http:^^www.cs.cornell.edu^info^people^brd^brd.html

This data set contains WWW-pages collected from computer science departments of various universities

alone. This video shows Lily's view of the `chase.'

<p>
<!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><a href="ftp://ftp.cs.cornell.edu/pub/brd/images/face-morph.mpg">
Face Morphing</a>.

<h2>Selected Recent Publications</h2>

<p><li> <!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><img align=top
src="ftp://ftp.cs.cornell.edu/pub/brd/images/karl-small.gif"> <!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><img
align=top src="ftp://ftp.cs.cornell.edu/pub/brd/images/brd-small.gif">
K.-F. B&ouml;hringer, B. R. Donald, and N. C. MacDonald, <!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><a
href="ftp://flamingo.stanford.edu/pub/brd/wafr96-k.ps.gz"> Upper and
Lower Bounds for Programmable Vector Fields with Applications to MEMS
and Vibratory Parts Feeders, </a> <cite>International Workshop on the
Algorithmic Foundations of Robotics</cite>, Toulouse, France (1996).


<p><li> <!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><img align=top
src="ftp://ftp.cs.cornell.edu/pub/brd/images/briggs-small.gif"></a>
<!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><img align=top
src="ftp://ftp.cs.cornell.edu/pub/brd/images/brd-small.gif">
A.J. Briggs and B. R. Donald, <!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><a
href="ftp://flamingo.stanford.edu/pub/brd/wafr96-a.ps.gz"> Robust
Geometric Algorithms for Sensor Planning, </a> <cite>International
Workshop on the Algorithmic Foundations of Robotics</cite>, Toulouse,
France (1996).

<p><li> <!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><img align=top
src="ftp://ftp.cs.cornell.edu/pub/brd/images/karl-small.gif">
<!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><img align=top
src="ftp://ftp.cs.cornell.edu/pub/brd/images/brd-small.gif">
K.-F. B&ouml;hringer, B. R. Donald, and N. C. MacDonald, 
<!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><a href="ftp://ftp.cs.cornell.edu/pub/karl/MEMS96.ps.Z">
Single-Crystal Silicon Actuator Arrays for Micro Manipulation Tasks</a>,
<cite>IEEE Workshop on Micro Electro Mechanical Systems (MEMS)</cite>,
San Diego, California (February 1996).  

<p><li>  <!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><img align=top
src="ftp://ftp.cs.cornell.edu/pub/brd/images/karl-small.gif">
<!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><img align=top
src="ftp://ftp.cs.cornell.edu/pub/brd/images/brd-small.gif">
K.-F. B&ouml;hringer, B. R. Donald, and N. C. MacDonald, 
<!--<!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><a href="ftp://flamingo.stanford.edu/pub/brd/ICRA96-1.ps.Z">-->
Classification and Lower Bounds for MEMS Arrays	and Vibratory Parts Feeders:
What Programmable Vector Fields Can (and Cannot) Do - Part I,
<!--</a>-->
<cite>IEEE International Conference on Robotics and Automation (ICRA)</cite>,
Minneapolis, Minnesota (April 1996). 

<p><li>  <!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><img align=top
src="ftp://ftp.cs.cornell.edu/pub/brd/images/karl-small.gif">
<!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><img align=top
src="ftp://ftp.cs.cornell.edu/pub/brd/images/brd-small.gif">
 K.-F. B&ouml;hringer, B. R. Donald, and N. C. MacDonald, 
<!--<!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><a href="ftp://flamingo.stanford.edu/pub/brd/ICRA96-2.ps.Z">-->
 New and
Improved Manipulation Algorithms for MEMS Arrays and Vibratory Parts
Feeders: What Programmable Vector Fields Can (and Cannot) Do - Part
II,
<!--</a>-->
 <cite>IEEE International Conference on Robotics and Automation
(ICRA)</cite>, Minneapolis, Minnesota (April 1996). 

<p><li> <a name="algo-2"> <!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><a
href="ftp://ftp.cs.cornell.edu/pub/brd/algorithmica-1.ps.Z"> Provably
Good Approximation Algorithms for Optimal Kinodynamic Planning: Robots
with Decoupled Dynamics Bounds </a> (with P. Xavier) <em> Algorithmica
</em> (Vol 14, no 6) (1995). pp. 443-479. <p>

<li>  <a name="algo-1"> <!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><a
href="ftp://ftp.cs.cornell.edu/pub/brd/algorithmica-2.ps.Z"> Provably
Good Approximation Algorithms for Optimal Kinodynamic Planning for
Cartesian Robots and Open Chain Manipulators</a> (with P. Xavier) <em>
Algorithmica </em> (Vol 14, no 6) (1995). pp. 480-530. <p>

<li> <a name="DXCR"> .</a>
<!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><a href="ftp://ftp.cs.cornell.edu/pub/brd/jacm-final.ps.Z">
Kinodynamic Motion Planning</a> (with P. Xavier, J.
Canny, and J. Reif) <em> Journal of the ACM,</em> Vol. 40, No. 5, Nov.,
1993. pp. 1048-1066.
<p>


<li> <a name="ijrr-distributed-manipulation"> <!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><img align=top
src="ftp://ftp.cs.cornell.edu/pub/brd/images/BruceJimDaniela3-small.gif"></a>
<!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><!WA46><a href="ftp://flamingo.stanford.edu/pub/brd/ijrr-new.ps.Z">
Information Invariants for Distributed Manipulation</a> (with J.
Jennings and <!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><!WA47><a
href="http://simlab.cs.cornell.edu/people/daniela.rus.html"> D.
Rus</a>) in <em> International Journal of Robotics Research</em>, (in
press) (1996). <p>


<li>
<!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><!WA48><img align=top
 src="ftp://ftp.cs.cornell.edu/pub/brd/images/BruceJimDaniela3-small.gif">
B. R. Donald, J. Jennings, and D. Rus, <!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><!WA49><a
href="ftp://flamingo.stanford.edu/pub/brd/jetai.ps.gz"> Minimalism +