2021
JOURNAL PUBLICATIONS
D. Hanley, A. Oliveira, X. Zhang, D. H. Kim, Y. Wei, and T. Bretl, "The impact of height on indoor positioning with magnetic fields," IEEE Transactions on Instrumentation and Measurement, 70:1-19, 2021. [doi] [pdf]
X. Deng, A. Mousavian, Y. Xiang, F. Xia, T. Bretl, and D. Fox, “PoseRBPF: A rao-blackwellized particle filter for 6-d object pose tracking,” to appear in IEEE Transactions on Robotics, 2021. [doi] [pdf]
2020
JOURNAL PUBLICATIONS
A. Borum and T. Bretl, “When is a helix stable?” Physical Review Letters, 125(8):088001, 2020. [doi] [pdf]
A. Borum and T. Bretl, “Infinitely long isotropic Kirchhoff rods with helical centerlines cannot be stable,” Physical Review E, 102(2):023004, 2020. [doi] [pdf]
A. Sintov, S. Macenski, A. Borum, and T. Bretl, “Motion planning for dual-arm manipulation of elastic rods,” IEEE Robotics and Automation Letters, 5(4):6065-6072, 2020. [doi]
2019
JOURNAL PUBLICATIONS
T. Bretl, L. Righetti, and R. Madhavan, “Epstein, Project Maven, and Some Reasons to Think About Where We Get Our Funding [Ethical, Legal, and Societal Issues],” IEEE Robotics and Automation Magazine, 26(4):8-13, 2019. [doi]
L. Tian, B. Zimmerman, A. Akhtar, K. J. Yu, M. Moore, R. Larson, J. W. Lee, J. Li, Y. Liu, B. Metzger, S. Qu, J. Wu, X. Guo, K. E. Mathewson, J. A. Fan, J. Cornman, M. Fatina, Z. Xie, Y. Ma, J. Zhang, Y. Zhang, F. Dolcos, M. Fabiani, G. Gratton, T. Bretl, K. J. Hargrove, P. Braun, Y. Huang, and J. A. Rogers, “Large Area, MRI-compatible Epidermal Electronic Interfaces for Prosthetic Control and Cognitive Monitoring,” Nature Biomedical Engineering, 3:194-205, 2019. [doi]
CONFERENCE PUBLICATIONS
X. Deng, A. Mousavian, Y. Xiang, F. Xia, T. Bretl, and D. Fox, “PoseRBPF: A Rao-Blackwellized Particle Filter for6D Object Pose Estimation,” Robotics: Science and Systems (RSS), 2019. [pdf]
B. Chen, C. Zilles, M. West, and T. Bretl, “Effect of discrete and continuous parameter variation on difficulty in automatic item generation,” Artificial Intelligence in Education (AIED), 2019. [doi]
C. Zilles, M. West, G. Herman, M. Silva, and T. Bretl, “Every university should have a computer-based testing facility,” Computer Supported Education (CSEDU), 2019. [doi] [pdf]
A. Perry, Y. Kathuria, T. Bretl, and P. Ansell, “System Identification and Dynamics Modeling of a Distributed Electric Propulsion Aircraft,” AIAA Aviation and Aeronautics Forum and Exposition, 2019. [doi]
2018
JOURNAL PUBLICATIONS
T. Bretl, “Teaching undergraduate courses on robotics and control in prison,” Mechanical Engineering, 140(09), S11-S16, 2018. [doi] [pdf]
J.J.S. Norton, J. Mullins, B.E. Alitz, and T. Bretl, "The performance of 9-11-year-old children using an SSVEP-based BCI for target selection," Journal of Neural Engineering, 15(5):1-12, 2018. [doi]
A. Sintov, A. Borum, and T. Bretl, "Motion Planning of Fully Actuated Closed Kinematic Chains with Revolute Joints: A Comparative Analysis," IEEE Robotics and Automation Letters, 3(4):2886-2893, 2018. [doi]
A. Akhtar, J. Sombeck, B. Boyce, and T. Bretl, "Controlling sensation intensity for electrotactile stimulation in human-machine interfaces," Science Robotics, 3(17):1-11, 2018. [doi]
CONFERENCE PUBLICATIONS
X. Deng, Z. Zhang, A. Sintov, J. Huang, and T. Bretl, "Feature-constrained Active Visual SLAM for Mobile Robot Navigation," IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018. [doi]
K. Pieper, A. Perry, P. Ansell, and T. Bretl, "Design and Development of a Dynamically, Scaled Distributed Electric Propulsion Aircraft Testbed," AIAA/IEEE Electric Aircraft Technologies Symposium, Cincinnati, OH, July, 2018. [d0i]
J. DeGol, T. Bretl, and D. Hoiem, “Improved Structure from Motion Using Fiducial Marker Matching,” European Conference on Computer Vision (ECCV), Munich, Germany, September 2018. [pdf]
D. Hanley, X. Zhang, A.S. Dantas de Oliveira, D. Steinberg, and T. Bretl, “Experimental Evaluation of the Planar Assumption in Magnetic Positioning,” International Conference of Indoor Positioning and Indoor Navigation (IPIN), Nantes, France, September 2018. [pdf] [doi][website]
J. DeGol, J.Y. Lee, R. Kataria, D. Yuan, T. Bretl, and D. Hoiem. “FEATS: Synthetic Feature Tracks for Structure from Motion Evaluation.” International Conference on 3D Vision, Verona, Italy, September 2018. [doi]
C. Zilles, M. West, and T. Bretl, “Making testing less trying: Lessons learned from operating a Computer-Based Testing Facility,” Frontiers in Education (FIE), 2018. [doi]
2017
JOURNAL PUBLICATIONS
A. Akhtar, N. Aghasadeghi, L. Hargrove, and T. Bretl, "Estimation of distal arm joint angles from EMG and shoulder orientation for transhumeral prostheses," Journal of Electromyography and Kinesiology, 35:86-94, 2017. [doi]
A. Borum and T. Bretl, “Reduction of sufficient conditions for optimal control problems with subgroup symmetry,” IEEE Transactions on Automatic Control, 62(7):3209-3224, 2017. [doi] [pdf]
J.J.S. Norton, S. Umunna, T. Bretl, "The elicitation of steady-state visual evoked potentials during sleep," Psychophysiology, 54(4):496-507, 2017. [doi] [pdf]
S. Mishra, J.J.S. Norton, Y. Lee, D.S. Lee, N. Agee, Y. Chen, Y. Chun, & W.H. Yeo, "Soft, Conformal Bioelectronics for a Wireless Human-Wheelchair Interface," Biosensors and Bioelectronics, 91:796-803, 2017. [doi]
CONFERENCE PUBLICATIONS
K.Y. Choi, A. Akhtar, and T. Bretl, "A compliant four-bar linkage mechanism that makes the fingers of a prosthetic hand more impact resistant", in IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 2017. [pdf] [YouTube]
J. Cornman, A. Akhtar, and T. Bretl, "A portable, arbitrary waveform, multichannel constant current electrotactile stimulator", in IEEE/EMBS Conference on Neural Engineering (NER), Shanghai, China, May 2017. [doi]
D. Roberts, T. Bretl, and M. Golparvar-Fard. "Detecting and Classifying Cranes Using Camera-Equipped UAVs for Monitoring Crane-Related Safety Hazards", ASCE International Workshop on Computing in Civil Engineering, Seattle, WA. June 2017. [doi]
A. Ibrahim, D. Roberts, M. Golparvar-Fard. and T. Bretl. "An Interactive Model-Driven Path Planning and Data Capture System For Camera-Equipped Aerial Robots on Construction Sites", ASCE International Workshop on Computing in Civil Engineering, Seattle, WA. June 2017. [doi]
D. Hanley, A. B. Faustino, S. D. Zelman, D. A. Degenhardt, and T. Bretl, "MagPIE: A Dataset for Positioning with Magnetic Anomalies", in Eighth International Conference of Indoor Positioning and Indoor Navigation (IPIN), Sapporo, Japan, September 2017. [pdf] [doi] [website]
J. DeGol, T. Bretl, and D. Hoiem. "ChromaTag: A Colored Marker and Fast Detection Algorithm", in IEEE International Conference on Computer Vision (ICCV), Venice, Italy. October, 2017. [doi]
2016
JOURNAL PUBLICATIONS
A. Borum and T. Bretl, “Sufficient conditions for a path-connected set of local solutions to an optimal control problem,” SIAM Journal on Applied Mathematics, 76(3):976-999, 2016. [doi] [pdf]
Y. Liu, J.J.S. Norton, R. Qazi, Z. Zou, K.R. Ammann, H. Liu, L. Yan, P.L. Tran, K. Jang, J.W. Lee, D. Zhang, K.A. Kilian, S.H. Jung, T. Bretl, J. Xiao, M.J. Slepian, Y. Huang, J.W. Jeong, & J.A. Rogers, "Epidermal mechano-acoustic sensing electronics for cardiovascular diagnostics and human-machine interfaces," Science Advances, 2(11): e1601185-e1601185, 2016. [doi]
J. Rommers, D. Dickson, E. Wlotko, J.J.S. Norton, and K. Federmeier, "Alpha and theta band dynamics related to sentential constraint and word expectancy," Language, Cognition, and Neuroscience, 2016. [doi]
D. Tanner, J.J.S. Norton, K. Morgan-Short, and S. Luck, "On high-pass filter artifacts (they’re real) and baseline correction (it's a good idea) in ERP/ERMF analysis," Journal of Neuroscience Methods, 266:166-170, 2016. [doi] [pdf]
B. Xu, A. Akhtar, Y. Liu, H. Chen, W.-H. Yeo, S. I. Park, B. Boyce, H. Kim, J. Yu, H.-Y. Lai, S. Jung, Y. Zhou, J. Kim, S. Cho, Y. Huang, T. Bretl, and J. Rogers, “An epidermal stimulation and sensing platform for sensorimotor prosthetic control, management of lower back exertion, and electrical muscle activation,” Advanced Materials, 28(22):4462-4471, 2016. [doi]
CONFERENCE PUBLICATIONS
A. Akhtar, K. Y. Choi, M. Fatina, J. Cornman, E. Wu, J. Sombeck, C. Yim, P. Slade, J. Lee, J. Moore, D. Gonzales, A. Wu, G. Anderson, D. Rotter, C. Shin, and T. Bretl, “A low-cost, open-source, compliant hand for enabling sensorimotor control for people with transradial amputations,” in International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Orlando, FL, Aug. 2016. [pdf] [youtube]
A. Borum and T. Bretl, “Helices, relative equilibria, and optimality on the special Euclidean group,” in IEEE Conference on Decision and Control (CDC), Las Vegas, NV, Dec. 2016. [doi] [pdf]
J. DeGol, A. Akhtar, B. Manja, and T. Bretl, "Automatic grasp selection using a camera in a hand prosthesis," in International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Orlando, FL, Aug. 2016. [pdf] [mp4]
D. Hanley and T. Bretl, "An improved model-based observer for inertial navigation for quadrotors with low cost IMUs," in AIAA Guidance, Navigation, and Control Conference, San Diego, CA, Jan. 2016. [doi] [pdf]
2015
JOURNAL PUBLICATIONS
A. Akce, J. J. S. Norton, and T. Bretl, “An SSVEP-based brain-computer interface for text spelling with adaptive queries that maximize information gain rates,” IEEE Transactions on Neural Systems and Rehabilitation Engineering, 23(5):857-866, 2015. [doi] [pdf]
J. J. S. Norton, D. S. Lee, J. W. Lee, W. Lee, O. Kwon, P. Won, S.-Y. Jung, H. Cheng, J.-W. Jeong, A. Akce, S. Umunna, I. Na, Y. H. Kwon, X.-Q. Wang, Z. Liu, U. Paik, Y. Huang, T. Bretl, W.-H. Yeo, and J. Rogers, “Soft, curved electrode systems capable of integration on the auricle as a persistent brain–computer interface,” Proceedings of the National Academy of Sciences, 112(13):3920-3925, 2015. [doi] [pdf]
CONFERENCE PUBLICATIONS
A. Borum and T. Bretl, “The free configuration space of a Kirchhoff elastic rod is path-connected,” in IEEE International Conference on Robotics and Automation (ICRA), Seattle, May 2015. [doi] [pdf]
J. DeGol, D. Hanley, N. Aghasadeghi, and T. Bretl, "A passive mechanism for relocating payloads with a quadrotor," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, Sep. 2015. [doi] [pdf] [mp4]
O. Roussel, A. Borum, M. Taix, and T. Bretl, “Manipulation planning with contacts for an extensible elastic rod by sampling on the submanifold of static equilibrium configurations,” in IEEE International Conference on Robotics and Automation (ICRA), Seattle, May 2015. [doi] [pdf] [mp4]
P. Slade, A. Akhtar, M. Nguyen, and T. Bretl, “Tact: design and performance of an open-source, affordable, myoelectric prosthetic hand,” in IEEE International Conference on Robotics and Automation (ICRA), Seattle, May 2015. [doi] [pdf] [mp4]
2014
Journal Publications
A. Becker, C. Onyuksel, T. Bretl, and J. McLurkin, “Controlling many differential-drive robots with uniform control inputs,” International Journal of Robotics Research, 33(13):1626-1644, 2014. [doi] [pdf] [youtube]
T. Bretl and Z. McCarthy, “Quasi-static manipulation of a kirchhoff elastic rod based on a geometric analysis of equilibrium configurations,” International Journal of Robotics Research, 33(1):48–68, 2014. [doi] [pdf] [mp4]
M. W. Kennedy, T. Bretl, and J. P. Schmiedeler, “Interpreting lateral dynamic weight shifts using a simple inverted pendulum model,” Gait & Posture, 40(1):134–139, 2014. [doi] [pdf]
Conference Publications
N. Aghasadeghi and T. Bretl, “Inverse optimal control for differentially flat systems with application to locomotion modeling,” in IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, Jun. 2014. [doi] [pdf]
A. Akhtar, B. Boyce, and T. Bretl, “The relationship between energy, phase charge, impedance, and perceived sensation in electrotactile stimulation,” in IEEE Haptics Symposium (HAPTICS), Houston, TX, Feb. 2014. [doi] [pdf]
A. Akhtar, M. Nguyen, L. Wan, B. Boyce, P. Slade, and T. Bretl, “Passive mechanical skin stretch for multiple degree-of-freedom proprioception in a hand prosthesis,” in EuroHaptics, Versailles, France, Jun. 2014. [doi] [pdf] [youtube]
A. Akhtar, J. J. S. Norton, M. Kasraie, and T. Bretl, “Playing checkers with your mind: An interactive multiplayer hardware game platform for brain-computer interfaces,” in International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Chicago, IL, Aug. 2014. [doi] [pdf]
A. Borum and T. Bretl, “Geometric optimal control for symmetry breaking cost functions,” in IEEE Conference on Decision and Control (CDC), Los Angeles, CA, Dec. 2014. [doi] [pdf]
A. Borum, D. Matthews, and T. Bretl, “State estimation and tracking of deforming planar elastic rods,” in IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, Jun. 2014. [doi] [pdf] [mp4]
P. Geoffroy, O. Bordron, N. Mansard, O. Stasse, and T. Bretl, “A two-stage suboptimal approximation for variable compliance and torque control,” in European Control Conference (ECC), Strasbourg, France, Jun. 2014. [doi] [pdf]
M. Mukadam, A. Borum, and T. Bretl, “Quasi-static manipulation of a planar elastic rod using multiple robotic grippers,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, Sep. 2014. [doi] [pdf] [youtube]
O. Roussel, M. Taix, and T. Bretl, “Motion planning for a deformable linear object,” in European Workshop on Deformable Object Manipulation, Lyon, France, Mar. 2014. [pdf]
O. Roussel, M. Taix, and T. Bretl, “Efficient motion planning for quasi-static elastic rods using geometry neighborhood approximation,” in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Besançon, France, Jul. 2014. [doi] [pdf]
OTHER PUBLICATIONS
A. Borum, "Optimal control problems on lie groups with symmetry breaking cost functions," Master’s thesis, University of Illinois at Urbana-Champaign, Dec. 2014. [link] [pdf]
2013
JOURNAL PUBLICATIONS
A. Akce, M. Johnson, O. Dantsker, and T. Bretl, “A brain-machine interface to navigate a mobile robot in a planar workspace: enabling humans to fly simulated aircraft with EEG,” IEEE Transactions on Neural Systems and Rehabilitation Engineering, 21(2):306-318, 2013. [doi] [pdf]
T. Bretl and Z. McCarthy, “Mechanics and quasi-static manipulation of planar elastic kinematic chains,” IEEE Transactions on Robotics, 29(1):1–14, 2013. [doi] [pdf] [mp4]
J.-W. Jeong, W.-H. Yeo, A. Akhtar, J. J. S. Norton, Y.-J. Kwack, S. Li, S.-Y. Jung, Y. Su, W. Lee, J. Xia, H. Cheng, Y. Huang, W.-S. Choi, T. Bretl, and J. A. Rogers, “Materials and optimized designs for human-machine interfaces via epidermal electronics,” Advanced Materials, 25(47):6839-6846, 2013. [doi] [pdf]
CONFERENCE PUBLICATIONS
N. Aghasadeghi, H. Zhao, L. Hargrove, A. Ames, E. Perreault, and T. Bretl, “Learning impedance controller parameters for lower-limb prostheses,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, Nov. 2013. [doi] [pdf] [mp4]
H. Awni, J. J. S. Norton, S. Umunna, K. Federmeier, and T. Bretl, “Towards a brain computer interface based on the n2pc event-related potential,” in IEEE/EMBS International Conference on Neural Engineering (NER), San Diego, CA, Nov. 2013. [doi] [pdf]
T. Bretl and S. Hutchinson, “Robust coverage by a mobile robot of a planar workspace,” in IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 2013. [doi] [pdf]
O. Dantsker, M. Johnson, M. Selig, and T. Bretl, "Development of the UIUC aero testbed: A large-scale unmanned electric aerobatic aircraft for aerodynamics research," in AIAA Applied Aerodynamics Conference, San Diego, CA, Jun. 2013. [doi] [pdf]
E. C. Johnson, J. J. S. Norton, D. Jun, T. Bretl, and D. L. Jones, “Sequential selection of window length for improved SSVEP-based BCI classification,” in Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Osaka, Japan, Jul. 2013. [doi] [pdf]
M. Johnson, N. Aghasadeghi, and T. Bretl, “Inverse optimal control for deterministic continuous-time nonlinear systems,” in IEEE Conference on Decision and Control (CDC), Florence, Italy, Dec. 2013. [doi] [pdf]
2012
Journal Publications
A. Becker and T. Bretl, “Approximate Steering of a Unicycle Under Bounded Model Perturbation Using Ensemble Control,” IEEE Transactions on Robotics, 28(3):580-591, 2012. [doi] [pdf] [youtube]
T. Bretl, “Minimum-time optimal control of many robots that move in the same direction at different speeds,” IEEE Transactions on Robotics, 28(2):351-363, 2012. [doi] [pdf] [mp4]
R. D. Gregg, A. K. Tilton, S. Candido, T. Bretl, and M. W. Spong, “Control and planning of 3-D dynamic walking with asymptotically stable gait primitives,” IEEE Transactions on Robotics, 28(6):1415– 1423, 2012. [doi] [pdf]
R. Ma, N. Aghasadeghi, J. Jarzebowski, T. Bretl, and T. Coleman, “A stochastic control approach to optimally designing hierarchical flash sets in P300 communication prostheses,” IEEE Transactions on Neural Systems and Rehabilitation Engineering, 20(1):102–112, 2012. [doi] [pdf]
K. A. Shorter, Y. Li, T. Bretl, and E. T. Hsiao-Wecksler, “Modeling, control, and analysis of a robotic assist device,” Mechatronics, 22(8):1067–1077, 2012. [doi] [pdf]
Conference PUBLICATIONS
N. Aghasadeghi, A. Long, and T. Bretl, “Inverse optimal control for a hybrid dynamical system with impacts,” in IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, May 2012. [doi] [pdf]
A. Akce, J. J. S. Norton, and T. Bretl, “A brain-machine interface to navigate mobile robots along human-like paths amidst obstacles,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, Oct. 2012. [doi] [pdf]
A. Akhtar, L. J. Hargrove, and T. Bretl, “Prediction of distal arm joint angles from EMG and shoulder orientation for prosthesis control,” in Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), San Diego, CA, Aug. 2012. [doi] [pdf]
A. Becker and T. Bretl, “Approximate steering of a plate-ball system under bounded model perturbation using ensemble control,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, Oct. 2012. [doi] [pdf] [mp4]
A. Becker, C. Onyuksel, and T. Bretl, “Feedback control of many differential-drive robots with uniform control inputs,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, Oct. 2012. [doi] [pdf]
D. Bonnie, S. Candido, T. Bretl, and S. Hutchinson, “Modelling search with a binary sensor utilizing self-conjugacy of the exponential family,” in IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, May 2012. [doi] [pdf]
T. Bretl and Z. McCarthy, “Equilibrium configurations of a Kirchhoff elastic rod under quasi-static manipulation,” in Workshop on the Algorithmic Foundations of Robotics (WAFR), Boston, MA, Jun. 2012. [doi] [pdf]
O. Dantsker, M. Johnson, A. Akce, and T. Bretl, “Development of a fixed wing multi-role unmanned aircraft vehicle research testbed,” in AIAA Aerospace Sciences Meeting, Nashville, TN, Jan. 2012. [doi] [pdf]
S. Hutchinson and T. Bretl, “Robust optimal deployment of mobile sensor networks,” in IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, May 2012. [doi] [pdf]
D. Matthews and T. Bretl, “Experiments in quasi-static manipulation of a planar elastic rod,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, Oct. 2012. [doi] [pdf]
Z. McCarthy, T. Bretl, and S. Hutchinson, “Proving path non-existence using sampling and alpha shapes,” in IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, May 2012. [doi] [pdf]
Z. McCarthy and T. Bretl, “Mechanics and manipulation of planar elastic kinematic chains,” in IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, May 2012. [doi] [pdf]
C. Orduno, A. Becker, and T. Bretl, “Motion primitives for path following with a self-assembled robotic swimmer,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, Oct. 2012. [doi] [pdf]
A.-S. Puydupin-Jamin, M. Johnson, and T. Bretl, “A convex approach to inverse optimal control and its application to modeling human locomotion,” in IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, May 2012. [doi] [pdf]
2011
JOURNAL PUBLICATIONS
Y. Li, A. Becker, K. A. Shorter, T. Bretl, and E. Hsiao-Wecksler, “Estimating system state during human walking with a powered ankle-foot orthosis,” IEEE/ASME Transactions on Mechatronics, 16(5):835-844, 2011. [doi] [pdf]
C. Omar, A. Akce, M. Johnson, T. Bretl, R. Ma, E. Maclin, M. McCormick, and T. Coleman, “A feedback information-theoretic approach to the design of brain-computer interfaces,” International Journal of Human-Computer Interaction, 27(1):5–23, 2011. [doi] [pdf]
CONFERENCE PUBLICATIONS
N. Aghasadeghi and T. Bretl, “Maximum entropy inverse reinforcement learning in continuous state spaces with path integrals,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, Sep. 2011. [doi] [pdf]
A. Akce and T. Bretl, “A compact representation of locally-shortest paths and its application to a human-robot interface,” in IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 2011. [doi] [pdf]
C. Das, A. Becker, and T. Bretl, “Probably approximately correct coverage for robots with uncertainty,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, Sep. 2011. [doi] [pdf]
Y. Li, K. Shorter, E. Hsiao-Wecksler, and T. Bretl, “Simulation and experimental analysis of a portable powered ankle-foot orthosis control,” in ASME Dynamic Systems and Control Conference, Arlington, VA, Nov. 2011. [doi] [pdf]
E. Morris, K. Shorter, Y. Li, E. Hsiao-Wecksler, T. Bretl, G. Kogler, and W. Durfee, “Actuation timing strategies for a portable powered ankle foot orthosis,” in ASME Dynamic Systems and Control Conference, Arlington, VA, Nov. 2011. [doi] [pdf]
2010
JOURNAL PUBLICATIONS
T. Bretl, G. Arechavaleta, A. Akce, and J.-P. Laumond, “Comments on ‘an optimality principle governing human walking’,” IEEE Transactions on Robotics, 26(6):1105–1106, 2010. [doi] [pdf]
CONFERENCE PUBLICATIONS
A. Akce and T. Bretl, “A probabilistic language model for hand drawings,” in International Conference on Pattern Recognition (ICPR), Istanbul, Turkey, Aug. 2010. [doi] [pdf]
A. Akce, M. Johnson, and T. Bretl, “Remote teleoperation of an unmanned aircraft with a brain-machine interface: Theory and preliminary results,” in IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, May 2010. [doi] [pdf]
A. Becker and T. Bretl, “Motion planning under bounded uncertainty using ensemble control,” in Robotics: Science and Systems (RSS), Zaragoza, Spain, Jun. 2010. [pdf]
I. De Pablo, A. Becker, and T. Bretl, “An optimal solution to the linear search problem for a robot with dynamics,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, Oct. 2010. [doi] [pdf]
R. D. Gregg, T. Bretl, and M. W. Spong, “A control theoretic approach to robot-assisted locomotor therapy,” in IEEE Conference on Decision and Control, Atlanta, GA, Dec. 2010. [doi] [pdf]
R. D. Gregg, T. Bretl, and M. Spong, “Asymptotically stable gait primitives for planning dynamic bipedal locomotion in three dimensions,” in IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, May 2010. [doi] [pdf]
Y. Li, K. A. Shorter, T. Bretl, and E. T. Hsiao-Wecksler, “Power consumption and control of a pneumatic powered ankle foot orthosis,” in FPNI Symposium, Purdue University, West Lafayette, IN, Jun. 2010.
D. Steines, T. Bretl, E. Maclin, and T. Coleman, “Application of feedback-related negativity to brain-computer interface,” in Society for Neuroscience, San Diego CA, Nov. 2010.
2009
Conference publications
A. Becker, R. Sandheinrich, and T. Bretl, “Automated manipulation of spherical objects in three dimensions using a gimbaled air jet,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, MO, Oct. 2009. [doi] [pdf] [mp4]
D. DeVon and T. Bretl, "Control of many robots moving in the same direction with different speeds: a decoupling approach," in American Control Conference (ACC), St. Louis, MO, June 2009. [doi] [pdf]
2008
JOURNAL PUBLICATIONS
T. Bretl and S. Lall, “Testing static equilibrium for legged robots,” IEEE Transactions on Robotics, 24(4):794–807, 2008. [doi] [pdf]
K. Hauser, T. Bretl, J.-C. Latombe, K. Harada, and B. Wilcox, “Motion planning for legged robots on varied terrain,” International Journal of Robotics Research, 27(11-12):1325–1349, 2008. [doi] [pdf]
CONFERENCE PUBLICATIONS
C. Omar, M. Johnson, T. Bretl, and T. P. Coleman, “Policies for neural prosthetic control: Initial experiments with a text interface,” in American Control Conference (ACC), Seattle, WA, Jun. 2008. [doi] [pdf]
C. Omar, M. Johnson, T. Bretl, and T. P. Coleman, “Querying the user properly for high-performance brain-machine interfaces: Recursive estimation, control, and feedback information-theoretic perspectives,” in IEEE International Conference on Acoustics, Speech, and Signal Processing, Las Vegas, NV, 2008. [doi] [pdf]
2007
CONFERENCE PUBLICATIONS
T. Bretl, “Control of many agents by moving their targets: maintaining separation,” in International Conference on Advanced Robotics (ICRA), Jeju, Korea, Aug. 2007. [doi] [pdf]
T. Bretl, “Control of many agents with few instructions,” in Robotics: Science and Systems (RSS), Atlanta, GA, Jun. 2007. [pdf]
D. DeVon and T. Bretl, “Kinematic and dynamic control of a wheeled mobile robot,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego, CA, Oct. 2007. [doi] [pdf]
2006
JOURNAL PUBLICATIONS
T. Bretl, “Motion planning of multi-limbed robots subject to equilibrium constraints: The free-climbing robot problem,” International Journal of Robotics Research, 25(4):317–342, 2006. [doi] [pdf]
CONFERENCE PUBLICATIONS
T. Bretl and S. Lall, “A fast and adaptive test of static equilibrium for legged robots,” in IEEE International Conference on Robotics and Automation (ICRA), Orlando, FL, May 2006. [doi] [pdf]
K. Harada, K. Hauser, T. Bretl, and J.-C. Latombe, “Natural motion generation for humanoid robots,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, China, Oct. 2006. [doi] [pdf]
K. Hauser, T. Bretl, K. Harada, and J.-C. Latombe, “Using motion primitives in probabilistic sample-based planning for humanoid robots,” in Workshop on the Algorithmic Foundations of Robotics (WAFR), New York, NY, Jul. 2006. [doi] [pdf]
K. Hauser, T. Bretl, J.-C. Latombe, and B. Wilcox, “Motion planning for a six-legged lunar robot,” in Workshop on the Algorithmic Foundations of Robotics (WAFR), New York, NY, Jul. 2006. [doi] [pdf]
T. Miller, T. Bretl, and S. Rock, “Control of a climbing robot using real-time convex optimization,” in IFAC Symposium on Mechatronic Systems, Heidelberg, Germany, Sep. 2006. [doi] [pdf]
2005
CONFERENCE PUBLICATIONS
K. Hauser, T. Bretl, and J.-C. Latombe, “Learning-assisted multi-step planning,” in IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, Apr. 2005. [doi] [pdf]
K. Hauser, T. Bretl, and J.-C. Latombe, “Non-gaited humanoid locomotion planning,” in IEEE/RAS International Conference on Humanoid Robots (Humanoids), Tsukuba, Japan, Dec. 2005. [doi] [pdf]
2004
CONFERENCE PUBLICATIONS
T. Bretl, S. Lall, J.-C. Latombe, and S. Rock, “Multi-step motion planning for free-climbing robots,” in Workshop on the Algorithmic Foundations of Robotics (WAFR), Zeist, Netherlands, Jul. 2004. [pdf]
T. Bretl, S. Rock, J.-C. Latombe, B. Kennedy, and H. Aghazarian, “Free-climbing with a multi-use robot,” in International Symposium on Experimental Robotics (ISER), Singapore, Jun. 2004. [pdf]
2003
CONFERENCE PUBLICATIONS
T. Bretl, J.-C. Latombe, and S. Rock, “Toward autonomous free-climbing robots,” in International Symposium on Robotics Research (ISRR), Siena, Italy, Oct. 2003. [pdf]
T. Bretl, T. Miller, S. Rock, and J.-C. Latombe, “Climbing robots in natural terrain,” in International Symposium on Artificial Intelligence, Robotics, and Automation in Space (I-SAIRAS), Nara, Japan, May 2003. [pdf]
T. Bretl, S. Rock, and J.-C. Latombe, “Motion planning for a three-limbed climbing robot in vertical natural terrain,” in IEEE International Conference on Robotics and Automation (ICRA), Taipei, Taiwan, Sep. 2003. [doi] [pdf]
2002
CONFERENCE PUBLICATIONS
T. Bretl and S. Rock, “Robust execution of aggressive maneuvers for planetary robotics,” in AIAA Guidance, Navigation, and Control Conference and Exhibit, Monterey, CA, Aug. 2002. [doi] [pdf]
T. Bretl and S. Rock, “Planning robust dynamic transitions for enhanced mobility of planetary rovers,” in IFAC Conference on Mechatronic Systems, Berkeley, CA, Dec. 2002. [pdf]
C. Clark, T. Bretl, and S. Rock, “Applying kinodynamic randomized motion planning with a dynamic priority system to multi-robot space systems,” in IEEE Aerospace Conference, Big Sky, MT, Mar. 2002. [pdf]
1999
CONFERENCE PUBLICATIONS
K. Stein, R. Benney, T. Tezduyar, V. Kalro, J. Potvin, and T. Bretl, “Fluid-structure interaction simulation of a cross parachute: Comparison of numerical predictions with wind tunnel data,” in CEAS/AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar, Toulouse, France, Jun. 1999. [doi] [pdf]