John R. Spletzer
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Publications

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Journal Articles
  1. Jason Derenick, John Spletzer, and Ani Hsieh, "An Optimal 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
  2. 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)
  3. 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)
  4. 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)
  5. 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
  6. 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.
  7. 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.
  8. 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. C. Gao, M. Sands, and J. Spletzer, "Towards Autonomous Wheelchair Systems in Urban Environments," accepted to the 7th International Conference on Field and Service Robots (FSR2009), Cambridge, MA, July 2009
  2. T. Miller, D. Stolfo, and J. Spletzer, "An Automated Asset Locating System (AALS) with Applications to Inventory Management," accepted to the 7th International Conference on Field and Service Robots (FSR2009), Cambridge, MA, July 2009
  3. 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
  4. 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
  5. 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
  6. 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
  7. 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.  
  8. 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
  9. 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
  10. 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
  11. Edmund F. LoPresti, Jim Osborn, Thomas Panzarella, Thomas Panzarella, Jr., and John Spletzer, "Automatic Transport and Retrieval System for Power Wheelchairs," RESNA, June 2005.
  12. 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.
  13. 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)
  14. 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 
  15. 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 
  16. 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
  17. A. Das, J. Spletzer, V. Kumar and C. J. Taylor, "Ad Hoc Networks for Localization and Control of Mobile Robots," IEEE CDC, Dec 2002
  18. 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
  19. 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
  20. 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
  21. 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.
  22. 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