Research Papers

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Submissions from 2020

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

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Robotics Technology Kernel for Radiation Sensing and Site Exploitation, William Brroks, 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

Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model, Daniel J. 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 J. Gonzalez Ph.D., Mark C. Lesak, Andres H. Rodriguez CDT '22, Joseph A. Cymerman, and Christopher M. Korpela Ph.D.

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

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

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

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

Artificial Intelligence Ethics: Governance through Social Media, Jorge Buenfil, Ross Arnold, Benjamin Abruzzo, 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 J. Lowrance and John R. Rogers

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