Papers

Spatial Reasoning and Intelligent Robotics

• Robot Ethics (on a different page)

• Bootstrap Learning

• Mapping (The Spatial Semantic Hierarchy)

• Vision

• Control

• The Intelligent Wheelchair

Bootstrap Learning

• Jonathan E. Juett. 2021.
  Towards Learning the Foundations of Manipulation Actions from Unguided Exploration.
  PhD thesis, Computer Science & Engineering, University of Michigan, 2021.

• Jonathan Juett and Benjamin Kuipers. 2019.
  Learning and acting in peripersonal space: Moving, reaching, and grasping.
  Frontiers in Neurorobotics 13:4, 2019.
  doi: 10.3389/fnbot.2019.00004

• Jonathan Juett and Benjamin Kuipers. 2018.
  Learning to Grasp by Extending the Peri-Personal Space Graph.
  IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), 2018.

• Jonathan Juett and Benjamin Kuipers. 2016.
  Learning to reach by building a representation of peri-personal space.
  IEEE/RSJ Int. Conf. Humanoid Robots, 2016.

• R. Mittelman, M. Sun, B. Kuipers and S. Savarese. 2014.
  A Bayesian generative model for learning semantic hierarchies.
  Frontiers in Psychology: Hypothesis and Theory 5(417): 1-9, May 2014.

• R. Mittelman, B. Kuipers, S. Savarese and H. Lee. 2014.
  Structured Recurrent Temporal Restricted Boltzmann Machines.
  Int. Conf. on Machine Learning (ICML).

• R. Mittelman, M. Sun, B. Kuipers and S. Savarese. 2013.
  Learning hierarchical linguistic descriptions of visual datasets.
  2013 Conf. North American Chapter of the Association for Computational Linguistics: Human Language Technologies (NAACL HLT).

• R. Mittelman, H. Lee, B. Kuipers and S. Savarese. 2013.
  Weakly supervised learning of mid-level features with Beta-Bernoulli process restricted Boltzmann machines.
  IEEE Int. Conf. on Computer Vision and Pattern Recognition (CVPR).

• Benjamin Kuipers. 2012. An existing, ecologically-successful genus of collectively intelligent artificial creatures. Collective Intelligence (CI-2012).

• Jonathan Mugan and Benjamin Kuipers. 2012. Autonomous learning of high-level states and actions in continuous environments.
  IEEE Transactions on Autonomous Mental Development 4(1): 70-86, 2012.

• Jeremy Stober, Risto Miikkulainen and Benjamin Kuipers. 2011.
  Learning geometry from sensorimotor experience.
  Proceedings of the First Joint Conference on Development and Learning and Epigenetic Robotics, to appear.

• Changhai Xu. 2011. Steps Towards the Object Semantic Hierarchy.
  Doctoral dissertation, Computer Science Department, University of Texas at Austin.

• Changhai Xu, Jingen Liu and Benjamin Kuipers. 2011.
  Motion segmentation by learning homography matrices from motor signals.
  Canadian Conference on Computer and Robot Vision (CRV-11).
  Winner: Best Student Paper Award

• Changhai Xu and Benjamin Kuipers. 2011.
  Object detection using principal contour fragments.
  Canadian Conference on Computer and Robot Vision (CRV-11).

• Changhai Xu and Benjamin Kuipers. 2010.
  Towards the Object Semantic Hierarchy.
  Ninth IEEE Int. Conf. on Development and Learning (ICDL-10).

• Jonathan Mugan. 2010. Autonomous Qualitative Learning of Distinctions and Actions in a Developing Agent. Doctoral dissertation, Computer Science Department, The University of Texas at Austin.

  • Jonathan's video describing QLAP won the Most Informative Video award at the 2010 AAAI Video Competition.

• Jonathan Mugan and Benjamin Kuipers. 2009.
  A comparison of strategies for developmental action acquisition in QLAP.
  International Conference on Epigenetic Robotics (EpiRob-09).

• Jeremy Stober, Lewis Fishgold and Benjamin Kuipers. 2009.
  Learning the sensorimotor structure of the foveated retina.
  International Conference on Epigenetic Robotics (EpiRob-09).

• Jeremy Stober, Lewis Fishgold and Benjamin Kuipers. 2009.
  Sensor map discovery for developing robots.
  Manifold Learning and its Applications, AAAI Fall Symposium Series.

• Changhai Xu and Benjamin Kuipers. 2009.
  Construction of the Object Semantic Hierarchy.
  Fifth International Cognitive Vision Workshop (ICVW-09).

• Changhai Xu, Benjamin Kuipers, and Aniket Murarka. 2009.
  3D pose estimation for planes.
  ICCV Workshop on 3D Representation for Recognition (3dRR-09).

• Jonathan Mugan and Benjamin Kuipers. 2009.
  Autonomously learning an action hierarchy using a learned qualitative state representation.
  International Joint Conference on Artificial Intelligence (IJCAI-09).

• Joseph Modayil and Benjamin Kuipers. 2008.
  The initial development of object knowledge by a learning robot.
  Robotics and Autonomous Systems 56: 879--890..

• Benjamin Kuipers. 2008.
  Drinking from the firehose of experience.
  Artificial Intelligence in Medicine 44: 155-170, 2008.

• Jonathan Mugan and Benjamin Kuipers. 2008.
  Towards the application of reinforcement learning to undirected developmental learning..
  International Conference on Epigenetic Robotics (Epirob-08).

• Jeremy Stober and Benjamin Kuipers. 2008.
  From pixels to policies: a bootstrapping agent.
  IEEE International Conference on Development and Learning (ICDL-08).

• Jonathan Mugan and Benjamin Kuipers. 2008. Continuous-domain reinforcement learning using a learned qualitative state representation.
  International Workshop on Qualitative Reasoning (QR-08).

• Changhai Xu, Yong Jae Lee, and Benjamin Kuipers. 2008.
  Ray-based color image segmentation.
  Canadian Conference on Computer and Robot Vision, 2008.

• Jonathan Mugan and Benjamin Kuipers. 2007.
  Learning distinctions and rules in a continuous world through active exploration..
  7th International Conference on Epigenetic Robotics (Epirob-07).

• Jefferson Provost and Benjamin Kuipers. 2007.
  Self-organizing distinctive state abstraction using options..
  7th International Conference on Epigenetic Robotics (Epirob-07).

• Benjamin Kuipers. 2007.
  Sneaking up on the Hard Problem of consciousness.
  AI and Consciousness, AAAI Fall Symposium Series, 2007.

• Jonathan Mugan and Benjamin Kuipers. 2007.
  Learning to predict the effects of actions: synergy between rules and landmarks.
  IEEE International Conference on Development and Learning (ICDL-07).

• Joseph Modayil and Benjamin Kuipers.
  Autonomous development of a grounded object ontology by a learning robot.
  National Conference on Artificial Intelligence (AAAI-07), 2007.

• Jefferson Provost. 2007.
  Reinforcement Learning in High-Diameter, Continuous Environments
  Doctoral dissertation, Computer Sciences Department, University of Texas at Austin.

• Joseph Modayil. 2007.
  Robot Developmental Learning of an Object Ontology Grounded in Sensorimotor Experience
  Doctoral dissertation, Computer Sciences Department, University of Texas at Austin.

• Benjamin Kuipers, Patrick Beeson, Joseph Modayil, and Jefferson Provost. 2006. Bootstrap learning of foundational representations.
  Connection Science 18(2): 145-158, 2006.

• Jefferson Provost, Benjamin J. Kuipers and Risto Miikkulainen. 2006.
  Developing navigation behavior through self-organizing distinctive state abstraction.
  Connection Science 18(2), 2006.

• Benjamin Kuipers. 2005.
  Consciousness: drinking from the firehose of experience.
  National Conference on Artificial Intelligence (AAAI-05).

• Benjamin Kuipers, Patrick Beeson, Joseph Modayil and Jefferson Provost.
  Bootstrap learning of foundational representations.
  Developmental Robotics, AAAI Spring Symposium Series, 2005.

• Harold H. Chaput. 2004.
  The Constructivist Learning Architecture: a model of cognitive development for robust autonomous robots.
  Ph.D. thesis, Computer Science Department, University of Texas at Austin.
  Technical Report TR-04-34, August 2004.

• Joseph Modayil and Benjamin Kuipers. 2004.
  Bootstrap learning for object discovery.
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-04).

• Benjamin Kuipers and Patrick Beeson. 2002.
  Bootstrap learning for place recognition.
  Proceedings of the Eighteenth National Conference on Artificial Intelligence (AAAI-02).

• Benjamin Kuipers and Patrick Beeson. 2001.
  Toward bootstrap learning for place recognition.
  In AAAI Fall Symposium Series, Anchoring Symbols to Sensory Data in Single and Multiple Robot Systems, North Falmouth, MA.

• B. J. Kuipers, P. Beeson, J. Modayil and J. Provost. 2001.
  Learning from uninterpreted experience in the SSH.
  In AAAI Spring Symposium Series, Learning Grounded Representations, Stanford, CA.

• Jefferson Provost, Patrick Beeson and Benjamin J. Kuipers. 2001.
  Toward learning the causal layer of the Spatial Semantic Hierarchy using SOMs.
  In AAAI Spring Symposium Series, Learning Grounded Representations, Stanford, CA.

• Harold Henry Chaput. 2001.
  Post-Piagetian constructivism for grounded knowledge acquisition.
  In AAAI Spring Symposium Series, Learning Grounded Representations, Stanford, CA.

• David Pierce and Benjamin Kuipers. 1997.
  Map learning with uninterpreted sensors and effectors.
  Artificial Intelligence 92: 169-229, 1997.

• David M. Pierce. 1995.
  Map Learning with Uninterpreted Sensors and Effectors.
  Doctoral dissertation, Department of Computer Sciences, The University of Texas at Austin. (TR AI95-233, May 1995.) [.pdf]

• D. Pierce and B. Kuipers. 1994.
  Learning to explore and build maps.
  In Proceedings of the National Conference on Artificial Intelligence (AAAI-94), AAAI/MIT Press, 1994.

• David M. Pierce. 1991.
  Learning turn and travel actions with an uninterpreted sensorimotor apparatus.
  In Proceedings of the IEEE International Conference on Robotics and Automation, pp. 246-251. Los Alamitos, CA: IEEE Computer Society Press.

• David M. Pierce and B. J. Kuipers. 1991.
  Learning hill-climbing functions as a strategy for generating behaviors in a mobile robot.
  In J.-A. Meyer and S. W. Wilson (Eds.), From Animals to Animats: Proceedings of the International Conference on Simulation of Adaptive Behavior, pp. 327-336. Cambridge, MA: MIT Press/Bradford Books, 1991.

• Benjamin Kuipers. 1985.
  The Map-Learning Critter.
  University of Texas at Austin, Artificial Intelligence Laboratory AI TR 85-17, December 1985.

The Spatial Semantic Hierarchy

Robot Mapping and Navigation

• Paul Foster, Collin Johnson and Benjamin Kuipers. 2023.
  The Reflectance Field Map: Mapping glass and specular surfaces in dynamic environments.
  IEEE Int. Conf. on Robotics and Automation (ICRA-23).

• Collin E. Johnson. 2018.
  Topological Mapping and Navigation in Real-World Environments.
  PhD thesis, Computer Science & Engineering, University of Michigan, 2018.

• Tom Williams, Collin Johnson, Matthias Scheutz and Benjamin Kuipers. 2017.
  A tale of two architectures: A dual-citizenship integration of natural language and the cognitive map.
  Int. Conf. Autonomous Agents and Multi-Agent Systems (AAMAS), 2017.

• Grace Tsai, Collin Johnson, and Benjamin Kuipers. 2014.
  Semantic visual understanding of indoor environments: from structures to opportunities for action.
  Vision Meets Cognition Workshop (CVPR), 2014.

• Paul Foster, Zhenghong Sun, Jong Jin Park and Benjamin Kuipers. 2013.
  VisAGGE: Visible Angle Grid for Glass Environments - LIDAR mapping for glass, metal, mirrors, and other non-diffuse surfaces.
  IEEE Int. Conf. on Robotics and Automation (ICRA-13).

• Collin Johnson and Benjamin Kuipers. 2012.
  Efficient search for correct and useful topological maps.
  IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2012.

• Patrick Beeson, Joseph Modayil, Benjamin Kuipers.
  Factoring the mapping problem: Mobile robot map-building in the Hybrid Spatial Semantic Hierarchy
  International Journal of Robotics Research 29(4): 428-459, 2010.

• Patrick Beeson. 2008.
  Creating and Utilizing Symbolic Representations of Spatial Knowledge using Mobile Robots
  Doctoral dissertation, Computer Sciences Department, University of Texas at Austin.

• Benjamin Kuipers. 2008.
  An intellectual history of the Spatial Semantic Hierarchy.
  In Margaret Jefferies and Albert (Wai-Kiang) Yeap (Eds.),
  Robot and Cognitive Approaches to Spatial Mapping.
  Springer Tracts in Advanced Robotics, 38: 243-264, Springer Verlag, 2008.

• Matthew T. MacMahon. 2007.
  Following Natural Language Route Instructions
  Doctoral dissertation, Electrical and Computer Engineering Department, University of Texas at Austin.

• Matt MacMahon, Brian Stankiewicz, and Benjamin Kuipers. 2006.
  Walk the talk: Connecting language, knowledge, and action in route instructions.
  National Conference on Artificial Intelligence (AAAI-06).

• Patrick Beeson, Aniket Murarka, and Benjamin Kuipers. 2006.
  Adapting proposal distributions for accurate, efficient mobile robot localization.
  IEEE International Conference on Robotics and Automation (ICRA-06).

• Francesco Savelli. 2005.
  Topological mapping of ambiguous space: combining qualitative biases and metrical information.
  Ph.D. Thesis, Department of Computer and Systems Science, University of Rome "La Sapienza", 2005.

• Patrick Beeson, Nicholas K. Jong, and Benjamin Kuipers. 2005.
  Towards autonomous topological place detection using the Extended Voronoi Graph.
  IEEE International Conference on Robotics and Automation (ICRA-05).

• Joseph Modayil, Patrick Beeson and Benjamin Kuipers. 2004.
  Using the topological skeleton for scalable global metrical map-building.
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-04).

• Benjamin Kuipers, Joseph Modayil, Patrick Beeson, Matt MacMahon, and Francesco Savelli. 2004.
  Local metrical and global topological maps in the hybrid Spatial Semantic Hierarchy.
  IEEE International Conference on Robotics and Automation (ICRA-04).

• Emilio Remolina and Benjamin Kuipers. 2004.
  Towards a general theory of topological maps.
  Artificial Intelligence 152: 47-104, 2004.

• Patrick Beeson, Matt MacMahon, Joseph Modayil, Jefferson Provost, Francesco Savelli and Benjamin Kuipers. 2003.
  Exploiting local perceptual models for topological map-building.
  IJCAI-2003 Workshop on Reasoning with Uncertainty in Robotics (RUR-03).

• B. Kuipers, D. Tecuci, and B. Stankiewicz. 2003.
  The skeleton in the cognitive map: a computational and empirical exploration.
  Environment and Behavior 35(1): 80--106, 2003.

• Benjamin Kuipers. 2001.
  The skeleton in the cognitive map: a computational hypothesis.
  In J. Peponis, J. Wineman and S. Bafna (Eds.), Space Syntax: Proceedings of the Third International Symposium, Ann Arbor: A. Alfred Taubman College of Architecture and Urban Planning, University of Michigan, pages 10.1--10.7.

• B. Kuipers. 2000. The Spatial Semantic Hierarchy.
  Artificial Intelligence 119: 191-233.

• B. Kuipers. 1996. A hierarchy of qualitative representations for space.
  In Working Papers of the Tenth International Workshop on Qualitative Reasoning (QR-96), Fallen Leaf Lake, California.

• Wan Yik Lee. 1996. Spatial Semantic Hierarchy for a Physical Mobile Robot. Doctoral dissertation, Department of Computer Sciences, The University of Texas at Austin, December 1996. [Abstract]

• B. Kuipers, R. Froom, W.-Y. Lee & D. Pierce. 1993.
  The semantic hierarchy in robot learning.
  In J. Connell and S. Mahadevan (Eds.), Robot Learning. Kluwer Academic Publishers, 1993, pages 141-170.

• B. J. Kuipers & Y.-T. Byun. 1991. A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations.
  Journal of Robotics and Autonomous Systems, 8: 47-63, 1991.
  • Reprinted in Walter Van de Velde (ed.), Towards Learning Robots, Bradford/MIT Press, 1993.

• B. J. Kuipers & Y.-T. Byun. 1988. A robust qualitative method for spatial learning in unknown environments.
  In Proceedings of the National Conference on Artificial Intelligence (AAAI-88). Los Altos, CA: Morgan Kaufman, 1988.

Logical Semantics of the SSH

• Francesco Savelli and Benjamin Kuipers. 2004. Loop-closing and planarity in topological map-building.
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-04).

• Emilio Remolina and Benjamin Kuipers. 2004. Towards a general theory of topological maps.
  Artificial Intelligence 152: 47-104, 2004.

• Emilio Remolina and Benjamin Kuipers. 2002. Towards a general theory of topological maps.
  University of Texas at Austin Artificial Intelligence Lab TR-02-293.

• Emilio Remolina and Benjamin Kuipers. 2001. A logical account of causal and topological maps.
  In Proceedings of the Seventeenth International Joint Conference on Artificial Intelligence (IJCAI-01), San Francisco: Morgan Kaufmann Publishers, pages 5-11.

• Emilio Remolina. 2001. A Logical Account of Causal and Topological Maps.
  Doctoral dissertation, Department of Computer Sciences, The University of Texas at Austin.

• Emilio Remolina and Benjamin Kuipers. 1998. Boundary region relations. In Cognitive Robotics, Papers from the 1998 AAAI Fall Symposium, Technical report FS-98-02, AAAI Press, Menlo Park, CA, pages 117-124. [.pdf]

• Emilio Remolina and Benjamin Kuipers. 1998. Towards a formalization of the spatial semantic hierarchy. Fourth Symposium on Logical Formalizations of Commonsense Reasoning (Common Sense 98). London, England, 7-9 January 1998. [.pdf]

The TOUR Model

• B. J. Kuipers and T. Levitt. 1988. Navigation and mapping in large scale space. AI Magazine 9(2): 25-43, Summer 1988.
  • Reprinted in Advances in Spatial Reasoning, Volume 2, Su-shing Chen (Ed.), Norwood NJ: Ablex Publishing, 1990.

• B. J. Kuipers. 1983. The cognitive map: Could it have been any other way?
  In H. L. Pick, Jr. and L. P. Acredolo (Eds.), Spatial Orientation: Theory, Research, and Application. New York: Plenum Press, 1983, pages 345-359. [.pdf]

• B. J. Kuipers. 1983. Modeling human knowledge of routes: partial knowledge and individual variation.
  In Proceedings of the National Conference on Artificial Intelligence (AAAI-83), Morgan Kaufmann, 1983. [.pdf]

• B. J. Kuipers. 1982. The `Map in the Head' metaphor.
  Environment and Behavior 14: 202-220, 1982. [.pdf]

• B. J. Kuipers. 1979. On representing common sense knowledge.
  In N. V. Findler (Ed.), Associative Networks: The Representation and Use of Knowledge by Computers. New York: Academic Press, 1979, pages 393--408. [.pdf]

• B. J. Kuipers. 1979.
  Commonsense knowledge of space: learning from experience.
  In Proceedings of the Sixth International Joint Conference on Artificial Intelligence (IJCAI-79). Morgan Kaufmann, 1979.
  • Reprinted in Advances in Spatial Reasoning, Volume 2, Su-shing Chen (Ed.), Norwood NJ: Ablex Publishing, 1990.

• B. J. Kuipers. 1978. Modeling spatial knowledge.
  Cognitive Science 2: 129-153, 1978.
  • Reprinted in Advances in Spatial Reasoning, Volume 2, Su-shing Chen (Ed.), Norwood NJ: Ablex Publishing, 1990.

• B. J. Kuipers. 1977. Representing Knowledge of Large-Scale Space.
  Doctoral dissertation, Mathematics Department, Massachusetts Institute of Technology, Cambridge, Massachusetts, June 1977.
  Published as Technical Report 418, M.I.T. Artificial Intelligence Laboratory, 1977.

Vision

• Grace Tsai. 2014.
  On-line, incremental visual scene understanding for an indoor navigating robot.
  Doctoral dissertation, Department of Electrical Engineering and Computer Science, University of Michigan.

• Grace Tsai and Benjamin Kuipers. 2014.
  Handling perceptual clutter for robot vision with partial model-based interpretations.
  IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), 2014.

• Grace Tsai, Collin Johnson, and Benjamin Kuipers. 2014.
  Semantic visual understanding of indoor environments: from structures to opportunities for action.
  Vision Meets Cognition Workshop (CVPR), 2014.

• Grace Tsai and Benjamin Kuipers. 2013.
  Focusing attention on visual features that matter.
  British Machine Vision Conference (BMVC), 2013.

• R. Mittelman, M. Sun, B. Kuipers and S. Savarese. 2013.
  Learning hierarchical linguistic descriptions of visual datasets.
  2013 Conf. North American Chapter of the Association for Computational Linguistics: Human Language Technologies (NAACL HLT).

• R. Mittelman, H. Lee, B. Kuipers and S. Savarese. 2013.
  Weakly supervised learning of mid-level features with Beta-Bernoulli process restricted Boltzmann machines.
  IEEE Int. Conf. on Computer Vision and Pattern Recognition (CVPR).

• Changhai Xu, Jingen Liu and Benjamin Kuipers. 2012.
  Moving object segmentation using motor signals.
  European Conf. on Computer Vision (ECCV), 2012.

• Grace Tsai and Benjamin Kuipers. 2012. Dynamic visual understanding of the local environment for an indoor navigating robot.
  IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2012.

• Grace Tsai, Changhai Xu, Jingen Liu and Benjamin Kuipers. 2011. Real-time indoor scene understanding using Bayesian filtering with motion cues.
  Int. Conf. on Computer Vision (ICCV), 2011.

• Jingen Liu, Benjamin Kuipers and Silvio Savarese. 2011.
  Recognizing human actions by attributes.
  IEEE Conf. Computer Vision and Pattern Recognition (CVPR-11).

• Jingen Liu, Mubarak Shah, Benjamin Kuipers and Silvio Savarese. 2011.
  Cross-view action recognition via view knowledge transfer.
  IEEE Conf. Computer Vision and Pattern Recognition (CVPR-11).

• Changhai Xu. 2011. Steps Towards the Object Semantic Hierarchy.
  Doctoral dissertation, Computer Science Department, University of Texas at Austin.

• Changhai Xu, Jingen Liu and Benjamin Kuipers. 2011.
  Motion segmentation by learning homography matrices from motor signals.
  Canadian Conference on Computer and Robot Vision (CRV-11).
  Winner: Best Student Paper Award

• Changhai Xu and Benjamin Kuipers. 2011.
  Object detection using principal contour fragments.
  Canadian Conference on Computer and Robot Vision (CRV-11).

• Changhai Xu and Benjamin Kuipers. 2010.
  Towards the Object Semantic Hierarchy.
  Ninth IEEE Int. Conf. on Development and Learning (ICDL-10).

• Jeremy Stober, Lewis Fishgold and Benjamin Kuipers. 2009.
  Learning the sensorimotor structure of the foveated retina.
  International Conference on Epigenetic Robotics (EpiRob-09).

• Changhai Xu and Benjamin Kuipers. 2009.
  Construction of the Object Semantic Hierarchy.
  Fifth International Cognitive Vision Workshop (ICVW-09).

• Changhai Xu, Benjamin Kuipers, and Aniket Murarka. 2009.
  3D pose estimation for planes.
  ICCV Workshop on 3D Representation for Recognition (3dRR-09).

• Aniket Murarka. 2009.
  Building Safety Maps using Vision for Safe Local Mobile Robot Navigation
  Doctoral dissertation, Computer Sciences Department, The University of Texas at Austin.

• A. Murarka and B. Kuipers. 2009. A stereo vision based mapping algorithm for detecting inclines, drop-offs, and obstacles for safe local navigation.
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-09).

• Changhai Xu, Yong Jae Lee, and Benjamin Kuipers. 2008.
  Ray-based color image segmentation.
  Canadian Conference on Computer and Robot Vision, 2008.

• A. Murarka, M. Sridharan and B. Kuipers. 2008. Detecting obstacles and drop-offs using stereo and motion cues for safe local motion.
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-08).

• W. S. Gribble, R. L. Browning, M. Hewett, E. Remolina and B. J. Kuipers. 1998. Integrating vision and spatial reasoning for assistive navigation. In V. Mittal, H. Yanco, J. Aronis and R. Simpson (Eds.), Assistive Technology and Artificial Intelligence, Lecture Notes in Computer Science, Springer Verlag, New York, 1998.

• William S. Gribble. 1995. Slow visual search in a fast-changing world. In Proceedings of the 1995 IEEE Symposium on Computer Vision (ISCV-95)

Control

Safe, Comfortable, Graceful Control

• Jong Jin Park, Seungwon Lee and Benjamin Kuipers. 2017.
  Discrete-time dynamic modeling and calibration of differential-drive mobile robots with friction.
  IEEE Int. Conf. Robotics and Automation (ICRA), 2017.

• Jong Jin Park. 2016.
  Graceful Navigation for Mobile Robots in Dynamic and Uncertain Environments.
  PhD thesis, Mechanical Engineering Department, University of Michigan, 2016.

• Jong Jin Park and Benjamin Kuipers. 2015.
  Feedback motion planning via non-holonomic RRT* for mobile robots.
  IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), 2015.

• Jong Jin Park and Benjamin Kuipers. 2013.
  Autonomous person pacing and following with Model Predictive Equilibrium Point Control.
  IEEE Int. Conf. on Robotics and Automation (ICRA-13).

• Jong Jin Park, Collin Johnson, and Benjamin Kuipers. 2012.
  Robot Navigation with Model Predictive Equilibrium Point Control.
  IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2012.

• Jong Jin Park and Benjamin Kuipers. 2011. A smooth control law for graceful motion of differential wheeled mobile robots in 2D environments.
  IEEE Int. Conf. on Robotics and Automation (ICRA-11).

• Shilpa Gulati. 2011. A Framework for Characterization and Planning of Safe, Comfortable, and Customizable Motion of Assistive Mobile Robots
  Doctoral dissertation, Mechanical Engineering Department, University of Texas at Austin.

• S. Gulati, C. Jhurani, B. Kuipers and R. Longoria. 2009. A framework for planning comfortable and customizable motion of an assistive mobile robot.
  IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS-09).

• Shilpa Gulati and Benjamin Kuipers. 2008.
  High performance control for graceful motion of an intelligent wheelchair.
  IEEE Int. Conf. on Robotics and Automation (ICRA-08).

Qualitative Heterogeneous Control

• Subramanian Ramamoorthy and Benjamin J. Kuipers. 2008.
  Trajectory generation for dynamic bipedal walking through qualitative model based manifold learning.
  IEEE International Conference on Robotics and Automation (ICRA-08).
  ICRA Best Paper Award Finalist (Top 4).

• Subramanian Ramamoorthy. 2007.
  Task Encoding, Motion Planning and Intelligent Control with Qualitative Models
  Doctoral dissertation, Electrical and Computer Engineering Department, University of Texas at Austin.

• S. Ramamoorthy and B. Kuipers. 2004. Controller synthesis using qualitative models and simulation.
  In J. de Kleer and K. Forbus (Eds.), International Workshop on Qualitative Reasoning (QR-2004).

• S. Ramamoorthy and B. Kuipers. 2003.
  Qualitative heterogeneous control of higher order systems.
  In O. Maler and A. Pnueli (Eds.), Hybrid Systems: Computation and Control, Lecture Notes in Computer Science, Springer Verlag, 2003.

• B. Kuipers and S. Ramamoorthy. 2002.
  Qualitative modeling and heterogeneous control of global system behavior.
  In C. J. Tomlin and M. R. Greenstreet (Eds.), Hybrid Systems: Computation and Control, Lecture Notes in Computer Science, Springer Verlag, 2002.

• B. J. Kuipers and K. Astrom. 1994.
  The composition and validation of heterogeneous control laws.
  Automatica 30(2): 233--249. [Abstract]

• Benjamin Kuipers & Karl Astrom. 1991.
  The composition of heterogeneous control laws.
  In Proceedings of the American Control Conference, 1991, p.630-636. [Abstract]

  • Reprinted in Abraham Kandel & Gideon Langholz (Eds.), Fuzzy Control Systems, CRC Press, 1993, pp. 243-261.

  • Reprinted in R. R. Yager & L. A. Zadeh (Eds.), Fuzzy Sets, Neural Networks and Soft Computing, Van Nostrand Reinhold, New York, 1994, pp. 45-62.

High-Speed Motion Control

• Richard Froom. 1995. High-Speed Navigation with Approximate Maps. Doctoral dissertation, Department of Computer Sciences, The University of Texas at Austin.

• Richard Froom. 1992. Approximate maps for high-speed control of a mobile robot. In Mobile Robots VII: Proceedings of SPIE -- the International Society for Optical Engineering v. 1831, Boston, MA, November 15-20 1992.

• Richard Froom. 1991. Acquiring effective knowledge of environment geometry for minimum-time control of a mobile robot. In Proceedings of the 1991 IEEE International Symposium on Intelligent Control, pages 501-506, Arlington, VA, August 13-15 1991.

"Swan's Neck" Highly-Redundant Manipulators

• Motion planning for the "Swan's Neck" manipulator.

• Akira Hayashi and Benjamin Kuipers. 1992. A continuous approach to robot motion planning with many degrees of freedom. In Proceedings of the 1992 IEEE International Conference on Intelligent Robots and Systems (IROS'92). [.pdf]

• Akira Hayashi & B. J. Kuipers. 1991. Path planning for highly-redundant manipulators using a continuous model. In Proceedings of the National Conference on Artificial Intelligence (AAAI-91), AAAI/MIT Press, 1991. [.pdf]

• Akira Hayashi. 1991. Geometrical Motion Planning for Highly Redundant Manipulators Using a Continuous Manipulator Model. Doctoral dissertation, Department of Computer Sciences, University of Texas at Austin, Austin, Texas. May 1991. (Available as TR AI91-156.) [.pdf]

The Intelligent Wheelchair

• Jong Jin Park. 2016.
  Graceful Navigation for Mobile Robots in Dynamic and Uncertain Environments.
  PhD thesis, Mechanical Engineering Department, University of Michigan, 2016.

• Jong Jin Park, Collin Johnson, and Benjamin Kuipers. 2012.
  Robot Navigation with Model Predictive Equilibrium Point Control.
  IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2012.

• Jong Jin Park and Benjamin Kuipers. 2011.
  A smooth control law for graceful motion of differential wheeled mobile robots in 2D environments.
  IEEE Int. Conf. on Robotics and Automation (ICRA-11).

• Shilpa Gulati. 2011.
  A Framework for Characterization and Planning of Safe, Comfortable, and Customizable Motion of Assistive Mobile Robots.
  Doctoral dissertation, Mechanical Engineering Department, University of Texas at Austin.

• Aniket Murarka. 2009.
  Building Safety Maps using Vision for Safe Local Mobile Robot Navigation
  Doctoral dissertation, Computer Sciences Department, The University of Texas at Austin.

• S. Gulati, C. Jhurani, B. Kuipers and R. Longoria. 2009.
  A framework for planning comfortable and customizable motion of an assistive mobile robot.
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-09).

• A. Murarka and B. Kuipers. 2009. A stereo vision based mapping algorithm for detecting inclines, drop-offs, and obstacles for safe local navigation.
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-09).

• A. Murarka, M. Sridharan and B. Kuipers. 2008. Detecting obstacles and drop-offs using stereo and motion cues for safe local motion.
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-08).

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