Publications
Journal Papers, Conference Papers, and Book Chapters
- M. Pivtoraiko, I.A. Nesnas, H.D. Nayar, "A Reusable Software Framework for Rover Motion Control", International Symposium on Artificial Intelligence, Robotics and Automation in Space, Los Angeles, CA, February 2008
- H.D. Nayar, I.A. Nesnas, "Measures and Procedures: Lessons Learned from the CLARAty Development at NASA/JPL," International Conference on Intelligent Robots and Systems (IROS), San Diego, CA, October 2007
- H.D. Nayar, I.A. Nesnas, "Re-usable Kinematic Models and Algorithms for Manipulators and Vehicles, " International Conference on Intelligent Robots and Systems (IROS), San Diego, CA, October 2007
- I.A. Nesnas, "CLARAty: A Collaborative Software for
Advancing Robotic Technologies," NASA Science and Technology Conference, University of Maryland University College, Adelphi, MD, June 2007
- D.S. Clouse, I.A. Nesnas, C. Kunz, "A Reusable Camera Interface for Rovers," IEEE International Conference on Robotics and Automation, Workshop on Software Development and Integration in Robotics, Rome, Italy, April 2007.
- I.A. Nesnas, "The CLARAty Project: Coping with Hardware and Software Heterogeneity," book chapter to appear in the Software Engineering for Experimental Robotics, Springer Tracts on Advanced Robotics, edited by Davide Brugali, 2006.
- R. Madison, "Improved Target Hand off for Single Cycle Instrument Placement," IEEE Aerospace Conference, Big Sky, Montana, March 2006
- I.A. Nesnas, R. Simmons, D. Gaines, C. Kunz, A. Diaz-Calderon, T. Estlin, R. Madison, J. Guineau, M. McHenry, I. Shu, and D. Apfelbaum, "CLARAty: Challenges and Steps Toward Reusable Robotic Software," International Journal of Advanced Robotic Systems, Vol. 3, No. 1, pp. 023-030, 2006.
- A. Diaz-Calderon, I.A. Nesnas, W.S. Kim, and H. Nayar, "Towards a Unified Representation of Mechanisms for Robotic Control Software," International Journal of Advanced Robotic Systems, Vol. 3, No. 1, pp. 061-066, 2006.
- M. Bajracharya, A. Diaz-Calderon, M. Robinson, M. Powell, "Target Tracking, Approach, and Camera Handoff for Automated Instrument Placement," IEEE Aerospace Conference, Big Sky, Montana, March 2005 (paper 339KB, slides 1.2 MB)
- T. Estlin, D. Gaines, C. Chouinard, F. Fisher, R. Castano, M. Judd, R. Anderson, and , I. Nesnas, "Enabling Autonomous Rover Science Through Dynamic Planning and Scheduling," Proceedings of the 2005 IEEE Aerospace Conference, Big Sky, Montanna, March 2005. pdf (12 pages, 0.4MB)
- M.G. Bualat, C.G. Kunz , A.R. Wright, I.A. Nesnas, "Developing An Autonomy Infusion Infrastructure for Robotic Exploration," Proceedings of the 2004 IEEE Aerospace Conference, Big Sky, Montana, March 6-14, 2004. pdf (14 pages, 0.7MB)
- R. Volpe, "Rover Functional Autonomy Development for the Mars Mobile Science Laboratory," Proceedings of the 2003 IEEE Aerospace Conference, Big Sky, Montana, March 8-15, 2003. pdf (10 pages, 1.2MB)
- I.A. Nesnas, A. Wright, M. Bajracharya, R. Simmons, T. Estlin, Won Soo Kim, "CLARAty: An Architecture for Reusable Robotic Software," SPIE Aerosense Conference, Orlando, Florida, April 2003. (730 KB)
- I.A. Nesnas, A. Wright, M. Bajracharya, R. Simmons, T. Estlin, "CLARAty and Challenges of Developing Interoperable Robotic Software," invited to International Conference on Intelligent Robots and Systems (IROS), Nevada, October 2003. (410 KB)
- C. Urmson, R. Simmons, I. Nesnas, "A Generic Framework for Robotic Navigation," Proceedings of the IEEE Aerospace Conference, Montana, March 2003. (8 pages, 730KB)
- C. M. Chouinard, F. Fisher, D. M. Gaines, T.A. Estlin, S.R. Schaffer, "An Approach to Autonomous Operations for Remote Mobile Robotic Exploration," Proceedings of the 2003 IEEE Aerospace Conference, Montana, March 2003 (277 KB)
- T. Estlin, F. Fisher, D. Gaines, C. Chouinard, S. Schaffer, I. Nesnas, "Continuous Planning and Execution for an Autonomous Rover," Proceedings of the Third International NASA Workshop on Planning and Scheduling for Space, Houston, TX, Oct 2002. (168 KB)
- I.A.D. Nesnas, R. Volpe, T. Estlin, H. Das, R. Petras D. Mutz, "Toward Developing Reusable Software Components for Robotic Applications" Proceedings of the International Conference on Intelligent Robots and Systems (IROS), Maui Hawaii, Oct. 29 - Nov. 3 2001. (8 pages, 1.9MB)
- T. Estlin, R. Volpe, I.A.D. Nesnas, D. Mutz, F. Fisher, B. Engelhardt, S. Chien, "Decision-Making in a Robotic Architecture for Autonomy." Proceedings of 6th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS), Montreal Canada, June 18-21 2001. (8 pages, 72KB)
- R. Volpe, I.A.D. Nesnas, T. Estlin, D. Mutz, R. Petras, H. Das, "The CLARAty Architecture for Robotic Autonomy." Proceedings of the 2001 IEEE Aerospace Conference, Big Sky Montana, March 10-17 2001. (12 pages, 470 KB)
Technical Reports
Related Publications
- I.A. Nesnas, M. Bajracharya, R. Madison, E. Bandari, C.G. Kunz, M. Deans, M.G. Bualat, "Visual Target Tracking for Rover-based Planetary Exploration," Proceedings of the 2004 IEEE Aerospace Conference, Big Sky, Montana, March 6-14, 2004. pdf (15 pages, 2.3 MB)
- A. Jain, J. Balaram, J. Cameron, J. Guineau, C. Lim, M. Pomerantz, G. Sohl, "Recent Developments in the ROAMS Planetary Rover Simulation Environment," Proceedings of the 2004 IEEE Aerospace Conference, Big Sky, Montana, March 6-14, 2004. pdf (16 pages, 1.1 MB)
- A. Jain, J. Guineau, C. Lim, W. Lincoln, M. Pomerantz, G. Sohl, R. Steele, "Roams: Planetary Surface Rover Simulation Environment," International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2003), (Nara, Japan), May 19-23, 2003.
- S.I. Roumeliotis, A.E. Johnson, and J.F. Montgomery, "Augmenting Inertial Navigation with Image-Based Motion Estimation," Proceedings of the IEEE International Conference on Robotics and Automation, 2002
- S. Goldberg, M. Maimone, L. Matthies, "Stereo Vision and Rover Navigation Software for Planetary Exploration," Proceedings of the IEEE Aerospace conference, vol. 5, Big Sky, Montana, USA, pp 2025-2036, March 2002
- I. A. Nesnas, M. Maimone, H. Das, "Rover Maneuvering for Autonomous Vision-Based Dexterous Manipulation," Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, California, March 2000 - synopsis
- I. A. Nesnas, M. Maimone, H. Das, "Autonomous Vision-Based Manipulation from a Rover Platform," IEEE Symposium on Computational Intelligence in Robotics & Automation, Monterey, CA, November 1999 - synopsis
