Research Papers

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Submissions from 2022

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The Effectiveness of Virtual Reality for Training Human-Robot Teams, Colin Jones, Charles O'Donnell, Rob Semmens, and Michael Novitzky

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System-of-Systems for Remote Situational Awareness: Integrating Unattended Ground Sensor Systems with Autonomous Unmanned Aerial System and Android Team Awareness Kit, Jinho Kim, Tim Gregory, Jade Freeman, and Christopher Korpela

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A Monte Carlo Approach to Closing the Reality Gap, Damian Lyons, James C. Finocchiaro, Michael Novitzky, and Christopher Korpela

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Design and Test of an Autonomous Drone SWARM for Chemical Agent Detection, Justin Robinson; Scott Karlee; Matthew J. Blejwas; Whitton W. Zachary; Jackson H. Thomsen; Bartlomiej Grzybowski,; Keegan A. Leth; Dennis P. Kirby; Nicholas A. Fink; Pratheek Manjunath; Mark C. Lesak; Steven J. Henderson; and James E. Bluman

Submissions from 2021

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AR/VR Tutorial System for Human-Robot Teaming, Colin Jones CDT'22, Michael Novitzky, and Christopher Korpela

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Comparing Feedback Linearization and Adaptive Backstepping Control for Airborne Orientation of Agile Ground Robots using Wheel Reaction Torque, Jinho Kim, Daniel Gonzalez, and Christopher Korpela

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Autonomous Quadrotor Landing on Inclined Surfaces Using Perception-Guided Active Asymmetric Skids, Jinho Kim, Mark Lesak, Dylan Taylor CDT'22, Daniel Gonzalez, and Christopher Korpela

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Detecting and Localizing Objects on an Unmanned Aerial System (UAS) Integrated with a Mobile Device, Jinho Kim, Kevin Lin CDT'22, Stephen Nogar, Dominic Larkin, and Christopher Korpela

ATAK Integration through ROS for Autonomous Air-Ground Team, Dominic Larkin, Michael Novitzky, Jinho Kim, and Christopher Korpela

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Maximizing object detection using sUAS, Curtis Manore CDT'21, Pratheek Manjunath, and Dominic Larkin

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Performance of Single Board Computers for Vision Processing, Curtis Manore CDT'21, Pratheek Manjunath, and Dominic Larkin

Toward Measures of Human-robot Teaming Effectiveness, Michael Novitzky, Robert Semmens, and Paul Robinette

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Light-Weight Solution for High Speed Obstacle Avoidance, Samuel Pool and Pratheek Manjunath

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Improving Reward Functions in robots Playing Capture the Flag Using Q-Learning, Trevor Powers CDT'21, Michael Novitzky, and Christopher Korpela

Submissions from 2020

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Robotics Technology Kernel for Radiation Sensing and Site Exploitation, William Brooks CDT'19, Dominic Larkin, and Christopher Korpela

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Comparison of Skeleton Models and Classification Accuracy forPosture-Based Threat Assessment Using Deep-Learning, Kevin Carey, Benjamin Abruzzo, Christopher Lowrance, Eric Sturzinger, Ross Arnold, and Christopher Korpela

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Wait, I'm tagged?! Toward AR in Project Aquaticus, Nicholas H. Franck CDT'20, Christa Chewar, Michael Novitzky, and Christopher Korpela

Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model, Daniel Gonzalez and Harry Asada

Dynamics and Aerial Attitude Control for Rapid Emergency Deployment of the Four-Wheel Independent Drive and Steering (4WIDS) Agile Ground Robot AGRO, Daniel Gonzalez, Mark Lesak, Andres Rodriguez CDT '22, Joseph Cymerman, and Christopher Korpela

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Designing and Flight-Testing a Swarm of Small UAS to Assist Post-Nuclear Blast Forensics, Andrew Kopeikin, Conner Russell CDT'19, Hayden Trainor CDT'19, Ashley Rivera CDT'19, Tyrus Jones CDT'19, Benjamin Baumgartner CDT'19, Pratheek Manjunath, Samuel Heider, Thomas Surdu CDT'19, and Matthew Galea CDT'19

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Virtual Reality for Immersive Human Machine Teaming with Vehicles, Michael Novitzky, Robert Semmens, Nicholas Franck CDT'20, Christa Chewar, and Christopher Korpela

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Design of a Printed Circuit Board (PCB) for Electrical Integration on the Agile Ground Robot (AGRO), Andres H. Rodriguez CDT '22, Daniel J. Gonzalez Ph.D., and Mark C. Lesak

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Insights into Expertise and Tactics in Human-Robot Teaming, Robert Semmens, Michael Novitzky, Paul Robinette, and Gregory Lieberman

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Insights into Expertise and Tactics in Human-Robot Teaming, Rob Semmens, Michael Novitzky, Paul Robinette, and Gregory Lieberman

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Autonomous Teammates for Squad Tactics, James Tyler CDT'19, Ross Arnold, Benjamin Abruzzo, and Christopher Korpela

Submissions from 2019

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A Collaborative Visual Localization Scheme for a Low-Cost Heterogeneous Robotic Team with Non-Overlapping Perspectives, Benjamin Abruzzo, David Cappelleri, and Philippos Mordohai

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Cascaded Neural Networks for Identification and Posture-Based Threat Assessment of Armed People, Benjamin Abruzzo, Kevin Carey, Christopher Lowrance, Eric Sturzinger, Ross Arnold, and Christopher Korpela

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Autonomous Navigation via a Deep Q Network with One-Hot Image Encoding, Will Anderson CDT 2020, Kevin Carey, Eric Sturzinger, and Christopher Lowrance

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Towards a Heterogeneous Swarm for Object Classification, Ross Arnold, Benjamin Abruzzo, and Christopher Korpela

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Artificial Intelligence Ethics: Governance through Social Media, Ross Arnold, Jorge Buenfil, Benjamin Abruzzo, and Christopher Korpela

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What is a Robot Swarm: A Definition for Swarming Robotics, Ross Arnold, Kevin Carey, Benjamin Abruzzo, and Christopher Korpela

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Towards a General-Purpose, Replicable, Swarm-Capable Unmanned Aircraft System, Ross Arnold, Andrew N. Kopeikin, Benjamin Abruzzo, and Christopher Korpela

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Unmanned Aircraft System Swarm for Radiological and Imagery Data Collection, James E. Bluman, Andrew N. Kopeikin, Samuel A. Heider, Dominic M. Larkin, Christopher M. Korpela, and Ricardo O. Morales

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Implementing a full state feedback laboratory exercise in an introductory undergraduate control systems engineering course, James Bluman, Aaron St. Leger, and Christopher Korpela

Performance Comparison of Inertial Measurement Units Fused with Odometry in Extended Kalman Filter for Dead-Reckoning Navigation, Kevin Carey, Benjamin Abruzzo, David Harvie, and Christopher Korpela

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Evolving the Robotic Technology Kernel to Expand Future Force Autonomous Ground Vehicle Capabilities, Joseph A. Cymerman, Sang M. Yim, Dominic M. Larkin, Kathryn Pegues, Wyatt Gengler, Samuel Norman, Zachary Maxwell, Nicholas Gasparri, Jeremy Angle, and Jaylen Collier

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Layering Laser Rangefinder Points onto Images for Obstacle Avoidance by a Neural Network, Nicholas Ges, Will Anderson, and Christopher J. Lowrance

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An active and incremental learning framework for the online prediction of link quality in robot networks, Christopher J. Lowrance and Adrian P. Lauf

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Stimulating Higher Order Thinking in Mechatronics by Comparing PID and Fuzzy Control, Christopher Lowrance and John Rogers

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Aquaticus:Publicly Available Datasets from a Marine Human-robot Teaming Testbed, Michael Novitzky, Paul Robinette, Michael Benjamin, Caileigh Fitzgerald, and Henrik Schmidt

UAS Swarm Shares Survey Data to Expedite Coordinated Mapping of Radiation Hotspots, Brian Savidge, Andrew N. Kopeikin, Ross Arnold, and Dominic Larkin

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A Machine Learning Framework for Building Passive Surveillance Photogrammetry Models, Eric Sturzinger, Bradley Whitehall, James Tyler, and Christopher J. Lowrance

Submissions from 2018

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Augmenting Computer Vision with IMU from Mobile Phone for Robust Robot Following of Human Leader, Benjamin Baumgartner and Christopher J. Lowrance

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Application of Convolutional Neural Network Image Classification for a Path-Following Robot, William Born and Christopher J. Lowrance

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Smoother Robot Control from Convolutional Neural Networks Using Fuzzy Logic, William Born and Christopher J. Lowrance

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Zero to Swarm: Integrating sUAS Swarming into a Multi-disciplinary Engineering Program, Todd Brick, Michael J. Lanham, Andrew N. Kopeikin, Christopher Korpela, and Ricardo O. Morales

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Push Grasping with Humanoid Hands, Eadom Dessalene, Christopher Korpela, and Daniel Lofaro

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Comparing Deep Learning Models for Battery State Prediction based on Robot Path Plans, Anna DeVries, Jordan Moore, Samuel Miller, and Christopher J. Lowrance

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Ethics and Emerging Technologies: Teaching Philosophy with Robotic Weapons Systems, Christopher Korpela and Michael Saxon

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Wearable Technologies for Enhanced Situational Awareness, Christopher Korpela and Amber Walker

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Teaching Embedded Systems with a Robotics Theme using ROS on the Raspberry Pi, Dominic M. Larkin and Christopher Lowrance

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Reaching Higher Order Thinking in Mechatronics using a Controller Comparative Study, Dominic M. Larkin, Christopher J. Lowrance, and John Rogers

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Effect of Crowd Composition on the Wisdom of Artificial Crowds Metaheuristic, Dominic M. Larkin, Christopher Lowrance, and Sang M. Yim

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Effect of Crowd Composition on the Wisdom of Artificial Crowds Metaheuristic, Christopher J. Lowrance, Dominic M. Larkin, and Sang M. Yim

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An active and incremental learning framework for the online prediction of link quality in robot networks, Christopher J. Lowrance and Adrian P. Lauf

Submissions from 2017

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Report of the 2017 Group of Governmental Experts on Lethal Autonomous Weapons Systems (LAWS), Christopher Korpela

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Project Based Learning Using the Robotic Operating System (ROS) for Undergraduate Research Applications, Christopher Korpela and Stephen A. Wilkerson

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A dynamic ensemble for estimating state-of-charge of interchangeable robot batteries, Samuel J. Miller, Stephen Uyehara, Zachary Vosburgh, Jacob Moffatt, Brayden Banske, Dominique Tan, and Christopher J. Lowrance

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A Dynamic Ensemble for Estimating State-of-Charge of Interchangeable Robot Batteries, Samuel J. Miller, Stephen Uyehara, Zachery Vosburgh, Jacob Moffatt, Braden Banske, Dominique Tan, and Christopher J. Lowrance

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Dexterous Aerial Robots—Mobile Manipulation Using Unmanned Aerial Systems, Matko Orsag, Christopher Korpela, Stjepan Bogdan, and Paul Oh

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Platform Agnostic, Scalable, and Unobtrusive FPGA Network Processor Design of Moving Target Defense over IPv6 (MT6D) over IEEE 802.3 Ethernet, Joseph Sagisi, Joseph Tront, and Randy Marchany

Submissions from 2016

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A Framework for Autonomous and Continuous Aerial Intelligence, Surveillance, and Reconnaissance Operations, Christopher Korpela, Philip Root, Jinho Kim, Stephan Wilkerson, and Stephen Andrew Gadsden

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Direction of Arrival Estimation for Robots using Radio Signal Strength and Mobility, Christopher J. Lowrance and Adrian P. Lauf

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A Fuzzy-Based Machine Learning Model for Robot Prediction of Link Quality, Christopher J. Lowrance, Adrian P. Lauf, and Mehmed Kantardzic

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Aerial Swarms as Asymmetric Threats, Stephen Wilkerson, Christopher Korpela, and Stephen Gadsden

Submissions from 2015

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Applied Robotics for Installation and Base Operations for Industrial Hygiene, Christopher Korpela, Kenneth Chaney, and Pareshkumar Brahmbhatt

Submissions from 2014

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Insertion Tasks using an Aerial Manipulator, Christopher Korpela

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Towards Valve Turning using a Dual-Arm Aerial Manipulator, Christopher Korpela

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Valve Turning using a Dual-Arm Aerial Manipulator, Matko Orsag, Christopher Korpela, Stjepan Bogdan, and Paul Oh

Submissions from 2013

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Vulnerability-Aware Architecture for a Tactical, Mobile Cloud, Kevin Huggins, Nicolas Léchevin, Patrick Maupin, and Dominic Larkin

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Towards the Realization of Mobile Manipulating Unmanned Aerial Vehicles (MM-UAV): Peg-in-hole Insertion Tasks, Christopher Korpela, Matko Orsag, Pareshkumar Brahmbhatt, and Paul Oh

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A Hardware-in-the-loop Test Rig for Aerial Manipulation, Christopher Korpela, Matko Orsag, Youngbum Jun, Pareshkumar Brahmbhatt, and Paul Oh

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Dynamic Stability of a Mobile Manipulating Unmanned Aerial Vehicle, Christopher Korpela, Matko Orsag, Miles Pekala, and Paul Oh

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Turning Remote-Controlled Military Systems into Autonomous Force Multipliers, Paul Maxwell, Dominic Larkin, and Christopher J. Lowrance

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Lyapunov based Model Reference Adaptive Control for Aerial Manipulation, Matko Orsag, Christopher Korpela, Stjepan Bogdan, and Paul Oh

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Stability Control in Aerial Manipulation, Matko Orsag, Christopher Korpela, Miles Pekala, and Paul Oh

Submissions from 2012

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Surveillance Coverage and Vulnerability Awareness Concepts for Tactical Swarms, Anne-Laure Jousselme, Dominic Larkin, Kevin Huggins, Nicolas Léchevin, and Patrick Maupin

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Flight Stability in Aerial Redundant Manipulators, Christopher M. Korpela, Matko Orsag, Todd Danko, Kobe Brian, Clayton McNeil, Robert Pisch, and Paul Oh

Submissions from 2011

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Designing a system for mobile manipulation from an Unmanned Aerial Vehicle, Christopher Korpela, Todd W. Danko, and Paul Y. Oh

Submissions from 2009

Learning Mechatronics through Graduated Experimentation, Christopher Korpela and Ryan Ebel

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An FPGA Multiprocessor System for Undergraduate Study, Christopher Korpela and Robert McTasney

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Towards a distributed, cognitive robotic architecture for autonomous heterogeneous robotic platforms, Scott D. Lathrop and Christopher Korpela

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Ten-kilogram vehicle autonomous operations, John Rogers, Christopher Korpela, and Kevin Quigley

Submissions from 2008

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A networked control system for heterogeneous robots, Christopher Korpela and Benjamin A. Ring

Submissions from 2007

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Multidiscipline Multicultural Projects in Robotics, Christopher Korpela and William Adams

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Robotics in Multidiscipline Multicultural Projects, Christopher Korpela and William Adams

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Assessing the EE Program Outcome Assessment Process, Robert Sadowski, Lisa Shay, Christopher Korpela, and Erik Fretheim