Alonzo Kelly's Publications

25. A. Tallavajhula, and A. Kelly, “Construction and Validation of a High Fidelity Simulator for a Planar Range Sensor”, ICRA 2015.
26.  N Seegmiller and A. Kelly, “Enhanced 3D Kinematic Modeling of Wheeled Mobile Robots” RSS 2014.
27. A. Kelly and N. Seegmiller, “Modeling of Wheeled Mobile Robots as Differential-Algebraic Systems”, submitted to IROS 2014.
28. A. Kelly, “Optical Kinematics of Laser Rangefinders”, submitted to IAS 13. 
29. N. Seegmiller and A. Kelly, “Modular Dynamic Simulation of Wheeled Mobile Robots", FSR 2013. [pdf]
30.  M. George, J. P. Tardif, A. Kelly. “Visual and Inertial Odometry for a Disaster Recovery Humanoid",  FSR 2013. [pdf]
31. B. Eckart, A. Kelly, "REM-Seg: A Robust EM Algorithm for Parallel Segmentation and Registration of Point Clouds." IROS 2013. [pdf]
32. B. Eckart, A. Kelly, “Stacked Local Predictors for Large-Scale Point Cloud Classification.” In SUNW: Scene Understanding Workshop, CVPR 2013. [pdf]
33. F. Rogers-Markovitz, M. George, N. Seegmiller, A. Kelly, “Aiding Off-Road Inertial Navigation with High Performance Models of Wheel Slip”, IROS October, 2012. [pdf]
34. A. Kelly and N.Seegmiller, “A Vector Algebra Formulation of Mobile Robot Velocity Kinematics” Field and Service Robotics (FSR 2012), July, 2012. [pdf]
35. Forrest Rogers-Marcovitz, Neal Seegmiller, and Alonzo Kelly, “Continuous Vehicle Slip Model Identification on Changing Terrains”, RSS 2012 Workshop on Long‐Tterm Operation of Autonomous Robotic Systems. [pdf]
36. Neal Seegmiller, Forrest Rogers-Marcovitz, and Alonzo Kelly, “Online calibration of vehicle powertrain and pose estimation parameters using integrated dynamics”, IEEE International Conference on Robotics and Automation, May, 2012. [pdf]
37. Alonzo Kelly, Nicholas Chan, Herman Herman, and Randy Warner, “Experimental Validation of Operator Aids for High Speed Vehicle Teleoperation”, ISER 2012. [pdf]
38. M. Laverne, M. George, D. Lord, A. Kelly, T. Mukherjee, "Experimental Validation of Foot to Foot Range Measurements in Pedestrian Tracking," Proceedings of the 24th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS 2011), Portland, OR, September 2011, pp. 1386-1393.  [pdf]
39. Neal Seegmiller, Forrest Rogers-Marcovitz, Gregory A. Miller, and Alonzo Kelly, “A Unified Perturbative Dynamics Approach to Online Vehicle Model Identification”, International Symposium on Robotics Research, August, 2011. [pdf]
40. Michael Fleder, Issa A.D. Nesnas, Mihail Pivtoraiko, Alonzo Kelly, and Richard Volpe. Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets. In Proceedings of the International Conference on Robotics and Automation, 2011. [pdf]
41. Mihail Pivtoraiko and Alonzo Kelly. Kinodynamic Motion Planning with State Lattice Motion Primitives. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011. [pdf]
42. Mihail Pivtoraiko and Alonzo Kelly. Graduated Fidelity Motion Planning. In Proceedings of the International Symposium on Combinatorial Search, 2011. [download unavailable]
43. F. Rogers-Markovitz, A. Kelly, “Real-Time Vehicle Dynamic Model Identification using Integrated Pertubative Dynamics”, International Symposium on Experimental Robotics,  June 2010. [pdf]
44. Philipp Krüsi, Mihail Pivtoraiko, Alonzo Kelly, Thomas M. Howard, and Roland Siegwart. “Path Set Relaxation for Mobile Robot Navigation”. In Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space, 2010. [pdf]
    
45. J. P. Tardiff, M. George, M. Laverne, A. Kelly, A. Stentz, M. Pivtoraiko and  A. Kelly, “A New Approach to Vision-Aided Inertial Navigation”,  IROS 2010. [pdf]
46. J. P. Tardiff, M. George, M. Laverne, A. Kelly, A. Stentz, “Vision Aided Inertial Navigation for Power Line Inspection”, in proceedings of the International Conference on Applied Robotics for the Power Industry, CARPI 2010.  [pdf]
47. A Kelly, E. Capstick, D.  Huber, H. Herman, P. Rander and R. Warner, “Real-Time Photorealistic Virtualized Reality Interface for Remote Mobile Robot Control”, in ISRR 2009. [.pdf]
48. T. Howard, C. Green, A. Kelly, “Receding Horizon Model-Predictive Control for Mobile Robot Navigation of Intricate Paths”, FSR 09. [.pdf]
49. D. Huber, H. Herman, A. Kelly, P. Rander, and J. Ziglar, “Real-time Photo-realistic Visualization of 3D Environments for Enhanced Tele-operation of Vehicles” International Conference on 3-D Digital Imaging and Modeling, 3DIM 09, Oct 3, 2009, Kyoto Japan. [.pdf]
50. A. Kelly, D. Anderson, H. Herman, “Photogeometric Sensing for Mobile Robot Control and Visualization Tasks”, submitted to 23rd Convention of the Society for the Study of Artificial Intelligence and Simulation of Behaviour, AISB 2009, Edinburgh, Scotland. [.pdf]
51. Pivtoraiko, M., Nesnas, I. and Kelly, A., “Autonomous Robot Navigation using Advanced Motion Primitives”, IEEE Aerospace Conference, March 2009.
52. Dean Anderson, Thomas M. Howard, David Apfelbaum, Herman Herman, and Alonzo Kelly, “Coordinated Control and Range Imaging for Mobile Manipulation”, International Symposium on Experimental Robotics (ISER 2008), Athens, Greece, August 2008. [.pdf]
53. Pivtoraiko, Mihail and Kelly, Alonzo, “Differentially constrained motion replanning using state lattices with graduated fidelity”, in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS08) pp. 2611 – 2616, September 2008. [.pdf]
54. Green, C., Kelly, A., “Toward Optimal Sampling in the Space of Paths”. 13th International Symposium of Robotics Research, ISRR 07, November, 2007,  Hiroshima, Japan. [.pdf]
55. Pivtoraiko, M., Nesnas, I. and Kelly, A., “Autonomous Robot Navigation with Advanced Motion Primitives”, IEEE Aerospace Conference, March 2009.  [.pdf]
56. Dean Anderson, Thomas M. Howard, David Apfelbaum, Herman Herman, and Alonzo Kelly, “Coordinated Control and Range Imaging for Mobile Manipulation”, 2008 International Symposium on Experimental Robotics., Athens, Greece, August 2008.  [.pdf]
57. Pivtoraiko, M., Howard, T., Nesnas, Issa A.D., Kelly, A., “Field Experiments in Rover Navigation via Model-Based Trajectory Generation and Nonholonomic Motion Planning in State Lattices”, 9th International Symposium on Artificial Intelligence, Robotics and Automation for Space (i-SAIRAS 2008). [.pdf]
58. Kelly, A. Howard, T., Green, C. “Terrain Aware Inversion of Predictive Models for High Performance UGVs”, Proceedings of the SPIE Defense and Security Symposium, April, 2007, pp. 6561-6566.   [.pdf]
59. Howard, T., Green, C., Kelly, A.,“ State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Highly Constrained Environments, in Proceedings of the 2007 Symposium on Field and Service Robots - FSR 2007, Chamonix, France, July 9-12, 2007. [.pdf]
60. Howard, T., Kelly, A., “Trajectory and Spline Generation for All-Wheel Steering Mobile Robots”, International Conference on Intelligent Robots and Systems (IROS) 2006, Beijing, China. Beijing, China.[.pdf]
61. [Knepper, R., Kelly, A., “High Performance State Lattice Planning Using Heuristic Look-Up Tables”, International Conference on Intelligent Robots and Systems (IROS) 2006, Beijing, China.[.pdf]
62. Howard, T., Kelly, A., “Constrained Optimization Path Following of Wheeled Robots in Rough Terrain”, submitted to International Symposium on Experimental Robotics (ISER 2006), Rio De Janero, Brazil, Rio de Janeiro, Brazil, July 2006.[.pdf]
63. Anderson, D., Herman H., Kelly, A., “Experimental Characterization of Commercial Flash Ladar Devices”, International Conference on Sensing Technologies”, November 21-23, 2005 Palmerston North, New Zealand[.pdf]
64. Pitvoraiko, M., Kelly, A., “Efficient Constrained Path Planning via Search in State Lattices”, 8th International Symposium on Artificial Intelligence, Robotics and Automation I-SAIRAS, September 5-9, 2005, Munich, Germany.[.pdf]
65. Howard, T., and Kelly, A., “Terrain-Adpative Generation of Optimal Continuous Trajectories for Mobile Robots”, 8th International symposium on Artificial Intelligence, Robotics and Automation I-SAIRAS, September 5-9, 2005, Munich, Germany.[.pdf]
66. Pivtoraiko, M., Kelly, A., “Generating Near Minimal Spanning Control Sets for Constrained Motion Planning in Discrete State Spaces”, Proceedings IROS 2005, Edmonton Alberta, Canada, August 2005.[.pdf]
67. Pivtoraiko, M., Kelly, A, “Constrained Motion Planning in Discrete State Spaces.” Field and Service Robots, Ocober 2005, Port Douglas, Australia.[.pdf]
68. Howard, T., and Kelly, A., “Trajectory Generation on Rough Terrain Considering Actuator Dynamics”, Field and Service Robots, October, 2005, Port Douglas, Australia.[.pdf]
69. Pivtoraiko, M., Kelly, A, and Rander R., “Efficient Braking Model for Off-Road Mobile Robots.” Field and Service Robots, Ocober 2005, Port Douglas, Australia.[.pdf]
70. Kelly, A., “Fast and Easy Systematic and Stochastic Odometry Calibration”. IROS, Sendai Japan, September 2004.[.pdf]
71. Kelly, A., et al., “Toward Reliable Off-Road Autonomous Vehicle Operating in Challenging Environments”, International Symposium on Experimental Robotics, June, 2004, Singapore.[.pdf]
72. Kelly, A., “Precision Dilution in Triangulation-Based Mobile Robot Position Estimation”, Intelligent Autonomous Systems, Amsterdam, 2003.[.pdf]
73. Kelly, A. Unnikrishnan, R., “Efficient Construction of Optimal and Consistent Ladar Maps using Pose Network Topology and Nonlinear Programming, 11th International Symposium of Robotics Research (ISRR'2003), Sienna, Italy, November 2003.[.pdf]
74. Stentz, T., Kelly, A., Herman, H., Rander, P., Mandelbaum R., “Integrated Air/Ground Vehicle System for Semi-Autonomous Off-Road Navigation”, in Proceedings of AUVSI’s Symposium on Unmanned Systems 2002, July, 2002 .  [.pdf]
75. Diaz, A., Kelly, A., “Development of a Terrain Adaptive Stability Prediction System for Mass Articulating Mobile Robots ”, Field and Service Robots 2003, Tsukuba Japan, 2003.[.pdf]
76. Kelly A., “Efficient Parametric Synthesis of Optimal Mobile Robot Trajectories”, 11th International Conference on Advanced Robotics, July 2002, Coimbra, Portugal.[.pdf]
77. Unnikrishnan, R., Kelly, A., "A Constrained Optimization Approach to Globally Consistent Mapping", International Conference on Intelligent Robots and Systems (IROS 02), Lausanne, Switzerland, 2002.[.pdf]
78. Kelly, A., "General Solution for Linearized Stochastic Error Propagation in Vehicle Odometry", Proceedings of 15th IFAC World Congress on Automatic Control, Barcelona, Spain, July 2002.[.pdf]
79. Unnikrishnan, R., Kelly, A., "Mosaicing Large Cyclic Environments for Visual Navigation in Autonomous Vehicles", in Proceedings of International Conference on Robotics and Automation (ICRA02), Washington, DC., May 2002.[.pdf]
80. Kelly, A., "General Solution for Linearized Error Propagation in Vehicle Odometry", Proceedings of 10th International Symposium of Robotics Research (ISRR'2001), Lorne, Victoria, Australia, November 2001[.pdf]
81. Kelly, A., "Model-Based Object Pose Refinement For Terrestrial and Space Autonomy", 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (ISAIRAS 01), Montreal, Quebec, Canada June 18,2001.[.pdf]
82. Kelly, A., "General Solution for Linearized Systematic Error Propagation in Vehicle Odometry", International Conference on Intelligent Robots and Systems (IROS 01), Maui, Hawaii, Nov 2001.[.pdf]
83. Nagy, B., Kelly, A., "Trajectory Generation for Car-Like Robots Using Cubic Curvature Polynomials", Field and Service Robots 2001 (FSR 01), Helsinki, Finland - June 11, 2001.[.pdf]
84. Kelly, A., "Pose Tracking For Mobile Robot Localization From Large Scale Appearance Mosaics", International Symposium on Robotics and Automation (ISRA 00), Monterrey, N.L., Mexico - November 2000.[.pdf]
85. Rowe, P., Kelly, A., "Map Construction for Mosaic-Based Vehicle Position Estimation", International Conference on Intelligent Autonomous Systems (IAS6), Venice, Italy, July 25, 2000.[.pdf]
86. Kelly, A., "Contemporary Feasibility of Image Mosaic Based Vehicle Position Est", in Proceedings of International Conference on Robotics and Applications (IASTED99), Santa Barbara, CA - October 28-30, 1999.[.pdf]
87. Kelly, A., Stentz, A. "Minimum Throughput Adaptive Perception for High Speed Mobility", IROS 1997.[.pdf]
88. Kelly, A., Stentz, A. "Computational Complexity of Terrain Mapping Perception in Autonomous Mobility", ICRA 1997.[.pdf]
89. Kelly, A., Stentz, A. ,J. Riekki, J. Roning, A. Mandow, V. F. Munoz, R. Fernandez, and A. Garcia-Cerezo. "Perception for Vehicle Control." In proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'97, September 7-11, 1997.
90. Kelly, A., Stentz, A. "Analysis of Requirements for High Speed Rough Terrain Mobility: Part 1 - Throughput and Response", ICRA 1997.[.pdf]
91. Kelly, A., Stentz, A. "Analysis of Requirements for High Speed Rough Terrain Mobility: Part 2 - Resolution and Accuracy", ICRA 1997.[.pdf]
92. Kelly, A., Stentz, A. "An Approach to Rough Terrain Autonomous Mobility", International Conference on Mobile Planetary Robots, Santa Monica, January 1997.[.pdf]
93. Singh, S. and Kelly, A., Robot Planning in the Space of Feasible Actions: Two Examples, In Proc. Int'l Conference on Robotics and Automation, April 1996, Minneapolis. [.pdf]
94. I. Davis, A. Kelly, A. Stentz, L. Matthies, "Terrain Typing for Real Robots", IEEE Symposium on Intelligent Vehicles, Detroit, 1995. [.pdf]
95. L. Matthies, A. Kelly, T. Litwin, G. Tharp, "Obstacle Detection for Unmanned Ground Vehicles: A Progress Report", 7th International Symposium on Robotics Research, October 21-24, 1995, Munich, Germany. [.pdf]
96. Motazed, B., Patukas, D., Kelly, A., Pomerleau, D., Jochem, T., "Demonstration of an Autonomous Convoying Concept", Proceedings of the Fifth Annual Meeting of IVHS America, March 15-17, 1995, Washington, DC.
97. Brumitt B., Coulter R., Kelly A., Stentz A., " A System for Autonomous Cross Country Navigation", IFAC Symposium on Intelligent Components and Instruments for Control Applications, May 20-22, Malaga, Spain, 1992.
98. Kelly, A., Stentz, A., Hebert M., "Terrain Map Building for Fast Navigation on Rugged Outdoor Terrain", proceedings of SPIE Mobile Robots VII, Boston, MA, 1992.
99. Stentz, A., Brumitt, B.L., Coulter, R.C., Kelly, A. J. "An Autonomous System for Cross Country Navigation" proceedings of SPIE Mobile Robots VII, Boston, MA, 1992.

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Un-Refereed Conference/Workshop Proceedings

101. George, M., Laverne, M., Kelly, A., “New Aiding Approaches in Personal Navigation”, JSDE/ION Joint Navigation Conference 2011, San Diego, California. [download unavailable]
102. George, M., Laverne, M., Kelly, A., “Experimental Validation of Foot to Foot Range Measurements in Pedestrian Tracking”, 2011 Joint Navigation Conference, Colorado Springs, Colorado. [download unavailable]
103. Mihail Pivtoraiko and Alonzo Kelly. Rover Trajectory Planning: Constrained Global Planning and Path Relaxation. In Workshop on Motion Planning at the International Conference on Robotics and Automation, 2010. [download unavailable]
     
104. Mihail Pivtoraiko and A. Kelly, ‘Fast and Feasible Deliberative Motion Planner for Dynamic Environments., ICRA 2009 Workshop on Safe Navigation in Open and Dynamic Environments: Application to Autonomous Vehicles.   [.pdf]
105. Al Kelly, Tamal Mukherjee, Gary Fedder, Dan Stancil, Amit Lal, Michael Berarducci, "Sensor Assisted Micro Inertial Measurement for GPS Denied Personal Navigation”, 2009 Joint Navigation Conference, Orlando Florida.
106. Kelly, A., Howard, T., Terrain Aware Inversion of Predictive Models for Planetary Rovers, In Proc. Nasa Science and Technology Conference, College Park, Maryland, June 20, 2007.   [.pdf]
107. Kelly, A., ICRA 06, “Vehicle Modelling and Precision Motion Generation in Complex Environments", workshop on “Sensor-Based Motion for Complex Robots in Complex Environments”,  Orlando, Florida, May 2006
108. Kelly, A., "General Solution for Linearized Stochastic Error Propagation in Vehicle Odometry", Proceedings of 15th IFAC World Congress on Automatic Control, Barcelona, Spain, July 2002.   [.pdf]
109. Kelly, A., “Stereo Vision Enhancements for Low Cost Outdoor Autonomous Mobility”, Int'l Confer­ence on Robotics and Automation, Leuven, Belgium - May 1998.  [.pdf]

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