. Broad, J. Arkin, N. Ratli , T.M. Howard, and B. Argall. Towards Real-Time Natural Language Corrections for Assistive Robots. Robotics: Science and Systems (RSS) 2nd Workshop on Model Learning for Human-Robot Communcation. June 2016. [paper]

J. Arkin and T.M. Howard. "Learning Efficient Models for Natural Language Understanding of Quantifiable Spatial Relationships". In Robotics: Science and Systems (RSS) Workshop on Model Learning for Human-Robot Communcation. July 2015. [paper]

T.M. Howard, I. Chung, O. Propp, M.R. Walter and N. Roy, "Efficient Natural Language Interfaces for Assistive Robots", to be presented in the Workshop on Rehabilitation and Assistive Robotics at the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014. [paper]

T.M. Howard, S. Tellex and N. Roy, "A Natural Language Planner Interface for Mobile Manipulators," presented in the Workshop on Robot Learning at the International Conference on Machine Learning, 2013. [paper]

S. Tellex, R.A. Knepper, A. Li, T.M. Howard, D. Rus and N. Roy, "Asking for Help: Assembling Furniture by Asking for Help from a Human Partner," presented in the Collaborative Manipulation workshop at Human-Robot Interaction, 2013. [paper]

P. Hebert, J. Burdick, T.M. Howard, N. Hudson, and J. Ma, "Action Inference: The Next Best Touch," presented in the Mobile Manipulation workshop at Robotics Science and Systems, 2012.

Y. Kuwata, A. Elfes, M. Maimone, A. Howard, M. Pivtoraiko, T.M. Howard, and A. Stoica, "Path Planning Challenges for Planetary Robots," presented in the 2nd Workshop on Planning, Perception, and Navigation for Intelligent Vehicles at the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008.

Theses


T.M. Howard, "Adaptive Model-Predictive Motion Planning for Navigation in Complex Environments," Ph.D. Dissertation, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 2009. [paper]