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Information Invariants for Distributed Manipulation</a> (with J.
Jennings and <!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><a
href="http://simlab.cs.cornell.edu/people/daniela.rus.html"> D.
Rus</a>) in
<em> The First Workshop on the Algorithmic Foundations of
Robotics</em>, A. K. Peters, Boston, MA. ed. R. Wilson and
J.-C.Latombe (1994). <p>

<a name="amy"> 
<!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/briggs-small.gif"></a>
</a>
 <!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="http://www.cs.cornell.edu/Info/People/briggs/icra94.ps">
Automatic Sensor Configuration for  
Task-Directed Planning</a> (with 
<!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><a
href="http://www.cs.cornell.edu/Info/People/briggs/briggs.html">
Amy Briggs</a>), <em> Proceedings 1994
IEEE International Conference on Robotics and Automation</em>, San Diego,
CA (May 1994).</a> <p>

<a name="DXCR"> .</a>
<!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><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>

<a name="algo-2"> <!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/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>

<a name="algo-1"> <!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><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>

<a name="information-invariants"> .</a> I am writing a book entitled
<em> Information Invariants in Robotics.</em> A draft of the first
quarter of this book appeared as a paper in Artificial
Intelligence. Here it is: <!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><a
href="ftp://flamingo.stanford.edu/pub/brd/info-book.ps.gz"> <em>
Information Invariants in Robotics.</em> Revised MS based on the paper
"On Information Invariants in Robotics," <em> Artificial
Intelligence</em> Vol. 72 (Jan, 1995) pp. 217-304. </a> <p>




<h2>Recent Theses and Papers of PhD Students</h2>

<!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="http://cs-tr.cs.cornell.edu/Dienst/UI/2.0/QueryNF?keywords=Patrick+Xavier">
  Patrick Xavier,</a> PhD 1992. Except for the thesis, these TR's are
  mostly superseded by three, more recent journal papers listed <!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><a
  href="#DXCR">starting here.</a><p>

<!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><a
href="http://www.cs.cornell.edu/Info/People/briggs/briggs.html"> Amy
Briggs,</a> PhD 1994.
<!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="http://cs-tr.cs.cornell.edu/Dienst/UI/2.0/QueryNF?keywords=Amy+Briggs">
  (Her Papers and Thesis).</a>
<p>

<!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="http://www.cs.cornell.edu/Info/People/rbrown/rbrown.html">
Russell Brown,</a>  PhD 1995.
<!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="http://cs-tr.cs.cornell.edu/Dienst/UI/2.0/QueryNF?keywords=Russell+Brown">
  (His Papers and Thesis).</a>
<p>

<!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="http://cs-tr.cs.cornell.edu/Dienst/UI/2.0/QueryNF?keywords=James+Jennings">
  Jim Jennings.</a><p>

<!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><a
href="http://www.cs.cornell.edu/Info/People/karl/home.html">
Karl-F. B&ouml;hringer.</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><a
  href="http://cs-tr.cs.cornell.edu/Dienst/UI/2.0/QueryNF?keywords=Karl+Bohringer">
  (His Papers).</a>



<hr>
<DL>

<dt>More papers are avalable through the 
<!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://cs-tr.cs.cornell.edu/Dienst/UI/2.0/QueryNF?keywords=Bruce+Donald">
Cornell CS TR server.</a> 


<h2>Pictures</h2>

<menu> We have developed a <!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><a href="#distributed-manipulation"> team
of small autonomous mobile robots that can <!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="#iros95"> move
furniture</a> around in our lab.</a> <p>

<li><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><!WA50><a href="ftp://ftp.cs.cornell.edu/pub/brd/images/group2.gif">
<!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><!WA51><img align = middle src="ftp://ftp.cs.cornell.edu/pub/brd/images/group2-small.gif">
<--- Click here</a> for a group portrait of our robots.
<p>

<li><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><!WA52><a href="ftp://ftp.cs.cornell.edu/pub/brd/images/translate-couch.ps.Z"> Click here</a>
to see a picture of <!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><!WA53><a
href="#distributed-manipulation">
Tommy and Lily mobot pushing a couch.</a>  <p>

<li><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><!WA54><a href="ftp://ftp.cs.cornell.edu/pub/brd/images/rotate-couch.ps.Z"> Click here</a>
to see a picture of <!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><!WA55><a
href="#iros95">
Tommy and Lily rotating a couch.</a>  <p>


<li><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><!WA56><a href="ftp://ftp.cs.cornell.edu/pub/brd/images/tommy.ps.Z"> Click here</a> to see a
picture of  <!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><!WA57><a
href="#scheme">
Tommy the mobile robot,</a> drawn by Loretta Pompilio.  <p>


<li><h1>
<!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><!WA58><a href="ftp://ftp.cs.cornell.edu/pub/brd/people.html"> Click here</a>
to see pictures of people and robots working in the lab.  </h1><p>

</menu>


<hr> Our lab was on <!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><!WA59><a
href="ftp://ftp.cs.cornell.edu/pub/brd/disco.html"> The Discovery
Channel ("Beyond 2000") and you can find out more about it here.</a>
<hr>



<li>
<!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><!WA60><a href="http://www.cs.cornell.edu/Info/Projects/csrvl/csrvl.html">
Other people and robots in the 
Cornell Robotics and Vision Laboratory</A>.

<li>
<!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><!WA61><a href="http://www.cs.cornell.edu/Info/Projects/csrvl/csrvl.html">
Cornell Robotics and Vision Laboratory home page</A>.

</ul>