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FORMER MEMBER
Thomas M. Howard, Ph.D.
Research Technologist

  1. T.M. Howard, A. Morfopoulos, J. Morrison, Y. Kuwata, C. Villalpando, L. Matthies, and M. McHenry, "Enabling Continuous Planetary Rover Navigation through FPGA Stereo and Visual Odometry," in Proceedings of the 2012 IEEE Aerospace Conference, 2012.
  2. P. Hebert, N. Hudson, J. Ma, T.M. Howard, T. Fuchs, M. Bajracharya, and J. Burdick, "Combined Shape, Appearance and Silhouette for Simultaneous Manipulator and Object Tracking," to appear in the Proceedings of the 2012 International Conference on Robotics and Automation, 2012.
  3. N. Hudson, T.M. Howard, J. Ma, A. Jain, M. Bajracharya, S. Myint, C. Kuo, L. Matthies, P. Backes, P. Hebert, T. Fuchs, and J. Burdick, "End-to-End Dexterous Manipulation with Deliberate Interactive Estimation," to appear in the Proceedings of the 2012 International Conference on Robotics and Automation, 2012.
  4. T.M. Howard, J. Cameron, S. Myint, H. Nayar, and A. Jain, "A KML Interface for Dynamic Simulation of Robotic Planetary Exploration," in Proceedings of the 2011 IEEE Aerospace Conference, 2011.
  5. H. Nayar, A. Jain, J. Balaram, J. Cameron, M. DiCicco, T.M. Howard, Y. Kuwata, C. Lim, R. Mukherjee, S. Myint, A. Palkovic, M. Pomerantz, and S. Wall, "Surface Operations Analyses for Lunar Missions," in Proceedings of the AIAA Space 2010 Conference and Exposition, 2010.
  6. P. Krusi, M. Pivtoraiko, A. Kelly, T.M. Howard, and R. Siegwart, "Path Set Relaxation for Mobile Robot Navigation," in Proceedings of the 10th International Symposium on Artificial Intelligence, Robotics, and Automation in Space, 2010.
  7. T.M. Howard, C. Green, and A. Kelly, "Receding Horizon Model-Predictive Control for Mobile Robot Navigation of Intricate Paths," in Proceedings of the 7th International Conference on Field and Service Robotics, 2009.
  8. P.M. Furlong, T.M. Howard, and D. Wettergreen, "Model Predictive Control for Mobile Robots with Actively Articulating Chassis," in Proceedings of the 7th International Conference on Field and Service Robotics, 2009.
  9. D. Ferguson, T.M. Howard, and M. Likhachev, "Motion Planning in Urban Environments: Part I," in Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, pp. 1063-1069.
  10. D. Ferguson, T.M. Howard, and M. Likhachev, "Motion Planning in Urban Environments: Part II," in Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, pp. 1070-1076.
  11. D. Anderson, T.M. Howard, D. Apfelbaum, H. Herman, and A. Kelly, "Coordinated Control and Range Imaging for Mobile Manipulation," in Proceedings of the 11th International Symposium on Experimental Robotics, 2008, pp. 547-556.
  12. M. Pivtoraiko, T.M. Howard, I. Nesnas, and A. Kelly, "Field Experiments in Rover Navigation via Model-Based Trajectory Generation and Nonholonomic Motion Planning in State Lattices," presented at the 9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space, 2008.
  13. A. Kelly, T.M. Howard, and C. Green, "Terrain Aware Inversion of Predictive Models for High Performance UGVs," presented at the SPIE Defense and Security Symposium, 2007.
  14. A. Kelly and T.M. Howard, "Terrain Aware Inversion of Predictive Models for Planetary Rovers," presented at the NASA Science and Technology Conference, 2007.
  15. T.M. Howard, C. Green, and A. Kelly, "State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Highly Constrained Environments," in Proceedings of the 6th International Conference on Field and Service Robotics, 2007.
  16. T.M. Howard, R.A. Knepper, and A. Kelly, "Constrained Optimization Path Following of Wheeled Robots in Natural Terrain," in Proceedings of the 10th International Symposium on Experimental Robotics, 2006, pp. 343-352.
  17. T.M. Howard and A. Kelly, "Trajectory and Spline Generation for All-Wheel Steering Mobile Robots," in Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, pp. 4827-4832.
  18. T.M. Howard and A. Kelly, "Trajectory Generation on Rough Terrain Considering Actuator Dynamics," in Proceedings of the 5th International Conference on Field and Service Robotics, 2005, pp. 479-490.
  19. T.M. Howard and A. Kelly, "Terrain-Adaptive Generation of Optimal Continuous Trajectories for Mobile Robots," presented at the 8th International Symposium on Artificial Intelligence, Robotics, and Automation in Space, 2005.

Book Chapter(s):
  1. Th. Fraichard and T.M. Howard, "Iterative Motion Planning and Safety Issues," In A. Eskandarian, editor, Handbook of Intelligent Vehicles. Springer, 2012.

Journal Article(s):
  1. T.M. Howard, C. Green, D. Ferguson, and A. Kelly, "State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Complex Environments," Journal of Field Robotics, Vol. 25, No. 6-7, 2008, pp. 325-345.
  2. C. Urmson, J. Anhalt, H. Bae, J. Bagnell, C. Baker, R.E. Bittner, T. Brown, M.N. Clark, M. Darms, D. Demitrish, J. Dolan, D. Duggins, D. Ferguson, T. Galatali, C.M. Geyer, M. Gittleman, S. Harbaugh, M. Hebert, T.M. Howard, S. Kolski, M. Likhachev, B. Litkouhi, A. Kelly, M. McNaughton, N. Miller, J. Nickolaou, K. Peterson, B. Pilnick, R. Rajkumar, P. Rybski, V. Sadekar, B. Salesky, Y. Seo, S. Singh, J.M. Snider, J.C. Struble, A. Stentz, M. Taylor, W.L. Whittaker, Z. Wolkowicki, W. Zhang, and J. Ziglar, "Autonomous Driving in Urban Environments: Boss and the Urban Challenge," Journal of Field Robotics, Vol. 25, No. 8, 2008, pp. 425-466.
  3. D. Ferguson, T.M. Howard, and M. Likhachev, "Motion Planning in Urban Environments," Journal of Field Robotics, Vol. 25, No. 11-12, 2008, pp. 939-960.
  4. T.M. Howard and A. Kelly, "Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots," International Journal of Robotics Research, Vol. 26, No. 2, 2007, pp. 141-166.

Ph.D. Dissertation:
  1. T.M. Howard, "Adaptive Model-Predictive Motion Planning for Navigation in Complex Environments," doctoral dissertation, tech. report CMU-RI-TR-09-32, Robotics Institute, Carnegie Mellon University, 2009.

Workshop Paper(s):
  1. Y. Kuwata, A. Elfes, M. Maimone, A. Howard, M. Pivtoraiko, T.M. Howard, and A. Stoica, "Path Planning Challenges for Planetary Robots," presented at the 2nd Workshop on Planning, Perception, and Navigation for Intelligent Vehicles at the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008.

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