Follow this link to skip to the main content

E. Tunstel's Publications:

Below is a table of selected publications that reflect various stages of development of intelligent autonomous control architectures and techniques for mobile robots/planetary rovers, as well as automated modeling for robot manipulators.

Abstracts of each can be viewed by following the link below or the link provided by the paper number. Some individual papers can be downloaded by clicking on the title of interest. Formats are either PostScript (*.ps), Adobe's Portable Document Format (*.pdf), or MS Word (*.doc).


A B S T R A C T S
# Title Size
54 Tunstel, E. Autonomous Mobility Software Validation Challenges for Planetary Surface Missions," Int'l Conf. on Space Mission Challenges for Information Technology, SMC-IT, Pasadena, CA, July, 2003, pp. 167-173. 164 KB
53 Schenker, P.S., T. L. Huntsberger, P. Pirjanian, E. T. Baumgartner, and E. Tunstel, " Planetary Rover Developments Supporting Mars Exploration, Sample Return and Future Human-Robotic Colonization," Autonomous Robots, Vol. 14, pp. 103-126, 2003. 7.3 MB
52 Tunstel, E., Howard, A., Huntsberger, T.,Trebi-Ollennu, A. and Dolan, J.M. "Applied Soft Computing Strategies for Autonomous Field Robotics," in C. Zhou, D. Maravall, and D. Ruan (Eds.), Autonomous Robotic Systems: Soft Computing and Hard Computing Methodologies and Applications, Studies in Fuzziness and Soft Computing Series, Physica-Verlag, Heidelberg; New York, Jan. 2003.
51 Tunstel, E. and Howard, A. "Approximate Reasoning for Safety and Survivability of Planetary Rovers," Fuzzy Sets and Systems, Special Issue: Fuzzy Set Techniques for Intelligent Robotic Systems, Vol. 134, No. 1, 2003, pp. 27-46.
50 Tunstel, E., Howard, A. and Seraji, H. "Rule-Based Reasoning and Neural Network Perception for Safe Off-Road Mobility," Expert Systems: The International Journal of Knowledge Engineering and Neural Networks, Vol 19, No. 4, Sept. 2002, pp. 191-200. 593 KB
49 Tunstel, E. and A. Howard " Sensing and Perception Challenges in Planetary Surface Robotics", First IEEE International Conference on Sensors, Orlando, FL, June 2002, Paper #30.2. 253 KB
48 Tunstel, E., T. Huntsberger, H. Aghazarian, P. Backes, E. Baumgartner, Y, Cheng, M. Garrett, B. Kennedy, C. Leger, L. Magnone, J. Norris, M. Powell, A. Trebi-Ollennu and P. Schenker, "FIDO Rover Field Trials as Rehearsal for the 2003 Mars Exploration Rover Mission," 9th Intl. Symp. on Robotics & Applications, 5th World Automation Congress, Orlando, FL, June 2002. 540 KB
47 Tunstel, E., T. Huntsberger, A. Trebi-Ollennu, H. Aghazarian, M. Garrett, C. Leger, B. Kennedy, E. Baumgartner and P. Schenker, " FIDO Rover System Enhancements for High-Fidelity Mission Simulations," in M. Gini, W-M. Shen, C. Torras, and H. Yuasa (Eds.), Proceedings of the 7th International Conference on Intelligent Autonomous Systems, March 25-27, 2002, Marina del Rey, California, USA. IOS Press, Amsterdam, pp. 349-356. 1.9 MB
46 Huntsberger, T., H. Aghazarian, Y. Cheng, E.T. Baumgartner, E. Tunstel, C. Leger, A. Trebi-Ollennu, and P.S. Schenker, " Rover Autonomy for Long Range Navigation and Science Data Acquisition on Planetary Surfaces," IEEE International Conference on Robotics and Automation, Washington, DC, May 2002, pp. 3161-3168. 2.5 MB
45 Tunstel, E., de Oliveira, M.A.A., and Berman, S. " Fuzzy Behavior Hierarchies for Multi-Robot Control," International Journal of Intelligent Systems, Special Issue: "Hierarchical Fuzzy Systems", Vol. 17. No. 5, 2002, pp. 449-470. 433 KB
44 Anderson, G.T., C. Sheesley, R. Hashemi, M. Clark, E.W. Wilson, Jr., J. Mackey, R. Williams, M. Smeltzer and E. Tunstel "A Distributed Diode Laser Spectrometer for Mapping Biogenic Gases on the Martian Surface, (Poster), Mars Atmospheric Chemistry and Astrobiology Workshop, Caltech, Pasadena, CA, Dec. 2001.
43 Tunstel E. "Ethology as an Inspiration for Adaptive Behavior Synthesis in Autonomous Planetary Rovers," Autonomous Robots, Special Issue on Biomorphic Robotics, Vol. 11, No. 3, November, 2001, pp. 333-339.
42 Schenker, P., T. Huntsberger, P. Pirjanian, E. Baumgartner, H. Aghazarian, A. Trebi-Ollennu, P. Leger, Y. Cheng, P. Backes, E. Tunstel, S. Dubowsky, K. Iagnemma and G. McKee " Robotic Automation for Space: Planetary surface exploration, terrain-adaptive mobility, and multi-robot cooperative tasks," Proceedings of SPIE Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision Conference, Vol. #4572, October 2001. 5 MB
41 Howard, A., Tunstel E., Edwards, D. & Carlson, A. "Enhancing Fuzzy Robot Navigation Systems by Mimicking Human Visual Perception of Natural Terrain Traversability", Joint 9th IFSA World Congress/20th NAFIPS International Conference, Vancouver, Canada, July 2001. 277 KB
40 Seraji, H., Howard, A. & Tunstel E. "Terrain-based Navigation of Mobile Robots: A fuzzy logic approach," 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space, Montreal, Canada, June 2001. 508 KB
39 Howard, A., Seraji, H. & Tunstel, E. "A Rule-Based Fuzzy Traversability Index for Mobile Robot Navigation", IEEE International Conference on Robotics and Automation, Seoul (Korea), May 2001.
38 Tunstel, E., Howard, A. & Seraji, H. "Fuzzy Rule-Based Reasoning for Rover Safety and Survivability", IEEE International Conference on Robotics and Automation, Seoul (Korea), May 2001.
37 Homaifar, A., Tunstel, E., Dozier, G. and Battle, D., "Genetic and Evolutionary Methods for Mobile Robot Motion Control and Path Planning" in A. Zilouchian & M. Jamshidi (Eds.), Intelligent Control Systems Using Soft Computing Methodologies, CRC Press LLC, 2001.
36 Tunstel, E., Seraji, H. and Howard, A., "Soft Computing Approach to Safe Navigation of Autonomous Planetary Rovers", in A. Zilouchian & M. Jamshidi (Eds.), Intelligent Control Systems Using Soft Computing Methodologies, CRC Press LLC, 2001.
35 Tunstel, E., "Fuzzy-Behavior Synthesis, Coordination, and Evolution in an Adaptive Behavior Hierarchy", in Saffiotti, A. and Driankov, D. (Eds.) Fuzzy Logic Techniques for Autonomous Vehicle Navigation, Physica-Verlag, Studies in Fuzziness and Soft Computing Series, 2001.
34 de Oliveira, M.A.A., Tunstel, E., Berman, S., and Jamshidi, M., "Remote Surface Exploration with Multiple Soft Computing Based Cooperative Rovers", 8th International Symposium on Robotics with Applications, 4th World Automation Congress, Maui, HI, Jun. 2000.
33 Dozier, G., Homaifar, A., and Tunstel, E. "Distributed Neuro-Evolutionary Path Planning", 5th International Conference on Computer Science and Informatics, Feb. 2000.
32 Homaifar, A., Battle, D., Tunstel, E. and Dozier, G. "Genetic Programming of Fuzzy Controllers for Mobile Robot Path Tracking", International Journal of Knowledge-Based Intelligent Engineering Systems, Vol. 4, No. 1, January 2000, pp.33-52.
31 Akbarzadeh, M.-R., Jamshidi, M., Kumbla, K. and Tunstel, E. "Soft Computing for Autonomous Robotic Systems", International Journal of Computers and Electrical Engineering, Vol. 26, No. 1, 2000, pp. 5-32. 1.6 MB
30 Homaifar, A., Battle, D. and Tunstel, E. "Soft Computing-based Design and Control for Mobile Robot Path Tracking", 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation, Monterey, CA, pp. 35-40, Nov. 1999. 770 KB
29 Battle, D., Homaifar, A., Tunstel, E. and Dozier, G. "Genetic Programming of Full Knowledge Bases for Fuzzy Logic Controllers", in Banzhaf, W., Daida, J., Eiben, A. E., Garzon, M. H., Honavar, V., Jakiela, M., & Smith, R. E. (eds.). GECCO-99: Proceedings of the Genetic and Evolutionary Computation Conference, July 13-17, 1999, Orlando, Florida USA. San Francisco, CA: Morgan Kaufmann, pp. 1463-1468. 474 KB
28 Tunstel, E. "Fuzzy-Behavior Modulation with Threshold Activation for Autonomous Vehicle Navigation", 18th International Conference of the North American Fuzzy Information Processing Society (NAFIPS), New York, NY, pp. 776-780, June 1999. 201 KB
27 Estlin T., Hayati S., Jain A., Yen J., Rabideau G., Castano R., Petras R., Peters, S., Decoste D., Tunstel E., Chien S., Mjolsness E., Steele R., Mutz D., Gray A., Mann T., "An Integrated Architecture for Cooperating Rovers", 5th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), Noordwijk, The Netherlands, pp. 255-262, June 1999 193 KB
26 Tunstel, E. "Evolution of Autonomous Self-Righting Behaviors for Articulated Nanorovers", 5th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), Noordwijk, The Netherlands, pp. 341-346, June 1999 1.1 MB
25 Tunstel, E., Welch, R. & Wilcox, B. "Embedded Control of a Miniature Science Rover for Planet ary Exploration", 7th International Symposium on Robotics with Applications, WAC'98, Anchorage, Alaska, pp. 154.1-154.6, May 1998 1.3 MB
24 Akbarzadeh, M.R., Tunstel, E., Kumbla, K. & Jamshidi, M. "Soft Computing Paradigms for Hybrid Fuzzy Controllers: Experiments and applications", IEEE International Conference on Fuzzy Systems, WCCI'98, Anchorage. Alaska, pp. 1200-1205, May 1998 303 KB
23 Dozier, G., McCullough, Homaifar, Tunstel and Moore "Multiobjective Evolutionary Path Planning via Fuzzy Tour nament Selection", IEEE International Conference on Evolutionary Computation, WCCI'98, Anchorage, Alaska, pp. 684-689, May 1998 385 KB
22 Tunstel, E.,Danny, H., Lippincott, T. & Jamshidi, M. "Autonomous Navigation using an Adaptive Hierarchy of Mult iple Fuzzy-Behaviors", IEEE International Symposium on Computational Intelligence in Robotics and Automation, Monterey, CA, pp. 276-281, July 1997 568 KB
21 Tunstel, E., Lippincott, T. & Jamshidi, M. "Behavior Hierarchy for Autonomous Mobile Robots: Fuzzy-beh avior modulation and evolution", Intl. Journal of Intelligent Automation & Soft Computing , Vol 3 No 1, pp. 37-50, 1997 456 KB
20 Tunstel, E., Danny, H., Lippincott, T. & Jamshidi, M. "Adaptive Fuzzy-Behavior Hierarchy for Autonomous Navigati on", IEEE International Conference on Robotics and Automation, Albuquerque, NM, pp. 829-834, Apr. 1997 318 KB
19 Tunstel, E., Danny, H., Lippincott, T. & Jamshidi, M. "Fuzzy Behavior-based Navigation for Planetary Microrov ers", Proc. of the NASA University Research Center Technical Conference, Albuquerque, NM, pp. 729-734, Feb. 1997. 455 KB
18 Tunstel, E. and Jamshidi, M., "Intelligent Control and Evolution of Mobile Robot Behavior", Chapter 1 in Jamshidi, Titli, Zadeh, & Boverie (Eds.) Applications of Fuzzy Logic: Towards High Machine Intelligent Quotient Systems , Volume 8, Prentice-Hall Series on Environmental & Intelligent Manufacturing Systems, 1997.
17 Tunstel, E., Lippincott, T. & Jamshidi, M. "Introduction to Fuzzy Logic With Application to Mobile Robotics". Proc. of the First National Students Conference of the National Alliance of NASA University Research Centers, NC A&T State Univ., Greensboro, NC, March 1996. 145 KB
16 Tunstel, E., Akbarzadeh-T, M.R., Kumbla, K. & Jamshidi, M. "Soft Computing Paradigms for Learning Fuzzy Controllers with Applications to Robotics", Proc. of the Biennial Conf. of the North American Fuzzy Info. Processing Society, Berkeley, CA, pp. 355-359, June 1996. 296 KB
15 Tunstel, E. & Lippincott, T. "Genetic Programming of Fuzzy Coordination Behaviors for Mobile Robots", 1st Intl. Symp. on Soft Computing for Industry, WAC'96, Montpellier, France, pp. 647-652, May 1996. 233 KB
14 Tunstel, E. "Mobile Robot Autonomy via Hierarchical Fuzzy Behavior Control", 6th Intl. Symp. on Robotics & Manuf., WAC'96, Montpellier, France, pp. 837-842, May 1996. 252 KB
13 Tunstel, E. & Jamshidi, M. "On Genetic Programming of Fuzzy Rule-based Systems for Intelligent Control", Intl. Journal of Intelligent Automation & Soft Computing, Vol 2, No 3, pp. 273-284, 1996. 454 KB
12 Tunstel, E. "Coordination of Distributed Fuzzy Behaviors in Mobile Robot Control", IEEE Intl. Conf. on Systems, Man, & Cybernetics, Vancouver, BC, Canada, pp. 4009-4014, Oct. 1995. 215 KB
11 Tunstel, E., Akbarzadeh-T, M.R., Kumbla, K. & Jamshidi, M. "Hybrid Fuzzy Control Schemes for Robotic Systems", 10th IEEE Intl. Symp. on Intelligent Control, Monterey, CA, pp.171-176, Aug. 1995. 220 KB
10 Tunstel, E. "Fuzzy Spatial Map Representation for Mobile Robot Navigation" ACM 10th Annual Symp. on Applied Computing, Nashville, TN, pp. 586-589, Feb. 1995. 329 KB
9 Tunstel, E., & Jamshidi, M., "Fuzzy Relational Representation of Uncertain Spatial Maps for Autonomous Vehicles", 1st Symp. on High Speed Civil Transport Vehicles , Greensboro, NC, pp. 162-167, Dec. 1994. 164 KB
8 Tunstel, E., & Jamshidi, M., "On Embedded Fuzzy Controllers", 1st World Automation Congress(WAC'94), Maui,Hawaii, pp.619-624, Aug. 1994. 96 KB
7 Tunstel, E., & Jamshidi, M., "Fuzzy Logic and Behavior Control Strategy for Autonomous Mobile Robot Mapping" 3rd IEEE Intl. Conf. on Fuzzy Systems, Orlando, FL, pp. 514-517, 1994. 98 KB
6 Cameron, J.M., Tunstel, E., Nguyen, T. & Cooper, B.K. "Manipulator Control for Rover Planetary Exploration", SPIE Cooperative Intelligent Robotics in Space III, V. 1829, Boston, MA, pp. 495-504, Nov.16-18, 1992. 150 KB
5 Vira, N. and Tunstel, E., "Use of Symbolic Computation in Robotics Education", IEEE Transactions on Education, v35 no 1, Feb 1992, pp. 18-30.
4 Tunstel, E. and Vira, N., "Computer Generation of Geometrical Error Equations Applicable for Improvement of Robots' Positioning Accuracy", Robotics and Autonomous Systems Journal, vol 7,no. 1, March 1991, pp 3-26.
3 Vira, N., Gill, T. and Tunstel, E. "Application of Symbolic Computation in Robot Pose Error Modelling", Journal of Symbolic Computation, v10, March 1990, pp. 509-523.
2 Tunstel, E. and Vira, N., "An Interactive Program for Symbolic Kinematic Solution of Industrial Robots", International Journal of Applied Engineering Education, Vol. 5 No. 5, 1989, pp 577-585.
1 Tunstel, E. and Vira, N., "Mechanization of Manipulator Kinematic Equations via MACSYMA", Proceedings of ASME Computers in Engineering Conference, July 1989, pp. 649-655.

Back to Home