Lumelsky, Vladimir J.

BS, MS 1960, 1962, Computer Science, Institute of Precision Technology, St. Petersburg, Russia
PhD 1970, Applied Mathematics, Institute of Control Sciences, Russian National Academy of Sciences, Moscow

Fields of Interest

robotics
pattern recognition
kinematics
human spatial reasoning and motion planning
sensor-based intelligent systems
sensor-based navigation and localization
Sensor-based navigation and localization
control theory, industrial automation
computer vision

Publications

_______I. Books and Book Chapters
1. E. Itskovich, V. Krivov, V. Lumelsky, E. Trachtengertz, Methods of Development of Control Algorithms. USSR National Academy of Sciences, Series ''Selected Works of the Institute of Control Sciences'', Moscow, 1970.
2. E. Braverman, A. Dorofejuk, V. Lumelsky, I. Muchnik, ''Diagonalization of a Coupling Matrix and Detection of Hidden Factors''. In Institute of Control Sciences Selected Works, USSR National Academy of Sciences, Vol.1, 42-79. Moscow, 1971.
3. A. Dorofejuk, V. Lumelsky, ''Computer Implementation of Algorithms of Pattern Recognition Without a Teacher''. In ''Algorithms of Pattern Recognition'', Soviet Radio Press, Moscow, 1972.
4. V. Lumelsky, ''Estimation and Prediction of Unmeasurable Variables in the Steel Mill Soaking Pit Control System''. In Kalman Filtering: Theory and Applications, (ed. H.W. Sorenson), 403-415. IEEE Press, 1985.
5. V. Lumelsky, ''Continuous Robot Motion Planning in Unknown Environment''. In Adaptive and Learning Systems: Theory and Applications, (K. Narendra, Ed.), 339-358. Plenum Press, 1986.
6. V. Lumelsky, ''On Non-Heuristic Motion Planning in Unknown Environment''. In IFAC Robot Control, (L. Basanez, G. Ferrate, G. Saridis, Eds.), 299-305. Pergamon Press, 1986.
7. V. Lumelsky, ''Simulating Sensor-Based Robot Motion Amongst Unknown Obstacles'', (with K. Sun). In Languages for Sensor-Based Control in Robotics, ( U. Rembold and K. Hoermann, Eds.), 451-479. Springer-Verlag, 1987.
8. V. Lumelsky, A. Stepanov, ''Path Planning Strategies for a Point Mobile Automaton Moving Amidst Unknown Obstacles of Arbitrary Shape''. In Autonomous Robot Vehicles, (I. Cox and G. Wilfong, Eds.), Springer-Verlag, 1990.
9. V. Lumelsky, ''Dynamic Path Planning for a Planar Articulated Robot Arm Moving Amidst Unknown Obstacles''. In Robotics -- Kinematics, Dynamics, Planning, (F. Lewis and M. Spong, Eds.), IEEE Press, 1992.
10. V. Lumelsky, ''Editorial Article on Robot Motion Planning''. In Robotics -- Kinematics, Dynamics, Planning, (F. Lewis and M. Spong, Eds.), IEEE Press, 1992.
11. E. Cheung, V. Lumelsky, ''A Sensitive Skin System for Motion Control of Robot Arm Manipulators''. In Research on Robotics by Principle Investigators of the Robotics Technology Development Program (Ed. R. Harrigan), Sandia National Laboratory, DOE. Publ. National Technical Information Service, US Dept of Commerce, 1995.
12. E. Cheung, V. Lumelsky, ''Real-Time Collision Avoidance in Teleoperated Whole-Sensitive Robot Arm Manipulators'. In Practical Motion Planning in Robotics: Current Approaches and Future Directions (Eds K. Gupta and A. del Pobil), John Wiley & Sons. 1998.
13. V. Lumelsky, M. Shur and S. Wagner, NSF-DARPA Sensitive Skin Workshop Report, October 1999. Rensselaer Polytechnic Institute, 1999.
14. V. Lumelsky, M. Shur and S. Wagner, Sensitive Skin. Book in Series: Selected Topics in Electronics and Systems. World Scientific. 2000.
15. V. Lumelsky, Sensing, Intelligence, Motion: How Robots and Humans Move in an Unstructured World. Wiley @ Sons, New York, 2006.
_______II. Journal Papers
16. V. Lumelsky, ''Parameter Grouping on the Basis of the Square Coupling Matrix''. Automation and Remote Control, No.1, 117-127, January 1970.
17. V. Lumelsky, ''Aggregation of an Interbranch Balance Matrix by Means of an Algorithm for Diagonalizing a Connection Matrix''. Automation and Remote Control , No.9, 1431-1434, September 1970.
18. V. Lumelsky, ''Algorithm for Detecting the Time of Change of Properties of Random Process''. Automation and Remote Control, No.10, 1620-1625, March 1973.
19. V. Lumelsky, ''A Combined Algorithm for Weighting the Variables and Clustering in the Clustering Problem''. Journal of Pattern Recognition , Pergamon Press, Vol.15, No.2, 53-60, February 1982.
20. V. Lumelsky, ''Estimation and Prediction of Unmeasurable Variables in the Steel Mill Soaking Pit Control System''. IEEE Trans. on Automatic Control , Vol. AC-28, No.3, 388-400, March 1983.
21. V. Lumelsky, ''Iterative Coordinate Transformation Procedure for a Class of Robots''. IEEE Trans. on Systems, Man, and Cybernetics , Vol. SMC-14, No. 3, 500-505, March 1984.
22. V. Lumelsky, ''On Fast Computation of Distance Between Line Segments''. Information Processing Letters . Vol.21, No.2, 55-61, August 1985.
23. V. Lumelsky, A. Stepanov, ''Dynamic Path Planning for a Mobile Automaton with Limited Information about the Environment''. IEEE Trans. on Automatic Control , Vol. AC-31, No.11, 1058-1063, November 1986.
24. V. Lumelsky, ''Effect of Kinematics on Dynamic Path Planning for Planar Robot Arms Moving Amidst Unknown Obstacles''. IEEE Journal of Robotics and Automation , Vol. RA-3, No.3, June 1987, 207-223.
25. V. Lumelsky, ''Guest Editorial for the Special Issue on Robot Motion Planning''. IEEE Journal of Robotics and Automation , Vol. RA-3, No.3, June 1987, 169-171.
26. V. Lumelsky, ''Dynamic Path Planning for a Planar Articulated Robot Arm Moving Amidst Unknown Obstacles''. Automatica , Vol. 23, No.5, 1987, 551-570.
27. V. Lumelsky, K. Sun, ''Computer Simulation of Sensor-Based Robot Collision Avoidance in an Unknown Environment''. Robotica , Oxford University Press, Vol. 5, Part 4, 1987, 291-302.
28. V. Lumelsky, A. Stepanov ''Algorithmic and Complexity Issues of Robot Motion in an Uncertain Environment''. Journal of Complexity , No. 3 , 1987, 146-182.
29. V. Lumelsky, ''Path Planning Strategies for a Point Mobile Automaton Moving Amidst Unknown Obstacles of Arbitrary Shape''. Algorithmica , No. 2 , 1987, 403-430.
30. V. Lumelsky, R. Brooks, ''Guest Editorial for the Special Issue on Sensor-Based Planning and Control in Robotics''. IEEE Journal of Robotics and Automation , Vol.5, No.6, December 1989, 713-715.
31. V. Lumelsky, E. Cheung, ''Proximity Sensing in Robot Manipulator Motion Planning: System and Implementation Issues''. IEEE Journal of Robotics and Automation , Vol. 5, No.6, December 1989, 740-751.
32. V. Lumelsky, K. Sun, ''A Unified Methodology for Motion Planning with Uncertainty for 2D and 3D Two-Link Robot Arm Manipulators''. Intern. Journal of Robotics Research , Vol.9, No.5, 1990, 89-104.
33. V. Lumelsky, S. Mukhopadhyay, K. Sun, ''Dynamic Path Planning in Sensor-Based Terrain Acquisition''. IEEE Trans. on Robotics and Automation , Vol. 6, No. 4, August 1990, 462-472.
34. V. Lumelsky, T. Skewis, ''Incorporating Range Sensing in the Robot Navigation Function''. IEEE Trans. on Systems, Man, and Cybernetics , Vol. 20, No. 5, September 1990, 1058-1069.
35. V. Lumelsky, ''A Comparative Study on the Path Length Performance of Maze-Searching and Robot Motion Planning Algorithms'', IEEE Trans. on Robotics and Automation , Vol. 7, No.1, February 1991, 57-66.
36. V. Lumelsky, ''On Human Performance in Telerobotics'', IEEE Trans. on Systems, Man, and Cybernetics , Vol. 21, No.5, 1991, 971-982.
37. T. Skewis, J. Evans, V. Lumelsky, B. Krishnamurthy, B. Barrows, ''Handling Real-World Motion Planning: a Hospital Transport Robot''. IEEE Control Systems Magazine , Vol.12, No.1, February 1992, 15-20.
38. E. Cheung, V. Lumelsky, ''A Sensitive Skin System for Motion Control of Robot Arm Manipulators''. Journal of Robotics and Autonomous Systems . Vol.10, 1992, 9-32.
39. E. Cheung, V. Lumelsky, ''Real Time Path Planning Procedure for a Whole-Sensitive Robot Arm Manipulator''. Robotica , Vol.10, 1992, 339-349.
40. V. Lumelsky, K. Sun, ''Path Planning Among Unknown Obstacles: The Case of a 3D Cartesian Arm''. IEEE Trans. on Robotics and Automation , Vol. 9, No. 1, 1993, 776-786.
41. V. Lumelsky, E. Cheung, ''Real-Time Collision Avoidance in Teleoperated Whole-Sensitive Robot Arm Manipulators''. IEEE Trans. on Systems, Man, and Cybernetics , Vol. 23, No. 1, 1993, 194-203.
42. T. Skewis, V. Lumelsky, ''Simulation of Sensor-Based Robot and Human Motion Planning''. Intern. Journal of Robotics and Automation . Vol.8, No. 4, 1993, 153-158.
43. T. Skewis, V. Lumelsky, ''Experiments with a Mobile Robot Operating in a Cluttered Unknown Environment''. Journal of Robotic Systems , Vol.11, No.4, 1994, 281-300.
44. K. Sun, V. Lumelsky, ''Three-Dimensional Motion Planning in an Unknown Environment for Robot Arm Manipulators With Revolute or Sliding Joints''. Intern. Journal of Robotics and Automation , Vol.9, No.4, 1994, 188-198.
45. K. Sun, V. Lumelsky, ''Connectivity Graphs on Two-Dimensional Surfaces and Their Application in Robotics''. Mathematical Methods in the Applied Sciences , Vol.18, 1995, 67-82.
46. D. Reznik, V. Lumelsky, ''Sensor-Based Motion Planning in Three Dimensions for a Highly Redundant Snake Robot''. Advanced Robotics Journal , Vol. 9, No. 3, 1995, 255-280.
47. S. Hert, V. Lumelsky, ''The Ties that Bind: Motion Planning for Multiple Tethered Robots''. Journal of Robotics and Autonomous Systems . No. 17, 1996, 187-215.
48. S. Hert, S. Tiwari, V. Lumelsky, ''A Terrain-Covering Algorithm for an Autonomous Underwater Vehicle''. Journal of Autonomous Robots . No.3, 1996, 91-119.
49. K. Harinarayan, V. Lumelsky, ''Decentralized Motion Planning for Multiple Mobile Robots: The Cocktail Party Model''. Journal of Autonomous Robots . No.4, 1997, 121-135.
50. S. Hert, V. Lumelsky, ''Planar Curve Routing for Tethered-Robot Motion Planning''. Intern. Journal of Computational Geometry and Applications , Vol. 7, No. 3, 1997, 225-252.
51. A. Shkel, V. Lumelsky, ''Incorporating Body Dynamics into Sensor-Based Motion Planning: The Maximum Turn Strategy''. IEEE Trans. on Robotics and Automation , Vol.13, No.6, 1997, 873-880.
52. A. Shkel, V. Lumelsky, ''The Jogger's Problem: Accounting for Body Dynamics in Real-Time Motion Planning''. Automatica . Vol. 33, No. 7, 1997, 1219-1233.
53. Lei Shen, V. Lumelsky, A. Shkel, ''Hazard and Safety Regions for Paths with Constrained Curvature''. Mathematical Methods in the Applied Sciences , Vol.21, 1998, 1655-1679.
54. S. Hert, V. Lumelsky, ''Polygon Area Decomposition for Multiple-Robot Workspace Division''. Intern. Journal of Computational Geometry and Applications . Vol. 8, No. 4, 1998, 437-466.
55. S. Hert, V. Lumelsky, ''Motion Planning in R3 for Multiple Tethered Robots''. IEEE Trans. on Robotics and Automation . Vol. 15, No. 4, 1999, 623-639.
56. K. Sun, V. Lumelsky, ''A Topological Study of Robot Free Configuration Space''. Intern. Journal of Intelligent Control and Systems . To appear.
57. I. Ivanisevic, V. Lumelsky, ''Configuration Space as a Means for Improving Human Performance in Teleoperation Tasks''. IEEE Transactions on Systems, Man, and Cybernetics, Part B . Vol.30, No.3, 2000.
58. D. Um, V. Lumelsky, ''Fault Tolerance via Analytic Redundancy for a Modularized Sensitive Skin''. Intern. Journal of Robotics and Automation. Vol. 15, No. 4, 2000.
59. Masahari Yagi, V. Lumelsky, ''Local On-line Planning in Biped Robot Locomotion Amongst Unknown Obstacles''. Robotica , Vol. 18, 2000, pp. 389-402.
60. S. Bobyr, V. Lumelsky, ''Control of Dynamics and Sensor Based Motion Planning for a Differential Drive Robot''. IEEE Trans. on Robotics and Automation. To appear.
61. A. Shkel, V. Lumelsky, A. Shkel, ''Classification of the Dubins Set''. Robotics and Autonomous Systems. 34 (4) (2001), 179-202.
62. A. Shkel, V. Lumelsky, ''Finding the Shortest Curvature-Constrained Path in a Limited Workspace'', (with A. Shkel), IEEE Trans. on Robotics and Automation. Submitted.
63. V. Lumelsky, M. Shur, S. Wagner, "Sensitive Skins: Electronics on Flexible Substrates''. IEEE Sensors Journal. Vol. 1, No. 1, June 2001.
64. J. Alvarez, A. Shkel, V. Lumelsky, ''Accounting for Mobile Robot Dynamics in Sensor-Based Motion Planning''. Intern. Journal of Robotics and Automation. Vol.16, No.3, 2001, 132-141.
65. J. Burke, R. Murphy, E. Rogers, V. Lumelsky, J Scholtz, ''Final Report for the DARPA/NSF Interdisciplinary Study on Human-Robot Interaction''. IEEE Trans. On Systems, Man, and Cybernetics. Part C: Applications and Reviews, Vol. 34, No.2, May 2004.
_______III. Refereed Conference Proceedings
1. V. Lumelsky, E.K. Semionova, ''Application of Methods of Pattern Recognition to Studying the Development of Children's Motor System''. Proc. National Conf. on Physiology, Biochemistry, and Biomechanics, Vol.2 , Tbilisi-Moscow, USSR, Nauka, 1968.
2. V. Lumelsky, V. Bogdanov, L.K. Semionova, ''Child's Biological Age as Determined by an Automatic Algorithm''. Proc. IX-th Nat. Conf. on Age Morphology, Physiology, and Biochemistry , Vol.1, Moscow, 1969.
3. V. Lumelsky, ''Automatic Age Periodization on the Basis of Morphometric Data''. Abstracts IX-th World Congress of Anatomists , Leningrad, USSR, 1970.
4. V. Lumelsky, ''Analysis of the Coordination Problem in Economics by Means of Diagonalization of the Input-Output Matrix''. Proc. Nat. Conf. on Automatic Control Systems, Vol.2, Baku, USSR, 1971.
5. E.M. Braverman, A.A. Dorofejuk, V. Lumelsky, ''Applications of Methods of Pattern Recognition in Scientific Research''. Proc. Intern. Symp. of IFAC on Technical and Biological Problems of Control, Vol. ''Pattern Recognition. Adaptive Systems'' , Erevan, 1968; Moscow, Nauka, 1971.
6. E.M. Braverman, A.A. Dorofejuk, I.B. Muchnik, V. Lumelsky, ''Classification Problems in Economics''. Proc. 1st USSR Nat. Conf. on Optimal Planning and Control in Industry , Moscow.
7. E.K. Itskovich, V. Sokolov, V. Lumelsky, ''Algorithms for Technical Diagnostics of Sensors in Control Systems''. Proc. VI IMECO Congress , Sect.4, Dresden, East Germany, 1973.
8. V. Lumelsky, ''Some Formulae for the Multiple and Partial Coherence Problem'', 1979 Proc. ASME Coherence Conference , St. Louis , Missouri, 1979, ASME Publication 79-DET-32.
9. V. Lumelsky, ''Painting Robot -- How Intelligent Should It Be?'', Proc. GOSAM Symp. on Automation , Salem, Virginia, February 1982.
10. V. Lumelsky, ''Teaching Robots To Move Right - a Need for Blending Together Robot Programming Methods'', Proc. IEEE Conf. on Pattern Recognition and Image Processing , Las Vegas, Nevada, June 1982.
11. V. Lumelsky, ''On Using Kalman Filter for Estimation of Unmeasurable Variables in Steel Mill Soaking Pit Control''. Proc. 1983 American Control Conference , San Francisco, California, June 1983.
12. V. Lumelsky, ''A Procedure for Concurrent Generation of the Feature Space and Clustering in Cluster Analysis''. NAFIP (North American Fuzzy Information Processing Society) 2nd Annual Workshop , Schenectady, N.Y., June 1983.
13. V. Lumelsky, ''Control of Robot Motion''. Proc. 27th SPIE Intern. Technical Symp. Third in the SPIE Critical Reviews of Technology Series, Vol.442. San Diego, California, August 1983.
14. V. Lumelsky, ''Robot Path Control Based on Iterative Coordinate Transformation Procedure''. Proc. 22nd IEEE Conference on Decision and Control , San Antonio, Texas, December 1983.
15. V. Lumelsky, A. Stepanov, ''Effect of Uncertainty on Continuous Path Planning for an Autonomous Vehicle''. Proc. 23rd IEEE Conference on Decision and Control , Las Vegas, Nevada, December 1984.
16. V. Lumelsky, ''Continuous Path Planning with Uncertainty''. Proc. 4th Yale Workshop on Applications of Adaptive Systems Theory . New Haven, Connecticut, May 1985.
17. V. Lumelsky, ''On Path Planning for a Planar Robot Arm with Uncertainty''. SIAM Conference on Geometric Modeling and Robotics , Albany,New York, July 1985.
18. V. Lumelsky, ''On Non-Heuristic Motion Planning in Unknown Environment'', Proc. IFAC Symp. on Robot Control, Barcelona, Spain , November 1985.
19. V. Lumelsky, ''Effect of Robot Kinematics on Motion Planning in Unknown Environment'', Proc. 24th IEEE Conference on Decision and Control , Fort Lauderdale, Florida, December 1985.
20. V. Lumelsky, ''Continuous Motion Planning in Unknown Environment for a 3D Cartesian Robot Arm''. Proc. IEEE Intern. Conference on Robotics and Automation , San Francisco, April 1986.
21. V. Lumelsky, ''Nonheuristic Motion Planning in an Unknown Environment''. Abstracts of US Army Research Workshop on Kinematics, Dynamics, and Control of Mechanisms and Manipulators , Albany, N.Y., June 1986.
22. V. Lumelsky, K. Sun, ''Simulating Sensor-Based Robot Motion Amongst Unknown Obstacles''. Proc. NATO Workshop on Languages for Sensor-Based Control in Robotics , Pisa, Italy, September 1986.
23. V. Lumelsky, ''Critical Issues in the Area of Coordinated Multiple Robots''. NSF Workshop on Coordinated Multiple Robot Manipulators: Planning, Control, and Applications, (A. Koivo, G. Bekey, eds.), San Diego, California, January 1987.
24. K. Sun, V. Lumelsky, ''Gross Motion Planning for a Simple 3D Articulated Robot Arm Moving Amidst Unknown Arbitrarily Shaped Obstacles'', (with K. Sun). Proc. 1987 IEEE Intern. Conference on Robotics and Automation , Raleigh, North Carolina, April 1987.
25. V. Lumelsky, ''Algorithmic and Complexity Issues of Robot Motion in an Uncertain Environment''. 2nd Symp. on Complexity of Approximately Solved Problems , New York, NY April 1987.
26. K. Sun, V. Lumelsky, ''On the Motion of Simple 3D Arm Manipulators with Uncertainty''. Proc. Fifth Yale Workshop on Applications of Adaptive Systems Theory , New Haven, Connecticut, May 1987.
27. V. Lumelsky, ''Algorithmic Issues of Sensor-Based Motion Planning'', Proc. 26th IEEE Conference on Decision and Control , Los Angeles, December 1987.
28. T. Skewis, V. Lumelsky, ''A Paradigm for Incorporating Vision in the Robot Navigation Function''. Proc. 1988 IEEE Intern. Conference on Robotics and Automation , Philadelphia, April 1988.
29. E. Cheung , V. Lumelsky, ''Motion Planning for Robot Arm Manipulators with Proximity Sensing''. Proc. 1988 IEEE Intern. Conference on Robotics and Automation , Philadelphia, April 1988.
30. K. Sun, V. Lumelsky, ''On the Motion of General Two-Link Robot Arm Manipulators in an Unexplored Environment''. Proc. 1988 IEEE Conf. on Systems, Man, and Cybernetics , Beijing, China, August 1988.
31. V. Lumelsky, ''Complexity of Sensor-Based Robot Motion Planning'', Proc. Intern. Symp. on Advances in Robot Kinematics , Ljubljana, Yugoslavia, September 1988.
32. V. Lumelsky, ''Sensor-Based Robot Motion Planning'', Proc. IEEE Intern. Workshop on Intelligent Robots and Systems , Tokyo, Japan, November 1988.
33. V. Lumelsky, ''On the Connection Between Maze-Searching and Robot Motion Planning Algorithms'', Proc. 27th IEEE Conference on Decision and Control , Austin, Texas, December 1988.
34. E. Cheung, V. Lumelsky, ''Development of Sensitive Skin for a 3D Robot Arm Operating in an Uncertain Environment'. Proc. 1989 IEEE International Conference on Robotics and Automation , Scottsdale, Arizona, May 1989.
35. S. Mukhopadhyay, K. Sun, V. Lumelsky, ''Sensor-Based Terrain Acquisition: The ''Seed Spreader Strategy''. Proc. IEEE Intern. Workshop on Intelligent Robots and Systems (IROS'89) , Tsukuba, Japan, September 1989.
36. K. Sun, V. Lumelsky, ''Path Planning Among Unknown Obstacles: The Case of a 3D Cartesian Arm''. Proc. Fifth Intern. Symp. On Robotics Research , Tokyo, Japan, August 1989, 57-64.
37. S. Mukhopadhyay, K. Sun, V. Lumelsky, ''A Linear Complexity Algorithm for Sensor-Based Terrain Acquisition'. Proc. 28th IEEE Conference on Decision and Control , Tampa, Florida, December 1989.
38. S. Mukhopadhyay, K. Sun, V. Lumelsky, ''Strategies for Sensor-Based Terrain Acquisition''. Proc. XI World Congress of Intern. Federation for Automatic Control (IFAC) , Tallinn, USSR, August 1990.
39. E. Cheung, V. Lumelsky, ''Motion Planning for Whole-Sensitive Robot Arm Manipulators'. Proc. 1990 IEEE Intern. Conference on Robotics and Automation , Cincinnati, Ohio, May 1990.
40. V. Lumelsky, ''On Human Performance in Teleoperation'', Proc. IEEE Intern. Workshop on Intelligent Robots and Systems (IROS'90) ,Tsuchiura, Japan, July 1990.
41. K. Sun, V. Lumelsky, ''A Study of the Obstacle Avoidance Problem Based on the Deformation Retract Technique''. Proc. 29th IEEE Conference on Decision and Control , Honolulu, December 1990.
42. T. Skewis, J. Evans, V. Lumelsky, B. Krishnamurthy, B. Barrows, '' Motion Planning for a Hospital Transport Robot''. Proc. 1991 IEEE Conference on Robotics and Automation , Sacramento, California, April 1991.
43. E. Cheung, V. Lumelsky, ''Towards Safe Real-Time Robot Teleoperation: Automatic Whole-Sensitive Arm Collision Avoidance Frees the Operator for Global Control''. Proc. 1991 IEEE Conference on Robotics and Automation , Sacramento, California, April 1991, 797-802.
44. K. Sun, V. Lumelsky, ''Motion Planning for Three-Link Robot Arm Manipulators Operating in an Unknown Three-Dimensional Environment''. Proc. 30th IEEE Conference on Decision and Control , Brighton, England, December 1991.
45. K. Sun, V. Lumelsky, ''A Topological Study of Robot Free Configuration Space''. Proc. IEEE Intern. Workshop on Intelligent Robots and Systems (IROS'91) , Osaka, Japan, November 1991.
46. K. Sun, V. Lumelsky, ''Connectivity Graphs on Two-Dimensional Surfaces and Their Application in Robotics''. Proc. 8th Israeli Conference on Artificial Intelligence and Computer Vision , Tel-Aviv, Israel, December 1991.
47. T. Skewis, V. Lumelsky, ''Experiments with a Mobile Robot Operating in a Cluttered Unknown Environment''. Proc. 1992 IEEE Conference on Robotics and Automation , Nice, France, May 1992.
48. D. Reznik, V. Lumelsky, ''Motion Planning with Uncertainty for Highly Redundant Kinematic Structures. I. ''Free Snake'' Motion''. Proc. IEEE Intern. Conf. on Intelligent Robots and Systems (IROS'92) , Raleigh, North Carolina, July 1992.
49. T. Skewis, V. Lumelsky, ''Simulation of Sensor-Based Robot Motion'', (with T. Skewis). Proc. IEEE Intern. Conf. on Intelligent Robots and Systems (IROS'92) , Raleigh, North Carolina, July 1992.
50. K. Sun, V. Lumelsky, ''A Topological Study of Robot Free Configuration Space''. Proc. XII World Congress of Intern. Federation for Automatic Control (IFAC) , Sydney, Australia, July 1993.
51. K. Kutulakos, V. Lumelsky, C. Dyer, ''Vision-Guided Exploration: A Step Toward General Motion Planning in Three Dimensions''. Proc. 1993 IEEE Intern. Conference on Robotics and Automation , Atlanta, May 1993, 289-286.
52. D. Reznik, V. Lumelsky, ''Sensor-Based Motion Planning for Highly Redundant Kinematic Structures. II. The Case of a Snake Arm Manipulator''. Proc. 1993 IEEE Conference on Robotics and Automation , Atlanta, May 1993, 889-894.
53. C. Miyazaki, A. Hirai, M. Fujie, V. Lumelsky, ''Development of Proximity Sensing System for Obstacle Detection''. Proc. 1993 Conference of the Japanese Society of Instrument and Control Engineers (SICE), Kanazawa, Japan, August 1993.
54. C. Miyazaki, A. Hirai, M. Fujie, V. Lumelsky, ''Characteristics of proximity sensing system for obstacle detection''. Proc. 1994 Robot Sensor Symp. of Japan Society of Mechanical Engineers ,Tsukuba, Japan, March 1994.
55. D. Reznik, V. Lumelsky, ''Multi-Finger ''Hugging'': A Robust Approach to Sensor-Based Grasp Planning''. Proc. 1994 IEEE Intern. Conference on Robotics and Automation , San Diego, May 1994.
56. K. Kutulakos, C. Dyer, V. Lumelsky, ''Provable Strategies for Vision-Guided Exploration in Three Dimensions''. Proc. 1994 IEEE Intern. Conference on Robotics and Automation , San Diego, May 1994.
57. S. Hert, V. Lumelsky, ''The Ties that Bind: Motion Planning for Multiple Tethered Robots''. Proc. 1994 IEEE Conference on Robotics and Automation , San Diego, May 1994.
58. S. Tiwari, V. Lumelsky, ''An Algorithm for Maze Searching with Azimuth Input''. Proc. 1994 IEEE Conference on Robotics and Automation , 1365-1373 San Diego, May 1994.
59. S. Tiwari, V. Lumelsky, ''Velocity Bounds for Motion Planning in the Presence of Moving Planar Obstacles''. Proc. IEEE Intern.Conf. on Intelligent Robots and Systems (IROS'94), 1914-1921. Munich, Germany, September 1994.
60. S. Hert, V. Lumelsky, ''Geometry, Planar Graphs, and the Tethered Robot Problem''. Proc. 1994 European Robotics and Intelligent Systems Conference (Euriscon'94) , 27-36. Malaga, Spain, August 1994.
61. K.R. Harinarayan, V. Lumelsky, ''Sensor-Based Motion Planning for Multiple Robots in an Uncertain Environment''. Proc. IEEE Intern. Conf. on Intelligent Robots and Systems (IROS'94) , 1485-1492. Munich, Germany, September 1994.
62. A. Shkel, V. Lumelsky, ''Incorporating Body Dynamics into the Sensor-Based Motion Planning Paradigm. The Maximum Turn Strategy''. Proc. 1995 IEEE Intern. Conference on Robotics and Automation , Nagoya, Japan, May 1995.
63. A. Shkel, V. Lumelsky, ''The Jogger's Problem: Accounting for body dynamics in real-time motion planning''. Proc. IEEE Intern. Conf. on Intelligent Robots and Systems (IROS'95), Pittsburgh, August 1995.
64. S. Hert, V. Lumelsky, ''Moving multiple tethered robots between arbitrary configurations''. Proc. IEEE Intern. Conf. on Intelligent Robots and Systems (IROS'95), Pittsburgh, August 1995.
65. S. Tiwari, S. Hert, V. Lumelsky, ''An algorithm for covering an unknown underwater terrain''. Proc. 9th Intern. Symp. on Unmanned Untethered Submersible Technology , Durham, New Hampshire, September 1995.
66. A. Shkel, V. Lumelsky, '' The Role of Time Constraints in the Design of Control for the Jogger's Problem'', (with). Proc. 34th IEEE Conference on Decision and Control , New Orleans, December 1995.
67. A. Shkel, V. Lumelsky, ''On Calculation of Optimal Paths with Constrained Curvature: The Case of Long Paths''. Proc. 1996 IEEE Conference on Robotics and Automation , Minneapolis, April 1996.
68. S. Hert, V. Lumelsky, ''Deforming Curves in the Plane for Tethered-Robot Motion Planning''. Proc. 8th Canadian Conference on Computational Geometry , Ottawa, Canada, Aug. 1996.
69. A. Shkel, V. Lumelsky, ''Curvature-Constrained Motion in a Limited Workspace''. Proc. 1997 IEEE Conference on Robotics and Automation , Albuquerque, April 1997.
70. S. Hert, V. Lumelsky, ''Motion Planning in R3 for Multiple Tethered Robots''. Proc. IEEE Intern. Conf. on Intelligent Robots and Systems (IROS'97) , Grenoble, France, September 1997.
71. M. Yagi, K. Stark, V. Lumelsky, ''Control of planar biped locomotion in the presence of disturbances''. Proc. IASTED Conference on Intelligent Systems and Control , June 1998, Halifax, Canada.
72. J. Alvarez, A. Shkel, V. Lumelsky, ''Accounting for Mobile Robot Dynamics in Sensor-Based Motion Planning: Experimental Results''. Proc. 1998 IEEE Conference on Robotics and Automation , Leuven, Belgium, May 1998.
73. D. Um, B. Stankovic, K. Giles, T. Hammond, V. Lumelsky, ''A Modularized Sensitive Skin for Motion Planning in an Uncertain Environment''. Proc. 1998 IEEE Conference on Robotics and Automation , Leuven, Belgium, May 1998. I. Ivanisevic,
74. V. Lumelsky, ''A Human - Machine Interface for Teleoperation of Arm Manipulators in a Complex Environment''. Proc. 1998 IEEE/RSJ Conference on Intelligent Robots and Systems , Victoria, Canada, October 1998.
75. A. Shkel, V. Lumelsky, ''Nonholonomic Motion Planning in a Limited Workspace''. Proc. 1998 IEEE/RSJ Conference on Intelligent Robots and Systems , Victoria, Canada, October 1998.
76. S. Bobyr, V. Lumelsky, ''Control of Dynamics and Sensor Based Motion Planning for a Differential Drive Robot'. Proc. 1999 IEEE Conference on Robotics and Automation , Detroit, May 1999.
77. M. Yagi, V. Lumelsky, '' Biped Robot Locomotion in Scenes with Unknown Obstacles''. Proc. 1999 IEEE Conference on Robotics and Automation , Detroit, May 1999.
78. I. Ivanisevic, V. Lumelsky, ''Operation in Configuration Space Significantly Improves Human Performance in Teleoperation''. Proc. 1999 IEEE Conference on Robotics and Automation , Detroit, May 1999.
79. D. Um , V. Lumelsky, ''Fault Tolerance via Component Redundancy for a Modularized Sensitive Skin''. Proc. 1999 IEEE Conference on Robotics and Automation , Detroit, May 1999.
80. D. Um, V. Lumelsky, ''Fault Tolerance and Analytic Redundancy in Massive Sensor Arrays''. Proc. 1999 IEEE Conference on Intelligent Robots and Systems (IROS'99) , South Korea, October 1999.
81. I. Ivanisevic, V. Lumelsky, ''Machine-Assisted Teleoperation of Arm Manipulators in a Complex Environment''. Proc. 2000 IEEE Conference on Robotics and Automation , San Francisco, May 2000.
82. A. Shkel, V. Lumelsky, ''On Optimal Nonholonomic Paths in a Limited Space''. Proc. 2000 IEEE Conference on Intelligent Robots and Systems (IROS'2000) , Takamatsu, Japan, November 2000.
83. M. Yagi, V. Lumelsky, "Synthesis of Turning Pattern Trajectories for a Biped Robot in a Scene with Obstacles". Proc. 2000 IEEE Conference on Intelligent Robots and Systems (IROS'2000) , Takamatsu, Japan, November 2000.
84. I. Ivanisevic, V. Lumelsky, "Augmenting Human Performance in Motion Planning Tasks - the Configuration Space Approach". Proc. 2001 IEEE Intern. Conference of Robotics and Automation (ICRA'2001), Seoul, Korea, May 2001.
85. Jean Scholtz, V. Lumelsky, "Needs and Research Directions in Human-Robot Interactive Systems". Proc. Symp. On Human-Robot Interaction, September 2001.
86. I. Ivanisevic, V. Lumelsky, "On the Use of Configuration Space to Augment Human Performance in Three Degree of Freedom Motion Planning Tasks''. Proc. 2001 IEEE Conference on Intelligent Robots and Systems (IROS'2001), Maui, Hawaii, November 2001.
87. Juan C. Alvarez Rafael C. Gonzalez, Diego A. Prieto, Andrei Shkel, V. Lumelsky, "Sensor Management for Local Obstacle Detection in Mobile Robots". 2002 IEEE Conference on Intelligent Robots and Systems (IROS'2002) , Lausanne, Switzerland, October 2002.
88. V.Lumelsky, "Human-Robot Interaction and Performance in Telerobotic Systems", 2003 IEEE Aerospace Conference, Big Sky, MT, March 2003.
89. Juan C. Alvarez, Rafael C. Gonzalez, Diego Alvarez, Vladimir Lumelsky, Andrei Shkel, ''Accounting for Limited Sensing in Real-Time Obstacle Avoidance for Mobile Robots'', (with). Proc. 2004 IEEE Intern. Conference of Robotics and Automation (ICRA'2004), New Orleans, USA, April 2004.
90. V. Lumelsky, "Whole-Body Robot Sensing Is Prerequisite for Human-Robot Interaction and Teams". Invited talk, Workshop "Tactile Sensing in Humanoids - Tactile Sensors and Beyond", 9th IEEE-RAS International Conf. on Humanoid Robots (Humanoids'2009), Oct. 2009, Paris, France.
_______IV. Unrefereed publications
1. V. Lumelsky, ''Methods of a Square Matrix Diagonalization Applied to Processing of a Large Body of Data'', Ph.D. Thesis (the main text and a 30-page published abstract). Institute of Control Sciences of the USSR Academy of Sciences, Moscow, 1970.
2. V. Lumelsky, S.W. Kennel, ''Vibration Analysis of Mechanical Bearing Spindles''. Ford Motor Co. Scientific Laboratories, Tech. Report SR-6798, 1976.
3. V. Lumelsky, ''Development and Testing of a Software Package for the Multiple Coherence Computation''. Ford Motor Co. Scientific Laboratories, Tech. Report SR-78-61, 1978.
4. V. Lumelsky, ''Multiple Anomaly Detection Package for an 8-cylinder Car Engine'', Ford Motor Co. Scientific Laboratories, Tech. Report SR-79-116, 1979.
5. V. Lumelsky, ''On Using Image Processing Techniques for In-Line Detection of Flaws in Cast Connecting Rods''. Ford Motor Co. Scientific Laboratories, Interim Tech. Report, 1979.
6. V. Lumelsky, ''Estimation and Prediction of Unmeasurable Variables in the Steel Mill Soaking Pit Control System''. General Electric Co. Research Center, Tech. Report 82CRD308, December 1982.
7. V. Lumelsky, ''Iterative Procedure for Inverse Coordinate Transformation for One Class of Robots''. General Electric Co. Research Center, Tech. Report 82CRD332, February 1983.
8. V. Lumelsky, A.. Stepanov, ''Navigation Strategies for an Autonomous Vehicle with Incomplete Information on the Environment''. General Electric Co. Research Center, Tech. Report 84CRD070, April 1984.
9. V. Lumelsky, ''Fast Algorithm for Computation of the Minimum Distance Between Segments of Straight Lines''. General Electric Co. Research Center, Tech. Report 84CRD206, August 1984.
10. V. Lumelsky, A.. Stepanov, ''Path Planning Strategies for a Traveling Automaton in an Environment with Uncertainty''. Yale University, Center for Systems Science, Department of Electrical Engineering, Tech. Report No.8504, April 1985.
11. V. Lumelsky, ''On Dynamic Path Planning for a Planar Robot Arm''. Yale University, Center for Systems Science, Department of Electrical Engineering, Tech. Report No.8505, April 1985.
12. V. Lumelsky, ''Continuous Path Planning for Various Planar Robot Arm Configurations''. Yale University, Center for Systems Science, Department of Electrical Engineering, Tech. Report No.8506, May 1985.
13. V. Lumelsky, ''Continuous Path Planning for a Three-Dimensional Cartesian Robot Arm''. Yale University, Center for Systems Science, Department of Electrical Engineering, Tech. Report No.8507, May 1985.
14. V. Lumelsky, ''Detection of Mutual Interference in Multirobot Systems''. Yale University, Center for Systems Science, Department of Electrical Engineering, Tech. Report No.8508, May 1985.
15. V. Lumelsky, K. Sun, ''Computer Simulation of Sensor-Based Robot Collision Avoidance in an Unknown Environment''. Yale University, Center for Systems Science, Department of Electrical Engineering, Tech. Report No.8605, May 1986.
16. K. Sun, T. Skewis, E. Cheung, V. Lumelsky, ''Robot Motion Planning in an Uncertain Environment''. Video tapes. Yale University, Center of Systems Science, Robotics Laboratory, Spring 1986; Spring l987; Fall 1989.
17. K. Sun, V. Lumelsky, ''Gross Motion Planning for a Simple 3D Articulated Robot Arm Moving Amidst Unknown Arbitrarily Shaped Obstacles''. Yale University, Center for Systems Science, Department of Electrical Engineering, Tech. Report No.8609, October 1986.
18. V. Lumelsky, ''On the Path Length Performance of Maze-Searching Algorithms'', Yale University, Center for Systems Science, Department of Electrical Engineering, Tech. Report No. 8710 , July 1987.
19. T. Skewis, V. Lumelsky, ''A Paradigm for Incorporating Vision in the Robot Navigation Function''. Yale University, Center for Systems Science, Department of Electrical Engineering, Tech. Report No.8801, January 1988.
20. E. Cheung, V. Lumelsky, ''Proximity Sensing in Robot Manipulator Motion Planning: System and Implementation Issues''. Yale University, Center for Systems Science, Department of Electrical Engineering, Tech. Report No.8802, January 1988.
21. K. Sun, V. Lumelsky, ''A Unified Methodology for Motion Planning with Uncertainty for 2D and 3D Two-Link Robot Arm Manipulators''. Yale University, Center for Systems Science, Department of Electrical Engineering, Tech. Report No.8805, January 1988.
22. S. Mukhopadhyay, K. Sun, V. Lumelsky, ''Dynamic Path Planning in Sensor-Based Terrain Acquisition''. Yale University, Center for Systems Science, Department of Electrical Engineering, Tech. Report No.8904, February 1989.
23. K. Sun, V. Lumelsky, ''A Study of the Obstacle Avoidance Problem Based on the Deformation Retract Technique''. Yale University, Center for Systems Science, Department of Electrical Engineering, Tech. Report 8911, October 1989.
24. V. Lumelsky, ''On Human Performance in Telerobotics'', Yale University, Center for Systems Science, Department of Electrical Engineering, Tech. Report 8912, November 1989.
25. E. Cheung, V. Lumelsky, ''Real-Time Path Planning Procedure for a Whole-Sensitive Robot Arm Manipulator''. Yale University, Center for Systems Science, Department of Electrical Engineering, Tech. Report No.8913, November 1989.
26. E. Cheung, V. Lumelsky, ''A Sensor Skin System for Motion Control of Robot Arm Manipulators''. Yale University, Center for Systems Science, Department of Electrical Engineering, Tech. Report No.8915, December 1989.
27. K. Sun, V. Lumelsky, ''Path Planning Among Unknown Obstacles: The Case of a 3D Cartesian Arm'', Yale University, Center for Systems Science, Department of Electrical Engineering, Tech. Report 8916, December 1989.
28. T. Skewis, J. Evans, V. Lumelsky, B. Krishnamurthy, B. Barrows, '' Motion Planning for a Hospital Transport Robot''. Yale University, Center for Systems Science, Department of Electrical Engineering, Tech. Report 9001, March 1990.
29. V. Lumelsky, R. Brooks, ''Sensor-Based Planning and Control in Robotics''. Video Tape Tutorial, IEEE Press, 1990.
30. T. Skewis, V. Lumelsky, ''Computer Simulation of Sensor-Based Robot Motion''. Yale University, Center for Systems Science, Department of Electrical Engineering, Tech. Report 9013, September 1990.
31. E. Cheung, V. Lumelsky, ''Real-Time Collision Avoidance in Teleoperated Whole-Sensitive Robot Arm Manipulators''. Yale University, Center for Systems Science, Department of Electrical Engineering, Tech. Report 9018, November 1990.
32. K. Sun, V. Lumelsky, ''A Topological Study of Robot Free Configuration Space''. Yale University, Center for Systems Science, Tech. Report 9107, April 1991.
33. K. Sun, ''Connectivity Graphs on Two-Dimensional Surfaces and Their Application in Robotics''. Yale University, Center for Systems Science, Tech. Report 9108, April 1991.
34. K. Sun, V. Lumelsky, ''Motion Planning for Three-Link Robot Arm Manipulators Operating in an Unknown Three-Dimensional Environment''. Yale University, Center for Systems Science, Tech. Report 9109, April 1991.
35. D. Reznik, V. Lumelsky, ''Motion Planning with Uncertainty for Highly Redundant Kinematic Structures. I. ''Free Snake'' Motion''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-91001, September 1991.
36. V. Lumelsky, ''Tutorial, Workshop on Sensor-Based Mobile Robot Navigation'', 1992 IEEE Intern. Conference on Robotics and Automation , Nice, France, May 1992.
37. S. Seaney, V. Lumelsky, ''Experimental Analysis of Performance of a Capacitance Proximity Sensor''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-92001, April 1992.
38. K. Kutulakos, V. Lumelsky, C. Dyer, ''Vision-Guided Exploration: A Step Toward General Motion Planning in Three Dimensions''. Univ. of Wisconsin Robotics Laboratory, Tech. Report RL-92002, October 1992.
39. K. Kutulakos, C. Dyer, V. Lumelsky, ''Object Exploration by Purposive, Dynamic Viewpoint Adjustment''. University of Wisconsin-Madison, Computer Science Dept, Tech. Report 1124, November 1992.
40. S. Tiwari, V. Lumelsky, ''Real-Time Motion Planning for RRR Arm Manipulators: The Case of Convex Obstacles''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-92003, December 1992.
41. D. Reznik, V. Lumelsky, ''Sensor-Based Motion Planning for Highly Redundant Kinematic Structures. II. The Case of a Snake Arm Manipulator''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-93002, May 1993.
42. D. Reznik, V. Lumelsky, ''Multi-Finger ''Hugging'': A Robust Approach to Sensor-Based Grasp Planning''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-93003, October 1993.
43. S. Tiwari, ''New Algorithms and Performance Bounds for Maze Searching''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-93004, December 1993.
44. K.R. Harinarayan, V. Lumelsky, ''Sensor-Based Motion Planning for Multiple Robots in an Uncertain Environment''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-94001, January 1994.
45. S. Hert, V. Lumelsky, ''Computational Geometry Issues in the Tethered Robot Problem''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-94002, April 1994.
46. S. Tiwari, V. Lumelsky, ''On using the compass instead of dead reckoning in mobile robot navigation''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-94003, May 1994.
47. S. Tiwari, V. Lumelsky, ''Velocity Bounds for Motion Planning in the Presence of Moving Planar Obstacles''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-94004, May 1994.
48. S. Hert, V. Lumelsky, ''The Ties that Bind: Motion Planning for Multiple Tethered Robots''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-94005, May 1994.
49. S. Hert, V. Lumelsky, ''Moving multiple tethered robots between arbitrary configurations. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-94006, December 1994.
50. A. Shkel, V. Lumelsky, ''The Jogger's Problem: Accounting for body dynamics in real-time motion planning''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-94007, December 1994.
51. S. Hert, S. Tiwari, V. Lumelsky, ''A Terrain-Covering Algorithm for an AUV''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-95001, July 1995.
52. A. Shkel, V. Lumelsky, ''Sensor-Based Motion Planning: The Maximum Turn Strategy''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-95003, November 1995.
53. A. Shkel, V. Lumelsky, ''Classification of the Dubins Set. The Case of Long Paths''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-96001, 1996.
54. S. Hert, V. Lumelsky, ''Deforming Curves in the Plane for Tethered-Robot Motion Planning''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-96002, 1996.
55. S. Hert, V. Lumelsky, ''Polygon Area Decomposition for Multiple-Robot Workspace Division''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-96003, 1996.
56. S. Rogers, J. Watson, Fei Liu, V. Lumelsky, ''Studies of Human Performance in Motion Planning Tasks''. Proc. CHPCS Fourth Annual Workshop, Center for Human Performance in Complex Systems, University of Wisconsin, Madison, October 1996.
57. S. Hert, V. Lumelsky, ''Motion Planning in R3 for Multiple Tethered Robots''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-96004, 1996.
58. Lei Shen and A. Shkel, V. Lumelsky, ''Hazard and Safety Regions for Paths with Constrained Curvature''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-97001, 1997.
59. I. Ivanisevic, V. Lumelsky, ''A Human-machine interface for teleoperation of arm manipulators in a complex environment''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-97006, 1997.
60. A. Shkel, V. Lumelsky, ''Finding the Shortest Curvature-Constrained Path in a Limited Workspace''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-97007, October 1997.
61. J. Alvarez, A. Shkel, V. Lumelsky, ''Accounting for Mobile Robot Dynamics in Sensor-Based Motion Planning: the Safe-Scan Algorithm'', University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-98001, January 1998.
62. V. Lumelsky, Ying Hu, ''Upper Bounds on the Number of Primitives in the Generalized Voronoi Diagram''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-98002, January 1998.
63. Dugan Um, V. Lumelsky, ''Local Step Planning for Many Degrees of Freedom Robot Operating in Uncertain Environments'' University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-98003, September 1998.
64. S. Bobyr, V. Lumelsky, ''Control of Dynamics and Sensor Based Motion Planning for a Differential Drive Robot''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-98004, November 1998.
65. M. Yagi, V. Lumelsky, ''Local On-line Planning in Biped Robot Locomotion Amongst Unknown Obstacles''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-98006, November 1998.
66. I. Ivanisevic, V. Lumelsky, ''Operating in Configuration Space Significantly Improves Human Performance in Teleoperation''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-98007, December 1998.
67. Dugan Um, V. Lumelsky, ''Fault Tolerance System for a Mudularized Sensitive Skin''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-99001, May 1999.
68. S. Bobyr, V. Lumelsky, ''Adding Dynamics to Sensor-Based Motion Planning: the Differential Drive Robot Case''. University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-99002, August 1999.
69. I. Ivanisevic, V. Lumelsky, ''Human Augmentation in Teleoperation of Arm Manipulators in an Environment with Obstacles". University of Wisconsin-Madison, Robotics Laboratory, Tech. Report RL-99002, December 1999.

Selected Awards, Honors and Societies

IEEE Fellow
President, IEEE Sensors Council
Founding Editor-in-Chief, IEEE Sensors Journal

Summary

The UW-Madison Robotics Laboratory directed by Professor Lumelsky is devoted to research in robotics and industrial automation. Projects in the lab lie at the intersection of sensing, intelligence, and motion, and relate to one of the most complex behavioral functions found in nature and technology -- sensor-based motion planning. Our emphases are

a) on systems that operate in a highly uncertain and unpredictable environment where the robot's motion planning decisions must be made based on real-time sensing information rather than on pre-stored knowledge;

b) on analysis and design of mathematical underpinnings, strategies, and algorithms for the operation of such systems, and

c) on development of sensing hardware and physical robotic systems that realize such behavior.

In other words, our key question is - how does one combine sensing, spatial reasoning, prior knowledge, and the sense of purpose to conceive and generate a goal-oriented motion in a complex, uncertain, and time-changing environment? By its nature this research is multi-disciplinary. Members of the lab represent the disciplines of mechanical engineering, electrical engineering, computer science, mathematics, and cognitive science. The lab projects cover theory, computer simulation and animation, and hardware design. The lab's physical infrastructure includes industrial arm manipulators, mobile robots, and relevant computing hardware. As an example, one of our projects addresses designing a whole-sensitive robot arm manipulator. Its motion planning makes use of a sensitive skin that covers the arm's whole body -- similar to the human skin, except that proximity (rather than tactile) sensing with over 1,000 embedded sensors is used.

Dr. Lumelsky is an instructor for both introductory and advanced courses in robotics, industrial automation, and pattern recognition.

Files and Links of Interest

Example of a patch of the robot sensitive skin
Examples of use of sensitive skin on robots
Video, Demo 1: A sensitive skin-clad robot: Here the robot was simply instrucrted to move from some starting position to some target position. It does this while safely maneuvering among the humans present in the scene.
Video, Demo 2: Operation of a sensitive skin-clad robot: Here the robot's autonomous motion planning is combined with the real-time tele-operation. The operator can proceed fast, knowing that safety is taken care of by the robot skin system.
Video, Demo 3: It takes two to tango...: No robot pre-programming is done here. See more information at the video's site.

Date last modified: 29-Sep-2011
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