educationdsw/cv/dsw.cv.pdfand learning, and develop mechanisms and methods for autonomous robots....

David Wettergreen

The Robotics InstituteCarnegie Mellon University

Pittsburgh, Pennsylvania 15213-3890 [email protected]

My interest is in robotic exploration. My work in creating robotic explorers spans from concept formulation through field deployment. For investigations underwater, on the surface, and in air and space, I research perception, planning and learning, and develop mechanisms and methods for autonomous robots.

Education

Ph.D. in Robotics School of Computer Science, Carnegie Mellon University, December 1995 Thesis: “Robotic Walking in Natural Terrain”

M.S. in Software SystemsCarnegie Institute of Technology (Engineering), Carnegie Mellon University, May 1989 Thesis: “Software Synthesis for Novel Robotic Systems”

B.S. in Mathematics/Computer ScienceMellon College of Science, Carnegie Mellon University, May 1987

Research Experience

Research Professor, July 2011 - presentAssociate Research Professor, July 2004 - June 2011 Assistant Research Professor, May 2000 – June 2004 Robotics Institute, School of Computer Science, Carnegie Mellon University§ Developing Hypothesis Map paradigm for co-robotic exploration: human scientists map regional hypotheses

and robotic systems test and extrapolate. Principal Investigator in NSF National Robotics Initiative program.§ Creating biosignature detection methods integrating multi-scale data (orbital to microscopic) as member of

NASA Astrobiology Institute. Conducting field experimentation with intelligent robotic instruments.§ Leading integration and testing of local navigation and global path planning for development of autonomous

ATVs. Creating self-driving, off-road vehicles for commercial development.§ Leading research in robotic phenotyping. Creating robotic systems for high-throughput data collection in

production sorghum fields. Developing plant phenotype (physical characteristic) estimation algorithms.§ Evaluating wheeled mobility systems including wheel design and control for the Mars 2020 rover mission.

Testing concept wheels and quantifying performance for flight design. Developing coordinated wheel control.§ Leading research in robotic exploration as a fellow of the NASA Innovative Advanced Concepts program.

Examining sun-synchronous for continuous exploration of lunar polar regions.§ Created science autonomy systems for the detection and classification of microorganisms in high altitude glacial

lakes as part of study of climate change. Developed underwater microscopic imaging system.

§ Conducted experimentation and analysis of wheel configuration and performance in unconsolidated soils. Produced analysis and guidance for the Mars Science Laboratory landing site selection and route planning.

§ For 12 years, led scientific research and field experimentation for the Life in the Atacama astrobiologic investigation of desert microorganisms. Demonstrated first multi-kilometer science traverse. Developed an autonomous rover with drill and science autonomy system to interpret data and guide exploration.

§ Led research in robust autonomous surface mobility. Developing algorithms for autonomous navigation with dynamic obstacles, risk assessment, and fault tolerance. Applied to multiple robotic explorers.

§ Advised research in automatic detection and classification of signs, traffic signals, cones, barrels and curbs. § Applied methods of simultaneous localization and mapping to barren terrain for planetary rovers.§ Led experimentation in automated convoying in barren terrain. Applied to long-distance Antarctic traverse.§ Fostered development of small underwater vehicles for scientific exploration of deep coral reefs. Advised

design and installation of Reefbot vehicle and exhibit in large aquarium.§ Refined methods of automated orbital mapping as principal investigator. Created methods and tools to interpret

and integrate sensor observations from Mars orbiters into geologic models of surface properties.§ Created navigation and autonomy technology for lunar rover, Scarab. Formulated mobility approach for polar

crater exploration. Developed methods of navigation in permanent darkness and operation on steep, unconsolidated materials. Defined operational issues in autonomous 1 meter drilling in regolith.

§ Led development of rover powered by beamed energy. Designed rover configuration with unique mobility and prototyped actively pointed array. Formulated method of dynamic coordination of energy delivery.

§ Led research in science autonomy for robotic exploration as principal investigator of the Science-on-the-Fly project. Created techniques for scientific discovery and mapping through automatic detection, evaluation, and classification of geologic features. Rock detection applied on Mars Exploration Rover Opportunity.

§ Led research in multi-scale navigation, 10 cm to 10 km, and far-field perception of natural terrain that established and validated capabilities for the Mars Technology program. Demonstrated continuous rover locomotion over kilometers of complex terrain in a single command cycle

§ Studied human-robot interaction in remote science investigations. Analyzed quantitative results of prior experiments and developing the best practice and reliable methods of conducting remote exploration.

§ Led navigation and autonomy research for the Deep Phreatic Thermal Explorer (DEPTHX) project, an underwater investigation of flooded caverns in Mexico. Researched sonar-based simultaneous localization and mapping for 3D spaces and designed planning and autonomy techniques for cave exploration.

§ Led robotics research and field experimentation for the Life in the Atacama astrobiologic investigation of desert microorganisms. Defined the experimental approach and research in perception, localization, navigation, and autonomy. Designed the software architecture for autonomous robotic exploration. Led creation of a solar-powered robot, Zoë, with integrated suite of biologic and geologic instruments.

§ Led long-distance navigation and autonomy research for Life on Ice Robotic Antarctic Explorer (LORAX) to prepare for investigation of microorganisms in ice of the Antarctic plateau. Conducted design study of a long-distance, long-duration rover and developed multi-kilometer endurance traverse on ice.

§ Investigated reliable and efficient long-range navigation for NASA Mars Technology program.§ Created mission concepts for sustained exploration and circumnavigation of Mercury, Venus, Moon, and Mars.§ Led robotics research in sun-synchronous exploration, and created concepts and architecture for resource-

cognizant navigation. Led the creation of Hyperion, a solar-powered rover and its deployment for proof-of-concept field validation of perpetual sun-synchronous navigation in polar environments.

§ Investigated atmospheric exploration with airships including techniques for adaptive control and autonomous guidance. Created concepts for perpetual environmental monitoring with solar-powered airships.

David Wettergreen �2

Research Fellow, January 1998 - April 2000 Department of Systems Engineering, Australian National University§ Led autonomous underwater vehicle research group and created the Kambara underwater robot.§ Designed software architecture for onboard autonomy and collaborated on novel continuous-action

neurocontrol using reinforcement learning techniques. Configured computing, sensing, power and telemetry.§ Designed underwater visual servo-control for vehicle guidance including dynamic target following.

National Research Council Research Associate, January 1996 - December 1997 Intelligent Mechanisms Group, NASA Ames Research Center§ Created the concept of the virtual dashboard for robot telescience and guided development of live panoramic

imagery interface. Formulated the Science-on-the-Fly concept for autonomous science rovers.§ Led visualization research for remote science investigations including the Nomad robot’s Atacama Desert trek. § Designed behavioral control for Russian Marsokhod robot. Created architecture for autonomous navigation

incorporating visual-servoing techniques. Implemented single-command target approach for science rovers.

Graduate Research Assistant, July 1990 - December 1995, Research Engineer, July 1989 - August 1990 Robotics Institute, School of Computer Science, Carnegie Mellon University§ Created novel network of parameterized reactive behaviors that enabled statically stable robots to walk and

surmount terrain obstacles. Integrated visual sensing with gait planning to guide reactive behaviors and measurably improve reliability and efficiency (doctoral research).

§ Formulated effort to mount the robotic exploration of Mount Spurr, Alaska and to build Dante II walking robot. § Initiated concepts for volcano exploration and experiments on Mount Erebus, Antarctica. Developed gait

planning and gait execution algorithms for the Dante walking robot.§ Established software process for integrating perception, planning, and control for a rough-terrain walking.

Created planning algorithms for determining gait, leg sequencing, body motion, and footfall location, and for monitoring support and stability for the Ambler robot.


Field Experience

Cuprite Hills, Nevada, July 2017 § Deployed Stereo Panoramic Imager and scouted field sites for science autonomy experiments.

Atacama Desert, Chile, October 2016 § Deployed Stereo Panoramic Imager and Spectrometer instrument as part of NASA Astrobiology Institute team

developing automated methods of biosignature detection.

Puerto Rico, March 2016 § Conducted experiments in automated phenotyping, testing in situ plant and environmental measurement system.

Atacama Desert, Chile, May 2012, June 2013, and March 2015 § Led field investigation of subsurface desert micro-organisms evaluating drilling methods and operating flight

instrument prototypes. Final phase of a robotic investigation of life in the desert with Zoë robot.

Laguna Negra, Chile, December 2011, 2012, and 2013§ Developed and deployed a long-duration underwater imaging system with software to automatically detect

millimeter-scale organisms. Demonstrated automatic data collection.

Basalt Hill, California, October 2012§ Deployed the Reliable Autonomous Surface Mobility robot navigation software on the NASA Ames K-REX

rover and evaluated performance in rugged, natural terrain.

McMurdo Ice Shelf, Antarctica, January-February 2011§ Led field experimentation to verify sensor and algorithm performance in the Antarctic environment for long-

distance tractor traverse to the South Pole.

Mauna Kea, Hawaii, November 2008§ Led field experimentation with Scarab rover with 1-meter coring drill and volatile gas analysis instrumentation.

Studying mobility in fine, unconsolidated soils and navigation for precision approach to sample locations.

Moses Dunes, Washington, June 2008§ Led field experimentation with Scarab rover studying mobility in sand and slopes and navigation in cratered

terrain. Completed autonomous crater descent and multi-kilometer traverse in the dark.

Amboy Crater, California, October-November 2007§ Led field experimentation for the Science on the Fly project, tested automated rock detection, spectra collection

and geologic mapping. Tested far-field perception and multi-scale navigation architecture.

Cenote el Zacatón, Tamalipas, Mexico, May 2005 and May 2007§ Led field operation of navigation and exploration software for DEPTHX autonomous underwater vehicle.

Conducted first mapping of the world’s deepest flooded sinkhole and biologic and hydrologic sampling.§ Defined conceptual approach for autonomous robotic exploration of the cenote and supported in first sonar

measurements and mapping in the upper chamber.

Poza la Pilita Cenote, Tamalipas, Mexico, February and March 2007§ Led field testing and validation of navigation and autonomy software for underwater vehicle. Conducted first


mapping of a cenote, a flooded sinkhole, and operation of biologic and hydrologic instruments.

Atacama Desert, Chile, September-October 2005 § Led field investigation including over 200km of autonomous robotic traverse, collection of 200 fluorescence

images sequences, and the first survey and mapping of life in three diverse regions. § Conducted first robotic astrobiology survey.

Arabian Desert, Qatar, March 2005§ Explored terrain of the peninsula. Formulated agenda for research and field experimentation in dune mobility.

Lake Mascoma, New Hampshire, February 2005 § Led field tests of long-duration autonomous navigation on snow/ice using multiple sensing modes. Achieved

continuous autonomous traverse of 14km with Nomad.

Atacama Desert, Chile, September 2004, November 2003, April 2003§ Led field experiments to validate technology to robotically traverse and measure of the distribution of

microorganisms and habitats.§ Led field season (2004) with 55km of autonomy and 10 instances of 1 km single command traverse. Validated

over-the-horizon navigation and localization and power-cognizant operation with Zoë.§ Led season of field experimentation(2003). Implemented experimental plan to validate component technologies

with Hyperion. Achieved 20km of autonomous traverse.§ Demonstrated first instance of single-command, one-kilometer autonomous traverse.

Devon Island, Nunavut, Canada, July 2001§ Led field experimentation in sun-synchronous exploration of solar-powered Hyperion rover. Executed

experimental plan to analyze algorithms and technologies for long-duration, resource-cognizant exploration. § Proved concept of sun-synchronous navigation in 24-hour solar-powered traverse.

Atacama Desert, Chile remote from California, July 1997§ Created concept of science-on-the-fly (autonomous traverse science) and demonstrated improved science data

return in first field trials. Led technical aspects of scientific remote science investigation.§ Showed first remote discovery of a fossil with the Nomad rover.

Painted Desert, Arizona remote from California, September 1996§ Analyzed control architecture incorporating autonomous behaviors and visual servo control for science

sampling with the Marsokhod robot.§ Demonstrated first visually-guided science sample approach from range over 10m.

Mount Spurr, Alaska, July-August 1994§ Operated Dante II demonstrating the first robotic access and sampling inside a volcanic crater. Aided site

selection and robot deployment and recovery as member the field team.

Mount Erebus, Antarctica, December 1992-January 1993§ Operated Dante into crater. Aided robot deployment, experimentation and recovery with the field team.


Teaching Experience

Robotics Systems Engineering, 16-450, Instructor, Fall 2014-2017§ Created course in systems engineering for undergraduate robotics double majors. Engineering principles and

practice for roboticists and requirements specification and design for capstone robotic system developments. Integrating system conceptualization, design, and prototyping. Lectured 3 hours weekly.

Systems Engineering, 16-850, Instructor, Spring 2006-2015§ Created graduate course in systems engineering: engineering principles and practice and practical experience

with sensors, computing, and mechanisms and systems issues. Integrating system conceptualization, design, prototyping and testing. Lectured 3 hours weekly.

Introduction to Real-Time Software and Systems, 17-619, Instructor, Fall 2001, 2009,Spring 2002-2004, 2006§ Developed graduate course on real-time systems including both scheduling issues and design with timing

constraints; particular emphasis on software engineering methodology and application to complex engineered systems like robots. Created lectures, reading list, assignments and group projects. Lectured 3 hours weekly.

Subterranean Robotics, 15-899, Co-instructor, Spring 2004 § Developed special-topic, project-driven graduate course to examine technical aspects of subterranean robotics

including mechanisms, pressure, propulsion, sensing, SLAM, navigation, and autonomy.

Telepresence, Art and Applications, 15-899/05-899, Co-Instructor, Fall 2002 § Created advanced course on principles, design, and implementation of telepresence and immersive systems for

art and technical applications. Created cross-disciplinary lectures on sensing, control, and design process. Supervised semester-long student projects and final exhibition.

Awards and HonorsFinalist, Best Application Paper Award (Paloma Sodhi), International Conference on Intelligent Robots and Systems

IROS), September 2017

Finalist, Best Paper Award on Cognitive Robotics (Alberto Candela), International Conference on Intelligent Robots and Systems IROS), September 2017

National Aeronautics and Space Administration Group Achievement Award, Planetary Lake Lander Team, Sept 2014

Finalist, Best Student Paper Award (Young-woo Seo), Conference on Systems, Man and Cybernetics, October 2012

Antarctic Service Medal of the United States of America, National Science Foundation (NSF), March 2012

National Aeronautics and Space Administration Group Achievement Award, ISRU Resolve Team, May 2010

Courtesy Appointment, Department of Mechanical Engineering, Carnegie Mellon University, July 2009-present

National Aeronautics and Space Administration Group Achievement Award, Human-Robot Systems Moses Lake Field Test Team, April 2009

Finalist, Best Paper in Computer Vision, (Heather Dunlop) International Conference on Robotics and Automation (ICRA), May 2008

National Aeronautics and Space Administration Certificate of Recognition, Signum of Difference of Gaussian Visual Tracking Software, December 2006

National Aeronautics and Space Administration Certificate of Recognition, Rover Control Software, October 2006


Winner, Best Poster, (Kristen Stubbs) Conference on Human-Robot Interaction, March 2006

Breakthrough Award, Popular Mechanics Magazine, November 2005

National Research Council Research Associate Program, Fellowship, January 1996-December 1997


Panels and PresentationsInvited Seminar, “Creating Autonomous Robotic Explorers,” ESO Paranal Observatory, March 2015

Invited Seminar, “Creating Autonomous Robotic Explorers,” Woods Hole Oceanographic Institute, November 2013Invited Plenary, “Robust Autonomous Surface Mobility,” International Symposium on Artificial Intelligence,

Robotics and Automation in Space (iSAIRAS), Turin, Italy, September 2012 Invited Seminar, “Experiments in Robotic Traverse,” Institute for Aerospace Studies, University of Toronto,

Toronto, September 2011Invited Seminar, “Creating a Lunar Prospecting Rover,” School of Earth and Space Exploration Seminar, Arizona

State University, Tempe, April 2010Invited Speaker, “Engineering Robotic Explorers,” NASA Outpost Science and Exploration Working Group

(OSEWG) Workshop on Robotics Supporting Human Science, Houston, August 2009Invited Speaker and Participant, “Accessing Craters: Design and Experiments of two Robotic Systems,” High-Risk

Terrain Workshop, Keck Institute for Space Science, California Institute of Technology, Pasadena, March 2009Invited Plenary, “Exploring Europa by way of Mexico” International Symposium on Artificial Intelligence, Robotics

and Automation in Space (iSAIRAS), Los Angeles, February 2008Invited Speaker, “Exploration of Sistema Zacatón with an Autonomous Underwater Vehicle,” Monterey Bay

Aquarium Research Institute, Moss Landing, June 2007Invited Speaker, “Creating Autonomous Robotic Explorers,” School of Earth and Space Exploration, Arizona State

University, Tempe, March 2007Invited Speaker, “Robotic Astrobiology of the Atacama Desert,” Cité des Sciences et de l’Industrie (National

Museum of Science and Industry), Paris, November 2006

Invited Speaker, “Robotic Geology,” Department of Geology Seminar, University of Pittsburgh, October 2006

Invited Speaker, “Robotic Exploration,” Department of Geologic Sciences Seminar, Arizona State University, Tempe, March 2006

Invited Participant, International Research and Development Assessment in Robotics, NSF/NASA/NIH, June 2005

Invited Speaker, “Progress on Long-duration Autonomous Traverse for Planetary Rovers,” Planetary Rover Workshop, International Conference on Robotics and Automation, Barcelona, April 2005

Invited Participant, Lake Vostok Technology Study, NSF Office of Polar Programs, Palo Alto, March 2003

Invited Speaker, “Science Autonomy for Planetary Rovers,” American Astronautical Society Annual Meeting, Mountain View, November 2002

Invited Participant, Autonomous Long-Range Ice Sheet Traverses, NSF Office of Polar Programs/NASA, Washington D.C., February 2001

Invited Participant, Outer Space and Undersea Technology Workshop, NOAA/NASA, Santa Barbara, August 2000


Professional ActivitiesProgram Chair, Field and Service Robotics Conference, Toronto, June 2015

Guest Editor, 5th Special Issue on Space Robotics, Journal of Field Robotics, March 2015

Guest Editor, 4th Special Issue on Space Robotics, Journal of Field Robotics, July/August - Sept/November 2013

Guest Editor, 3rd Special Issue on Space Robotics, Journal of Field Robotics, May/June - July/August 2012

Program Committee, Conference on Field and Service Robotics (FSR), Sendai, August 2011

Program Committee, Conference on Field and Service Robotics (FSR), Boston, July 2009

Guest Editor, 2nd Special Issue on Space Robotics, Journal of Field Robotics, March and April 2009

Program Committee, Intl Symp on AI Robotics and Automation in Space (iSAIRAS), Pasadena, March 2008

Guest Editor, 1st Special Issue on Space Robotics, Journal of Field Robotics, March, April and May 2007

Program Committee, Conference on Field and Service Robotics (FSR), Chamoix, France, 2007

Program Committee, International Cognitive Robotics Workshop (AAAI-06), Boston, 2006

Program Committee, International Conference on Robotics and Automation, ICRA, Orlando, 2006

Associate Editor, Journal of Field Robotics, 2005-present

Program Committee, Intl Symp on AI, Robotics and Automation in Space (iSAIRAS), Munich, Germany, Sept 2005

Program Committee, Conference on Field and Service Robotics (FSR), Port Douglas, Australia, July 2005

Program Committee, Robotics Science and Systems, Cambridge, USA, 2005

Study Committee, International Assessment of Research and Development in Robotics, NSF, 2004

Program Committee, Intl Symp on AI, Robotics and Automation in Space (iSAIRAS), Nara, Japan, May 2003

Study Committee, State of the Art in Space Robotics, NASA NEXT Committee, 2002

Program Committee, Intl Symp on AI, Robotics and Automation in Space (iSAIRAS), Montreal, Canada, 2001

Program Committee, Conference on Field and Service Robotics (FSR), Helsinki, Finland, 2001

Program Committee, Conference on Field and Service Robotics (FSR), Pittsburgh, 1999

Organizational ActivitiesAssociate Director for Education, Robotics Institute, Carnegie Mellon, 2016-present

Ph.D. Program, Chair, Robotics Institute, Carnegie Mellon, 2016-present

Space Committee, Member, School of Computer Science, Carnegie Mellon, 2015

Robotics Program Committee, Chair, Robotics Institute, Carnegie Mellon, 2006-2015

Director Search Committee, Chair, Robotics Institute, Carnegie Mellon, 2014

Faculty Recruitment Committee, Member, Robotics Institute, Carnegie Mellon, 2007-2009

Admissions Committee, Member, Robotics Institute, Carnegie Mellon, 2006/07

Admissions Committee, Chair, Robotics Institute, Carnegie Mellon, 2005/06

Admissions Committee, Member, Robotics Institute, Carnegie Mellon, 2004/05

Faculty Senate, Executive Committee Officer, Carnegie Mellon, 2004/05

Faculty Senate, Member, Carnegie Mellon, 2003/04, 2004/05

Board of Studies, Graduate Engineering Program, Australian National University, 1999


Technical Publications

Journal Articles“Advantages of Continuous Excavation in Lightweight Planetary Robotic Operations,” by K. Skonieczny, D. Wettergreen, W. Whittaker in the International Journal of Robotics Research, vol. 35, no. 9, pp. 1121–1139, 2016.

“Autonomous soil analysis by the Mars Micro-beam Raman Spectrometer (MMRS) on-board a rover in the Atacama Desert: a terrestrial test for planetary exploration,” by J. Wei, A. Wang, J. L. Lambert, D. S. Wettergreen, N. Cabrol, K. Warren-Rhodes, and K. Zacny in Journal of Raman Spectroscopy, January 2015.

“Recognition of Highway Workzones for Reliable Autonomous Driving,” by D. W. Young-Woo Seo, Jongho Lee, Wende Zhang in IEEE Transactions on Intelligent Transportation Systems, no. 99, pp. 1-11, 2014.

“Science Autonomy for Rover Subsurface Exploration of the Atacama Desert,” by D. S. Wettergreen, G. Foil, P. M. Furlong, and D. R. Thompson, AI Magazine, vol. 35, no. 4, pp. 47-60, Winter 2014.

“Visualizing and Analyzing Machine-soil Interactions using Computer Vision,” by K. Skonieczny, S. J. Moreland, V. M. Asnani, C. M. Creager, H. Inotsume, and D. S. Wettergreen in Journal of Field Robotics, vol. 31, no. 5, pp. 820–836, 2014.

“Slope Descent using Plowing to Minimize Slip for Planetary Rovers,” by D. de Mola Lemus, D. Kohanbash, S. J. Moreland, and D. S. Wettergreen in Journal of Field Robotics, vol. 31, no. 5, pp. 803–819, 2014.

“Productive Lightweight Robotic Excavation for the Moon and Mars,” by K. Skonieczny, M. Delaney, D. S. Wettergreen, and W. L. Whittaker, in Journal of Aerospace Engineering, March 2013.

“Effect of bucket-wheel scale on excavation forces and soil motion,” by G. F. D. Lankenau, K. Skonieczny, W. L. Whittaker, and D. S. Wettergreen, in Journal of Terramechanics, December 2012.

“Autonomous Science during Large-Scale Robotic Survey,” by D. Thompson, D. Wettergreen, and F. Calderon, in the Journal of Field Robotics, vol. 28, no. 4. pp. 542-564, July 2011.

“Design and Field Experimentation of a Lunar Prospecting Rover,” by D. Wettergreen, S. Moreland, K. Skonieczny, D. Jonak, D. Kohanbash and J. Teza, in the International Journal of Robotics Research, October 2010.

“Autonomous Exploration and Mapping of Flooded Sinkholes,” by N. Fairfield, G. Kantor, D. Jonak, and D. Wettergreen in the International Journal of Robotics Research, Sage Publications, May 2010.

“Novel Microbial Diversity Retrieved by Autonomous Robotic Exploration of the World's Deepest Vertical Phreatic Sinkhole,” by J. Sahl, N. Fairfield, J. Harris, D. Wettergreen, W. Stone, and J. Spear in Astrobiology, March 2010.

“Segmented SLAM in Three-Dimensional Environments,” by N. Fairfield, G. Kantor, D. Jonak, and D. Wettergreen in the Journal of Field Robotics, vol. 27, no. 1, pp. 85-103, February 2010.

“Optimizing Information Value: Improving Rover Sensor Data Collection,” by J. Glasgow, G. Thomas, E. Pudenz, N. Cabrol, D. Wettergreen and P. Coppin, in IEEE Transactions on Systems, Man and Cybernetics, May 2008.

“Life in the Atacama: Searching for Life with Rovers” by N.Cabrol, D. Wettergreen, et al., in Journal of Geophysical Research - Biogeosciences, American Geophysical Union, December 2007.

“Life in the Atacama: Science Autonomy for Improving Data Quality,” by T. Smith, D. Thompson, D. Wettergreen, et al., in Journal of Geophysical Research - Biogeosciences, American Geophysical Union, December 2007.

“Analysis Of High-Efficiency Solar Cells In Mobile Robot Applications ,” by F. Calderón, A. Lüders, D. Wettergreen, J. Teza, A. Guesalaga, in Journal of Solar Energy Engineering, August 2007.

“Finding Common Ground: A Field Study of Human-Robot Interaction with a Remote Autonomous Explorer,” by K. Stubbs, P. Hinds, and D. Wettergreen, in IEEE Intelligent Systems, April 2007.


“Real-Time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels,” by N. Fairfield, G. Kantor, D. Wettergreen in Journal of Field Robotics, vol. 24, no. 1, pp. 3-22, February 2007.

“Mission-Level Path Planning and Re-Planning for Rover Exploration,” by P. Tompkins, A. Stentz, D. Wettergreen, in Robotics and Autonomous Systems, Elsevier, Amsterdam, January 2006.

“Sun Synchronous Robotic Exploration: Technical Description and Field Experimentation,” by D. Wettergreen, P. Tompkins, C. Urmson, et al. in the International Journal of Robotics Research, Sage Publications, January 2005.

“Nomad Rover Field Experiment, Atacama Desert, Chile: Science Results Overview,” by N. Cabrol, G. Chong, … (15) D. Wettergreen, et al. in the Journal of Geophysical Research, April 2001.

“Dante II: Technical Description, Results, and Lessons Learned,” by J. Bares, and D. Wettergreen, in International Journal of Robotics Research, Sage Publications, July 1999.

“Developing Nomad for Robotic Exploration of the Atacama Desert,” by D. Wettergreen, D. Bapna, G. Thomas, et al., in Robotics and Autonomous Systems, Elsevier, February 1999.

“Exploring Mount Erebus by Walking Robot,” by D. Wettergreen, C. Thorpe, and W. Whittaker, in Robotics and Autonomous Systems, Elsevier, December 1993.

“Progress towards Robotic Exploration of Extreme Terrain,” by R. Simmons, E. Krotkov, … (6) D. Wettergreen, in Applied Intelligence: The International Journal of Artificial Intelligence, Neural Networks, and Complex Problem-Solving Technologies, August 1992.

Book Chapters

“Field Experiments in Robotic Subsurface Science with Long Duration Autonomy,” by S. Vijayarangan, D. Kohanbash, G. Foil, K. Zacny, N. Cabrol, and D. Wettergreen, in Field and Service Robotics:Results of the 11th International Conference, Springer, 2018, pp. 515-529

“Strategic Autonomy for Reducing Risk of Sun-Synchronous Lunar Polar Exploration,” by N. Otten, D. Wettergreen, and W. Whittaker, in Field and Service Robotics: Results of the 11th International Conference, Springer 2018, pp. 465-479.

“High-throughput robotic phenotyping of energy sorghum crops,” by S. Vijayarangan, P. Sodhi, P. Kini, J. Bourne, S. Du, H. Sun, B. Poczos, D. Apostolopoulos, and D. Wettergreen, in Field and Service Robotics:Results of the 11th International Conference, Springer, 2018, pp. 99-113.

“Considering the Effects of Gravity When Developing and Field Testing Planetary Excavator Robots,” by K. Skonieczny, T. Carlone, W. Whittaker, and D. Wettergreen, in Field and Service Robotics: Results of the 10th International Conference, D. Wettergreen and T. Barfoot, Eds. Springer, 2016, pp. 299–312.

“Lightweight Laser Scan Registration in Underground Mines with Band-based Downsampling Method,” by J. Lee, D. Wettergreen, and G. Kantor, in Field and Service Robotics: Results of the 9th International Conference, Springer 2014, pp. 555–567.

“Motion analysis system for robot traction device evaluation and design,” by S. J. Moreland, K. Skonieczny, and D. S. Wettergreen, in Field and Service Robotics: Results of the 9th International Conference, Springer, 2014.

“Analogs to Mars: High Altitude, Subsurface, Desert, and Polar Environments,” by N. Cabrol, D. Anderson, C. Stoker, P. Lee, C. McKay and D. Wettergreen in Life in Antarctic Deserts and other Cold Dry Environments, edited by P. Doran, W. Lyons and D. McKnight, Cambridge University Press, April 2010.

“Experiments in Navigation and Mapping with a Hovering AUV,” by G.A. Kantor, N. Fairfield, D. Jonak, and D. Wettergreen, in Field and Service Robots, Springer, 2008, originally published Field and Service Robots (FSR), Geneva, July 2007.


“Q-Learning in Continuous State and Action Spaces,” by C. Gaskett, D. Wettergreen, and A. Zelinsky, in Advanced Topics in Artificial Intelligence from Lecture Notes in Computer Science, Springer, 1999, originally published in Australian Joint Conference on Artificial Intelligence, Sydney, Australia, December 1999.

“Operating Nomad during the Atacama Desert Trek,” by D. Wettergreen, M. Bualat, D. Christian, et al., in Field and Service Robots, Springer-Verlag, Berlin, 1998 originally published in Conference on Field and Service Robots (FSR), Canberra, Australia, December 1997.

“Field Experiments with the Ames Marsokhod Rover,” by D. Christian, D. Wettergreen, M. Bualat, et al., in Field and Service Robots, Springer-Verlag, Berlin, 1998 originally published in Conference on Field and Service Robots (FSR), Canberra, Australia, December 1997.

“Lessons from the Development and Deployment of Dante II,” by J. Bares and D. Wettergreen, in Field and Service Robots, Springer-Verlag, Berlin, 1998 originally published in Conference on Field and Service Robots (FSR), Canberra, Australia, December 1997.

Conference Papers

“In-field Segmentation and Identification of Plant Structures using 3D Imaging,” by P. Sodhi, S. Vijayarangan, and D. Wettergreen, in Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, September 2017.

“Science-Aware Exploration Using Entropy-Based Planning,” by S. Gautam, B. Sinha Roy, A. Candela, and D. Wettergreen in International Conference on Intelligent Robots and Systems, Vancouver, September 2017.

“Planetary Robotic Exploration Driven by Science Hypotheses for Geologic Mapping,” by A. Candela, D. R. Thompson, E. N. Dobrea, and D. Wettergreen in IEEE International Conference on Intelligent Robots and Systems (IROS), Vancouver, September 2017.

“Strategic Autonomy for Reducing Risk of Sun-Synchronous Lunar Polar Exploration,” by N. Otten, D. Wettergreen, and W. Whittaker in Field & Service Robotics, Zurich, September 2017.

“Robotic Subsurface Exploration and Science with Long Duration Autonomy,” by S. Vijayarangan, D. Kohanbash, G. Foil, D. Thompson, A. Wang, K. Zacny, N. Cabrol, and D. Wettergreen in Field and Service Robotics, Zurich August 2017.

“High-throughput Robotic Phenotyping of Energy Sorghum Crops,” by S. Vijayarangan, P. Sodhi, P. Kini, J. Bourne, H. Sun, B. Poczos, D. Apostolopoulos and D. Wettergreen, in Field and Service Robotics, Zurich, August 2017.

“Finding Routes for Efficient and Successful Slope Ascent for Exploration Rovers,” by H. Inotsume , C. Creager, D. Wettergreen, and W. Whittaker, International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS) Beijing, June 2016.

“Considering the Effects of Gravity When Developing and Field Testing Planetary Excavator Robots,” by K. Skonieczny, T. Carlone, W. Whittaker, and D. Wettergreen, in Field and Service Robotics, Toronto, 2016,

“Spatio-spectral exploration combining in situ and remote measurements,” by D. Thompson, D. Wettergreen, G. Foil, P. Furlong, and A. Kiran, Association for the Advancement of Artificial Intelligence, 2015.

“Planning Routes of Continuous Illumination and Traversability using Connected Component Analysis,” by N. D. Otten, H. L. Jones, D. Wettergreen, and W. L. Whittaker, in IEEE International Conference on Robotics and Automation, 2015.

“Sequential Allocation of Sampling Budgets in Unknown Environments,” by P. M. Furlong and D. Wettergreen, in IEEE International Conference on Robotics and Automation (ICRA), 2014.


“Onboard Detection and Correction of Orbital Registration Errors Using Rover Imagery” by G. Foil, C. Cunningham, D. S. Wettergreen, W. L. Whittaker, in International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), Montreal, Canada, September 2014.

“Analysis of Grouser Performance to Develop Guidelines for Design for Planetary Rovers,” by H. Inotsume, K. Skonieczny and D. Wettergreen, in International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), Montreal, Canada, September 2014.

“Budgeting Samples for Exploration in Unknown Environments,” by P. Furlong and D. Wettergreen, , in International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), Montreal, Canada, September 2014.

“Probabilistic Surface Classification for Rover Instrument Targeting,” by G. Foil, D. R. Thompson, W. Abbey, and D. Wettergreen, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.

“Precise Multiclass Classification of Natural Texture Using Abstentions,” by G. Foil, D. R. Thompson, W. Abbey, and D. S. Wettergreen, in IEEE International Conference on Robotics and Automation (ICRA), 2013.

“Kernel-based tracking for improving sign detection performance,” by J. Lee, Y. Seo, and D. Wettergreen, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.

“Science-guided autonomy augments rovers with reasoning to make observations and take adaptive sensing of time series with application to remote exploration,” by D. R. Thompson, N. A. Cabrol, M. Furlong, C. Hardgrove, B. Kian, H. Low, J. Moersch, and D. Wettergreen, in 2013 IEEE International Conference on Robotics and Automation (ICRA) Workshop, Karlsruhe, Germany, May 6-10, 2013.

“Exploiting Publicly Available Cartographic Resources for Aerial Image Analysis,” by Y. Seo, C. Urmson, and D. Wettergreen, in the International Conference on Advances in Geographic Information Systems (ACM SIGSPATIAL/GIS 2012), November 2012.

“Ortho-Image Analysis for Producing Lane-Level Highway Maps,” by Y. Seo, C. Urmson, and D. Wettergreen, in the International Conference on Advances in Geographic Information Systems (ACM SIGSPATIAL/GIS 2012), November 2012.

“A Grouser Spacing Equation for Determining Appropriate Geometry of Planetary Rover Wheels,” by K. Skonieczny, S. Moreland, and D. Wettergreen, in Intelligent Robots and Systems (IROS), October, 2012.

“Recognizing Temporary Changes on Highways for Reliable Autonomous Driving,” by Y. Seo, D. Wettergreen, and W. Zhang in IEEE International Conference on Systems, Man, and Cybernetics , October, 2012.

“Developing a Framework for Reliable Autonomous Surface Mobility,” by D. Wettergreen and M. Wagner, in International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), Turin, Italy, September 2012.

“Visual Odometry for the Lunar Analogue Rover Artemis,” by M. Wagner, D. Wettergreen and P. Iles, in International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), Turin, Italy, September 2012.

“Plowing for Rover Control on Extreme Slopes,” by D. Kohanbash, S. Moreland and D. Wettergreen, in Field and Service Robots (FSR), Sendai, Japan, July 2012.

“Motion Analysis System for Robot Traction Device Evaluation and Design,” by S. Moreland, K. Skonieczny and D. Wettergreen, in Field and Service Robots (FSR), Sendai, Japan, July 2012.

“Real-time Localization and Mapping in Underground Mines using Band-matching Method ,” by J. Lee, G. Kantor, and D. Wettergreen, in Field and Service Robots (FSR), Sendai, Japan, July 2012.


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“Novel Experimental Technique for Visualizing and Analyzing Robot-Soil Interactions,” by K. Skonieczny, S. Moreland, C. Creager, and D. Wettergreen, in Earth and Space Conference, April, 2012.

“Rover mobility on granular soil: Marrying multi-scale modeling and high fidelity experiments to infer soil stresses under the moving wheel,” by I. Vlahinic, J. Andrade, K. Skonieczny, S. Moreland, and D. Wettergreen, in Earth and Space Conference, April, 2012.

“Planetary Lake Lander: Using Technology Relevant to Titan's Exploration to Investigate the Impact of Deglaciation on Past and Present Planetary Lakes,” by N. Cabrol, E. Grin, C. Haberle, J. Moersch, R. Jacobsen, R. Sommaruga, E. Fleming, A. Detweiler, A. Echeverria, Y. Blanco, L. Rivas, L. Pedersen, T. Smith, D. Wettergreen, C. Demergasso, V. Parro, T. Fong, and L. Bebop, in 43rd Lunar and Planetary Science Conference, March, 2012.

“Soil Behavior of Wheels with Grousers for Planetary Rovers,” by S. Moreland, K. Skonieczny, H. Inotsume, and D. Wettergreen, in IEEE Aerospace, March, 2012.

“Control of a passively steered rover using 3-D kinematics,” by N. Seegmiller and D. Wettergreen, in IEEE International Conference on Intelligent Robots and Systems, San Francisco, September, 2011.

“Optical Flow Odometry with Robustness to Self-shadowing,” by N. Seegmiller and D. Wettergreen, in IEEE International Conference on Intelligent Robots and Systems, San Francisco, September, 2011.

“Soil Motion Analysis System for Examining Wheel-Soil Shearing” by S. Moreland, K. Skonieczny, D. Wettergreen, C. Creager, and V. Asnani in the International Conference of the International Society for Terrain-Vehicle Systems, Richmond, September, 2011.

“Inching Locomotion for Planetary Rover Mobility,” by S. Moreland, K. Skonieczny, and D. Wettergreen, IEEE Aerospace, March 2011.

“Building lane-graphs for autonomous parking,” by Y.-W. Seo, C. Urmson, D. Wettergreen, and J.-W. Lee, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, October 2010

“Parameters governing regolith site work by small robots,” by K. Skonieczny, D. Wettergreen, and W. Whittaker, ASCE Earth and Space 2010, March, 2010.

“Augmenting cartographic resources for autonomous driving,” by Y.-W. Seo, C. Urmson, D. Wettergreen, and J.-W. Lee, ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems (GIS-2009), November 2009

“Field Experiments in Mobility and Navigation with a Lunar Rover Prototype,” by D. Wettergreen, D. Jonak, D. Kohanbash, S. Moreland, S. Spiker, and J. Teza, in Field and Service Robotics (FSR), Boston, July 2009.

“Active SLAM and Loop Prediction with the Segmented Map Using Simplified Models,” by N. Fairfield and D. Wettergreen, in Field and Service Robotics (FSR), Boston, July 2009.

“Model Predictive Control for Mobile Robots with Actively Reconfigurable Chassis,” by P. M. Furlong, T. M. Howard, and D. Wettergreen, in Field and Service Robotics (FSR), Boston, July 2009.

“Evidence grid-based methods for 3D map matching,” by N. Fairfield and D. Wettergreen, IEEE International Conference on Robotics and Automation (ICRA), pp. 1637–1642, Kobe, May 2009.

“Design and Experimentation of a Rover Concept for Lunar Crater Resource Survey,” by D. Wettergreen, D. Jonak, D. Kohanbash, S. Moreland, S. Spiker, J. Teza, and W. Whittaker, in the AIAA Aerospace Sciences Meeting, Orlando, January 2009.

“Control strategies for a multi-legged hopping robot,” by R. Lüders, D. Apostolopoulos, D. Wettergreen, in the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego, September 2008.





























“Information-Optimal Selective Data Return for Autonomous Rover Traverse Science and Survey,” by D. Thompson and D. Wettergreen in the IEEE International Conference on Robotics and Automation (ICRA), Pasadena, May 2008.

“Long-distance Autonomous Survey and Mapping in Robotic Investigation of Life in the Atacama Desert,” by D. Wettergreen et al., in the International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), Los Angeles, February 2008.

“Autonomous Rover Reflectance Spectroscopy with Dozens of Targets,” by F. Calderón, D. Thompson, and D. Wettergreen, in the International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), Los Angeles, February 2008.

“Intelligent Maps for Autonomous Kilometer Scale Science Survey,” by D. Thompson and D. Wettergreen in the International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), Los Angeles, February 2008.

“Design of the Scarab Rover for Mobility and Drilling in Lunar Cold Traps,” by P. Bartlett, D. Wettergreen, and W. Whittaker in the International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), Los Angeles, February 2008.

“Plowing for Controlled Steep Crater Descents,” by J. Ziglar, D. Kohanbash, D. Wettergreen, and W. Whittaker in the International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), Los Angeles, February 2008.

“Three Dimensional (3-D) Mapping and Characterization of Sistema Zacatón from DEPTHX (DEep Phreatic THermal eXplorer) by M. Gary, N. Fairfield, W. Stone, D. Wettergreen, G. Kantor, and J. Sharp in KARST 2008: Eleventh Multidisciplinary Conference on Sinkhole and the Engineering and Enviromental Impacts on Karst, ASCE, Tallahassee, September 2008.

“Active Localization on the Ocean Floor With Multibeam Sonar, “ by N. Fairfield and D. Wettergreen in MTS/IEEE OCEANS, Quebec, September 2008

“Field Results of the Control, Navigation, and Mapping Systems of a Hovering AUV,” by N. Fairfield, D. Jonak, G.A. Kantor, and D. Wettergreen, Unmanned Untethered Submersible Technology, August 2007.

“Multi-scale Features for Detection and Segmentation of Rocks in Mars Images,” by H. Dunlop, D.R. Thompson, and D. Wettergreen, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2007.

“Spatial Point Process Models for the Clustering Behavior of Northern Plains Boulders,” by D.R. Thompson and D. Wettergreen, Lunar and Planetary Science Conference, March 2007.

“Panoramic Image Information Utility for Mobile Robot Exploration,” by Glasgow, J.M.; Thomas, G.; Pudenz, E.; Cabrol, N.; Wettergreen, D.; Coppin, P. in the IEEE International Conference on Systems, Man and Cybernetics (SMC), October 2006.

“Towards Particle Filter SLAM with Three Dimensional Evidence Grids in a Flooded Subterranean Environment,” by N. Fairfield, G. Kantor, and D. Wettergreen in IEEE International Conference on Robotics and Automation (ICRA), Orlando, May 2006.

“Robotic Astrobiology: Searching for Life with Rovers,” by N. Cabrol, D. Wettergreen, et al. in Congress of the American Geophysical Union, Baltimore, April 2006.

“Searching for a Quantitative Proxy for Rover Science Effectiveness,” by E. Pudenz, G. Thomas, J. Glasgow, P. Coppin, D. Wettergreen, N. Cabrol, in proceedings of the 2006 Conference on Human-Robot Interaction, (HRI), Salt Lake City, March 2006.


“Second Experiment in the Robotic Investigation of Life in the Atacama Desert of Chile,” by D. Wettergreen, N. Cabrol, S. Heys, et al., in International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), Munich, September 2005.

“Rover Design for Polar Astrobiological Exploration,” by L. Pedersen, D. Wettergreen, D. Apostolopoulos, C. McKay, M. DiGoia, S. Heys, J. Teza, M. Wagner, K. Al Ali, K. in International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), Munich, September 2005.

“Data Mining During Rover Traverse: From Images to Geological Profiles,” by D. Thompson, T. Smith, D. Wettergreen, in International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), Munich, September 2005.

“A Sun Tracker for Planetary Analog Rovers,” by M. Deans, D. Wettergreen, D. Villa, in International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), Munich, September 2005.

“Design and Control of a Passively Steered, Dual Axle Vehicle” by M. Wagner, S. Heys, D. Wettergreen, G. Kantor, J. Teza, D. Apostolopoulos, W. Whittaker, in International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), September 2005.

“Three Dimensional Evidence Grids for SLAM in Complex Underwater Environments,” byN. Fairfield, G. Kantor, D. Wettergreen in proceedings of the 14th International Symposium of Unmanned Untethered Submersible Technology (UUST), New Hampshire, August 2005.

“Observations of a science team during an advanced planetary rover prototype field test,” by J. Glasgow, E. Pudenz, G. Thomas, P. Coppin, N. Cabrol, and D. Wettergreen, in IEEE Workshop on Robot and Human Interactive Communication (RO-MAN), Nashville, August 2005.

“Multi-Object Detection in Natural Scenes with Multiple-View EM Clustering," by D. Thompson and D. Wettergreen, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edmonton, Canada, August 2005.

“Collaborative Virtual Environments for Control of Planetary Exploration Rovers,” by G. Thomas, P. Coppin, N. Cabrol, D. Wettergreen, E. Pudenz, J. Glasgow, in Special Session on Human Robot Interaction, Human Computer Interaction / Virtual Reality Conference, Las Vegas, July 2005.

“First Experiments in the Robotic Investigation of Life in the Atacama Desert of Chile” by D. Wettergreen, N. Cabrol, J. Teza, P. Tompkins, et al., in IEEE International Conference on Robotics and Automation (ICRA), Barcelona, May 2005.

“Automatic Detection and Classification of Features of Geologic Interest” by D. Thompson, S. Niekum, T. Smith, D. Wettergreen in IEEE Aerospace Conference, Big Sky, March 2005.

“Concepts for Science Autonomy during Robotic Traverse and Survey” by T. Smith, S. Niekum, D. Thompson, D. Wettergreen, in the IEEE Aerospace Conference, Big Sky, March 2005.

“Global Path Planning for Mars Rover Exploration,” by P. Tompkins, A. Stentz, D. Wettergreen, in IEEE Intelligent Autonomous Systems (IAS), Amsterdam, March 2004.

“Far-field terrain evaluation using geometric and topo-semantic vision,” by A. Avedisyan, D. Wettergreen, T. Fong, and C. Baur, in the Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA), ESA, November 2004.

“A Survey of Space Robotics,” by L. Pedersen, D. Kortenkamp, D. Wettergreen, I. Nourbakhsh, in proceedings of in International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), Nara, Japan, May 2003.


http://www.ri.cmu.edu/pubs/pub_5126.html

http://www.ri.cmu.edu/people/fairfield_nathaniel.html

http://www.ri.cmu.edu/people/kantor_george.html

http://www.ri.cmu.edu/people/wettergreen_david.html

“Sustained Surface Exploration of the Earth-like Planets,” by D. Wettergreen, in proceedings of RoboSphere Workshop, Mountain View, November 2002.

“First Experiment in Sun-Synchronous Navigation,” by D. Wettergreen, M. Dias, B. Shamah, J. Teza, P. Tompkins, C. Urmson, M. Wagner, W. Whittaker, in proceedings of IEEE International Conference on Robotics and Automation (ICRA), Washington D.C., May 2002.

“Steering a Passively Articulated Robot,” by B. Shamah, M. Wagner, S. Moorehead, J. Teza, D. Wettergreen, W. Whittaker, in proceedings of SPIE Sensor Fusion and Decentralized Control in Robotic Systems IV, Vol. 4571, Boston, November 2001.

“Collection of Environmental Data from an Airship Platform,” by G. Kantor, D. Wettergreen, J. Ostrowski, S. Singh, in proceedings of SPIE Sensor Fusion and Decentralized Control in Robotic Systems IV, Vol. 4571, Boston, October 2001.

“Robotic Planetary Exploration by Sun-Synchronous Navigation,” by D. Wettergreen, B. Shamah, P. Tompkins, W. Whittaker, in International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS), Montreal, Canada, June 2001.

“Development of Autonomous Underwater Vehicle with Visual Servo Control,” by C, Silpa-Anan, S. Abdallah, and D. Wettergreen, in the Australian Conference on Robotics and Automation, Melbourne, Australia, August 2000.

“Robust Camera Calibration for an Autonomous Underwater Vehicle” by M. Bryant, D. Wettergreen, S. Abdallah, and A. Zelinsky, in the Australian Conference on Robotics and Automation, Melbourne, Australia, August 2000.

“A State Estimation System for an Autonomous Underwater Vehicle,” by J. Cvetanovski, S. Abdallah, T. Brinsmead, D. Wettergreen, and A. Zelinsky, in the Australian Conference on Robotics and Automation, Melbourne, Australia, August 2000.

“Sun-Synchronous Planetary Exploration,” by W. Whittaker, G. Kantor, B. Shamah, and D. Wettergreen, in proceedings of AIAA Space 2000, July, 2000.

“Q-Learning in Continuous State and Action Spaces,” by C. Gaskett, D. Wettergreen, and A. Zelinsky, in Australian Joint Conference on Artificial Intelligence, Sydney, Australia, December 1999.

“Reinforcement Learning for a Visually-Guided Autonomous Underwater Vehicle,” by D. Wettergreen, C. Gaskett, and A. Zelinsky, in Unmanned Untethered Submersible Technology (UUST), Durham, New Hampshire, USA, August 1999.

“Autonomous Control and Guidance for an Underwater Robotic Vehicle,” by D. Wettergreen, C. Gaskett, and A. Zelinsky, in the Conference on Field and Service Robots (FSR), Pittsburgh, August 1999.

“Reinforcement Learning applied to Control of an Autonomous Underwater Vehicle,” by C. Gaskett, D. Wettergreen, and A. Zelinsky, in the Australian Conference on Robotics and Automation, Brisbane, Australia, March 1999.

“Development of a Visually-Guided Autonomous Underwater Vehicle” by D. Wettergreen, C. Gaskett, and A. Zelinsky, in proceedings of OCEANS '98, Nice, France, vol. 2, pp. 1200 -1204, September 1998.

“Atacama Desert Trek: Outcomes” by D. Bapna, E. Rollins, M. Maimone, W. Whittaker, and D. Wettergreen, in the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Leuven, Belgium, May 1998.

“Initial Results from Vision-based Control of the Ames Marsokhod Rover,” by D. Wettergreen, H. Thomas, and M. Bualat, in the proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, September 1997.


“Gait Planning and Reactive Control for a Hexapod Walking Robot,” by D. Wettergreen and C. Thorpe, in the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Minneapolis, April 1996.

“Behavior-based Gait Execution for the Dante II Walking Robot,” by D. Wettergreen, H. Pangels, and J. Bares, in the proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Pittsburgh, August 1995.

“Operator Interfaces and Network-based participation for Dante II,” by T. Fong, H. Pangels, D. Wettergreen, et al. in the proceedings of the SAE International Conference on Environmental Systems, San Diego, July 1995.

“Configuration of a Walking Robot for Volcano Exploration,” by W. Whittaker, D. Wettergreen, and J. Bares, in the proceedings of the International Conference on Advanced Robotics, Tokyo, November 1993.

“Gait Generation for Legged Robots,” by D. Wettergreen and C. Thorpe, in the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Raleigh, July 1992.

“Planning Strategies for the Ambler Walking Robot,” by D. Wettergreen, H. Thomas, and C. Thorpe, in the IEEE International Conference on Systems Engineering, Pittsburgh, August 1990.

“Simulation of the Ambler Environment,” by H. Thomas, D. Wettergreen, and C. Thorpe, in the Pittsburgh Conference on Modeling and Simulation, Pittsburgh, May 1990.

“A Mobile Robot for Lunar Surface Operations,” by L. Bares, I. Kweon, J. Osborn, D. Wettergreen, and W. Whittaker, in the proceedings of SPACE 90: Engineering, Construction, and Operations in Space, Albuquerque, April 1990.

Conference Posters and Abstracts“Subsurface Life In The Atacama: Overview Of The First Autonomous Traverse Of A 1-M Rover-Mounted Drill,” by N. Cabrol, D. S. Wettergreen, K. W. Rhodes, E. A. Grin, T. Hare, J. Wei, J. Lambert, J. E. Moersch, S. Pointing, K. Tanaka, C. Tate, D. R. Thompson, and M. D. Wagner in 45th Lunar and Planetary Science Conference, 2014.

“Planetary Lake Lander: An Online E/Po Campaign Using Social Media Tools To Address The General Public,” by N. A. Cabrol, T. Smith, E. A. Grin, S. Y. Lee, J. E. Moersch, E. Maclennan, V. Parro, L. Pedersen, P. Sobron, C. Tambley, C. Thompson, and D. S. Wettergreen, in 45th Lunar and Planetary Science Conference, 2014.

“Planetary Lake Lander: Adaptive Science Initial Results,” by S. Y. Lee, H. Seddiqi, N. A. Cabrol, E. A. Grin, R. Lorenz, J. E. Moersch, E. Maclennan, V. Parro, P. Sobron, C. Tambley, C. Thompson, and D. S. Wettergreen in 45th Lunar and Planetary Science Conference, 2014.

“Planetary Lake Lander: Year 3 Science Overview,” by T. Smith, E. A. Grin, S. Y. Lee, R. Lorenz, J. E. Moersch, E. Maclennan, V. Parro, L. Pedersen, E. W. Smith, P. Sobron, C. Tambley, C. Thompson, and D. S. Wettergreen, in 45th Lunar and Planetary Science Conference, 2014.

“Life In The Atacama - The Drill And Sample Delivery System: Results From The 2013 Field Campaign,” by G. Paulsen, S. Yoon, D. S. Wettergreen, and N. A. Cabrol in 45th Lunar and Planetary Science Conference, 2014.

“Automated Core Sample Analysis By The Mars Microbeam Raman Spectrometer (Mmrs) On-Board The Zoë Rover In Atacama: A Terrestrial Test For Mars Exploration,” by A. Wang, J. Lambert, D. S. Wettergreen, N. A. Cabrol, and K. A. Warren-Rhodes in 45th Lunar and Planetary Science Conference, 2014.


“Autonomous Detection of Novel Biologic and Geologic Features in Atacama Desert Rover Imagery,” by D. Thompson, T. Smith, and D. Wettergreen in the 37th Lunar and Planetary Science Conference (LPSC), Houston, Texas, March 2006.

“Autonomous Detection of Novel Biologic and Geologic Features in Atacama Desert Rover Imagery,” by D. Thompson, T. Smith, and D. Wettergreen in the 37th Lunar and Planetary Science Conference (LPSC), Houston, Texas, March 2006.

“Autonomous Rover Detection and Response Applied to the Search for Life Via Chlorophyll Fluorescence in the Atacama Desert,” by T. Smith, D. Thompson, S. Weinstein, and D. Wettergreen in the 37th Lunar and Planetary Science Conference (LPSC), Houston, Texas, March, 2006.

“Autonomous Daylight Detection of Life by Fluorescence Imaging,” by S. Weinstein, D. Pane, … (6) D. Wettergreen, et al., in 37th Lunar and Planetary Science Conference (LPSC), Houston, Texas, March, 2006.

“Fluorescent Imager for Biological Imaging in Daylight,” by S. Weinstein, D. Pane, … (6) D. Wettergreen, et al., in the 37th Lunar and Planetary Science Conference (LPSC), Houston, Texas, March, 2006.

“Implementation of a Daylight Fluorescence Imaging System to Autonomously Detect Biomarkers of Extant Life in the Atacama Desert,” by S. Weinstein, D. Pane, … (8) D.S. Wettergreen, et al., in the 37th Lunar and Planetary Science Conference (LPSC), Houston, March, 2006.

“Use of a Novel Rover-mounted Fluorescence Imager and Fluorescent Probes to Detect Biological Material in the Atacama Desert in Daylight,” by S. Weinstein, D. Pane, … (9) D. Wettergreen, et al. in 37th Lunar and Planetary Science Conference (LPSC), Houston, March, 2006.

“Challenges to Grounding in Human-Robot Interaction: Sources of Errors & Miscommunications in Remote Exploration Robotics” by K. Stubbs, P. Hinds, D. Wettergreen, in the 2006 Conference on Human-Robot Interaction, (HRI), Salt Lake City, March 2006.

“Robotic Technologies for Surveying Habitats and Seeking Evidence of Life: Results from the 2004 Field Experiments of the Life in the Atacama Project,” by D. Wettergreen, N. Cabrol, et al. in 36th Lunar and Planetary Science Conference (LPSC), Houston, March 2005.

“Searching for Life with Rovers: Exploration Methods & Science Results from the 2004 Field Campaign of the Life in the Atacama Project and Applications to Future Mars Missions,” by N. Cabrol, D. Wettergreen, et al. in the 36th Lunar and Planetary Science Conference (LPSC), Houston, March 2005.

“Spectroscopic Results from the Life in the Atacama Project 2004 Field Season,” by J. Piatek, J. Moersch, …(5) D. Wettergreen, et al. in the 36th Lunar and Planetary Science Conference, Houston, March 2005.

“Fluorescence Imager for Biological Imaging in Daylight,” by S. Weinstein, D. Pane, …(6) D. Wettergreen, et al. in the 36th Lunar and Planetary Science Conference (LPSC), Houston, March 2005.

“Use Of A Novel Rover-Mounted Fluorescence Imager And Fluorescent Probes To Detect Biological Material In The Atacama Desert In Daylight,” by S. Weinstein, D. Pane, … (9) D. Wettergreen, et al. in the 36th Lunar and Planetary Science Conference (LPSC), Houston, March 2005.

“Using Near Real-Time Mission Data for Education and Public Outreach: Strategies from the Life in the Atacama E/PO Effort,” by E. Myers, P. Coppin, …(9) D. Wettergreen and A. Waggoner in the 36th Lunar and Planetary Science Conference (LPSC), Houston, March 2005.

Video and Online Publications

“Automated Plant Measurement and Phenotyping for TERRA,” video by D.Wettergreen and B. Stazel, published online, January 2017


http://www.ri.cmu.edu/pubs/pub_5308.html

http://www.ri.cmu.edu/people/thompson_david.html

http://www.ri.cmu.edu/people/smith_trey.html


http://www.ri.cmu.edu/people/smith_trey.html

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“Nomadic Exploration: Following Routes of Solar Sustenance and Temperate Climate,” video by N. Otten, D.Wettergreen and W. Whittaker, published online, January 2017

“Antarctic Robotic Traverse 2011 Field Journal” by D. Wettergreen, published online at http://www.frc.ri.cmu.edu/, January-February 2011.

“Science on the Fly: Enabling Science Autonomy during Robotic Traverse,” video by D. Wettergreen, D. Thompson and B. Staszel, in IEEE International Conference on Robotics and Automation (ICRA), Anchorage, May 2010.

“Robotic Astrobiology in the Atacama Desert,” video by D. Wettergreen, J. Teza, B. Staszel, in IEEE International Conference on Robotics and Automation (ICRA), Orlando, Florida, May 2006.

“Life in the Atacama 2005 Field Journal” by D. Wettergreen, published online at http://www.frc.ri.cmu.edu/atacama, September-October 2005.

“Life in the Atacama 2004 Field Experiment Reports and Images” by D. Wettergreen, published online at http://www.frc.ri.cmu.edu/atacama, September-October 2004.

“Life in the Atacama 2003 Field Experiment Reports and Images” by D. Wettergreen, published daily online at http://www.frc.ri.cmu.edu/atacama, April 2003.

“Sun-synchronous Navigation 2001 Field Experiment Reports, Images and Movies,” by D. Wettergreen, published daily online at http://www.frc.ri.cmu.edu/sunsync, June 2001.

Artwork“Remote Terrain Observed, 47.3 Kilometers” by D. Wettergreen in 2008 Gestures Exhibition, The Mattress Factory Museum, Pittsburgh, January - May 2008.


Grants “Evidence Meshes fro Three-Dimensional Modeling, Visualization and Navigation,” Principal Investigator, NASA STTR, September 2017, 1 year, $150,000.

Developing probabilistic methods of data merging and reduction on irregular meshes for efficient modeling of enclosed 3D spaces.

“Understanding Future Transportation in Arctic Regions, Workshop Proposal,” Principal Investigator, NSF Navigating the New Arctic Program, August 2017, 1 year, $99,000

Organizing workshop to discuss technologic, economic, environmental and social factors and formulate future research on autonomous transportation in the arctic.

“TREX: Toolkit for Robotic Exploration” Co-Investigator, NASA Solar System Exploration Research Virtual Institute/Planetary Sciences Institute, April 2017, 5 years, $554,000

Participating in planetary sciences team developing methods of exploration on small bodies (moons, asteroids, comments) and applying automated science data understanding.

“Wheel Development for Mars Surface Mobility, Phase 2” Principal Investigator, Jet Propulsion Laboratory, November 2016, 18 months, $135,000.

Designing and testing wheels for the Mars 2020 rover.

“Automated TERRA Phenotyping System for Genetic Improvement of Energy Crops,” Institutional Principal Investigator, September 2015, 2 years, $4,200,000

Developing high-throughput robotic phenotyping system including robot for collecting data within fields and algorithms for feature extraction, growth estimation and plant fitness.

“Co-Exploration using Science Hypothesis Maps,” Principal Investigator, NSF National Robotics Initiative, August 2015, 3 years, $858,000.

Creating hypothesis maps paradigm for autonomous science investigation.

“Automated Viking ATV,” Co-Investigator, Yamaha Corporation, May 2015, 2 years, $3,110,000.Creating self-driving, off-road vehicles; leading development of global path planning and local, navigation using model-based terrain evaluation and visual classification.

“Changing Planetary Environment and the Fingerprints of Life,” Co-Investigator, NASA Astrobiology Institute/SETI Institute, January 2015, 5 years, $340,000.

Leading science automation subgroup and developing methods of autonomously detecting life.

“Wheel Development for Mars Surface Mobility,” Principal Investigator, Jet Propulsion Laboratory, November 2014, 18 months, $182,000.

Designing and testing wheels for the Mars 2020 rover.

“Wheel-Leg Hybrid Locomotion Controls for Extreme Terrain,” Principal Investigator, Jet Propulsion Laboratory, November 2014, 10 months, $20,000.

Designing push-rolling dual wheel mechanism and analyzing in soil testbed.

“MeshSLAM,” Principal Investigator, NASA STTR, September 2014, 2 years, $300,000.Developing features and algorithms for SLAM in barren, natural terrain.

“Intelligent Spectroscopy for Robotics Explorers,” Principal Investigator, NASA STTR, June 2014, 6 months, $50,000.

Developing methods of associating spectral data from multiple sources and planning sampling strategy.

“Nomadic Exploration,” Principal Investigator, NASA Institute for Advanced Concepts, September 2013, 2 years, $500,000.

Creating models of lunar illumination and planning algorithms for finding circumnavigation routes.


“Wheel Analysis for Improved Mobility in Soft and Rough Terrain,” Principal Investigator, NASA Glenn Research Center, November 2012, 2 years, $286,000.

Analysis of wheel design for rovers in unconsolidated soil.

“Robotic Exploration of Subsurface Life in the Atacama Desert,” Principal Investigator, NASA Office of Space Science, June 2011, 3 years, $2,996,000.

Investigation of distribution of micro-organisms in the Atacama including subsurface sampling. Desert research and experimentation of technology for autonomous robotic survey.

“Robust Autonomous Surface Mobility,” Principal Investigator, NASA STTR, May 2011, 2 years, $360,000.Developing robustness and fault tolerance for natural terrain autonomous navigation by surface rovers.

“Wheel Design and Operation for Improved Mobility in Soft and Rough Terrain,” Principal Investigator, NASA Glenn Research Center, June 2011, 1 year, $200,800.

Integration and testing of wheel and traction control for rovers.

“Shear Interface Imaging and Analysis,” Co-investigator, Jet Propulsion Laboratory, May 2011, 1 year, $70,000Development of apparatus and experiments for wheel/soil modeling and design

“Flexible Assembly of Large Structures,” Co-investigator, Boeing Corporation, January 2011, 1 year, $150,000Design and demonstration of algorithms for 3D SLAM in large interior spaces.

“Experiments for Autonomously Guided Vehicles for Antarctic Traverse,” Principal Investigator, NSF/Cold Regions Research and Engineering Laboratory, December 2010, 1 year, $102,000

Evaluation of sensors and algorithms for modeling, navigation and control of autonomous arctic convoys.

“Vehicle Design and Operation for Improved Mobility in Soft and Rough Terrain,” Principal Investigator, NASA Glenn Research Center, October 2010, 1 year, $85,000.

Integration and testing of power systems for lunar rovers.

“Advanced Transportation Systems,” Co-Investigator, NSF CyberPhysical Systems, November 2010, 5 year, $250,000

Design, engineering and evaluation of multi-vehicle cyberphysical systems for highways.

“Automated Image Analysis for Robust Detection of Construction Zones,” Principal Investigator, General Motors Corporation, September 2010, 2 years, $150,000

Design and demonstration of algorithms for on-vehicle detection and classification of roadside features.

“Robust Autonomous Surface Mobility,” Principal Investigator, NASA STTR, February 2010, 1 year, $55,000.Developing robustness and fault tolerance for natural terrain autonomous navigation and creating new models and algorithms for human-robot collaboration in mobility tasks.

“Experimental Analysis of Lunar Surface Mobility constrained by Power,” Principal Investigator, NASA Glenn Research Center, January 2010, 1 year, $42,500.

Integration and testing of fuel-cell power system for for lunar rovers.

“Enhanced Road Networks using Orbital Imaging,” Co-Principal Investigator, General Motors, June 2009, 2 years, $125,000.

Applying learning-based methods to orbital image analysis to identify road marks including lanes boundaries, traffic guidance, crosswalks and parking spots to augment road network databases for autonomous driving.

“Lunar Prototype Rover Mobility Characterization and Control Development,” Principal Investigator, NASA Glenn Research Center, May 2009, 1 year, $120,000.

Refinement, implementation and testing of traction and control for lunar rovers.

“Mobility in Lunar Terrain: Wheel Development and Validation,” Principal Investigator, Jet Propulsion Laboratory, March 2009, 1 year, $25,000.


Refinement, implementation and testing of wheels for lunar rovers.

“Beamed Power Rover,” Principal Investigator, Boeing Corporation, February 2009, 3 years, $500,000Creating beamed-power rover charged remotely by laser and autonomy for continuous navigation and coordinated dynamic recharging.

“Mobility and Field Experimentation for Lunar-Analog Drilling and In Situ Analysis,” Co-Principal Investigator, NASA Johnson Space Center, January 2008, 1 year, $545,000.

Integration of drill and instrument suite for in situ analysis of lunar regolith and experimentation at lunar analogue field site.

“Robotic Mobility in Lunar Terrain,” Co-Principal Investigator, NASA Glenn Research Center, January 2008, 1 year, $199,000.

Refinement, implementation and testing of rover for navigation in permanent darkness of lunar poles

“Automated Orbital Mapping: Statistical Data Mining of Orbital Imagery to Analyze Terrain, Summarize its Characteristics and Draft Geologic Maps,” Principal Investigator, NASA Space Science Directorate, October 2007, 3 years, $331, 000.

Development and validation of methods of performing terrain classification and preliminary geologic mapping automatically using Mars orbital imagery.

“Information-Optimal Subsampling of Temporal Image Sequences,” Principle Investigator, NASA Jet Propulsion Laboratory, September 2007, 1 year, $50,000.

Application of automated obstacle detection and terrain classification as applied to Mars Exploration Rover image sequences.

“Robotic Mobility in Lunar Terrain,” Co-Principal Investigator, NASA Glenn Research Center, March 2007, 1 year, $799,000.

Formulation of lunar polar crater exploration. Design, implementation and testing of rover for shallow drilling in lunar regolith and navigation in permanent darkness.

“Search-for-Life Rover Science Operations Analyzing Science Operations”, Co-Investigator (Institutional PI), NASA Space Science Directorate, May 2005, 2 years, $148,000

Ethnographic study of behavior and effectiveness of scientists applying remote robotic agents to accomplish scientific investigations.

“Fully Automated Mission Operations Systems”, Co-Investigator (Institutional PI), NASA Exploration Technology Directorate, March 2005, 1 year, $30,000

Analysis of rover performance in remote investigations and conceptual design for automated systems of human-robot interaction.

“Reliable and Efficient Long-Range Rover Navigation,” Co-Investigator, NASA Mars Technology Program, October 2004, 3 years, $900,000

Research and technology validation of techniques for resource-cognizant planning and long-distance navigation by planetary rovers.

“Rover Navigation in Rough Terrain,” Co-Investigator, NASA Mars Technology Program, October 2004, 3 years, $597,000

Research in navigation in natural terrain with validation of one kilometer autonomous traverse.

“Deep Phreatic Thermal Explorer,” Co-Investigator (Institutional PI), NASA Office of Space Science, March 2004, 3 years, $920,000

Research and field experimentation in planning, execution, mapping and localization (3D SLAM) for autonomous exploration of flooded subterranean caverns.


“Life on Ice Antarctic Robotic Explorer,” Co-Investigator (Institutional PI), NASA Office of Space Science, March 2004, 1 year, $490,000

Design study and technology experimentation to support the robotic investigation of micro-organisms living in the near-surface Antarctic ice sheet.

“Science on the Fly,” Principal Investigator, NASA Office of Space Science, February 2004, October 2006 , 3 years, $899,000

Research and experimentation with techniques to improve the data return of scientific investigations through automatic detection, classification, and summarization of scientific observations.

“Limits of Life in the Atacama,” Co-Investigator (Project Leader), NASA Office of Space Science, October 2002, 3 years, $3,600,000

Investigation of distribution of micro-organisms in the Atacama Desert research and experimentation of planetary-relevant technologies for autonomous long-distance robotic traverse.

“Detection of Scarce Microbes in Extreme Environments,” Collaborator, NASA Office of Space Science October 2002, 3 years, $920,000

Conceptualization and instrument design for daylight detection of organic fluorescence for the purpose of imaging the distribution and abundance of micro-organisms

“Coordination of Robotic Teams for Space Solar Power Assembly Operations,” Co-Investigator, NSF, August 2002, 2 years, $500,000

Research in sliding autonomy to enable multiple cooperating robots to autonomously and in collaboration with few remote supervisors to assemble large space structures.

“Planetary Circumnavigation,” Principal Investigator, NIAC Advanced Space Concept Study, May 2002, 6 months, $75,000

Formulation of revolutionary concepts in planetary exploration specifically methods, technologies and evaluation metrics for missions for circumnavigating Mercury, Venus, the Moon, and Mars

“NEXT Space Robotics Technology Assessment,” Co-investigator, NASA Exploration Team (NEXT), November 2001, 3 months, $13,000.

Study of state of the art in space robotic technology involving contemporary assessment and future projections.

“Inflatable Rover Technologies,” Co-investigator, NASA Mars Technology Program, March 2001, 1 year, $150,000.Formulation of methods of control and navigation for large-wheeled, inflatable rovers.

“Extended Environmental Monitoring via Intelligent Autonomous Airships,” Co-investigator, NSF Environmental Technology Program, October 2000, 1 year, $149,000.

Synthesis and analysis of long-duration volumetric monitoring of air qualities by solar-powered blimps.

“Visual Servo-control of a Mobile Robot for Position-free Navigation,” Investigator, NASA Ames Research Council Discretionary Grant, October 1997, 2 years, $80,000.

Research in natural feature tracking by onboard visual servoing during automatic rover approach.

“Dexterous Walking for Mobility in Unstructured Terrain,” Investigator, NASA Ames Research Council Discretionary Grant, October 1997, 2 years, $80,000.

Design of a quasi-static hexapod for energy efficient rough terrain mobility.


Students

Doctoral AdviseesAlberto Candela, Ph.D. in Robotics, expected 2020

Studying experiment design and information-theoretic path planning for autonomous exploration.Nathan Otten, (with Red Whittaker) Ph.D. in Robotics, expected 2018

Studying methods of modeling illumination and planning solar-powered circumnavigation.P. Michael Furlong, Ph.D. in Robotics, expected 2018

Developing algorithms for foraging, prospecting, and hypothesis falsification for autonomous science.Greydon Foil, Ph.D. in Robotics, 2016, at Mesh Robotics

Studying methods of science data interpretation for exploration mission planning.Jongho Lee, Ph.D. in Mechanical Engineering, 2016, at Delphi Automotive

Studying position estimation and developing cooperative visual tracking systemsMark Desnoyer, Ph.D. in Robotics, 2015, at Neon Labs

Creating methods of compositional image analysis and automated feature detection filter construction.Krzystof Skonieczny (with Red Whittaker), Ph.D. in Robotics, 2013, at Concordia University

Studying methods and mechanisms for lunar soil work.Scott Moreland (with Bill Messner), Ph.D. in Mechanical Engineering, 2013, at Caltech Jet Propulsion Laboratory

Configuration of mobile robots and analysis of mobility in natural terrainYoung-woo Seo (with Chris Urmson), Ph.D. In Robotics, 2012, at AutelRobotics

Developing method of automatic training and learned-feature classification with application to autonomous urban driving and road network model augmentation.

Nathaniel Fairfield, Ph.D. in Robotics, 2009, at Google [X]Simultaneous localization, mapping, and planning in fully-3D environments.

David Thompson, Ph.D. in Robotics, 2008, at Caltech Jet Propulsion LaboratoryVision and learning in natural scene interpretation and autonomous science discovery and planning.

Kristen Stubbs (with Illah Nourbakhash), Ph.D. in Robotics, 2008, at iRobot CorporationHuman-robot interaction, plan interpretation, and models of human intent.

Christopher Gaskett (with Alex Zelinsky), Ph.D. in Systems Engineering, 2001 at James Cooke UniversityReinforcement learning for control of continuous input, continuous output systems.

Doctoral CommitteesChris Cunningham, 2017Heather Jones, 2016

Joydeep Biswas, 2014Neal Seegmiller, 2014

Uland Wong, 2012Paul Furgale, 2011 (University of Toronto)

Christoper Baker, 2011David Silver, 2010

Marion Trey Smith, 2007


Masters AdviseesHimanshi Yadav, M.S. in Robotics, expected 2019

Studying path planning for science rovers

Kodgule, Suhit, M.S. in Robotics, expected 2019Studying path planning for science rovers

Karen Orton, M.S. in Robotics, expected 2019Studying wheel and chassis design for push-rolling vehicles.

Hanyue Liang, M.S. in Robotics, expected 2018Developing feature identification and automated classification for plant phenotyping.

Srinivas Vijayarangan, M.S. in Robotics, expected 2018Studying 3D reconstruction of natural objects and integration of hyperspectral imagery.

Alberto Candela, M.S. in Robotics, 2017 at Carnegie Mellon (Ph.D.)Developing hypothesis mapping method of human and robot co-exploration.

Paloma Sodhi, M.S. in Robotics, 2017 at Carnegie Mellon (Ph.D.)Designing sensor data aquisition, processing, and feature extraction for high-throughput plant phenotyping.

Samuel Yim, M.S. in Robotics, 2016 at Edge Case ResearchDeveloping feature identification and localization for navigation in natural terrain.

Joseph Amato, M.S. in Robotics, 2016 at Uber Advanced Technology CenterStudying cooperation in paired robotic explorers.

Zongyi Yang, M.S. in Robotics, 2016 at NVIDIA Deep Learning Research GroupDeveloping mechanisms and algorithms for robotic brachiation.

Hiroaki Insotume, M.S. in Robotics, 2015 at University of Tokyo (Ph.D.)Designing wheels including grouser configuration and conducting experimental validation.

Jingwei “Jessica” Zhang, M.S. in Mechanical Engineering, 2013 at University of Freiburg (Ph.D.)Analyzed and designed algorithms and implementation of continuous landmark following.

Bowei Tang, M.S. in Mechanical Engineering, 2013Designed and analyzed high-degree of freedom walking mechanism and its gaits.

Salem Cherenet, M.S. in Mechanical Engineering, 2013Developed algorithms for compression of natural panoramas using deep auto-encoders.

Daniel Loret de Mola Lemus, M.S. in Robotics, 2013 Developed method of active control of extreme slope descent.

James Lee, (with George Kantor) M.S. in Robotics, 2013Researching methods of SLAM in natural terrain with visual and geometric features.

David Kohanbash, M.S. in Robotics, 2011, on staff in the Robotics InstituteDeveloped methods and conducted experiments in use of plow in slope descent.

Neal Seegmiller, M.S. in Robotics, 2011, at Southwest Research InstituteAnalysis and control of passively-steered mobile robots.

Alan Kraut, M.S. in Robotics, 2010Created methods of orbital image analysis for terrain characterization.


P. Michael Furlong, M.S. in Robotics, 2009, at NASA Ames Research CenterDeveloped algorithms for rough-terrain path planning for reconfigurable chassis mechanisms.

Scott Moreland (with Bill Messner), M.S. in Mechanical Engineering, 2009, at Jet Propulsion LaboratoryAnalyzed mobility and traction of lunar rover concepts.

Andrew Harris, M.S. in Robotics, 2008, at at Jet Propulsion LaboratoryDeveloped functional programming methods for robotic spacecraft

Paul Bartlett (with Red Whittaker), M.S. in Robotics, 2008, at Near Earth Autonomy Inc.Designed novel planetary rover mechanisms for drilling

Allan Lüders, M.S. in Robotics, 2007 Studied control of novel legged mechanisms and created spherical hopping robot.

Francisco Calderón, M.S. in Robotics, 2007Developed methods of geologic feature tracking and automated instrument data collection.

Heather Dunlop, M.S. in Robotics, 2006, at DigitalSmiths, Inc.Developed algorithms for geologic parameter estimation and developed rock detection methods

Daniel Villa, M.S. in Robotics, 2005, at Georgia Tech (Ph.D.)Developed method of position estimation for a novel planetary rover configuration.

Chanop Silpa-Anan (with Alex Zelinsky), M.S. in Systems Engineering, 2001Visual servo-control of an autonomous underwater vehicle.


David Wettergreen

The Robotics InstituteCarnegie Mellon University

Pittsburgh, Pennsylvania 15213-3890 [email protected]

BiographyDavid Wettergreen is known for deploying robots around the world in polar and desert environments, and into volcanoes, caves, and locations that compel scientific investigation without human presence. Field investigations with innovative robots in challenging environments are a hallmark of his work. Dr. Wettergreen is a Research Professor in the Robotics Institute of the School of Computer Science. He also holds an courtesy appointment in Mechanical Engineering. He has held a faculty position at Carnegie Mellon since 2000 and before that was a Research Fellow at the Australian National University and a National Research Council Research Associate at the NASA Ames Research Center. He received his Ph.D. in Robotics from Carnegie Mellon in 1995 from which he also holds an M.S. in Software Systems and a B.S in Mathematics.

Dr. Wettergreen concentrates on robotic explorers performing meaningful tasks. He applies robotics to exploration underwater, on land, and in the air and space. He investigates far-field perception, long-distance navigation, resource-cognizant planning, scientific data classification and evaluation, and human-robot interaction. To create systems specialized to exploration in extreme environments, he also develops mechanisms and mobility for robots. His work spans concept formulation through system synthesis to field experimentation. Current research has focused on science autonomy, enabling rovers to make decisions about exploration based on analysis of scientific instrument data on the fly. Field demonstration of robotic geologic mapping in the Atacama Desert, Chile and Amboy Lava field, California combines rock detection, spectrometer targeting, and geologic classification to inform navigation that maximizes expected information gain. The result is automated geologic mapping. An outcome of this work is software for robust detection and classification of rocks which has lead to the reimplementation of these algorithms for the Mars Exploration Rover Opportunity and its utilization on Mars.Dr. Wettergreen’s research is developing planetary rovers. He is creating robots that can investigate and survey lunar sites and perform useful work like drilling and prospecting for resources. Recent field experiments on Mauna Kea in Hawaii demonstrated kilometer-scale autonomous traverse in lunar-like soils. His work in robotic navigation has resulted in autonomous descent into craters with lunar-analogue slope and scale in eastern Washington. He is creating prototypes for lunar precursor missions.

Past projects have developed of autonomous rovers that can map the presence, location and abundance of microorganisms. These robotic systems have created first biogeologic maps of regions of the Atacama Desert in Chile and have also established single-command, multi-kilometer autonomous traverse, a milestone for planetary rovers. Dr. Wettergreen has created systems to prove the concept of sun-synchronous exploration. Demonstrated in the Canadian high arctic, this capability enables solar-powered robots to reason about limited resources and achieve multi-day traverse in conditions of continuous polar daylight. He was navigation and autonomy lead for an underwater investigation of life in flooded sinkholes and caverns in Mexico. Dr. Wettergreen is the principal investigator for the Science-on-the-Fly project which seeks to enable robotic explorers to detect, classify, and evaluate natural features in their scientific observations so that they can make better decisions about what additional observations to make and what data is most important to communicate to scientists.

Dr. Wettergreen led research in underwater robotics at the Australian National University. That research initiative investigated model-free reinforcement learning and adaptive methods for vehicle control and sensor-based servoing


for guidance underwater. While at the NASA Ames Research Center, Dr. Wettergreen developed a behavior-based control architecture for planetary rovers and conducted field experiments that first demonstrated visual servo-control for approach to geologic features. Also at NASA he led the development of panoramic visualization methods and the virtual dashboard telepresence interface for remote driving. This system enabled the first remote detection of a fossil. In his doctoral research Dr. Wettergreen investigated control and planning for legged robots for Mars exploration, but prototyped for the investigation of terrestrial volcanoes. That research created a hybrid control architecture for parameterized behavior-based control and deliberative guidance of walking.

Dr. Wettergreen is an associate editor for the Journal of Field Robotics and regularly reviews manuscripts for the International Journal of Robotics Research, IEEE Transactions on Robotics, and other academic journals as well as the major conferences in robotics. He has published over 100 papers in areas of robot perception, planning, learning, control, human interaction and autonomy.

Dr. Wettergreen has advised 13 Ph.D. and 28 M.S. students in robotics. He chairs the Ph.D. Program which defines the curriculum for doctoral study in the Robotics Institute. He is also Associate Director for Education, organizing admissions, orientation, course planning and advising for all of the educational programs in the institute.Dr. Wettergreen’s work has frequently appeared in the popular media including magazine features in Science, Time, Discover, National Geographic, Popular Science, and IEEE Spectrum; in articles in the New York Times, Wall Street Journal, Washington Post, and USA Today as well as hundreds of local and international newspapers; in radio interviews including NPR and BBC; and on television on CNN, National Geographic, and Discovery channels. His work has appeared online at Wired.com, Space.com, Slashdot.org, and Wikipedia.org. In 2005 he was a recipient of a Popular Mechanics Breakthrough Award for creating innovative new technologies for exploration.


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