ROBUST ROBOTICS GROUP|MASSACHUSETTS INSTITUTE OF TECHNOLOGY
journal articles | conference papers | workshop, symposia| other
• F. Doshi and N. Roy.
"Spoken Language Interaction with Model Uncertainty: An Adaptive
Human-Robot Interaction System''.
Connection Science, To appear.
• T. Kollar and N. Roy.
"Trajectory Optimization using Reinforcement Learning for Map Exploration''.
International Journal of Robotics Research, Volume 27, Issue 2, February
2008, pages 175-197.
[Compressed postscript]
[PDF]
[Bibtex Entry]
• D. Jourdan and N. Roy.
"Optimal Sensor Placement for Agent Localization''.
ACM Transactions on Sensor Networks, Volume 4, Issue 3, August 2008.
[Bibtex Entry]
• N. Roy, G. Gordon and S. Thrun.
"Finding Approximate POMDP solutions Through Belief Compression''.
Journal of Artificial Intelligence Research, 23: 1-40, 2005.
[Compressed postscript]
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[Bibtex Entry]
• J. Pineau, M. Montemerlo, M. Pollack, N. Roy and S. Thrun.
"Towards robotic assistants in nursing homes: challenges and results''.
Robotics and Autonomous Systems, Volume 42, Issues 3-4, 31 March 2003, pages 271-281.
[Compressed postscript]
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[Bibtex Entry]
• N. Roy & G. Dudek. "Collaborative Exploration and Rendezvous:
Algorithms, Performance Bounds and Observations''. Autonomous
Robots, 11(2): 117-136, 2001.
[Compressed postscript]
[PDF]
[Bibtex Entry]
• S. Thrun, M. Beetz, M. Bennewitz, W. Burgard, A.B. Creemers,
F. Dellaert, D. Fox, D. Hahnel, C. Rosenberg, N. Roy, J. Schulte,
and D. Schulz. "Probabilistic Algorithms and the Interactive Museum
Tour-Guide Robot Minerva''. International Journal of Robotics
Research, 19(11): 972-999, 2000.
[Compressed postscript]
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[Bibtex Entry]
• Thomas Kollar and Nicholas Roy. "Efficient optimization of
information-theoretic exploration in SLAM". Proceedings of the National
Conference on Artificial Intelligence (AAAI), Chicago, 2008, pp. 1369-1375.
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• Jared Glover, Daniela Rus and Nicholas Roy. "Manipulation using
Probabilistic Models of Object Geometry''. Proceedings of Robotics:
Science and Systems (RSS 2008). Zurich,
Switzerland, 2008.
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• Emma Brunskill, Bethany R. Leffler, Lihong Li, Michael L. Littman and Nicholas Roy. "CORL: A Continuous-state
Offset-dynamics Reinforcement Learner''. Proceedings of the 24th
Conference on Uncertainty in Artificial Intelligence (UAI 2008). Helsinki,
Finland, 2008.
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• Finale Doshi, Joelle Pineau and Nicholas Roy. "Reinforcement
Learning with Limited Reinforcement: Using
Bayes Risk for Active Learning in POMDPs''. Proceedings of the 25th
International Conference on Machine Learning (ICML 2008). Helsinki, Finland,
2008.
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• Ruijie He, Sam Prentice and Nicholas Roy. "Planning in Information
Space for a Quadrotor Helicopter in a GPS-denied
Environments''. Proceedings of the IEEE
International Conference on Robotics and Automation (ICRA 2008). Los
Angeles, 2008.
(Winner, Best paper award).
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• Finale Doshi and Nicholas Roy. "The Permutable POMDP: Fast
Solutions to POMDPs
for Preference Elicitation''. Proceedings of the Seventh
International Conference on Autonomous Agents and Multiagent Systems
(AAMAS 2008). Estoril, Portugal, 2008. Finalist, best student paper.
[Compressed postscript]
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[BiBTeX Entry]
• Emma Brunskill, Leslie Kaelbling, Tomas Lozano-Perez and Nicholas
Roy. "Continuous-State POMDPs with Hybrid Dynamics''. Proceedings of the
Tenth International Symposium on
Artificial Intelligence and Mathematics. Fort Lauderdale, FL, 2008. To appear.
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• Finale Doshi, Joelle Pineau and Nicholas Roy. "Reinforcement
Learning with Limited Reinforcement: Using Bayes Risk for Active Learning
in POMDPs''. Proceedings of the
Tenth International Symposium on
Artificial Intelligence and Mathematics. Fort Lauderdale, FL, 2008.
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• Finale Doshi, Emma Brunskill, Alec Shkolnik, Thomas Kollar,
Khashayar Rohanimanesh, Russ Tedrake and Nicholas Roy. "Collision
Detection in Legged Locomotion using Supervised Learning''. Proceedings of the
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
2007). San Diego, October, 2007.
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• Emma Brunskill, Thomas Kollar and Nicholas Roy. "Topological
Mapping Using Spectral Clustering and Classification''. Proceedings of the
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
2007). San Diego, October, 2007.
[Compressed postscript]
[PDF]
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• Cyrill Stachniss, Giorgio Grisetti, Wolfram Burgard and Nicholas Roy. "Analyzing Gaussian Proposal Distributions for
Mapping with Rao-Blackwellized Particle Filters''. Proceedings of the
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
2007). San Diego, October, 2007.
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• Sam Prentice and Nicholas Roy. "The Belief Roadmap: Efficient
Planning in Linear POMDPs by Factoring
the Covariance''. Proceedings of the 13th International Symposium of
Robotics Research (ISRR), Hiroshima, Japan. November 2007.
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• Nicholas Roy, John Leonard, Una-May O'Reilly, Daniela Rus and Seth Teller. "The Experience of Teaching Software
Development in a Robotics Project Course''. Proceedings of the Third
International CDIO Conference and Collaborators' Meeting. Cambridge,
MA. June 2007.
A
[Compressed postscript]
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[BiBTeX Entry]
• Finale Doshi and Nicholas Roy.
"Efficient Model Learning for Dialog Management''. Proceedings
of Human-Robot Interaction (HRI 2007). Washington, DC, March 2007.
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• Nicholas Roy and Caleb Earnest.
"Dynamic Action Spaces for Information Gain Maximization
in Search and Exploration''. Proceedings
of the American Control Conference (ACC 2006). Minneapolis, June 2006.
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• Thomas Kollar and Nicholas Roy.
"Using Reinforcement Learning to Improve Exploration Trajectories for
Error Minimization''. Proceedings
of the IEEE International Conference on Robotics and Automation
(ICRA 2006). Orlando, May 2006.
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• Patrycja Missiuro and Nicholas Roy.
"Adapting Probabilistic Roadmaps to Handle Uncertain Maps''. Proceedings
of the IEEE International Conference on Robotics and
Automation.
(ICRA 2006). Orlando, May 2006.
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• Damien B. Jourdan and Nicholas Roy.
"Optimal Sensor Placement for Agent Localization''. Proceedings
of the IEEE/ION Position Location and Navigation Symposium
(PLANS 2006). San Diego, April 2006.
(Winner, Best student paper award).
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• Damien B. Jourdan, John J. Deyst, Jr., Moe Z. Win and Nicholas Roy.
"Monte Carlo Localization in Dense Multipath Environments Using UWB
Ranging''. Proceedings
of the IEEE International Conference on Ultra-Wideband
(ICU 2005). Zurich, Switzerland, September 2005.
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• R. Sim, and N. Roy. "Global A-Optimal Robot Exploration in SLAM''.
Proceedings
of the IEEE International Conference on Robotics and Automation
(ICRA 2005). Barcelona, April 2005.
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• E. Brunskill and N. Roy. "SLAM using Incremental Probabilistic PCA
and Dimensionality Reduction''. Proceedings
of the IEEE International Conference on Robotics and Automation
(ICRA 2005). Barcelona, April 2005.
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• R. Sim, G. Dudek and N. Roy. "Online Control Policy Optimization
for Minimizing Map Uncertainty during Exploration''. Proceedings
of the IEEE International Conference on Robotics and Automation
(ICRA 2004). New Orleans, April 2004. pp. 1758 - 1763.
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• M. Montemerlo, N. Roy and and S. Thrun. "Perspectives on
Standardization in Mobile Robot Programming : The Carnegie Mellon
Navigation (CARMEN) Toolkit''. Proceedings of the IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS 2003).
Las Vegas, October, 2003. Vol. 3, pp 2436-2441.
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• N. Roy and G. Gordon and S. Thrun. "Planning under Uncertainty for
Reliable Health Care Robotics''. Proceedings of the 4th International
Conference on Field and Service Robotics (FSR). Lake Yamanaka, Japan.
July, 2003.
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• N. Roy and G. Gordon. "Exponential Family PCA for Belief
Compression in POMDPs''. Advances in Neural Information
Processing (15) NIPS, Vancouver, BC. Dec. 2002.
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• N. Roy and S. Thrun.
"Motion Planning through Policy Search''.
Proceedings of the IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS 2002). Lausanne, Switzerland,
Sept. 2002
[Compressed postscript]
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[BiBTeX Entry]
• J. Matthews, S. Engberg, M. Montemerlo, J. Pineau, N. Roy, J. Rogers,
S. Thrun, S. Handler, T. Starrett, D. Ting, and R. Travis. "The
Nursebot
project: Results of preliminary field studies during development of a
personal robotic assistant for older adults''. In Proceedings of the Greater
Pittsburgh 14th Annual Nursing Research Conference, Pittsburgh, PA, 2002.
[BiBTeX Entry]
• J. Matthews, S. Engberg, M. Montemerlo, J. Pineau, N. Roy,
J. Rogers,
and S. Thrun. "Robotic assistance during ambulation by older adults''. In
Proceedings of the Annual Conference of the American Medical Informatics
Association, San Antonio, TX, 2002.
[BiBTeX Entry]
• M. Montemerlo, J. Pineau, N. Roy, S. Thrun and V. Varma.
"Experiences with a Mobile Robotic Guide for the Elderly''.
Proceedings of the International Conference on
Artificial Intelligence (AAAI 2002). Edmonton, Jul. 2002
[Compressed postscript]
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[BiBTeX Entry]
• N. Roy & A. McCallum.
"Toward Optimal Active Learning through Monte Carlo Estimation of
Error Reduction''. Proceedings of the International Conference on
Machine Learning (ICML 2001). Williamstown, Jun. 2001
[Compressed postscript]
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[BiBTeX Entry]
• N. Roy, J. Pineau & S. Thrun.
"Spoken Dialog Management for Robots''. Association for Computational
Linguistics (ACL 2000). Hong Kong, Oct. 2000
[Compressed postscript]
[PDF]
[BiBTeX Entry]
• N. Roy & S. Thrun. "Coastal Navigation with Mobile
Robots''. Advances in Neural Information Processing 12 (NIPS). Colorado, Dec. 1999
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• S. Thrun, M. Bennewitz, W. Burgard, A.B. Cremers, F. Dellaert,
D. Fox, D. Haehnel, G. Lakemeyer, C. Rosenberg, N. Roy, J. Schulte,
D. Schulz, and W. Steiner. "Experiences with two deployed
interactive tour-guide robots''. Proceedings of the International
Conference on Field and Service Robotics (FSR'99), Pittsburgh, PA,
August, 1999.
[BiBTeX Entry]
• N. Roy & S. Thrun. "Online Self-Calibration for Mobile
Robots''. IEEE/RSJ International Conference on Robotics and Automation.
Detroit, May 1999.
[Compressed postscript]
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• N. Roy, W. Burgard, D. Fox & S. Thrun. "Coastal Navigation -- Mobile
Robot Navigation with Uncertainty in Dynamic Environments''.
IEEE/RSJ International Conference on Robotics and Automation. Detroit,
May 1999.
[Compressed postscript]
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[BiBTeX Entry]
• S. Thrun, M. Bennewitz, W. Burgard, A. Cremers, F. Dellaert, D. Fox,
D. Haehnel, C. Rosenberg, N. Roy, J. Schulte & D. Schulz. "MINERVA: A
Second-Generation Museum Tour-Guide Robot''. IEEE/RSJ International
Conference on Robotics and Automation. Detroit, May 1999.
[ Compressed postscript]
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[BiBTeX Entry]
• N. Roy, G. Dudek & P. Freedman. "Surface Sensing and Classification
for Efficient Mobile Robot Navigation''. Proceedings of the IEEE/RSJ
International Conference on Robotics and Automation. Minneapolis, 1996.
[Compressed postscript]
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• Abraham Bachrach, Alborz Garamifard, Daniel Gurdan,
Ruijie He, Sam Prentice, Jan Stumpf and Nicholas Roy.
``Co-ordinated Tracking and Planning using Air and Ground Vehicles''.
In Proceedings of the International Symposium on Experimental Robotics
(ISER), Athens, 2008. Springer Tracts in Advanced Robotics (STAR).
[Compressed postscript] [PDF]
[BiBTeX Entry]
• Katie Byl, Alec Shkolnik, Sam Prentice, Nick Roy and Russ Tedrake.
``Reliable Dynamic Motions for a Stiff Quadruped''.
In Proceedings of the International Symposium on Experimental Robotics
(ISER), Athens, 2008. Springer Tracts in Advanced Robotics (STAR).
[Compressed postscript] [PDF]
[BiBTeX
Entry]
• Special Issue on Robotics: Science and Systems. Eds. O. Brock,
S. Koenig, N. Roy and G. Sukhatme. International Journal of Robotics
Research, Vol 5, No. 12. December 2006.
• N. Roy & J. Pineau. ``Robotics and Independence for the Elderly.'' In Gerontechnology
G. Lesnoff-Caravaglia editor. C. C. Thomas:
Springfield, IL. 2007.
[BiBTeX Entry]
• N. Roy, H. Choi, D. Gombos, J. Hansen, J. How and S. Park. ``Adaptive
Observation Strategies for Forecast Error Minimization.'' Proceedings of
the International Conference on Computational Science, Beijing, 2007.
[BiBTeX Entry]
• J. Pineau, N. Roy, M. Montemerlo, S. Thrun, and M. Pollack.
``Probabilistic control of human robot interaction: Experiments with a
robotic assistant for nursing homes''. In G. Giralt and R. Chatila, editors,
Proceedings of the IARP-IEEE/RAS Workshop on Robot Dependability, 2002.
[BiBTeX Entry]
• M.E. Pollack, L. Brown, D. Colbry, C. Orosz, B. Peintner, S.
Ramakrishnan, S. Engberg, J.T. Matthews, J. Dunbar-Jacobs, C. McCarthy, S.
Thrun, M. Montemerlo, J. Pineau, and N. Roy. ``Pearl: A mobile robotic
assistant to the elderly''. In AAAI Workshop 2002 notes, Edmonton, AB, 2002.
[BiBTeX Entry]
• N. Roy, G. Baltus, D. Fox, F. Gemperle, J. Goetz, T. Hirsch,
D. Margaritis, M. Montemerlo, J. Pineau, J. Schulte &
S. Thrun. ``Towards Personal Service Robots for the
Elderly''. Workshop on Interactive Robots and Entertainment (WIRE
2000). Pittsburgh, PA. 2000.
[Compressed postscript] [PDF]
[HTML]
[BiBTeX Entry]
• N. Roy, W. Burgard, D. Fox & S. Thrun. ``Coastal Navigation -- Robot
Motion with Uncertainty''. Proceedings of the AAAI Fall Symposium: Planning
with POMDPs. Orlando, 1998.
[Compressed postscript]
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• S. Thrun & N. Roy. ``Integrating Learning for Robust
Development''. Proceedings of the AAAI Spring Symposium: Integrating Robotic
Research. Palo Alto, 1998.
[Compressed postscript]
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• N. Roy & G. Dudek. ``Learning to Rendezvous during Multi-agent
Exploration''. Proceedings of the European Workshop on Learning
Robots. Brighton, 1997.
[Compressed postscript]
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• G. Dudek & N. Roy. ``Multi-Robot Rendezvous in Unknown Environments,
or, What to do When You're Lost at the Zoo''. Proceedings of the AAAI National
Conference Workshop on Online Search. Providence, 1997.
[Compressed postscript]
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S. Thrun, M. Bennewitz, W. Burgard, A.B. Cremers, F. Dellaert, D. Fox,
D. Hhnel, C. Rosenberg, N. Roy, J. Schulte, and D. Schulz. ``MINERVA: A
tour-guide robot that learns''. In Proc. of the 23nd German Conference on
Artificial Intelligence, Germany (KI'99). Springer Verlag, 1999.
[BiBTeX Entry]
• M. Bolduc, E. Bourque, G. Dudek, N. Roy & R. Sim. ``Autonomous
Exploration: An Integrated Systems Approach''. Proceedings of the AAAI National
Conference on Artificial Intelligence. Providence, 1997.
[Compressed postscript]
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• N. Roy, G. Dudek & M. Daum. ``Mobile Robot Navigation and Control: A
Case Study''. Proceedings of the AAAI National Conference on Artificial
Intelligence. Portland, 1996.
[Compressed postscript]
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• N. Roy & G. Dudek. ``Multi-agent Rendez-vous'', Poster session,
IRIS/PRECARN conference. Montreal, June 1996.
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