Publications

Publications

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2016

Journal Papers & Book Chapters

  • D. Schwesinger, A. Shariati, C. Montella, and J. Spletzer “A Smart Wheelchair Ecosystem for Autonomous Navigation in Urban Environments” in Autonomous Robots, pp. 1-20, Feb. 2016.
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Conference Papers

  • Dylan Schwesinger and John Spletzer, “A 3D Approach to Infrastructure-Free Localization in Large Scale Warehouse Environments,” the 12th IEEE Conference on Automation Science and Engineering (CASE 2016), Fort Worth, TX, August 2016.
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2015

Conference Papers

  • Joachim Grenestedt, Jack Keller, Scott Larson, Jake Patterson, John Spletzer, and Tyler Trephan, “LORCA: A High Performance USV with applications to Surveillance and Monitoring,” the IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Purdue, Indiana, October 2015.
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  • Tom Panzarella, Dylan Schwesinger, and John Spletzer, “CoPilot: Autonomous Doorway Detection and Traversal for Electric Powered Wheelchairs,” the International Conference on Field and Service Robotics (FSR), Toronto, Canada, June 2015.
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2014

Conference Papers

  • M. Chuah, D. Coombe, C. Garman, C.Guerrero, J. Spletzer, “Lehigh Instrument for Learning Interaction (LILI): An interactive robot to aid development of social skills for Autistic Children”, 1st NSF REU Workshop on Networked Systems, Oct, 2014.
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  • C. Montella and J. R. Spletzer, “Reinforcement Learning for Autonomous Dynamic Soaring in Shear Winds,” in the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Chicago, Illinois, Sep. 2014.
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  • K. Hart, C. Montella, G. Petitpas, D. Schweisinger, A. Shariati, B. Sourbeer, T. Trephan, and J. R. Spletzer, “RoSCAR: Robot Stock Car Autonomous Racing,” presented at the MobiSys Workshop for Mobile Augmented Reality and Robotics-based Technology Systems (MARS), Bretton Woods, New Hampshire, Jun. 2014.
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  • J. Bird, J. Langelaan, C. Montella, J. R. Spletzer, and J. Grenestedt, “Closing the Loop in Dynamic Soaring,” in the AIAA Guidance, Navigation and Control Conf., National Harbor, Maryland, Jan. 2014.
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2012

Conference Papers

  • C. Montella, M. Pollock, D. Schwesinger, and J. R. Spletzer, “Stochastic Classification of Urban Terrain for Smart Wheelchair Navigation,” presented at the IROS Workshop on Progress, Challenges and Future Perspectives in Navigation and Manipulation Assistance for Robotic Wheelchairs, Vila Moura, Portugal, Oct. 2012.
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  • C. Montella, T. Perkins, J. R. Spletzer and M. Sands, “To the Bookstore! Autonomous Wheelchair Navigation in an Urban Environment,” in the Int. Conf. on Field and Service Robotics (FSR), Matsushima, Japan, Jul. 2012.
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  • J. Grenestedt, C. Montella, and J. R. Spletzer, “Dynamic Soaring in Hurricanes,” in the Int. Conf. on Unmanned Aircraft Systems (ICUAS), Philadelphia, Pennsylvania, Jun. 2012.
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  • J. Langelaan, J. R. Spletzer, C. Montella, and J. Grenestedt, “Wind Field Estimation for Autonomous Dynamic Soaring,” in the IEEE Int. Conf. on Robotics and Automation (ICRA), Minneapolis, Minnesota, May 2012.
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2011

Technical Reports

  • C. Savtchenko and J. R. Spletzer, “Sidewalk-level People Tracking with a Low-cost 3D LIDAR System,” Lehigh University, Bethlehem, PA, Tech. Rep. LU-CSE-11-003, May 2011.
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2010

Conference Papers

  • J. Derenick, J. R. Spletzer and V. Kumar, “A Semidefinite Programming Framework for Controlling Multi-robot Systems in Dynamic Environments,” in the IEEE Int. Conf. n Decision and Control (CDC), Atlanta, Georgia, Dec. 2010.
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  • J. Grenestedt and J. R. Spletzer, “Towards Perpetual Flight of a Gliding Unmanned Aerial Vehicle in the Jet Stream,” in the IEEE Int. Conf. on Decision and Control (CDC), Atlanta, Georgia, Dec. 2010.
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  • J. Grenestedt and J. R. Spletzer, “Optimal Energy Extraction During Dynamic Jet Stream Soaring,” in the AIAA Guidance, Navigation and Control Conf., Toronto, Canada, Aug. 2010.
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  • C. Gao and J. R. Spletzer, “On-line Calibration of Multiple LIDARs on a Mobile Vehicle Platform,” in the IEEE Int. Conf. on Robotics and Automation (ICRA), Anchorage, Alaska, May 2010.
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2009

Journal Papers & Book Chapters

  • J. Derenick, J. R. Spletzer, and A. Hsieh, “An Optimal Approach to Collaborative Target Tracking with Performance Guarantees,” in the Journal of Intelligent and Robot Systems, vol. 56, no. 1-2, pp. 47-68, Sep. 2009.
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Conference Papers

  • C. Gao, M. Sands and J. R. Spletzer, “Towards Autonomous Wheelchair Systems in Urban Environments,” in the Int. Conf. on Field and Service Robotics (FSR), Cambridge, Massachusetts, Jul. 2009
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  • T. H. Miller, D. A. Stolfo and J. R. Spletzer, “An Automated Asset Locating System (AALS) with Applications to Inventory Management,” in the Int. Conf. on Field and Service Robotics (FSR), Cambridge, Massachusetts, Jul. 2009.
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2008

Journal Papers & Book Chapters

  • J. Bohren, T. Foote, J. Keller, A. Kushleyev, D. Lee, A. Stewart, P. Vernaza, J. Derenick, J. R. Spletzer, and B. Satterfield, “Little Ben: The Ben Franklin Racing Team’s entry to the DARPA Urban Challenge,” in the Journal of Field Robotics, vol 25, no. 9, pp. 598-614, Sep. 2008.
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  • C. Gao, I. Hoffman, T. Miller, T. Panzarella, and J. R. Spletzer, “Autonomous Docking of a Smart Wheelchair for the Automated Transport and Retrieval System (ATRS)”, in the Journal of Field Robotics, vol. 25, no. 4-5, pp. 203-222, Apr. 2008.
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2007

Journal Papers & Book Chapters

  • J. Derenick and J. R. Spletzer, “Convex Optimization Strategies for Coordinating Large-scale Robot Formations”, in IEEE Transactions on Robotics, vol. 23, no. 6, pp. 1252-1259, Dec. 2007.
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  • J. Derenick and J. R. Spletzer, “Second-order Cone Programming (SOCP) Techniques for Coordinating Large-scale Robot Teams in Polygonal Environments”, in Advances in Cooperative Control and Optimization, Lecture Notes in Control and Information Sciences, vol. 369, pp. 95-108, Oct. 2007.
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Conference Papers

  • C. Gao, I. Hoffman, T. Miller, T. Panzarella, and J. R. Spletzer, “Performance Characterization of LIDAR Based Localization for Docking a Smart Wheelchair System,” presented at the IROS Workshop on Assistive Technologies: Rehabilitation and Assistive Robotics, San Diego, California, Oct. 2007.
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  • J. Derenick, J. R. Spletzer and M. Ani Hsieh, “A Graph Theoretic Approach to Optimal Target Tracking for Mobile Robot Teams”, in the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), San Diego, California, Oct. 2007.
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  • C. J. Taylor and J. R. Spletzer, “A Bounded Approach to Cooperative Localization Using Relative Bearing Constraints,” in the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), San Diego, Oct. 2007.
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  • C. Gao, I. Hoffman, T. Panzarella, and J. R. Spletzer, “Automated Transport and Retrieval System (ATRS): A Technology Solution to Automobility for Wheelchair Users,” in the Int. Conf. on Field and Service Robotics (FSR), Chamonix, France, Jul. 2007.
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2006

Conference Papers

  • J. Derenick, C. Mansley and J. R. Spletzer, “Efficient Motion Planning Strategies for Large-scale Sensor Networks”, presented at at the Int. Workshop on the Algorithmic Foundations of Robotics (WAFR), New York, New York, Jul. 2006.
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  • H. Sermeno-Villalta and J. R. Spletzer, “Vision-based Control of a Smart Wheelchair for the Automated Transport and Retrieval System,” in the IEEE Int. Conf. on Robotics and Automation (ICRA), Orlando, Florida, May 2006.
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Technical Reports

  • J. Derenick and J. R. Spletzer, “Optimal Shape Changes for Robot Teams,” Lehigh University, Bethlehem, PA, Tech. Rep. LU-CSE-05-029, 2006.
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2005

Journal Papers & Book Chapters

  • V. Isler, S. Khanna, J. R. Spletzer, and C.J. Taylor, “Target Tracking with Distributed Sensors: the Focus of Attention Problem,” in the Journal of Computer Vision and Image Understanding: Special Issue on Attention and Performance in Computer Vision, vol. 100, no. 1-2, pp. 225-247, Oct.-Nov. 2005.
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  • J. Derenick, C. Thorne and J. R. Spletzer, “Hybrid Free-space Optics/Radio Frequency (FSO/RF) Networks for Mobile Robot Teams,” in Multi-Robot Systems: From Swarms to Intelligent Automata, Alan C. Schultz and Lynne E. Parker (eds.), Springer, pp. 263-268, Mar. 2005.
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Conference Papers

  • J. Derenick, C. Thorne and J. R. Spletzer, “On the Deployment of a Hybrid Free-Space Optic/Radio Frequency (FSO/RF) Mobile Ad-hoc Network,” in the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Edmonton, Canada, Aug. 2005.
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  • E. F. LoPresti, J. Osborn, T. Panzarella, T. Panzarella, Jr., and J. R. Spletzer, “Automatic Transport and Retrieval System for Power Wheelchairs,” in Proc. of the Rehabilitation Engineering and Assistive Technology Society of North America (RESNA), Atlanta, Georgia, Jun. 2005.
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  • J. R. Spletzer and R. Fierro, “Optimal Positioning Strategies for Shape Changes in Robot Teams”, in the IEEE Int. Conf. on Robotics and Automation (ICRA), Barcelona, Spain, Apr. 2005.
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  • R. Fierro, C. Branca and J. R. Spletzer, “On-line Optimization-based Coordination of Multiple Unmanned Vehicles,” in the IEEE Int. Conf. on Networking, Sensing and Control, Tucson, Arizona, Mar. 2005.
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2004

Technical Reports

  • M. Casey, H. Sermeno-Villalta and J. R. Spletzer, “A Vision-based Approach to Wireless Optical Networking,” Lehigh University, Bethlehem, PA, Tech. Rep. LU-CSE-04-015, Oct. 2004.
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  • J. R. Spletzer, “A New Approch to Range-only SLAM for Wireless Sensor Networks,” Lehigh University, Bethlehem, PA, Tech. Rep. LU-CSE-04-008, Mar. 2004.
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2003

Conference Papers

  • J. R. Spletzer and C.J. Taylor, “A Bounded Uncertainty Approach to Multi-robot Localization”, in in the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Las Vegas, Nevada, Oct. 2003.
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