Karl Iagnemma

Principal Research Scientist and Lecturer

Department of Mechanical Engineering

Massachusetts Institute of Technology

Room 3-435a

77 Massachusetts Avenue

Cambridge, MA 02139

(617) 452 3262 fax: (617) 253 9637

kdi@mit.edu

Curriculum Vitae: .PDF
Research Statement: .PDF

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Publications

Books and Monographs

Iagnemma, K., and Dubowsky, S ., Mobile Robots in Rough Terrain: Estimation, Motion Planning, and Control with application to Planetary Rovers, Springer Tracts in Advanced Robotics (STAR) Series, Volume 12, Springer, June, 2004 More Information

Journal and Book Chapter Publications

Shimoda, S., Kuroda, Y., and Iagnemma, K., "High Speed Navigation of Unmanned Ground Vehicles on Uneven Terrain using Potential Fields," Submitted to the International Journal of Robotics Research
Iagnemma, K., Kang, S., and Dubowsky, S., "On-Line Traversability Estimation for Mobile Robots in Rough Terrain," In preparation
Rentschler, M., Dumpert, J., Platt, S., Iagnemma, K., Oleynikov, D., Farritor, S., "An In vivo Mobile Robot for Surgical Vision and Task Assistance," to appear in the ASME Journal of Medical Devices, 2006
Iagnemma, K., "Terrain Estimation Methods for Enhanced Autonomous Rover Mobility," to appear in Intelligence for Space Robotics, 2006
Brooks, C., Iagnemma, K., and Dubowsky, S., "Visual Wheel Sinkage Measurement for Mobile Robot Mobility Characterization," Autonomous Robots, Volume 21, Number 1, pp. 55-64, August, 2006 Download .PDF

Spenko, M., Kuroda, Y., Dubowsky, S., and Iagnemma, K., "Hazard Avoidance for High Speed Unmanned Ground Vehicles in Rough Terrain," Journal of Field Robotics, Volume 23, No. 5, pp. 311-331, May, 2006 Download .PDF

Rentschler, M., Dumpert, J., Platt, S., Iagnemma, K., Oleynikov, D., and Farritor, S., "Modeling, Analysis and Experimental Study of In Vivo Wheeled Mobility," IEEE Transactions on Robotics, Volume 22, No. 2, pp. 308-321, April, 2006 Download .PDF

Brooks, C., and Iagnemma, K., "Vibration-based Terrain Classification for Planetary Rovers," IEEE Transactions on Robotics, Volume 21, Number 6, pp. 1185-1191, December 2005 Download .PDF

Shibly, H., Iagnemma, K., and Dubowsky, S., "An Equivalent Soil Mechanics Formulation for Rigid Wheels in Deformable Terrain, with Application to Planetary Exploration Rovers," Journal of Terramechanics, Volume 42, Number 1, pp. 1-13, January 2005 Download .PDF

Iagnemma, K., Kang, S., Shibly, H., and Dubowsky, S., "On-Line Terrain Parameter Estimation for Planetary Rovers," IEEE Transactions on Robotics, Volume 20, Number 2, pp. 921-927, October 2004 Download .PDF

Iagnemma, K., and Dubowsky, S., "Traction Control of Wheeled Robotic Vehicles with Application to Planetary Rovers," International Journal of Robotics Research, Volume 23, Number 10, pp. 1029-1040, October 2004 Download .PDF

Iagnemma, K. , Rzepniewski, A., Dubowsky, S., and Schenker, P., “Control of Robotic Vehicles with Actively Articulated Suspensions in Rough Terrain,” Autonomous Robots, Volume 14, Number 1, January 2003 Download .PDF

Morel, G., Iagnemma, K., and Dubowsky, S., “The Precise Control of Manipulators Using Base Force/Torque Sensing,” Automatica: The Journal of the International Federation of Automatic Control, Volume 36, Number 7, pp. 931-941, 2000 Download .PDF

Refereed Conference Proceedings

Spenko, M., Dubowsky, S., and Iagnemma, K., "Experimental Validation of High Speed Hazard Avoidance Control for Unmanned Ground Vehicles," Proceedings of the 8th International IFAC Symposium on Robot Control, SYROCO, 2006, Download .PDF

Rentschler, M., Dumpert, J., Platt, S., Oleynikov, D., Farritor, S., and Iagnemma, K., "Mobile In Vivo Biopsy Robot," Proceedings of the 2006 IEEE International Conference on Robotics and Automation, pp. 4155-4160, 2006 Download .PDF

Peters, S., and Iagnemma, K., "An Analysis of Rollover Stability Measurement for High-Speed Mobile Robots," Proceedings of the 2006 IEEE International Conference on Robotics and Automation, pp. 3711-3716, 2006 Download .PDF

Shimoda, S., Kuroda, Y., and Iagnemma, K., "Potential Field Navigation of High Speed Unmanned Ground Vehicles on Uneven Terrain," Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005 Download .PDF

Brooks, C., Iagnemma, K.,, and Dubowsky, S., "Vibration-based Terrain Analysis for Mobile Robots" Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005 Download .PDF

Dubowsky, S., Iagnemma, K., Liberatore, S., Lambeth, D., Plante,J. and Boston, P., "A Concept Mission: Microbots for Large-Scale Planetary Surface and Subsurface Exploration," Proceedings of the 2005 Space Technology and Applications International Forum (STAIF), 2005 Download .PDF

Rentschler, M., Dumpert, J., Hadzialic, A., Platt, S., Farritor, S., Oleynikov, D., and Iagnemma, K., "Theoretical and Experimental Analysis of In Vivo Wheeled Mobility," Proceedings of the 2004 ASME Design Engineering Technical Conference, 2004 Download .PDF

Spenko, M., Iagnemma, K., and Dubowsky, S., "High Speed Hazard Avoidance for Mobile Robots in Rough Terrain," Proceedings of the 2004 SPIE Conference on Unmanned Ground Vehicles, 2004 Download .PDF

Golda, D., Iagnemma, K., and Dubowsky, S ., "Probabilistic Modeling and Analysis of High-Speed Rough-Terrain Mobile Robots," Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004 Download .PDF

Iagnemma, K., Brooks, C., Dubowsky, S., "Visual, Tactile, and Vibration-Based Terrain Analysis for Planetary Rovers," Proceedings of the 2004 IEEE Aerospace Conference, 2004 Download .PDF

Schenker, P., Huntsberger, T., Pirjanian, Dubowsky, S., Iagnemma, K., Sujan, V., "Rovers for Agile, Intelligent Traverse of Challenging Terrain," Proceedings of the 11th International Conference on Advanced Robotics, 2003 Download .PDF

Iagnemma, K., Kang, S., Brooks, C., and Dubowsky, S., “Multi-Sensor Terrain Estimation for Planetary Rovers,” Proceedings of the Seventh International Symposium on Artificial Intelligence, Robotics and Automation in Space, i-SAIRAS, 2003 Download .PDF

Iagnemma, K. , Golda, D., Spenko, M., and Dubowsky, S, "Experimental Study of High-Speed Rough-Terrain Mobile Robot Models for Reactive Behaviors," Proceedings of the Eighth International Symposium on Experimental Robotics, ISER '02, 2002 Download .PDF

Iagnemma, K. , and Dubowsky, S., "Terrain Estimation for High-Speed Rough-Terrain Autonomous Vehicle Navigation," Proceedings of the SPIE Conference on Unmanned Ground Vehicle Technology IV, 2002 Download .PDF

Iagnemma, K., Shibly, H., and Dubowsky, S., "On-Line Terrain Parameter Estimation for Planetary Rovers," 2002 IEEE International Conference on Robotics and Automation, 2002 Download .PDF

Schenker, P., Huntsberger, T., Pirjanian, P., Baumgartner, E., Aghazarian, H., Trebi-Ollennu, A., Leger, P., Cheng, Y., Backes, P., Tunstel, E., Dubowsky, S., Iagnemma, K., McKee, G., "Robotic Automation for Space: Planetary Surface Exploration, Terrain-Adaptive Mobility, and Multi-Robot Cooperative Tasks," Proceedings of the SPIE Symposium on Intelligent Robots and Computer Vision XX, Volume 4572, Newton, October, 2001 Download .PDF

Iagnemma, K., Shibly, H., Rzepniewski, A., and Dubowsky, S., "Planning and Control Algorithms for Enhanced Rough-Terrain Rover Mobility," Proceedings of the Sixth International Symposium on Artificial Intelligence, Robotics and Automation in Space, i-SAIRAS, 2001 Download .PDF

Schenker, S., Pirjanian, P., Balaram, B., Ali, K., Trebi-Ollennu, A., Huntsberger, T., Aghazarian, H., Kennedy, A., Baumgartner, E., Iagnemma, K., Rzepniewski, A., Dubowsky, S., Leger, P., Apostolopoulous, A., McKee, G., “Reconfigurable Robots for All-Terrain Exploration,” Proceedings of the SPIE Symposium on Sensor Fusion and Decentralized Control in Robotic Systems III, Volume 4196, Boston, September 2000 Download .PDF

Iagnemma, K. , Rzepniewski, A., Dubowsky, S., Huntsberger, T., Schenker, P., “Mobile Robot Kinematic Reconfigurability for Rough-Terrain,” Proceedings of the SPIE Symposium on Sensor Fusion and Decentralized Control in Robotic Systems III, Boston, September 2000 Download .PDF

Iagnemma, K. , and Dubowsky, S., “Vehicle Wheel-Ground Contact Angle Estimation: with Application to Mobile Robot Traction Control,” 7th International Symposium on Advances in Robot Kinematics, ARK ’00, pp.137-146, 2000 Download .PDF

Iagnemma, K. , and Dubowsky, S., “Mobile Robot Rough-Terrain Control (RTC) for Planetary Exploration,” Proceedings of the26th ASME Biennial Mechanisms and Robotics Conference, DETC 2000, 2000 Download .PDF

Huntsberger, T, Baumgartner, E., Aghazarian, H., Cheng, Y., Schenker, P., Leger, P., Iagnemma, K ., and Dubowsky, S., "Sensor Fused Autonomous Guidance of a Mobile Robot and Applications to Mars Sample Return Operations," Proceedings of the SPIE Symposium on Sensor Fusion and Decentralized Control in Robotic Systems II, Volume 3839, Boston, September 1999 Download .PDF

Iagnemma, K. , Burn, R., Wilhelm, E., and Dubowsky, S., "Experimental Validation of Physics-Based Planning and Control Algorithms for Planetary Robotic Rovers," Proceedings of the Sixth International Symposium on Experimental Robotics, ISER '99, Sydney, March 1999 Download .PDF

Iagnemma, K. , Genot, F., and Dubowsky, S., "Rapid Physics-Based Rough-Terrain Rover Planning with Sensor and Control Uncertainty," 1999 IEEE International Conference on Robotics and Automation, pp. 2286 -2291, 1999 Download .PDF

Meggiolaro, M., Jaffe, P., Iagnemma, K., and Dubowsky, S., "A Force-Updated Kinematic Virtual Viewing System With Application To Nuclear Power Plant Maintenance," Proceedings of the Tenth World Congress on the Theory of Machines and Mechanisms, IFToMM '99, Oulu, Finland, June 1999 Download .PDF

Liu, G., Iagnemma, K. , Dubowsky, S. and Morel, G., "A Base Force/Torque Sensor Approach to Robot Manipulator Inertial Parameter Estimation," 1998 IEEE International Conference on Robotics and Automation, pp. 3316 -3321, 1998 Download .PDF

Iagnemma, K. , Morel, G. and Dubowsky, S., "A Model-Free Fine Position Control Method Using the Base-Sensor: with Application to a Hydraulic Manipulator," Proceedings of the Fifth IFAC Symposium on Robot Control: SYROCO 97 , Nantes, France, September 1997 Download .PDF

Technical Reports

Iagnemma, K. , A Laboratory Single Wheel Testbed For Studying Planetary Rover Wheel-Terrain Interaction, Technical Report 01-05-05, Field and Space Robotics Laboratory, Massachusetts Institute of Technology, Cambridge, MA, 2005 Download .PDF

Theses

Iagnemma, K. , Rough-Terrain Mobile Robot Planning and Control, with Application to Planetary Exploration, Ph.D. Thesis, Massachusetts Institute of Technology, Cambridge, MA, 2001
Iagnemma, K. , Manipulator Identification and Control Using a Base-Mounted Force/Torque Sensor, Master's Thesis, Massachusetts Institute of Technology, Cambridge, MA, 1997

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