Ken Goldberg: Research Papers


Papers Under Review (All Topics)

A Survey of Research on Cloud Robotics and Automation. Ben Kehoe, Sachin Patil, Pieter Abbeel, Ken Goldberg. IEEE Transactions on Automation Science and Engineering (T-ASE): Special Issue on Cloud Robotics and Automation. Vol. 12, no. 2. Apr. 2015 (To Appear). [.pdf]

Cloud-Based Grasp Analysis and Planning for Toleranced Parts Using Parallelized Monte Carlo Sampling. Ben Kehoe, Deepak Warrier, Sachin Patil, Ken Goldberg. Conditionally Accepted: IEEE Transactions on Automation Science and Engineering (T-ASE): Special Issue on Cloud Robotics and Automation. [.pdf]

Two Large Open-Access Datasets for Fitts' Law of Human Motion and a Succinct Derivation of the Square-Root Variant. Ken Goldberg, Siamak Faridani, and Ron Alterovitz. To Appear: IEEE Transactions on Human-Machine Systems. [.pdf] (A very preliminary draft available as EECS Department Technical Report, University of California, Berkeley, Tech. Rep. UCB/EECS-2013-171, October 2013.)

Material Evaluation of PC-ISO for Customized, 3D Printed, Gynecologic 192Ir HDR Brachytherapy Applicators. Katherine Mellis, Timmy Siauw, Atchar Sudhyadhom, Rajni Sethi, I-Chow Hsu, Jean Pouliot, Animesh Garg, Ken Goldberg, J. Adam Cunha. Conditionally Accepted: Journal of Applied Clinical Medical Physics (JACMP). [.pdf]

Needle Placement using Patient-Specific, Skew-Line Needle Guides for Prostate HDR Brachytherapy: An Open-Loop Phantom Study. Timmy Siauw, J. Adam Cunha, Animesh Garg, Sachin Patil, Ken Goldberg, I-Chow Hsu, Jean Pouliot. Under Review: Medical Physics Journal. [.pdf]

Papers To Appear (All Topics)

Potential-Based Bounded-Cost Search and Anytime Non-Parametric A*. Roni Stern, Ariel Felner, Jur van den Berg, Rami Puzis, Rajat Shah, Ken Goldberg. To Appear: Artificial Intelligence (AI). Volume 214, September 2014, Pages 1-25. [.pdf]

Efficient Proximity Probing Algorithms for Metrology. Aviv Adler, Fatemeh Panahi, A. Frank van der Stappen, and Ken Goldberg. To Appear: IEEE Transactions on Automation Science and Engineering. [.pdf]

A Methodology for Learning, Analyzing, and Mitigating Social Influence Bias in Recommender Systems. Sanjay Krishnan, Jay Patel, Michael J. Franklin, and Ken Goldberg. To Appear: ACM Conference on Recommender Systems (RecSys). Foster City, CA, USA. Oct 2014. [.pdf]

Learning Accurate Kinematic Control of Cable-Driven Surgical Robots Using Data Cleaning and Gaussian Process Regression. Jeffrey Mahler, Sanjay Krishnan, Michael Laskey, Siddarth Sen, Adithyavairavan Murali, Ben Kehoe, Sachin Patil, Jiannan Wang, Mike Franklin, Pieter Abbeel, Ken Goldberg. To Appear: IEEE Int'l Conference on Automation Science and Engineering (CASE). Taipei, Taiwan. August 2014. [.pdf]

Exact Reachability Analysis for Planning Skew-Line Needle Arrangements for Automated Brachytherapy. Animesh Garg, Timmy Siauw, Guang Yang, Sachin Patil, J. Adam M. Cunha, I-Chow Hsu, Jean Pouliot, Alper Atamturk, Ken Goldberg. To Appear: IEEE Int'l Conference on Automation Science and Engineering (CASE). Taipei, Taiwan. August 2014. [.pdf]

The California Report Card: A Mobile Crowdsourcing Tool for Timely Public Policy . Tanja Aitamurto, Allen Ching-Chang Huang, Gavin Newsom, Jay Patel, Daniel Catterson, Camille Crittenden, Sanjay Krishnan, John Scott, Chris Garland, Matti Nelimarkka, Brandie Nonnecke, and Ken Goldberg. To Appear: University of Oxford Conference on Crowdsourcing for Politics and Policy (IPP2014). Oxford, UK. Sept, 2014. [.pdf]

A Sample-and-Clean Framework for Fast and Accurate Query Processing on Dirty Data. Jiannan Wang, Sanjay Krishnan, Michael J. Franklin, Ken Goldberg, Tova Milo, Tim Kraska. ACM Special Interest Group on Management of Data (SIGMOD), Snowbird, Utah, USA. June 2014. [.pdf]

Scaling up Gaussian Belief Space Planning through Covariance-Free Trajectory Optimization and Automatic Differentiation. Sachin Patil, Gregory Kahn, Michael Laskey, John Schulman, Ken Goldberg, Pieter Abbeel. To Appear: Workshop on Algorithmic Foundations of Robotics (WAFR). Istanbul, Turkey. August 2014. [.pdf]

Planning Curvature and Torsion Constrained Ribbons in 3D with Application to Intracavitary Brachytherapy. Sachin Patil, Jia Pan, Pieter Abbeel, Ken Goldberg. To Appear: Workshop on Algorithmic Foundations of Robotics (WAFR). Istanbul, Turkey. August 2014. [.pdf]

Autonomous Multilateral Debridement with the Raven Surgical Robot. Ben Kehoe, Gregory Kahn, Jeffrey Mahler, Jonathan Kim, Alex Lee, Anna Lee, Keisuke Nakagawa, Sachin Patil, W. Douglas Boyd, Pieter Abbeel, Ken Goldberg. IEEE Int'l Conference on Robotics and Automation, (ICRA), Hong Kong. June 2014. [.pdf]

Gaussian Belief Space Planning with Discontinuities in Sensing Domains. Sachin Patil, Yan Duan, John Schulman, Ken Goldberg, Pieter Abbeel. IEEE Int'l Conference on Robotics and Automation, (ICRA), Hong Kong. June 2014. [.pdf]

Planning Locally Optimal, Curvature-Constrained Trajectories in 3D. using Sequential Convex Optimization. Yan Duan, Sachin Patil, John Schulman, Ken Goldberg, Pieter Abbeel IEEE Int'l Conference on Robotics and Automation, (ICRA), Hong Kong. June 2014. [.pdf]

Recently Published Papers (All Topics)

Motion Planning with Sequential Convex Optimization and Convex Collision Checking. John Schulman, Yan Duan, Jonathan Ho, Alex Lee, Ibrahim Awwal, Henry Bradlow, Jia Pan, Sachin Patil, Ken Goldberg and Pieter Abbeel. International Journal of Robotics Research (IJRR). Vol. 33(7), June 2014. [.pdf]

Algorithms for Visual Tracking of Visitors Under Variable-Lighting Conditions for a Responsive Audio Art Installation. Andrew B. Godbehere and Ken Goldberg. Controls and Art Book. Amy LaViers and Magnus Egerstedt, eds. Springer. 2014. [.pdf]

An Algorithm for Computing Customized 3D Printed Implants with Curvature Constrained Channels for Enhancing Intracavitary Brachytherapy Radiation Delivery. Animesh Garg, Sachin Patil, Timmy Siauw, J. Adam M. Cunha, I-Chow Hsu, Pieter Abbeel, Jean Pouliot, and Ken Goldberg. IEEE Int'l Conference on Automation Science and Engineering, Madison, WI, August 2013. [.pdf]

Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy. Animesh Garg, Timmy Siauw, Dmitry Berenson, J.Adam M. Cunha, I-Chow Joe Hsu, Jean Pouliot, Dan Stoianovici, Ken Goldberg. IEEE Transactions on Automation Science and Engineering. V10(4), Oct 2013. pp. 948-956. [.pdf]

Putting the Turing into Manufacturing: Recent Developments in Algorithmic Automation. Ken Goldberg. Invited Keynote: Extended Abstract. ACM Symposium on Computational Geometry (SoCG). Rio de Janiero, Brazil. June 2013. [.pdf]

Using a Social Media Platform to Explore How Social Media Can Enhance Primary and Secondary Learning. Sanjay Krishnan, Yuko Okubo, Kanji Uchino, and Ken Goldberg. Learning International Networks Consortium (LINC) 2013 Conference. MIT, Cambridge, MA. June 2013. [.pdf]

Distributed Spectral Dimensionality Reduction for Visualizing Textual Data. Sanjay Krishnan and Ken Goldberg. International Conference on Machine Learning (ICML) Workshop on Spectral Learning Methods, Atlanta, GA, June 2013. [.pdf]

Cloud-Based Robot Grasping with the Google Object Recognition Engine. Ben Kehoe, Akihiro Matsukawa, Sal Candido, James Kuffner, and Ken Goldberg. IEEE International Conference on Robotics and Automation. Karlsruhe, Germany. May 2013. [.pdf]

An Efficient Proximity Probing Algorithm for Metrology. Fatemeh Panahi, Aviv Adler, A. Frank van der Stappen, and Ken Goldberg. IEEE Int'l Conference on Automation Science and Engineering, Madison, WI, August 2013. Finalist for Best Student Paper Award. [.pdf]

Gaussian Belief Space Planning for Imprecise Articulated Robots. Alex Lee, Sachin Patil, John Schulman, Zoe McCarthy, Jur van den Berg, Ken Goldberg, and Pieter Abbeel. IEEE/RSJ Int'l Conference on Intelligent Robots and Systems (IROS), Tokyo, November 2013. [.pdf]

Medical Robotics: Steerable Needles, Dose Delivery

Autonomous Multilateral Debridement with the Raven Surgical Robot. Ben Kehoe, Gregory Kahn, Jeffrey Mahler, Jonathan Kim, Alex Lee, Anna Lee, Keisuke Nakagawa, Sachin Patil, W. Douglas Boyd, Pieter Abbeel, Ken Goldberg. IEEE Int'l Conference on Robotics and Automation, (ICRA), Hong Kong. June 2014. [.pdf]

Planning Locally Optimal, Curvature-Constrained Trajectories in 3D. using Sequential Convex Optimization. Yan Duan, Sachin Patil, John Schulman, Ken Goldberg, Pieter Abbeel IEEE Int'l Conference on Robotics and Automation, (ICRA), Hong Kong. June 2014. [.pdf]

An Algorithm for Computing Customized 3D Printed Implants with Curvature Constrained Channels for Enhancing Intracavitary Brachytherapy Radiation Delivery. Animesh Garg, Sachin Patil, Timmy Siauw, J. Adam M. Cunha, I-Chow Hsu, Pieter Abbeel, Jean Pouliot, and Ken Goldberg. IEEE Int'l Conference on Automation Science and Engineering, Madison, WI, August 2013. [.pdf]

Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy. Animesh Garg, Timmy Siauw, Dmitry Berenson, J.Adam M. Cunha, I-Chow Joe Hsu, Jean Pouliot, Dan Stoianovici, Ken Goldberg. IEEE Transactions on Automation Science and Engineering. V10(4), Oct 2013. pp. 948-956. [.pdf]

Initial Experiments toward Automated Robotic Implantation of Skew-Line Needle Arrangements for HDR Brachytherapy. Animesh Garg, Timmy Siauw, Dmitry Berenson, Adam Cunha, I-Chow Hsu, Jean Pouliot, Dan Stoianovici, and Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Seoul, Korea. August, 2012. Recipient of Best Applications Paper Award. [.pdf]

NPIP: A Skew-Line Needle Configuration Optimization System for HDR Brachytherapy. Timmy Siauw, Adam Cunha, Dmitry Berenson, Alper Atamturk, I-Chow Joe Hsu, Ken Goldberg, Jean Pouliot. Medical Physics, 39, 4339. July 2012. [.pdf]

Robot-Assisted Needle Steering. Kyle B. Reed, Ann Majewicz, Vinutha Kallem, Ron Alterovitz, Ken Goldberg, Noah J. Cowan, and Allison M. Okamura. IEEE Robotics and Automation Magazine. V18:4, pp 35-46. December 2011. [.pdf]

EG-RRT: Environment-Guided Random Trees for Kinodynamic Motino Planning with Uncertainty and Obstacles. Leonard Jaillet, Judy Hoffman, Jur van den Berg, Pieter Abbeel, Josep M. Porta, Ken Goldberg. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, 2011. [.pdf]

IPIP: A New Approach to Inverse Planning for HDR Brachytherapy by Directly Optimizing Dosimetric Indices. Timmy Siauw, J. Adam M. Cunha, Alper Atamturk, I-Chow Hsu, Jean Pouliot, and Ken Goldberg. Medical Physics. Vol. 38 (7). July 2011. [.pdf]

LQG-MP: Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information. Jur van den Berg, Pieter Abbeel, Ken Goldberg. International Journal of Robotics Research. Vol. 30 (6). June 2011. [.pdf]

LQG-Based Planning, Sensing, and Control of Steerable Needles. Jur van den Berg, Sachin Patil, Ron Alterovitz, Pieter Abbeel, Ken Goldberg. Ninth Workshop on Algorithmic Foundations of Robotics (WAFR). Singapore. December 2010. [.pdf]

LQG-MP: Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information. Jur van den Berg, Pieter Abbeel, Ken Goldberg. Robotics: Science and Systems (RSS). Zaragosa, Spain. June 2010. (see extended journal version above). [.pdf]

Superhuman Performance of Surgical Tasks by Robots using Iterative Learning from Human-Guided Demonstrations. Jur van den Berg, Stephen Miller, Daniel Duckworth, Humphrey Hu, Andrew Wan, Xiao-Yu Fu, Ken Goldberg, Pieter Abbeel. IEEE International Conference on Robotics and Automation (ICRA). Anchorage, AL. May 2010. Recipient of Best Medical Robotics Paper Award. [0.5MB .pdf]

Three-dimensional Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics. Vincent Duindam, Jijie Xu, Ron Alterovitz, Shankar Sastry, Ken Goldberg. International Journal of Robotics Research. October 2009. [0.5MB .pdf]

Planning "Fireworks" Trajectories for Steerable Needles to Reduce Patient Trauma. Jijie Xu, Vincent Duindam, Ron Alterovitz, Adam Cunha, Jean Pouliot, I-Chow Joe Hsu, Ken Goldberg. IEEE International Conference on Intelligent Robots and Systems (IROS). St Louis, Oct 2009. [0.4MB .pdf]

Surgical Retraction of Non-Uniform Deformable Layers of Tissue: 2D Robot Grasping and Path Planning. Rik Jansen, Kris Hauser, Nuttapong Chentanez, Frank van der Stappen, Ken Goldberg. IEEE International Conference on Intelligent Robots and Systems (IROS). St Louis, Oct 2009. [0.4MB .pdf]

Interactive Simulation of Surgical Needle Insertion and Steering. Nuttapong Chentanez, Ron Alterovitz, Daniel Ritchie, Lita Cho, Kris Hauser, Ken Goldberg, JonathonShewchuk, James O'Brien. Proceedings of ACM SIGGRAPH , Annual Conference Series. (New Orleans, Louisiana), Aug. 2009. [pdf, videos]

Feedback Control for Steering Needles Through 3D Deformable Tissue Using Helical Paths. Kris Hauser, Ron Alterovitz, Nuttapong Chentanez Allison Okamura, and Ken Goldberg. Robots: Science and Systems (RSS) Conference. Seattle, WA, June 2009. [1.4MB .pdf]

Guiding Medical Needles Using Single-Point Tissue Manipulation, Meysam Torabi, Kris Hauser, Ron Alterovitz, Vincent Duindam, and Ken Goldberg. IEEE International Conference on Robotics and Automation. Kobe, Japan, May, 2009. Best Medical Robotics Paper Award Finalist. [400KB .pdf]

3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics. Vincent Duindam, Jijie Xu, Ron Alterovitz, Shankar Sastry, and Ken Goldberg. Eighth International Workshop on Algorithmic Foundations of Robotics (WAFR), Guanajuato, Mexico, December, 2008. [1.2MB .pdf]

Motion Planning Under Uncertainty for Image-Guided Medical Needle Steering. Ron Alterovitz, Michael Branicky, Ken Goldberg. International Journal of Robotics Research. 27:1361-1374, Nov, 2008. [0.5MB .pdf]

Sensorless Motion Planning for Medical Needle Insertion in Deformable Tissue. Ron Alterovitz, Ken Goldberg, Jean Pouliot, and I-Chow Hsu. IEEE Transactions on Information Technology in Biomedicine. Vol. 13(2), 217-225. March 2009. [12MB .pdf]

Motion Planning For Steerable Needles in 3D Environments with Obstacles Using Rapidly-Exploring Random Trees and Backchaining. Jijie Xu, Vincent Duindam, Ron Alterovitz, and Ken Goldberg. IEEE Conference on Automation Science and Engineering (CASE). August 2008. [0.8MB .pdf]

Screw-Based Motion Planning for Bevel-Tip Flexible Needles in 3D Environments with Obstacles, Vincent Duindam, Ron Alterovitz, Shankar Sastry, and Ken Goldberg. IEEE ICRA. May 2008. [600KB .pdf]

The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty, Ron Alterovitz, Thierry Simeon, and Ken Goldberg. Robotics Science and Systems. June 2007, Atlanta, GA. [200KB .pdf]

Optimization of HDR Brachytherapy Dose Distributions using Linear Programming with Penalty Costs. Ron Alterovitz, Etienne Lessard, Jean Pouliot, I-Chow Joe Hsu, James F. O'Brien, and Ken Goldberg. Medical Physics Journal. vol. 33, no. 11, pp. 4012-4019, Nov. 2006. [500KB .pdf]

Registration of MR prostate images with biomechanical modeling and nonlinear parameter estimation. Ron Alterovitz, Ken Goldberg, Jean Pouliot, I-Chow Joe Hsu, Yongbok Kim, Susan Moyher Noworolski, and John Kurhanewicz. Medical Physics Journal, vol. 33(2), pp. 446-454, February 2006. [1MB .pdf]

Steering Flexible Needles Under Markov Motion Uncertainty, Ron Alterovitz and Andrew Lim and Ken Goldberg and Gregory S. Chirikjian and Allison M. Okamura, IEEE International Conference on Intelligent Robotics and Systems (IROS), August 2005. [0.2MB .pdf]

Planning for Steerable Bevel-tip Needle Insertion through 2D Soft Tissue with Obstacles, Ron Alterovitz, Ken Goldberg, and Allison Okamura, IEEE International Conference on Robotics and Automation (ICRA), April 2005. [0.4MB .pdf]

Sensorless Planning for Medical Needle Insertion Procedures, Ron Alterovitz, Ken Goldberg, Jean Pouliot, Richard Taschereau, and I-Chow Hsu, IEEE/RSJ International Conference on Robots and Systems, October 2003. [0.5MB .pdf]

Cloud Robotics (Networked Telerobotics) and Collaborative Algorithms

Cloud-Based Robot Grasping with the Google Object Recognition Engine. Ben Kehoe, Akihiro Matsukawa, Sal Candido, James Kuffner, and Ken Goldberg. IEEE International Conference on Robotics and Automation. Karlsruhe, Germany. May 2013. [.pdf]

Cloud Robotics and Automation: A Survey of Related Work. K. Goldberg and B. Kehoe. EECS Department, University of California, Berkeley, Technical Report UCB/EECS-2013-5. January 2013. [.pdf]

Using a Social Media Platform to Explore How Social Media Can Enhance Primary and Secondary Learning. Sanjay Krishnan, Yuko Okubo, Kanji Uchino, and Ken Goldberg. Learning International Networks Consortium (LINC) 2013 Conference. MIT, Cambridge, MA. June 2013. [.pdf]

Distributed Spectral Dimensionality Reduction for Visualizing Textual Data. Sanjay Krishnan and Ken Goldberg. International Conference on Machine Learning (ICML) Workshop on Spectral Learning Methods, Atlanta, GA, June 2013. [.pdf]

Visual Tracking of Human Visitors under Variable-Lighting Conditions for a Responsive Audio Art Installation. Andrew B. Godbehere, Akihiro Matsukawa, Ken Goldberg. American Control Conference (ACC). Montreal, Canada. June 2012. [.pdf]

Opinion Space: A Scalable Tool for Browsing Online Comments. Siamak Faridani, Ephrat Bitton, Kimiko Ryokai, Ken Goldberg. ACM International Conference on Computer Human Interaction (CHI). Atlanta, GA. April 2010. [0.5MB .pdf]

A Networked Telerobotic Observatory for Collaborative Remote Observation of Avian Activity and Range Change. Siamak Faridani, Bryce Lee, Selma Glasscock, John Rappole, Dezhen Song, Ken Goldberg. IFAC Conference on Networked Robots (NetRob). Denver, CO. Oct 2009. [1.4MB .pdf]

Nonparametric Belief Propagation for Distributed Tracking of Robot Networks with Noisy Inter-Distance Measurements. Jeremy Schiff, Erik Sudderth, Ken Goldberg. IEEE International Conference on Intelligent Robots and Systems (IROS). St Louis, Oct 2009. [1.1MB .pdf]

Respectful Cameras: Detecting Visual Markers in Real-Time to Address Privacy Concerns. Jeremy Schiff, Marci Meingast, Deirdre K. Mulligan, Shankar Sastry, and Ken Goldberg. In: Protecting Privacy in Video Surveillance, Andrew W. Senior, Springer. June, 2009. [1.8MB .pdf]

Actuator Networks for Navigating an Unmonitored Mobile Robot. Jeremy Schiff, Anand Kulkarni, Danny Bazo, Vincent Duindam, Ron Alterovitz, Dezhen Song, Ken Goldberg. IEEE Conference on Automation Science and Engineering (CASE). August 2008. [1.6MB .pdf]

System and Algorithms for an Autonomous Observatory Assisting the Search for the Ivory-Billed Woodpecker. Dezhen Song, Ni Qin, Yiliang Xu, Chang Young Kim, David Luneau, and Ken Goldberg. IEEE Conference on Automation Science and Engineering (CASE). August 2008. [1.4MB .pdf]

Hydra: A Framework and Algorithms for Mixed-Initiative UAV-Assisted Search and Rescue. Ephrat Bitton and Ken Goldberg. IEEE Conference on Automation Science and Engineering (CASE). August 2008. [0.5MB .pdf]

Systems, Control Models, and Codec for Collaborative Observation of Remote Environments with an Autonomous Networked Robotic Camera. Dezhen Song, Ni Qin, and Ken Goldberg. Autonomous Robots. Vol. 24, No. 4. May 2008. [1.0MB .pdf]

Eigentaste 5.0: Constant-Time Adaptability in a Recommender System Using Item Clustering, Tavi Nathanson, Ephrat Bitton, and Ken Goldberg. Working Paper Track. ACM Conference on Recommender Systems (RecSys) , Minneapolis, MN, Oct 2007. [250KB .pdf]

Approximate Algorithms for a Collaboratively Controlled Robotic Camera. Dezhen Song and Ken Goldberg. IEEE Transactions on Robotics. Vol. 23, No. 5, pp. 1061-1070. Oct 2007. [350 KB .pdf]

Exact Algorithms for Single Frame Selection on Multi-Axis Satellites. Dez Song and A. Frank van der Stappen and Ken Goldberg. IEEE Transactions on Automation Science and Engineering, Vol. 3(1), January 2006. [1MB .pdf]

Unsupervised Scoring for Internet-based Collaborative Tele-operation, Ken Goldberg, Dezhen Song, In Yong Song, Jane McGonigal, Wei Zheng, and Dana Plautz, IEEE International Conference on Robotics and Automation (ICRA), April 2004. [0.4MB .pdf]

An Exact Algorithm Optimizing Coverage-Resolution for Automated Satellite Frame Selection, Dezhen Song, A. Frank van der Stappen, Ken Goldberg. IEEE International Conference on Robotics and Automation (ICRA), April 2004. [0.4MB .pdf]

ShareCam Part I: Interface, System Architecture, and Implementation of a Collaboratively Controlled Robotic Webcam, Dezhen Song and Ken Goldberg, IEEE/RSJ International Conference on Robots and Systems, October 2003. [0.5MB .pdf]

ShareCam Part II: Approximate and Distributed Algorithms for a Collaboratively Controlled Robotic Webcam, Dezhen Song, Ken Goldberg, and Anatoly Pashkevich, IEEE/RSJ International Conference on Robots and Systems, October 2003. [0.5MB .pdf]

Exact and Distributed Algorithms for Collaborative Camera Control, Dezhen Song, A. Frank van der Stappen, and Ken Goldberg, Fifth Workshop on the Algorithmic Foundations of Robotics, Nice, France. Dec 2002. [0.5MB .pdf]

Collaborative Teleoperation using Networked Spatial Dynamic Voting. Ken Goldberg, Dezhen Song, and Anthony Levandowski, Proceedings of the IEEE, Special issue on Networked Robots. 91(3), pp. 430-439, March 2003. [2.4MB .pdf]

Collaborative Online Teleoperation with Spatial Dynamic Voting and a Human ``Tele-Actor,'' K. Goldberg, D. Song, Y. Khor, D. Pescovitz, A. Levandowski, J. Himmelstein, J. Shih, A. Ho, E. Paulos, J. Donath, IEEE International Conference on Robotics and Automation, May 2002. [590K .pdf]

Collaborative Control of Robot Motion: Robustness to Error, Ken Goldberg and Billy Chen, IEEE/RSJ International Conference on Robots and Systems, October 2001. [450K .pdf]

Eigentaste: A Constant Time Collaborative Filtering Algorithm, Ken Goldberg, Theresa Roeder, Dhruv Gupta, and Chris Perkins, Information Retrieval Journal,4(2), pp. 133-151. July 2001. [360K .pdf]

Collaborative Teleoperation on the Internet, Ken Goldberg, Steve Bui, Billy Chen, Bobak Farzin, Jacob Heitler, Derek Poon, Rory Solomon, and Gordon Smith), IEEE ICRA 2000. San Francisco, CA. April, 2000. [200K .pdf]

The Mercury Project: A Feasibility Study for Internet Robots, K. Goldberg, S. Gentner, C. Sutter, J. Wiegley, IEEE Robotics and Automation Magazine. Special Issue on Internet Robotics, December, 1999. [225K .pdf]

Beyond the Web: Manipulating the Real World. K. Goldberg and M. Mascha and S Gentner and N. Rothenberg and C. Sutter and J. Wiegley. Computer Networks and ISDN Systems. V 28. Pages:209-219, Dec 1995. [1.1MB .pdf]

Desktop Teleoperation via the World Wide Web, K. Goldberg and M. Mascha and S Gentner and N. Rothenberg and C. Sutter and J. Wiegley, IEEE International Conference on Robotics and Automation, May 1995. Pages:654 - 659 vol.1. [.8MB .pdf]

Beyond the Web: Excavating the Real World via Mosaic. K. Goldberg and M. Mascha and S Gentner and N. Rothenberg and C. Sutter and J. Wiegley, Second International World Wide Web Conference, Chicago, IL. October 17-21, 1994. [.3MB .pdf]

Algorithmic Automation: Part Feeding, Fixturing

Putting the Turing into Manufacturing: Recent Developments in Algorithmic Automation. Ken Goldberg. Invited Keynote: Extended Abstract. ACM Symposium on Computational Geometry (SoCG). Rio de Janiero, Brazil. June 2013. [.pdf]

An Efficient Proximity Probing Algorithm for Metrology. Fatemeh Panahi, Aviv Adler, A. Frank van der Stappen, and Ken Goldberg. IEEE Int'l Conference on Automation Science and Engineering, Madison, WI, August 2013. Finalist for Best Student Paper Award. [.pdf]

Gaussian Belief Space Planning for Imprecise Articulated Robots. Alex Lee, Sachin Patil, John Schulman, Zoe McCarthy, Jur van den Berg, Ken Goldberg, and Pieter Abbeel. IEEE/RSJ Int'l Conference on Intelligent Robots and Systems (IROS), Tokyo, November 2013. Submitted. [.pdf]

Cloud-Based Robot Grasping with the Google Object Recognition Engine. Ben Kehoe, Akihiro Matsukawa, Sal Candido, James Kuffner, and Ken Goldberg. IEEE International Conference on Robotics and Automation. Karlsruhe, Germany. May 2013. [.pdf]

Estimating Part Tolerance Bounds Based on Adaptive Cloud-Based Grasp Planning with Slip. Ben Kehoe, Dmitry Berenson, and Ken Goldberg. IEEE Conference on Automation Science and Engineering (CASE). Seoul, Korea. August 2012. [.pdf]

Toward Cloud-Based Grasping with Uncertainty in Shape: Estimating Lower Bounds on Achieving Force Closure with Zero-Slip Push Grasps. Ben Kehoe, Dmitry Berenson, Ken Goldberg. IEEE International Conference on Robotics and Automation. Minneapolis, MN. May 2012. [.pdf]

A Robot Path Planning Framework that Learns from Experience. Dmitry Berenson, Pieter Abbeel, Ken Goldberg. IEEE International Conference on Robotics and Automation. Minneapolis, MN. May 2012. [.pdf]

A Geometric Approach to Robotic Laundry Folding. Stephen Miller, Jur van den Berg, Mario Fritz, Trevor Darrell, Ken Goldberg, and Pieter Abbeel. The International Journal of Robotics Research. V31:2, pp. 249-267. February 2012. [.pdf]

Grasping and Fixturing as Submodular Coverage Problems. John D. Schulman, Ken Goldberg, Pieter Abbeel. In the proceedings of the 15th International Symposium on Robotics Research (ISRR) , September 2011. [.pdf]

ANA*: Anytime Nonparametric A*. Jur van den Berg, Rajat Shah, Arthur Huang, and Ken Goldberg. Association for the Advancement of Artificial Intelligence: Annual Conference (AAAI). San Francisco, CA. August 2011. [.pdf]

Gravity-Based Robotic Cloth Folding. Jur van den Berg, Stephen Miller, Ken Goldberg, Pieter Abbeel. Ninth Workshop on Algorithmic Foundations of Robotics (WAFR). Singapore. December 2010. [.pdf]

Blades: A New Class of Geometric Primitives for Feeding 3D Parts on Vibratory Tracks. Onno C. Goemans, Ken Goldberg, and Frank van der Stappen. IEEE International Conference on Robotics and Automation. May 2006, Orlando FL. Finalist for Best Conference Paper. [300KB .pdf]

D-Space and Deform Closure Grasps of Deformable Parts. K. "Gopal" Gopalakrishnan and Ken Goldberg. International Journal of Robotics Research. Vol 24(11), November 2005. [0.3MB .pdf]

Unilateral Fixtures for Sheet Metal Parts with Holes. K. "Gopal" Gopalakrishnan, Ken Goldberg, Gary M. Bone, Matthew Zaluzec, Rama Koganti, Patricia Deneszczuk and Rich Pearson. IEEE Transactions on Automation Science and Engineering. 1(2), pp 110-120, October 2004. Recipient of T-ASE Best Journal Paper of 2004 Award. [1MB .pdf]

Gripper Point Contacts for Part Alignment. Mike Tao Zhang and Ken Goldberg. IEEE Transactions on Robotics and Automation. 18(6), pp. 902-910. December, 2002. [1MB .pdf]

Gripping Parts at Concave Vertices, K. "Gopal" Gopalakrishnan and K. Goldberg. IEEE International Conference on Robotics and Automation, May 2002. [430K .pdf]

Orienting Micro-Scale Parts with Squeeze and Roll Primitives, M. Moll, K. Goldberg, M. Erdmann, R. Fearing, IEEE International Conference on Robotics and Automation, May 2002. [90K .pdf]

Trap Design for Vibratory Part Feeders. R-P. Berretty, K. Goldberg, M. Overmars, F. Van der Stappen. International Journal of Robotics Research. 20(11), November 2001. [500K .pdf]

Geometry and Part Feeding, A.F. van der Stappen, R.-P. Berretty, Ken Goldberg, and M.H. Overmars, in: Modelling of Sensor-Based Intelligent Robot Systems, Edited by H. Bunke, H.I. Christensen, G. Hager, and R. Klein, Lecture Notes in Computer Science, Springer Verlag, Berlin, 2001 . [570K .pdf]

Pin Design for Part Feeding. Tao Zhang, Ken Goldberg, Gordon Smith, Robert-Paul Berretty, and Mark Overmars, Robotica Journal. [1MB .pdf]

Shape Tolerance for Robot Gripper Jaws, Tao Zhang, Lawrence Cheung and Ken Goldberg, IEEE/RSJ International Conference on Robots and Systems, October 2001. [90K .pdf]

Compensatory Grasping with the Parallel-Jaw Gripper, T. Zhang, G. Smith, K. Goldberg, Fourth Workshop on Algorithmic Foundations of Robotics. March 2000 [700K .pdf]

Part Pose Statistics: Estimators and Experiments, K. Goldberg, B. Mirtich, Y. Zhuang, J. Craig, B. Carlisle, and J. Canny, IEEE Transactions on Robotics and Automation. 15(5), 849-857, October, 1999. [275K .pdf]

Geometric Eccentricity and the Complexity of Manipulation Plans, F. van der Stappen, K. Goldberg, and M. Overmars, Algorithmica, Algorithmica, 26(3/4), 494-514. March 2000. [400K .pdf]

Algorithms for Sensorless Manipulation Using a Vibrating Surface, K. Bohringer, K. Goldberg, V. Bhatt and B. Donald, Algorithmica. 26(3/4), 389-429. March 2000. [10M .pdf]

Computing Parallel-Jaw Grip Points, G. Smith, E. Lee, K. Goldberg, K. Bohringer, and J. Craig, IEEE International Conference on Robotics and Automation (ICRA). May, 1999. [272K .pdf]

FixtureNet: Interactive Computer Aided Design via the WWW. R. Wagner and G. Castanotto and K. Goldberg. International Journal on Human-Computer Studies. 46, 773-788. August 1997. [.pdf]

A Complete Algorithm for Designing Passive Fences to Orient Parts, J. Wiegley, K. Goldberg, M. Peshkin, and M. Brokowski, IEEE International Conference on Robotics and Automation, Minneapolis, MN. April, 1996. [44K ps.gz]

Manipulating Algebraic Parts in the Plane, A. Rao and K. Goldberg, IEEE Transactions on Robotics and Automation. 11(4), August 1995. [300K .pdf]

Placing Registration Marks. Anil Rao and Ken Goldberg. IEEE Transactions on Industrial Electronics. . 41(1), February, 1994. [.pdf]

Completeness in Robot Motion Planning , K. Goldberg, The First Workshop on the Algorithmic Foundations of Robotics . A. K. Peters. February, 1994. [188K .pdf]

Shape from Diameter: Recognizing Polygonal Parts with a Parallel-Jaw Gripper, A. Rao and K. Goldberg, International Journal of Robotics Research. 13(1), February 1994. [373K .pdf]

On the Existence of Modular Fixtures, Y. Zhuang and K. Goldberg, International Journal of Robotics Research. 15(5), December, 1996. [127K .pdf]

A complete algorithm for designing planar fixtures using modular components, R. C. Brost and K. Y. Goldberg, IEEE Transactions on Robotics and Automation. 12(1), Feb. 1996 Page(s):31 - 46. [2.4M .pdf]

Comparing Two Algorithms for Programming Robots in Stochastic Environments. Alan Christiansen and Ken Goldberg. Robotica. 13(6), November-December 1995. [.pdf]

A Pivoting Gripper for Feeding Industrial Parts, B. Carlisle and A. Rao and J. Wiegley, K. Goldberg, 1994 IEEE Conference on Robotics and Automation, May 1994. [52K .pdf]

RISC for Industrial Robots: Recent Results and Open Problems, J. Canny and K. Goldberg, IEEE Conference on Robotics and Automation, May, 1994. [81K .pdf]

Orienting Polygonal Parts Without Sensors, K. Goldberg (PhD Thesis), Algorithmica, Special Issue on Computational Robotics, Volume 10(3), 201-225, August, 1993. [166K .pdf]

Stochastic Plans for Robotic Manipulation. Ken Goldberg. PhD Dissertation, Carnegie Mellon University Computer Science Department. 31 August, 1990. [46MB searchable .pdf]

Conditions for Symmetric Running in Single- and Double-Support, K. Goldberg and M. Raibert, IEEE International Conference on Robotics and Automation, Raleigh, NC, March 1987. [3.4MB .pdf]

XY Interpolation Algorithms,, K. Goldberg and M. Goldberg, Robotics Age,, May/June, 1983. [1.5MB .pdf]

Safety, Security, Privacy

Actuator Networks: Inducing Potential Fields to Guide a Moving Element to a Desired Position Using Push-Cage-Squeeze Cycles, Jeremy Schiff, Danny Bazo, Vincent Duindam, Dezhen Song, Ken Goldberg. IEEE Conference on Automation Science and Engineering. Washington, DC. Aug 2008. [1.2MB .pdf]

Respectful Cameras: Detecting Visual Markers in Real-Time to Address Privacy Concerns. Jeremy Schiff, Marci Meingast, Deirdre K. Mulligan, Shankar Sastry, and Ken Goldberg. International Conference on Intelligent Robots and Systems (IROS) . San Diego, California. October 2007. [1.2MB .pdf]

Automated Tracking of Pallets in Warehouses: Beacon Layout and Asymmetric Ultrasound Observation Models, Menasheh Fogel, Nathan Burkhart, Hongliang Ren, Jeremy Schiff, Max Meng, and Ken Goldberg. Third IEEE Conference on Automation Science and Engineering (CASE), Scottsdale, AZ, Sep 2007. [800KB .pdf]

Automated Intruder Tracking using Particle Filtering and a Network of Binary Motion Sensors. Jeremy Schiff and Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE). Shanghai, China. October 2006. [327KB .pdf]

Automating Inspection and Documentation of Remote Building Construction using a Robotic Camera, Dezhen Song, Qiang Hu, Ni Qin, and Ken Goldberg, IEEE International Conference on Automation Science and Engineering (CASE) 2005 , August 1 & 2, 2005, Edmonton, Canada. [0.5MB .pdf]

Other Topics

The Index and the Interface. Kris Paulsen. Representations Journal, Vol. 122, No. 1 (Spring 2013), pp. 83-109. [.pdf]

Algorithms for Visual Tracking of Visitors Under Variable-Lighting Conditions for a Responsive Audio Art Installation. Andrew B. Godbehere and Ken Goldberg. Controls and Art Book. Amy LaViers and Magnus Egerstedt, eds. Springer. 2014. [.pdf]

A Geometric Approach to Robotic Laundry Folding. Stephen Miller, Jur van den Berg, Mario Fritz, Trevor Darrell, Ken Goldberg, and Pieter Abbeel. The International Journal of Robotics Research. V31:2, pp. 249-267. February 2012. [.pdf]

Range Change Among New World Tropical and Subtropical Birds J.H. Rappole, S. Glasscock, Ken Goldberg, D. Song, & S. Faridani. Bonner Zoologische Monographien. (Zoological Monographs of the Koenig Museum) Bonn, Germany. Number 57. 2011. [.pdf]

ANA*: Anytime Nonparametric A*. Jur van den Berg, Rajat Shah, Arthur Huang, and Ken Goldberg. Association for the Advancement of Artificial Intelligence: Annual Conference (AAAI). San Francisco, CA. August 2011. [.pdf]

Interview: Telerobots, Androids, and Heidegger. Erico Guizzo and Ken Goldberg. IEEE Robotics and Automation Magazine., V18, No. 1. March 2011. [.pdf]


Comprehensive Chronological List of all publications.

Erdos-Bacon Number = 6. Erdos-Bacon Numbers.

Erdos Number = 3. (Source: MathSciNet)

  1. Boris Aronov, Paul Erdos, et al. Crossing families. Combinatorica v14. no. 2, pp. 127-134. 1994.
  2. Boris Aronov, Mark de Berg, Frank van der Stappen, et al. Motion planning for multiple robots. Discrete Computational Geometry. v22. no. 4, pp. 505-525. 1999.
  3. R-P. Berretty, Ken Goldberg, Mark Overmars, and Frank van der Stappen. Trap Design for Vibratory Part Feeders. Int'l Jour. of Robotics Research. v20. no. 11. 2001.

Bacon Number = 3. (Source: OracleofBacon.org)

  1. Kevin Bacon with Alec Baldwin in "She's Having a Baby". 1988.
  2. Alec Baldwin with Peter Coyote in "Earth and the American Dream". 1992.
  3. Peter Coyote with Ken Goldberg in "Connected: An Autoblogography About Love, Death & Technology". 2011.

For more information contact Ken Goldberg.