John R. Spletzer
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Publications

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Journal Articles
  1. Dylan Schwesinger, Armon Shariati, Corey Montella, John Spletzer, "A Smart Wheelchair Ecosystem for Autonomous Navigation in Urban Environments," Autonomous Robots, Volume 41, Issue 3, Pages 519-538, Mar 2017.
  2. Jason Derenick, John Spletzer, and Ani Hsieh, "An Optimaal Approach to Collaborative Target Tracking with Performance Guarantees," the Journal of Intelligent and Robot Systems, Volume 56, Issues 1-2, Pages 47-68, Sep 2009
  3. Jon Bohren, Tully Foote, Jim Keller, Alex Kushleyev, Daniel Lee Alex Stewart, Paul Vernaza, Jason Derenick, John Spletzer, and Brian Satterfield, "Little Ben: The Ben Franklin Racing Team's Entry in the 2007 DARPA Urban Challenge," the Journal of Field Robotics, Volume 24, Issue 9, Pages 598-614, Sep 2008.
    Full Text (PDF)
  4. C. Gao, I. Hoffman, T. Miller, T. Panzarella, and J. Spletzer, "Autonomous Docking of a Smart Wheelchair for the Automated Transport and Retrieval System (ATRS)," the Journal of Field Robotics, Volume 24, Issue 4-5, Pages 203-222, Apr/May 2008.
    Full Text (PDF)
  5. J. Derenick and J. Spletzer, "Convex Optimization Strategies for Coordinating Large-scale Robot Formations", IEEE Transactions on Robotics, Volume 23, Issue 6, Pages 1252-1259, Dec 2007.
    Full text (PDF)
  6. V. Isler, S. Khanna, J. Spletzer and C.J. Taylor, "Target Tracking with Distributed Sensors: the Focus of Attention Problem", the Journal of Computer Vision and Image Understanding: Special Issue on Attention and Performance in Computer Vision, Volume 100, Issues 1-2, Pages 225-247, October-November 2005
  7. J. Spletzer and C. J. Taylor, "Dynamic Sensor Planning and Control for Optimally Tracking Targets," International Journal of Robotics Research (IJRR), vol 22, num 1, pp 7-20, Jan 2003.
  8. R. Fierro, A. Das, J. Spletzer, R. Alur, J. Esposito, Y. Hur, G. Grudic, V. Kumar, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall and C. J. Taylor, "A framework and architecture for multirobot coordination," International Journal of Robotics Research (IJRR), vol 21, num 10-11, pp 977-995, Oct-Nov 2002.
  9. A. K. Das, R. Fierro, V. Kumar, J. P. Ostrowski, J. Spletzer, and C. J. Taylor, "A Framework for Vision Based Formation Control,"  Multi-Robot Systems: A Special Issue of IEEE Transactions on Robotics and Automation, vol 18, num 5, pp 813-825, Oct 2002.
Book Chapters
  1. J. Derenick and J. Spletzer, "Second-order Cone Programming (SOCP) Techniques for Coordinating Large-scale Robot Teams in Polygonal Environments," accepted to Advances in Cooperative Control and Optimization, Lecture Notes in Control and Information Science, Springer, April 2007
  2. J. Derenick, C. Thorne and J. Spletzer, "Hybrid Free-space Optics/Radio Frequency (FSO/RF) Networks for Mobile Robot Teams", Multi-Robot Systems: From Swarms to Intelligent Automata, Alan C. Schultz and Lynne E. Parker (eds.), Springer, March 2005.
  3. A. Das, J. Spletzer, V. Kumar and C. J. Taylor, "A Distributed Multi-Robot System for Cooperative Manipulation," Multi-Robot Systems: From Swarms to Intelligent Automata, Alan C. Schultz and Lynne E. Parker (eds.), Kluwer, 2002.
  4. R. Alur, A. Das, J. Esposito, R. Fierro, Y. Hur, G. Grudic, V. Kumar, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall, J. Spletzer, and C. Taylor, "A Framework and Architecture for Multirobot Coordination," Experimental Robotics: LNCS Series, Springer-Verlag,  2001.
Conference Papers
  1. D. Schwesinger and J. Spletzer, "A 3D Approach to Infrastructure-free Localization in Large Scale Warehouse Environments," in the 2016 IEEE International Conference on Automation Science and Engineering (CASE), pages 274-279, Fort Worth, TX, Aug 2016
    Full Text (PDF) - Google Scholar
  2. J. Grenestedt, J. Keller, S. Larson, J. Patterson, J. Spletzer, T. Trephan, "LORCA: A High Performance USV with Applications to Surveillance and Monitoring," in the 2015 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), West Lafayette, IN, Oct 2015
    Full Text (PDF) - Google Scholar
  3. T. Panzarella, D. Schwesinger and J. Spletzer, "CoPilot: Autonomous Doorway Detection and Traversal for Electric Powered Wheelchairs," in the 2015 International Conference on Field and Service Robots (FSR2015), Toronto, June 2015
    Full Text (PDF) - Google Scholar
  4. M. Chuah, D. Coombe, C. Garman, C. Guerrero, J. Spletzer, "Lehigh Instrument for Learning Interaction (LILI): An Interactive Robot to Aid Development of Social Skills for Autistic Children," in the 2014 First National Workshop for REU Research in Networking and Systems (REUNS 2014), Philadelphia, PA, Oct 2014
    Full Text (PDF) - Google Scholar
  5. C. Montella and J. Spletzer, "Reinforcement Learning for Autonomous Dynamic Soaring in Shear Winds," in the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, Sep 2014
    Full Text (PDF) - Google Scholar
  6. K. Hart, C. Montella, G. Petitpas, D. Schweisinger, A. Shariati, B. Sourbeer and T. Trephan, J. Spletzer, "RoSCAR: Robot Stock Car Racing," Proceedings of the 2014 workshop on Mobile Augmented Reality and Robotic Technology-based Systems, Bretton Woods, NH, Jun 2014
    Full Text (PDF) - Google Scholar
  7. J. Bird, J. Langelaan, C. Montella, J. Spletzer and J. Grenestedt, "Closing the Loop in Dynamic Soaring," AIAA Guidance, Navigation, and Control Conference, Baltimore, MD, Jan 2014
    Full Text (PDF) - Google Scholar
  8. J. Grenestedt, C. Montella and J. Spletzer, "Dynamic Soaring in Hurricanes," in the Proceedings of the International Conference on Unmanned Aerial Systems (ICUAS), Philadelphia, PA, June 2012
    Full Text (PDF) - Google Scholar
  9. C. Montella, M. Pollock, D. Schwesinger and J. Spletzer, "Stochastic Classification of Urban Terrain for Smart Wheelchair Navigation," Proceedings of the IROS Workshop on Progress, Challenges and Future Perspectives in Navigation and Manipulation Assistance for Robotic Wheelchairs, Vilamoura, Algarve, Oct 2012.
    Full Text (PDF) - Google Scholar
  10. C. Montella, T. Perkins, J. Spletzer and M. Sands, "To the Bookstore! aAtonomous Wheelchair Navigation in an Urban Environment," in the 8th International Conference on Field and Service Robotics (FSR2012), Matshushima, Japan, July 2012
    Full Text (PDF) - Google Scholar
  11. J. Langelaan, J. Spletzer, C. Montella and J. Grenestedt, "Wind Field Estimation for Autonomous Dynamic Soaring," in the IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, May 2012
    Full Text (PDF) - Google Scholar
  12. J. Derenick, J. Spletzer and V. Kumar, "A Semidefinite Programming Framework for Controlling Multi-robot Systems in Dynamic Environments," in the IEEE Conference on Decision and Control (CDC), Atlanta, GA, Dec 2010
    Full Text (PDF) - Google Scholar
  13. J. Grenestedt and J. Spletzer, "Towards Perpetual Flight of a Gliding Unmanned Aerial Vehicle in the Jet Stream," in the IEEE Conference on Decision and Control (CDC), Atlanta, GA, Dec 2010
    Full Text (PDF) - Google Scholar
  14. J. Grenestedt and J. Spletzer, "Optimal Energy Extraction During Dynamic Jet Stream Soaring," in the AIAA Guidance, Navigation, and Control Conference, Toronoto, Canada, Aug 2010
    Full Text (PDF) - Google Scholar
  15. C. Gao and J. Spletzer, "On-line Calibration of Multiple LIDARs on a Mobile Vehicle Platform," in the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, May 2010
    Full Text (PDF) - Google Scholar
  16. C. Gao, M. Sands, and J. Spletzer, "Towards Autonomous Wheelchair Systems in Urban Environments," in the 7th International Conference on Field and Service Robots (FSR2009), Cambridge, MA, July 2009
  17. T. Miller, D. Stolfo, and J. Spletzer, "An Automated Asset Locating System (AALS) with Applications to Inventory Management," in the 7th International Conference on Field and Service Robots (FSR2009), Cambridge, MA, July 2009
  18. C. Gao, I. Hoffman, T. Miller, T. Panzarella, and J. Spletzer, "Performance Characterization of LIDAR Based Localization for Docking a Smart Wheelchair System," to appear at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007) Workshop on Assistive Technologies: Rehabilitation and Assistive Robotics, October 2007
    Full Text (PDF) - bibtex
  19. J. Derenick, J. Spletzer and M. Ani Hsieh, "A Graph Theoretic Approach to Optimal Target Tracking for Mobile Robot Teams", to appear at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), San Diego, October 2007
    Full Text (PDF) - bibtex
  20. C.J. Taylor and J. Spletzer , "A Bounded Approach to Cooperative Localization Using Relative Bearing Constraints," to appear at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), San Diego, October 2007
    Full Text (PDF) - bibtex
  21. C. Gao, I. Hoffman, T. Panzarella, and J. Spletzer, "Automated Transport and Retrieval System (ATRS): A Technology Solution to Automobility for Wheelchair Users," accepted to FSR2007, April 2007
    Full Text (PDF) - bibtex
  22. D. Coleman, J. Spletzer and M. Arnold, "Target-Logic Circuits Built with Holonomic Field Programmable Robot Arrays,"   the 32nd Euromicro Conference on Software Engineering and Advanced Applications (SEAA 2006), Cavtat/Dubrovnik, Croatia, August 2006.  
  23. J. Derenick, C. Mansley and J. Spletzer, "Efficient Motion Planning Strategies for Large-scale Sensor Networks,"   the Seventh International Workshop on the Algorithmic Foundations of Robotics (WAFR 2006), New York, July 2006.  Full Text (PDF) - bibtex
  24. H. Sermeno-Villalta and J. Spletzer, "Vision-based Control of a Smart Wheelchair for the Automated Transport and Retrieval System," 2006 IEEE International Conference on Robotics and Automation.
    Full Text (PDF) - bibtex
  25. J. Derenick,  C. Thorne, and J. Spletzer, “On the Deployment of a Hybrid FSO/RF Mobile Ad-hoc Network'', the IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, August 2005
  26. Edmund F. LoPresti, Jim Osborn, Thomas Panzarella, Thomas Panzarella, Jr., and John Spletzer, "Automatic Transport and Retrieval System for Power Wheelchairs," RESNA, June 2005.
  27. J. Spletzer and R. Fierro, "Optimal Positioning Strategies for Shape Changes in Robot Teams", in the Proceedings of the IEEE International Conference on Robotics and Automation, pp. 754-759, Barcelona, April 2005.
  28. R. Fierro, C. Branca and J. Spletzer, "On-line Optimization-based Coordination of Multiple Unmanned Vehicles", IEEE International Conference On Networking, Sensing and Control, Tucson, AZ,  March 2005 (invited)
  29. J. Spletzer and C.J. Taylor, "A Bounded Uncertainty Approach to Multi-robot Localization", In Proceedings of IROS 2003, pp. 1258-1265, Las Vegas, USA, Oct 2003 
  30. V. Isler, J. Spletzer, S. Khanna and C.J. Taylor, "Target Tracking with Distributed Sensors: the Focus of Attention Problem", In Proceedings of IROS 2003,  pp. 792-798, Oct 2003 
  31. G. Kantor, S. Singh, R. Peterson, D. Rus, A. Das, V. Kumar, G. Pereira and J. Spletzer, "Distributed Search and Rescue with Robot and Sensor Teams", FSR July 2003
  32. A. Das, J. Spletzer, V. Kumar and C. J. Taylor, "Ad Hoc Networks for Localization and Control of Mobile Robots," IEEE CDC, Dec 2002
  33. G. A. S. Pereira, V. Kumar, J. Spletzer, C. J. Taylor and M. F. M. Campos, "Cooperative Transport of Planar Objects by Multiple Mobile Robots Using Object Closure," Proceedings of the 8th International Symposium on Experimental Robotics (ISER), Jul 2002
  34. J. Spletzer and C. J. Taylor, "Sensor Planning and Control in a Dynamic Environment," IEEE International Conference on Robotics and Automation, Washington DC, USA, May 2002
  35. J. Spletzer and C. J. Taylor, "A Framework for Sensor Planning and Control with Applications to Vision Guided Multi-Robot Systems," IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Hawaii, USA, Dec 2001
  36. J. Spletzer, A.K. Das, R. Fierro, C.J. Taylor, V. Kumar, and J.P. Ostrowski, "Cooperative Localization and Control for Multi-robot Manipulation," IROS 2001,  Hawaii, USA Oct 2001.
  37. A. Das, R. Fierro, V. Kumar, J. Southall, J. Spletzer, and C. Taylor, "Real-time vision based control of a nonholonomic mobile robot," IEEE International Conference on Robotics and Automation, Seoul, Korea, May 2001, pp. 1714-1719.
Technical Reports
  1. M. Casey, H. Sermeno-Villalta, and J. Spletzer, "A Vision-based Approach to Wireless Optical Networking," LU-CSE-04-015, Lehigh University, Oct 2004
  2. J. Spletzer, "A New Approch to Range-only SLAM for Wireless Sensor Networks," LU-CSE-04-008, Lehigh University, Mar 2004
Video Proceedings
  1. A. Das, J. Spletzer, V. Kumar and C. J. Taylor, "Cooperative Sensing and Control for Multipe Autonomous Robot Vehicles," IEEE International Conference on Robotics and Automation, Washington DC, USA, May 2002
Thesis
  1. J. Spletzer"Sensor Fusion Techniques for Cooperative Localization in Robot Teams,"  Department of Computer Information Science, University of Pennsylvania, Philadelphia, PA, USA, 2003