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Book Chapters and Theses

K. Hauser and V. Ng-Thow-Hing. Multi-Modal Motion Planning for Precision Pushing on a Humanoid Robot. In K. Harada, E. Yoshida, and K. Yokoi (eds), Motion Planning for Humanoid Robots, Springer, 2010.

K. Hauser, Motion Planning for Legged and Humanoid Robots. Ph.D. Thesis, Stanford University, September 2008. (8.9mb, single sided)

Refereed Conference and Journal Publications

2012

Y. Zhang, J. Luo, and K. Hauser. Sampling-based Motion Planning With Dynamic Intermediate State Objectives: Application to Throwing. To appear in IEEE Int'l Conference on Robotics and Automation (ICRA), 2012.

J. Luo and K. Hauser. Interactive Generation of Dynamically Feasible Robot Trajectories from Sketches Using Temporal Mimicking. To appear in IEEE Int'l Conference on Robotics and Automation (ICRA), 2012.

J. Johnson and K. Hauser. Optimal Acceleration-Bounded Trajectory Planning in Dynamic Environments Along a Specified Path. To appear in IEEE Int'l Conference on Robotics and Automation (ICRA), 2012.

K. Hauser. On Responsiveness, Safety, and Completeness in Real-Time Motion Planning. Autonomous Robots, 32(1):35-48, 2012.

2011

E. You and K. Hauser. Assisted Teleoperation Strategies for Aggressively Controlling a Robot Arm with 2D Input. In Robotics: Science and Systems, Los Angeles, July 2011.

K. Hauser and V. Ng-Thow-Hing. Randomized Multi-Modal Motion Planning for a Humanoid Robot Manipulation Task. In International Journal of Robotics Research, 30(6):678-698, 2011. doi: 10.1177/0278364910386985.

2010

K. Hauser. Adaptive Time Stepping in Real-Time Motion Planning. In Workshop on the Algorithmic Foundations of Robotics, Singapore, Dec. 2010.

K. Hauser. Randomized Belief-Space Replanning in Partially-Observable Continuous Spaces. In Workshop on the Algorithmic Foundations of Robotics, Singapore, Dec. 2010.

K. Hauser and V. Ng-Thow-Hing. Fast Smoothing of Manipulator Trajectories using Optimal Bounded-Acceleration Shortcuts. In IEEE Intl. Conf. of Robotics and Automation (ICRA), Anchorage, USA, May 2010.

K. Hauser and J.-C. Latombe. Multi-Modal Motion Planning in Non-Expansive Spaces. In International Journal of Robotics Research, 29(7):897-915, 2010. doi 10.1177/0278364909352098

2009

R. Jansen, K. Hauser, N. Chentanez, F. van der Stappen, and K. Goldberg, Surgical Retraction of Non-Uniform Deformable Layers of Tissue: 2D Robot Grasping and Path Planning. In proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, Oct. 2009.

R. B. Rusu, A. Sundaresan, B. Morisset, K. Hauser, M. Agrawal, J.-C. Latombe, M. Beetz. Leaving Flatland: Efficient real-time three-dimensional perception and motion planning. In Journal of Field Robotics, 26(10):841-862, 2009.

K. Hauser. A Decision-Theoretic Formalism for Belief-Optimal Reasoning. In proceedings of IEEE Performance Measurement for Intelligent Systems Workshop (PerMIS), Gaithersburg, MD, Sep. 2009.

N. Chentanez, R. Alterovitz, D. Richie, J. Cho, K. Hauser, K. Goldberg, J.R. Shewchuk, and J. O'Brien, Interactive Simulation of Surgical Needle Insertion and Steering. In ACM SIGGRAPH, New Orleans, LA, 2009.

K. Hauser, R. Alterovitz, N. Chentanez, A. Okamura, and K. Goldberg, Feedback Control for Steering Needles Through 3D Deformable Tissue Using Helical Paths. In Robotics: Science and Systems, Seattle, WA, 2009.

B. Morisset, R.B. Rusu, A. Sundaresan, K. Hauser, M. Agrawal, J.-C. Latombe, and M. Beetz, Leaving Flatland. Toward Real-Time 3D Navigation. In proceedings of IEEE Intl. Conf. of Robotics and Automation (ICRA), Kobe, Japan, May 2009. Example video (wmv, 1.7mb)

M. Torabi, K. Hauser, R. Alterovitz, V. Duindam, and K. Goldberg, Guiding Medical Needles Using Single-Point Tissue Manipulation. In proceedings of IEEE Intl. Conf. of Robotics and Automation (ICRA), Kobe, Japan, May 2009. Best Medical Robotics Paper Finalist Example video (wmv, 2.9mb)

2008

K. Hauser and J.-C. Latombe, Multi-Modal Motion Planning for Non-Expansive Spaces. In the Workshop on the Algorithm Foundations of Robotics (WAFR), Guanajuato, Mexico, Dec. 2008.

K. Hauser, T. Bretl, J.-C. Latombe, K. Harada, and B. Wilcox, Motion planning for legged robots on varied terrain. In Intl. J. of Robotics Research 27(11-12):1325-1349, 2008.

2007

V. Ng-Thowhing, E. Drumwright, K. Hauser, Q. Wu, and J. Wormer, Expanding Task Functionality in Established Humanoid Robots. In proceedings of IEEE Conference on Humanoid Robots, 2007.

K. Hauser, V. Ng-Thow-Hing, H. Gonzalez-Banos, Multi-Modal Motion Planning for a Humanoid Manipulation Task. In proceedings of the International Symposium on Robotics Research (ISRR) 2007. ASIMO videos (user:anonymous, pass:isrr07)

2006 and older

K. Hauser, T. Bretl, J.-C. Latombe, Using Motion Primitives in Probabilistic Sample-Based Planning for Humanoid Robots. In proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR) 2006 Example video (wmv, 5.7mb)

K. Hauser, T. Bretl, J.-C. Latombe, B. Wilcox, Motion Planning for a Six-Legged Lunar Robot. In proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR) 2006 Example video (wmv, 6.7mb)

K. Harada, K. Hauser, T. Bretl, J.-C. Latombe, Natural motion generation for humanoid robots. In proceedings of IEEE Conference on Intelligent Robots and systems (IROS), 2006

K. Hauser, T. Bretl, J.-C. Latombe, Non-gaited Humanoid Locomotion Planning. In proceedings of IEEE Intl. Conf. of Humanoid Robots 2005

K. Hauser, T. Bretl, J.-C. Latombe, Learning-Assisted Multi-Step Planning. In proceedings of IEEE Intl. Conf. of Robotics and Automation (ICRA), 2005

K. Hauser, C. Shen, J. F. O'Brien, Interactive Deformation Using Modal Analysis With Constraints. Graphics Interface 2003 Proceedings. pp. 247-255

Other Refereed Publications

K. Hauser. Design of Optimal Robot User Interfaces. To appear in IROS 2011 Workshop on Open Problems in Motion Planning, September, 2011.

J. Johnson, Y. Zhang, and K. Hauser. Semiautonomous Longitudinal Collision Avoidance Using a Probabilistic Decision Threshold.. To appear in IROS 2011 Workshop on Perception and Navigation for Autonomous Vehicles in Human Environments, September, 2011.

K. Hauser. Online Planning in Continuous POMDPs with Open-Loop Information-Gathering Plans.. In ICML Workshop on Planning and Acting with Uncertain Models, Seattle, USA, July, 2011.

Y Zhang and K. Hauser. Driver Interference and Risk in Semiautonomous Braking Under Uncertainty. In Intl. Workshop on Collaborative Robots and Human Robot Interaction, Philadelphia, USA, May, 2011.

K. Hauser. Task Planning with Continuous Actions and Nondeterministic Motion Planning Queries. In proceedings of AAAI Workshop on Bridging the Gap between Task and Motion Planning, Atlanta, USA, July 11, 2010.

K. Hauser. Task Planning with Continuous Actions and Nondeterministic Motion Planning Queries. In proceedings of AAAI Workshop on Bridging the Gap between Task and Motion Planning, Atlanta, USA, July 11, 2010.

N. Chentanez, R. Alterovitz, D. Ritchie, L. Cho, K. K. Hauser, K. Goldberg, J. R. Shewchuk, and J. F. O'Brien. Simulation of Needle Insertion and Tissue Deformation for Modeling Prostate Brachytherapy. Brachytherapy, 9(Supplement 1):S72–S73, 2010. Abstracts of the 31st Annual Meeting of the American Brachytherapy Society, April 29-May 1, 2010.

K. Hauser. On the Connectivity of Motion Spaces for Biologically-Inspired Legged Robots. In proceedings of IROS 2009 Workshop on Biologically-Inspired Robots, St. Louis, Oct. 2009.

K. Hauser and J.-C. Latombe. Integrating task and PRM motion planning: Dealing with many infeasible motion planning queries. In proceedings of ICAPS 2009 Workshop on Bridging the Gap Between Task and Motion Planning, Thessaloniki, Greece, Sep. 2009.

C. Shen, K. Hauser, C. G. Gatchalian, J. F. O'Brien, Modal Analysis for Real-Time Viscoelastic Deformation. Technical Sketch. ACM SIGGRAPH 2002 Conference Abstracts and Applications