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Terry Huntsberger

Address:

4800 Oak Grove Drive
M/S 198-219
Pasadena, CA 91109

Website:

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FORMER MEMBER

Terry Huntsberger

Principal Member of Technical Staff

Education

Ph.D. in Physics, Department of Physics, Univ. of South Carolina, Columbia, SC, Dec 1978.
M.A. in Physics, Department of Physics, Hofstra University, Hempstead, NY, June 1973.
B.A. in Physics/Math, Department of Physics, Hofstra University, Hempstead, NY, May 1971.

Professional Experience

Jet Propulsion Laboratory
2005-Present: Member of MER Ground Operations Team in the areas of downlink and uplink analysis.
2005: Task Manager for the Architecture and Sensing for Automated In-Space Assembly task (PI: Lockheed-Martin) under Code T in the area of control and autonomy for assembly of large extended structures in near-Earth orbit.
2004-Present: Task Manager for the High Resolution, Continuous Field of View, Non-Rotating Imaging System task in the area of high resolution instantaneous 360-degree sensor head design and control.
2004-Present: Task Manager for the Autonomy for Unmanned Sea Surface Vehicles (USSV) task in the area of planning, autonomy, and control for Navy unmanned boats in tactical situations.
2004-Present: Member of Team for LAGR (Larry Matthies, PI): Learning Applied to Ground Robotics under DARPA funding in the areas of map and image-based learning for autonomous long-range navigation in challenging terrain.
2005-Present: Co-Investigator for Compiled Planner/Executive for Robust Real-Time Control task (Tony Barrett, PI) under NASA ESMD SISM funding in the area of onboard planning for fault tolerant rover control using formal methods.
2004-2005: Task Manager for the Single Command Approach and Instrument Placement (SCAIP) task under Code S in the area of planetary surface rover autonomy for approaching and placing a scientific instrument on a target.
2004-2005: Task Manager for the Robotic Construction Crew (RCC) task in the area of semi-autonomous habitat construction by multirobot systems.
2002-2004: Task Manager for the MSL Technology Test and Validate: Long Range Traverse task under Code S (UPN 979) in the area of testing and validation for long range traverse technology applicable to the MSL'09 mission.
2002-2004: Task Manager for the System for Mobility and Access to Rough Terrain (SMART) task under Code R (UPN 755-68) with research in the area of behavior coordination for all terrain exploration.
2002-2005: Co-Investigator for JPL R&TD Evolutionary Computation Project in the area of evolutionary techniques for rover instrument arm control and artificial immune system development for star tracking.
2002: Task Manager for the Raptor sub-contract to IRobot Corp. under the DARPA Unmanned Ground Combat Vehicle (UGCV) Program in the area of vehicle dynamics modeling and software specification.
1999-2002: Technology and Field Lead for the Exploration Technology (ET) Rover FIDO task under Code S in the areas of algorithm development for long range navigation, single command approach and instrument placement, and autonomous sensing for advanced mission concepts, and field trials for the science mission studies related to the '03 Mars Exploration Rover (MER) Mission.
2001-2002: Task Manager for the Planetary Surface Robot Work Crews (RWC) task under Code R (UPN 755-68) with research in the areas of system design, autonomous sensing, and control for multiple cooperative robot work scenarios.
2001-2002: Task Manager for the All Terrain Explorer (ATE) task under Code R (UPN 755-68) with research in the area of physics and behavior based control for all terrain exploration.
Working Groups and Design Teams
03/2003-04/2003: Head of Engineering Subteam for Mars Icy Samples Team (MIST) for Mars Science Laboratory (MSL'09).
03/2002-06/2002: Member of Engineering Subteam for Mars Sample Processing and Distribution (SPAD) Team for MSL'09.
11/2001-05/2002: Head of Testing Subteam for Autonomy Infusion Working Group (AIWG) for MSL'09.
08/2001-11/2001: Head of Mechanical Subteam for Long Life Working Group (LLWG) for MSL'09.
06/2001-09/2001: Member of Surface System Design Team (SSDT) for MSL'09.
University of South Carolina
1998-Present: Adjunct Professor, Department of Computer Science, University of South Carolina, Columbia, SC.
1983-1998: Director, Intelligent Systems Laboratory, Department of Computer Science, University of South Carolina, Columbia, SC.
1989-1998: Associate Professor, Department of Computer Science, University of South Carolina, Columbia, SC.
1981-1989: Assistant Professor, Department of Computer Science, University of South Carolina, Columbia, SC.

Research Interests

Autonomous control for single and multiple vehicles, wavelet-based processing for image analysis.

Publications

2020
  1. T. Huntsberger, A. Stroupe, H. Aghazarian, M. Garrett, P. Younse, and M. Powell, "TRESSA: Teamed Robots for Exploration and Science on Steep Areas," Journal of Field Robotics, Vol. 24, No. 11/12, 1015-1031, 17 September 2020.
2008
  1. R. Kozma, T. Huntsberger, H. Aghazarian, E. Tunstel, R. Ilin, and W.J. Freeman, "Intentional Control for Planetary Rover SRR," Advanced Robotics, Vol. 22, No. 12, 1309-1327, 01 January 2008.
2006
  1. T. Huntsberger, A. Sengupta, "Game Theory Basis for Control of Long-Lived Lunar/Planetary Surface Robots," Autonomous Robots, Vol. 20, 85-95, 01 March 2006.
  2. A. Stroupe, A. Okon, M. Robinson, T. Huntsberger, H. Aghazarian, and E. Baumgartner, "Sustainable Cooperative Robotic Technologies for Human and Robotic Outpost Infrastructure Construction and Maintenance," Autonomous Robots, Vol. 20, 01 March 2006.
2004
  1. T. Huntsberger, A. Trebi-Ollennu, H. Aghazarian, P. S. Schenker, , P. Pirjanian, H. D. Nayar, "Distributed Control of Multi-Robot Systems Engaged in Tightly Coupled Tasks," Autonomous Robots, 15,1-13, 01 January 2004.
  2. V. A. Sujan, S. Dubowsky, T. Huntsberger, H. Aghazarian, Y. Cheng and P. Schenker, "An Architecture for Distributed Environment Sensing with Application to Robotic Cliff Exploration," Autonomous Robots, Vol. 16, pp. 287-311, 01 January 2004.
  3. D.W. Beaty, S. Miller, W. Zimmerman, J. Bada, P. Conrad, E. Dupuis, T. Huntsberger, R. Ivlev, S.S. Kim, B.G. Lee, D. Lindstrom, L. Lorenzoni, P. Mahaffy, K. McNamara, D. Papanastassiou, S. Patrick, S. Peters, N. Rohatgi, J.J. Simmonds, J. Spray, T.D. Swindle, L. Tamppari, A. Treimani, J.K. Wolfenbarger, and A. Zent, "Planning for a Mars in-situ sample preparation and distribution (SPAD) system," Planetary and Space Science, Vol. 52, Issues 1-3, p. 55-66, 01 January 2004.
2003
  1. T. Huntsberger, P. Pirjanian, A. Trebi-Ollennu, H. D. Nayar, H. Aghazarian, A. Ganino, M. Garrett, S. S. Joshi, P. S. Schenker, "CAMPOUT: A Control Architecture for Tightly Coupled Coordination of Multi-Robot Systems for Planetary Surface Exploration," IEEE Trans. Systems, Man & Cybernetics, Special Issue on Collective Intelligence, 01 January 2003.
  2. P. S. Schenker, 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, 01 January 2003.
2002
  1. . F. C. Haldemann, E. T. Baumgartner, G. H. Bearman, D. L. Blaney, D. I. Brown, B. P. Dolgin, L. I. Dorsky, T. L. Huntsberger, A. Ksendzov, J. C. Mahoney, M. J. McKelvey, B. E. Pavri, G. A. Post, E. F. Tubbs, R. E. Arvidson, N. O. Snider, S. W. Squyres, S. Gorevan, G. Klingelhofer, B. Bernhardt, and R. Gellert, "FIDO science payload simulating the Athena Payload," Journal of Geophysical Research, Vol. 107, No. E11, 8006, doi: 10.1029/2001JE001738, 01 January 2002.
2001
  1. Ashitey Trebi-Ollennu, Terry Huntsberger, Yang Cheng, E. T. Baumgartner, and Brett Kennedy, "Design and Analysis of a Sun Sensor for Planetary Rover Absolute Heading Detection," National Aeronautics and Space Administration (NASA), Jet Propulsion Laboratory, California Institute of Technology, NASA CR-2001-210800, 1-30, 01 January 2001.
  2. T.L. Huntsberger, "Biologically inspired autonomous rover control," Autonomous Robots,, Vol. 11, No. 11, pp. 341-346, 01 January 2001.
  3. B. Kennedy, H. Agazarian, Y. Cheng, M. Garrett, G. Hickey, T. Huntsberger, L. Magnone, C. Mahoney, A. Meyer, J. Knight, "LEMUR: Legged Excursion Mechanical Utility Rover," Autonomous Robots, Vol. 11, No. 11, pp. 201-205, 01 January 2001.