CHARLES E. THORPE
`
`
`Clarkson University
`Box 5505, 8 Clarkson Avenue
`Potsdam NY 13699
`
`315 268-4431
`cthorpe@clarkson.edu
`
`CURRENT POSITION
`
`6270 State Highway 56
`Potsdam NY 13676
`315-261-4553
`
`Professor of Computer Science, Clarkson University
`
`PERSONAL DATA
`
`US Citizen. Security clearance held by National Academies.
`Foreign languages: French and Lingala (African trade language)
`
`EDUCATION
`
`PhD in Computer Science, September 1984. Carnegie Mellon University, Pittsburgh, PA.
`Thesis title, Vision and Navigation for a Mobile Robot. Advisor, Dr. Raj Reddy.
`
`Bachelor of Arts magna cum laude, in Natural Science, North Park College, Chicago, IL
`
`PROFESSIONAL EXPERIENCE
`
`Clarkson University
`
`Professor of Computer Science, 2012 – current.
`
`Previous service as Dean, School of Arts and Sciences; and as Senior Vice President and
`Provost.
`
`Office of Science and Technology Policy, Executive Office of the President
`
`2011 – 2012: Assistant Director for Advanced Manufacturing and Robotics, Office of
`Science and Technology Policy, Executive Office of the President. Carnegie Mellon
`faculty on loan to the White House. Helping coordinate policy and budget across the
`administration, helping set policies for future initiatives including NSF, DOD, NIH,
`Department of Transportation, NASA, and Department of Agriculture.
`
`Carnegie Mellon University
`
`2004 – 2010: Dean and CEO, Carnegie Mellon University in Qatar. First Dean of the
`branch campus in Doha, Qatar, offering Carnegie Mellon undergraduate degrees in Computer
`Science, Business Administration and Information Systems.
`
`2000 – 2004 Director, The Robotics Institute. Department head overseeing approximately
`40 FTE faculty, 100 PhD students, $40 M / year sponsored research budget.
`
`1984 – 2012: Faculty in the Robotics Institute, ending as Tenured Full Professor of
`Robotics. Research in vision, navigation, and architectures for mobile robots. Leader of the
`Navlab group, building outdoor autonomous vehicles.
`
`ZF EXHIBIT 1004
`
`Page 1 of 18
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`

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`Westinghouse Research and Development Center
`
`Part time September 1981 to December 1985; full time Summer 1982. Developed programs
`for Autonomous Underwater Vehicle simulation and navigation, and for interpretation of
`side-scan sonar data.
`
`North Park College
`
`Summer 1979 and Summer 1980. Developed and maintained new general ledger and
`accounting programs for the College Business Office, using RPG and FORTRAN. Taught
`Introduction to Programming. North Park's last plug board "programmer", and first time-
`sharing programmer.
`
`Institut Mbenga
`
`1976 to 1977 academic year: High school teacher in Zaire, Africa. Taught upper level
`Mathematics, Physics, English and Physical Education. All instruction in French.
`
`
`
`UNIVERSITY ACTIVITIES
`
`PhD Dissertations Supervised:
`
`Justin Carlson, “Mapping Large, Urban Environments with GPS-Aided SLAM”,
`August 2010
`David Duke, “Intelligent Diabetes Assistant: A Telemedicine System for Modeling
`and Managing Blood Glucose”, January 2010
`Chieh-Chih (Bob) Wang, “Simultaneous Localization, Mapping, and Moving Object
`Tracking,” May 2004.
`J. Ryan Miller. “A 3D Color Terrain Modeling System for Small Autonomous
`Helicopters,” January 2002.
`Liang Zhao. “Dressed Human Modeling, Detection, and Parts Localization”, summer
`2001.
`Frank Dellaert. “Monte Carlo EM for Data-Association and its Applications in
`Computer Vision”, summer 2001.
`Terrence Fong. “Collaborative Control: A Robot-Centric Model for Vehicle
`Teleoperation,” November 2001.
`Parag Batavia, “Driver-Adaptive Lane Departure Warning Systems”, September
`1999.
`John Hancock, “Laser Intensity-Based Obstacle Detection and Tracking”, February
`1999.
`Todd Williamson, “A High-Performance Stereo Vision System for Obstacle
`Detection”, October 1998
`Rahul Sukthankar, "Situation Awareness for Driving in Traffic", January 1997.
`Julio Rosenblatt, "DAMN: A Distributed Architecture for Mobile Navigation",
`January 1997.
`Dirk Langer, "An Integrated MMW Radar System for Outdoor Navigation", January
`1997.
`Jennifer Kay, "Remote Driving with Limited Image Data", December 1996.
`Jay Gowdy, "Emergent Architectures: A Case Study of Outdoor Mobile Robots",
`expected 1999.
`Todd Jochem, "Using Virtual Active Vision Tools to Improve Autonomous Driving
`Tasks", January 1996.
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`David Wettergreen, "Gait Generation for Statically-Stable Walking Robots",
`December 1995.
`Karl Kluge, "YARF: A System for Adaptive Navigation of Structured City Roads",
`February 1993.
`Jill Crisman, "Color Vision for the Detection of Unstructured Roads and
`Intersections", May 1990.
`
`PhD Dissertation Committees:
`
`Gurpreet Kaur, “Perceptions on Human-Robot Collaboration at Workplaces”,
`expected summer 2024.
`Richard Turner, “Visual Intelligence for Micro Air Vehicles”, expected summer 2024.
`Zhiliu Yang, “Learning Geometry and Semantics via Deep Nets towards Global
`Localization and Mapping”, Clarkson University, July 2021
`Nasim Daeimi, “Understanding the Rolling Dynamics of Golf Ball with Asymmetric
`Mass”, Clarkson University, July 2017
`Brenna Argall “Learning Mobile Robot Motion Control from Demonstration and
`Corrective Feedback”, Carnegie Mellon, March 2009
`John J. Sprouse
`David Conner, Integrating Planning and Control for Constrained Dynamical Systems,
`December 2007
`Raphael Labayrade, “Détection Générique, Robuste et Rapide d’obstacles Routiers
`par Stéréovision Embarquée”, January 2004.
`Peter Staritz, “Forced Guided Assembly Under Bias”, May 2003.
`Gwenaelle Toulminet, "Extraction des contours 3D des obstacles par stereovision
`pour l’aide à la conduite automobile", Institut National Des Sciences Appliquees De
`Rouen, December 2002
`Omead Amidi, "An Autonomous Vision-Guided Helicopter", summer 1996.
`Heung-Yeung Shum, "An Integral Approach to Object Modeling", summer 1996.
`Gareth Funka-Lea, "A Proposal Concerning the Analysis of Shadows in Images by an
`Active Observer", University of Pennsylvania, October 1994
`Dean Pomerleau, "Neural Network Perception for Mobile Robot Guidance", February
`1992
`Alexander Zelinsky, "Environment Exploration and Path Planning Algorithms for
`Mobile Robot Navigation using Sonar", University of Wollangong, August 1991
`John Bares, "Configuration of Autonomous Walkers for Extreme Terrain", May 1991
`Ming Tan, "Cost-Sensitive Robot Learning", April 1991
`David Manko, "A General Model of Legged Locomotion on Natural Terrain", April
`1990
`Andrew Lee, "Optical Processing Techniques for Satellite Pose Determination",
`December 1989.
`Anthony Stentz, "The NAVLAB System for Mobile Robot Navigation", October
`1989.
`Jeff Richards, "Real-Time Optical Hough Transform and Morphological Inspection
`Technique", Aug 1989.
`Dai Feng, "Satisficing Feedback Strategies for Local Navigation of Autonomous
`Mobile Robots", May 1989
`Suzanne Liebowitz, "Optical Multisensor Processing for Object Recognition", March
`1989
`Wei-Min Shen, "Unsupervised Learning of Novel Features and Tools from
`Environments", 1989.
`
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`

`

`Nigel Foster, "Attributed Image Matching Using a Minimum Representation Size
`Criterion", December 1987.
`James Christ, "Shape Estimation and Object Recognition Using Spatial Probability
`Distributions", April 1987.
`
`Committees and organizations:
`
`Faculty Advisor, Google Student Developer Club, Fall 2022
`Faculty Advisor, VEX Robotics Club, 2021 - current
`Provosts Committee, Associated Colleges of the St Lawrence Valley, member 2012-
`2017, Chair 2016-2017
`Board of Trustees, Habib University (Karachi, Pakistan) 2010 - present
`Steering Committee for the Community College of Qatar 2009 - 2010
`Qatar National Research Fund Advisory Committee 2006 – 2010
`Academic Bridge Program Governing Board 2006 - 2009
`Qatar Campus Joint Advisory Board, 2004 – 2010
`School of Computer Science Council, 1999 - 2004
`School of Computer Science Dean Search Committee, co-chair, 1998-1999; Member
`2003-2004
`Governance of SCS Committee, 1998 to 2000
`Robotics Institute Master’s Program Committee, chair, 1998-2000
`School of Computer Science Self-Assessment Committee, chair, 1998
`CMRI Head Search Committee, 1997
`University Student Disciplinary Committee, 1994 - 1996
`Institute Review Committee, chair, 1993 - 1994, member, 1994 - 1996
`Robotics Institute Faculty Hiring Committee, 1993
`Robotics Institute Strategic Planning Committee, 1991
`Robotics Institute 10th Anniversary Symposium Committee, 1989
`Robotics PhD Program Admissions Committee Chairman, 1989
`Faculty Senate, 1987 to 1989
`Student Affairs Council, 1987 to 1988
`Faculty Affairs Council, 1988 to 1989
`University Parking Committee, 1987 to 1989
`
`
`PROFESSIONAL ACTIVITIES
`
`Journals:
`
`Guest editor for Autonomous Robots, Volume 11, Number 1, July 2001
`Guest editor for IEEE Transactions on Intelligent Transportation Systems, September
`2000
`Founding member of editorial board of Autonomous Robots, 1993 to present
`Technical editor for IEEE Transactions on Robotics and Automation, 1991 to 1994
`Founding member of editorial board of International Journal of Computer Vision,
`1987 - 1993
`
`Scientific Committees:
`
`NRC Panel on Assessment of Military Information Sciences at the Army Research
`Laboratory, chair of study on Military Information Sciences, 2023 - present
`IEEE R&D Policy Committee, 2014 – present; chair 2021 – present.
`Qatar America Institute for Culture, board member, 2021 – present.
`
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`Board of Visitors, University of Pittsburgh School of Computing and Information,
`2019 – present; currently Vice Chair
`NRC TRB Committee Coast Guard Maritime Domain Awareness, 2019 – 2020.
`NRC workshop, Multi-Domain Autonomous Systems for U.S. Naval Forces.
`March 2018. Co-chair.
`ASME Robotics Public Policy Task Force, member 2017 – present, co-chair. 2017 –
`2020
`NRC Study, Mainstreaming UUVs into Future U.S. Naval Operations, 2015. Chapter
`lead.
`NRC Study, Mechanical Science and Engineering at the Army Research Laboratory,
`2015 – current
`Comite d’Orientation Scientifique du LabEx IMobS3, Chair of Review Committee,
`Clermont Ferrand France, June 2015
`NRC Study, Review of Specialized Degree-Granting Graduate Programs of the
`Department of Defense in STEM and Management, 2014
`Scientific Board of Robotics Foundry, 2003 - 2004
`Board of Pittsburgh Robotics Initiative, 2002 - 2003
`Scientific Advisory committee to Swiss national program “Computer Aided and
`Image Guided Medical Interventions”, 2002 - 2013
`Naval Studies Board study on Autonomous Vehicles, 2002 – 2003
`Member, DARPA Defense Science Research Council, 1998 - 2002
`Member, Society of Automotive Engineers, Intelligent Transportation Systems
`Program Office, 1997 to 98
`Review committee for IRIS, Canadian consortium for University Research, 1995 to
`1997
`Review committee for Idaho National Engineering Laboratory, 1994.
`Comite Scientifique (Scientific Advisory Committee) for the Centre de Recherche
`Informatique de Montreal, 1993 to 1997
`
`Conferences and Workshops:
`
`Conferences Committee of the IEEE Intelligent Transportation Systems Council
`Program Committee of IEEE ITSC, Oakland, California, August 2001
`Program Committee of FSR2001 Conference, Finland, June 2001
`Program Committee of International Symposium on Robotics Research, Snowbird
`Utah, Oct 99
`Program Committee of 9th International Conference on Advanced Robotics (ICAR),
`Tokyo, Oct 99
`US Program Chair of ITSC 99, Intelligent Transportation Systems Conference,
`Tokyo, Oct 99
`Program Committee of 13th International Conference on Pattern Recognition, Vienna,
`1996
`Program Committee of IFAC Workshop on Intelligent Components for Autonomous
`and Semi-Autonomous Vehicles, 1995
`Program Committee of International Conference on Advanced Robotics 1995
`Program Committee of IEEE International Conference on Robotics and Automation
`1995
`Program Committee of IROS-95 Workshop on Vision for Robots
`Program Committee of IAS-4.
`Program Committee of IROS-94
`Program Committee of NCAI-94
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`Co-chair of International Conference on Intelligent Autonomous Systems (IAS-3),
`Pittsburgh, February 1993
`US organizer of joint US / French Workshop on Experimental Underwater Robots,
`Toulon, France, May 1992
`Program Committee of IEEE Workshop on Applications of Computer Vision, Palm
`Springs, November 1992
`Program Committee of 3rd conference on Artificial Intelligence, Simulation and
`Planning in High Autonomy Systems (AIS), Perth, Western Australia, July 1992
`Member of 1991 DARPA ISAT summer study on Autonomous Agents
`Program committee of 1991 National Conference on Artificial Intelligence
`Organizing committee of IROS 89, Tsukuba, Japan, 1989.
`
`Consulting:
`
`Expert Witness, Kirkland & Ellis, image processing for intelligent vehicles, 2017 -
`present
`Consultant to Robotics Foundry, 2003 - 2004
`Consultant to National Center for Defense Robotics, 2002 to 2003
`Co-founder and consultant to K2T Inc., 1991 to 1998
`Consultant to RedZone Robotics, 1990 to 1991
`Consultant to Mitsubishi Heavy Industries America, Inc., 1988
`Consultant to Boeing Computer Services, 1986
`
`Professional Societies:
`
`Fellow of the Institute of Electrical and Electronic Engineers (IEEE), 2006
`Fellow of American Association for Artificial Intelligence (AAAI), 1996
`IEEE Robotics Society, Senior Member of IEEE as of May 1993
`
`
`
`
`
`
`
`PUBLICATIONS
`
`Books
`
`1. Intelligent Unmanned Ground Vehicles: Autonomous Navigation Research at Carnegie
`Mellon. M. Hebert, C. Thorpe, and A Stentz, editors. Kluwer Academic Publishers,
`1997.
`2. Guest Editor, Robotics and Autonomous Systems, Vol 11, Nos 3-4, December
`3. Special Issue: Intelligent Autonomous Systems - IAS-3.
`4. Proceedings of the Third International Conference on Intelligent Autonomous Systems
`(IAS-3). F. C. A. Groen, S. Hirose, and C. Thorpe, editors. IOS Press, 1993.
`5. Vision and Navigation: the Carnegie Mellon Navlab. C. Thorpe, editor. Published by
`Kluwer Academic Publishers, 1990.
`
`Chapters in Books
`
`1. Vehicle-Based Technologies. C. Thorpe. In Intelligent Transportation Primer, Institute of
`Transportation Engineers ed. 2000.
`2. The New Generation System for the CMU Navlab. C. Thorpe, M. Hebert, T. Kanade,
`and S. Shafer. In Vision-Based Vehicle Guidance, Ichiro Masaki ed., Springer-Verlag,
`1992. A different version of this paper appears as the journal paper, in two parts,
`"Towards Autonomous Driving: The CMU Navlab" (see above).
`3. Robotic Vehicles. C. Thorpe. In Encyclopedia of Physical Science and Technology,
`1987. Revised version in second edition, 1992.
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`4. Vision and Navigation for Carnegie Mellon Navlab. C. Thorpe, M. Hebert, T. Kanade,
`and S. Shafer. Annual Review of Computer Science, J. Traub, et. al, ed., Annual Reviews
`Inc., CA, Vol. 2, 1987, pp. 521-556.
`5. See also journal articles "Mobile Robots" and "Vision and Navigation for the CMU
`Navlab" below.
`
`Refereed Journal Papers – Published
`
`1. Simultaneous Localization, Mapping and Moving Object Tracking. C. Wang, C. Thorpe,
`M. Hebert, S. Thrun and H. Durrant-Whyte. The International Journal of Robotics
`Research, Vol. 26, No. 6, June 2007.
`2. Robotics in Early Undergraduate Education. J. Carlson, D. Duke and C. Thorpe. AAAI
`Spring Symposium Robotics in Education Proceedings. March 2007
`3. R. Aufrere, J. Gowdy, C. Mertz, C. Thorpe, C. Wang, and T. Yata. Perception for
`collision avoidance and autonomous driving. Mechatronics, Vol. 13, No. 10, December,
`2003, pp. 1149-1161.
`4. Sensor-Friendly Vehicle and Roadway Cooperative Safety Systems. Benefits Estimation.
`J. A. Misener, C. Thorpe, R. Ferlis, R. Hearne, M. Siegel and J. Perkowski.
`Transportation Research Record 1746. Paper No. 01-2297.
`5. Advanced interfaces for vehicle teleoperation: collaborative control, sensor fusion
`displays, and remote driving tools. T. Fong, C. Thorpe, C. Baur. Autonomous Robots,
`Vol. 11(1), July 2001.
`6. Vehicle teleoperation interfaces. T. Fong and C. Thorpe. Autonomous Robots, Vol. 11(1),
`July 2001.
`7. Stereo- and neural Network-Based Pedestrian Detection. L. Zhao and C. Thorpe. IEEE
`Transactions on Intelligent Transportation Systems, Vol. 1, No. 3, pp. 148-154,
`September 2000.
`8. Enhancing Driver-Assist Sensors: Background And Concepts For Sensor-Friendly
`Vehicles And Roadways. J. Misener, C. Thorpe, R. Hearne, L. Johnson and A. Segal.
`1999.
`9. Tactical-level Simulation for Intelligent Transportation Systems. R. Sukthankar, J.
`Hancock and C. Thorpe. Journal on Mathematical and Computer Modeling, Special Issue
`on ITS, Vol. 27, No. 9-11, 1998, pp. 228-242.
`10. Functional Sensor Modeling for Automated Highway System Simulations. C. Unsal, R.
`Sukthankar and C. Thorpe. SPIE on Intelligent Systems & Advanced Manufacturing, Vol.
`3207, October 1997.
`11. Range Sensor based Outdoor Vehicle Navigation. D. Langer and C. Thorpe.
`Autonomous Robots, 1995, Vol. 2, No. 2, Kluwer Academic Publishers.
`12. The YARF System for Vision-Based Road Following. K. Kluge and C. Thorpe.
`Mathematical and Computer Modelling 22(4-7):213-233, August-October 1995.
`13. Exploring Mount Erebus by Walking Robot. D. Wettergreen, C. Thorpe, and W.
`Whittaker. In Robotics and Autonomous Systems, Vol 11, Nos 3-4, December 1993.
`Special Issue: Intelligent Autonomous Systems - IAS-3. Also in Proceedings of IAS-3,
`Pittsburgh, 1993.
`14. SCARF: A Color Vision System that Tracks Roads and Intersections. J. Crisman and C.
`Thorpe. IEEE Trans. on Robotics and Automation, Vol 9 # 1, Feb 1993.
`15. Toward Autonomous Driving: The CMU Navlab. Part I: Perception. C. Thorpe, M.
`Hebert, T. Kanade, and S. Shafer. IEEE Expert, V 6 # 4 August 1991.
`16. Toward Autonomous Driving: The CMU Navlab. Part II: System and Architecture. C.
`Thorpe, M. Hebert, T. Kanade, and S. Shafer. IEEE Expert, V 6 # 4 August 1991.
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`17. Vision and navigation for the Carnegie-Mellon Navlab. C. Thorpe, M. Hebert, T.
`Kanade, and S. Shafer. In IEEE PAMI, V. 10 # 3, 1988. Other versions appeared in
`"High Precision Navigation" (Springer-Verlag, 1989) and in "Annual Reviews of
`Computer Science", Volume 2, 1987.
`
`Journal Papers - Invited
`
`1. In Education City. C. Thorpe. eJournal USA, Sharing Science: Global Partnerships.
`Global Issues, US Department of State/Bureau of International Information Programs,
`October 2006.
`2. Mobile Robots. C. Thorpe. In International Journal of Pattern Recognition and Artificial
`Intelligence, Vol 5 #3, August 1991. Also in Encyclopedia of Artificial Intelligence,
`Second edition.
`3. Outdoor visual navigation for autonomous robots. C. Thorpe. In Robotics and
`Autonomous Systems 7 (1991). An earlier version of this paper appeared in Proceedings
`of IAS-2.
`4. Combining artificial neural networks and symbolic processing for autonomous robot
`guidance. D. Pomerleau, J. Gowdy and C. Thorpe. Engineering Applications of
`Artificial Intelligence, V 4, # 4, 1991.
`
`Refereed Conference / Workshop Papers
`
`1. F Dellaert, J Carlson, V Ila, K Ni, and C Thorpe, “Subgraph-preconditioned Conjugate
`Gradients for Large Scale SLAM”, IEEE/RSJ International Conference on Intelligent
`Robots and Systems (IROS), 2010
`2. D. Duke, C. Thorpe, and M. Mahmoud. “Intelligent Diabetes Assistant: Using
`Telemedicine to Assist Diabetes Management” International Conference on Innovations
`in Information Technology, November 2007.
`3. J. D. Carlson, C. Thorpe and D. Duke. “Robust Real-Time Local Laser Scanner
`Registration with Uncertainty Estimation” International Conference on Field and Service
`Robotics, July 2007
`4. C. Mertz, D. Duggins, J. Gowdy, J. Kozar, R. MacLachlan, A.M. Steinfeld, A. Suppe, C.
`Thorpe and C. Wang. “Collision Warning and Sensor Data Processing in Urban Areas”
`Proceedings of the 5th international conference on ITS telecommunications. June 2005.
`pp. 73-78.
`5. C. Wang and C. Thorpe. “A Hierarchical Object Based Reepresentation for Simultaneous
`Localization and Mapping.” IEEE/RSJ International Conference on Intelligent Robots
`and Systems (IROS). September 2004.
`6. A.M. Steinfeld, D. Duggins, J. Gowdy, J. Kozar, R. MacLachlan, C. Mertz, A. Suppe, C.
`Thorpe, and C. Wang. “Development of the Side Component of the Transit Integrated
`Collision Warning System” IEEE Conference on Intelligent Transportation Systems
`(ITSC), 2004, pp. 343-348.
`7. C. Wang and C. Thorpe. “A Hierarchical Object Based Representation for Simultaneous
`Localization and Mapping.” IEEE/RSJ International Conference on Intelligent Robots
`and Systems (IROS), September 2004.
`8. C. Thorpe, J.D. Carlson, D. Duggins, J. Gowdy, R. MacLachlan, C. Mertz, A. Suppe, and
`C. Wang, "Safe Robot Driving in Cluttered Environments” Proceedings of the 11th
`International Symposium of Robotics Research, October, 2003.
`9. T.W. Fong, C. Thorpe, and B. Glass, “PdaDriver: A Handheld System for Remote
`Driving” IEEE International Conference on Advanced Robotics 2003, IEEE, July, 2003.
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`10. C. Wang, C. Thorpe, and A. Suppe, "Ladar-Based Detection and Tracking of Moving
`Objects from a Ground Vehicle at High Speeds” IEEE Intelligent Vehicles Symposium
`(IV2003), June, 2003.
`11. Romuald Aufrère, Christoph Mertz, Chuck Thorpe, “Multiple Sensor Fusion for
`Detecting Location of Curbs, Walls, and Barriers” in Proceedings of the IEEE Intelligent
`Vehicles Symposium, Columbus, Ohio, June 9-11, 2003.
`12. Chieh-Chih Wang and Charles Thorpe, “Detection and Tracking of Moving Pedestrians
`and Vehicles from a Ground Vehicle at High Speeds” in Proceedings of the IEEE
`Intelligent Vehicles Symposium, Columbus, Ohio, June 9-11, 2003.
`13. C. Wang, C. Thorpe and S. Thrun. “Online Simultaneous Localization and Mapping with
`Detection and Tracking of Moving Objects: Theory and Results from a Ground Vehicle
`in Crowded Urban Areas” in Proceedings of the IEEE International Conference on
`Robotics and Automation, May, 2003.
`14. T.W. Fong, C. Thorpe, and C. Baur, “Multi-Robot Remote Driving with Collaborative
`Control” in Proceedings of the IEEE Transactions on Industrial Electronics, 2003.
`15. T.W. Fong, C. Thorpe, and C. Baur, “Robot, Asker of Questions” in Proceedings of the
`Robotics and Autonomous Systems, 2003.
`16. S. McNeil, D. Duggins, C. Mertz, A. Suppe, and C. Thorpe, “A Performance
`Specification for Transit Bus Side Collision Warning System” ITS2002, in Proceedings
`of 9th World Congress on Intelligent Transport Systems, October, 2002.
`17. C. Thorpe, R. Aufrere, J.D. Carlson, D. Duggins, T.W. Fong, J. Gowdy, J. Kozar, R.
`MacLachlan, C. McCabe, C. Mertz, A. Suppe, C. Wang, and T. Yata, “Safe Robot
`Driving” in Proceedings of the International Conference on Machine Automation (ICMA
`2002), September, 2002.
`18. C. Wang and C. Thorpe, Simultaneous Localization and Mapping with Detection and
`Tracking of Moving Objects” in Proceedings of the IEEE International Conference on
`Robotics and Automation, May, 2002.
`19. C. Thorpe, D. Duggins, J. Gowdy, R. MacLachlan, C. Mertz, M. Siegel, A. Suppe, C.
`Wang, and T. Yata, “Driving in Traffic: Short-Range Sensing for Urban Collision
`Avoidance” in Proceedings of SPIE: Unmanned Ground Vehicle Technology IV, Vol.
`4715, April, 2002.
`20. T.W. Fong, C. Thorpe, and C. Baur, “Robot as partner: vehicle teleoperation with
`collaborative control” Multi-Robot Systems: From Swarms to Intelligent Automata, Alan
`Schultz and Lynne Parker, ed., Kluwer, 2002.
`21. C. Mertz, J. Kozar, J.R. Miller, and C. Thorpe, “Eye-safe Laser Line Striper for Outside
`Use” IV 2002, in Proceedings of the IEEE Intelligent Vehicle Symposium, June, 2002.,
`December, 2001.
`22. T.W. Fong, C. Thorpe, and C. Baur, “Collaboration, Dialogue, and Human-Robot
`Interaction” in Proceedings of the 10th International Symposium of Robotics Research,
`Lorne, Victoria, Australia, Springer-Verlag, London, November, 2001.
`23. James A. Misener, Chuck Thorpe, Mel Siegel, Dirk Langer, Paul Griffiths, "Putting
`Cooperation to the Test: Experimental Evaluation of 'Sensor-Friendly' Collision
`Avoidance Systems" in Proceedings of the 11th Annual Meeting of the Intelligent
`Transportation Society of America, Miami, Florida, June 4 - 7, 2001.
`24. Field Robots. C. Thorpe, H. Durrant-Whyte. In proceedings of the 10th International
`Symposium on Robotics Research, Lorne, Victoria, Australia. London: Springer-Verlag.
`25. Collaboration, dialogue and human-robot interaction. T. Fong, C. Thorpe, C. Baur. In
`proceedings of the 10th International Symposium on Robotics Research, Lorne, Victoria,
`Australia. London: Springer-Verlag.
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`26. Side Collision Warning Systems for Transit Buses. C. Mertz, S. McNeil and C. Thorpe.
`IV 2000, IEEE Intelligent Vehicle Symposium, October, 2000.
`27. Remote Driving With A Multisensor User Interface. G. Terrien, T. Fong, C. Thorpe, and
`C. Baur. SAE 30th International Conference on Environmental Systems, July 2000.
`28. Structure from Motion without Correspondence. F. Dellaert, S. Seitz, C. Thorpe and S.
`Thrun. IEEE Computer Society Conference on Computer Vision and Pattern Recognition
`(CVPR’00), June 2000.
`29. A New Focus for Side Collision Warning Systems for Transit Buses. S. McNeil, C.
`Thorpe and C. Mertz. ITS2000, Intelligent Transportation Society of America’s Tenth
`Annual Meeting and Exposition, May 2000.
`30. Sensor Fusion Based user Interface for Vehicle Teleoperation. R. Meieer, T. Fong, C.
`Thorpe and C. Baur. International Conference on Field and Service Robotics (FSR ’99),
`August 1999.
`31. Collaborative Control: A Robot-Centric Model for Vehicle Teleoperation. T. Fong, C.
`Thorpe and C. Baur. AAAI 1999 Spring Symposium: Agents with Adjustable Autonomy,
`March 1999.
`32. A Trinocular Stereo System for Highway Obstacle Detection. T. Williamson and C.
`Thorpe. 1999 International Conference on Robotics and Automation (ICRA ’99), IEEE,
`1999.
`33. Model-Based Car Tracking Integrated with a Road-Follower. F. Dellaert, D. Pomerleau
`and C. Thorpe. International Conference on Robotics and Automation, May 1998.
`34. Gait Planning and Reactive Control of a Hexapod Walking Robot. D. Wettergreen and C.
`Thorpe. Proceedings of ICRA ’98, 1996.
`35. Machine Learning and Human Interface for the CMU Navlab. C. Thorpe. Proc. IEEE
`Conference on Computer vision for Space Applications, September 1993.
`36. Exploring Mount Erebus by Walking Robot. D. Wettergreen, C. Thorpe and W. L.
`Whittaker. International Conference of Intelligent Autonomous Systems, 1993, pp. 72-81.
`37. STRIPE: Supervised TeleRobotics Using Incremental Polygonal Earth Geometry. J. Kay
`and C. Thorpe. International Conference on Intelligent Autonomous Systems, 1993, pp.
`399-406.
`38. Vision and Navigation for the Carnegie Mellon Navlab. C. Thorpe and T. Kanade.
`Proceedings of DARPA Image Understanding Workshop, 1985, pp. 143-152.
`39. Integrating Position Measurement and Image Understanding for Autonomous Vehicle
`Navigation. C. Thorpe, O. Amidi, J. Gowdy, M. Hebert and D. Pomerleau. Proceedings
`of 2nd International Workshop on High Precision Navigation, November 1991.
`40. Geometric Camera Calibration Using Systems of Linear Equations. K. Gremban, C.
`Thorpe and T. Kanade. Proceedings of Image Understanding Workshop, Morgan
`Kaufmann Publishers, Inc., 1988, pp. 820-825.
`41. Stereo and Neural Network-Based Pedestrian Detection. Liang Zhao and Chuck Thorpe
`Proc. 1999 Int'l Conf. on Intelligent Transportation Systems, Tokyo, Japan, Oct. 5-7,
`1999
`42. Adaptive Vehicle Motion Estimation and Prediction, Liang Zhao and Chuck Thorpe Proc.
`1998 SPIE Mobile Robot, Boston, Nov. 1-6, 1998
`43. Super-Resolved Tracking of Planar Surface Patches. Frank Dellaert, Chuck Thorpe and
`Sebastian Thrun, Proc. IEEE/RSJ International Conference on Intelligent Robotic
`Systems (IROS), Victoria, B.C., Canada, October 13-17, 1998.
`44. Jacobian Images of Super-Resolved Texture Maps for Model-Based Motion Estimation
`and Tracking, Frank Dellaert, Sebastian Thrun and Chuck Thorpe. Fourth IEEE
`Workshop on Applications of Computer Vision (WACV), Princeton, New Jersey,
`October 19-21st 1998.
`
`Page 10 of 18
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`45. Laser Intensity-Based Obstacle Detection. John Hancock, Martial Hebert, Chuck Thorpe.
`Proceedings of the International Conference on Intelligent Robots and Systems,
`October, 1998.
`46. Mobility Planning for Autonomous Navigation of Multiple Robots in Unstructured
`Environments, Martial Hebert, Anthony Stentz, and Chuck Thorpe. In Proceedings of
`ISIC/CIRA/ISAS Joint Conference on the Science and Technology of Intelligent
`Systems, Gaithersburg MD, September, 1998.
`47. Detection of Small Obstacles at Long Range Using Multibaseline Stereo, Todd
`Williamson and Charles Thorpe. Proceedings of the 1998 IEEE International Conference
`on Intelligent Vehicles, Stuttgart, Germany, October, 1998.
`48. Predicting Lane Position for Roadway Departure Prevention.. Parag H. Batavia, Dean A.
`Pomerleau, Charles E. Thorpe Proceedings of the IEEE Intelligent Vehicles Symposium,
`Stuttgart, Germany, October 28-30, 1998.
`49. Qualitative and Quantitative Car Tracking from a Range Image Sequence. Liang Zhao,
`Chuck Thorpe. In CVPR 98, Proceedings of IEEE Conference on Computer Vision and
`Pattern Recognition, June 23-25, 1998, Santa Barbara, California, USA
`50. A Specialized Multibaseline Stereo Technique for Obstacle Detection. Todd Williamson
`and Charles Thorpe. In CVPR 98, Proceedings of IEEE Conference on Computer Vision
`and Pattern Recognition, June 23-25, 1998, Santa Barbara, California, USA
`51. Overtaking Vehicle Detection Using Implicit Optical Flow. Parag H. Batavia, Dean A.
`Pomerleau, and Charles E. Thorpe, Proceedings of the IEEE Intelligent Transportation
`Systems Conference, Boston, MA, Nov. 9-12, 1997
`52. Functional sensor modeling for Automated Highway Systems Simulations. C. Unsal, R.
`Sukthankar, and C. Thorpe. In Proceedings of IEEE Conference on Intelligent
`Transportation Systems, Boston Mass, November 1997.
`53. The 1997 Automated Highway Free Agent Demonstration. C. Thorpe, T. Jochem, D.
`Pomerleau. In Proceedings of IEEE Conference on Intelligent Transportation Systems,
`Boston Mass, November 1997.
`54. Automated Highways and the Free Agent Demonstration. C. Thorpe, T. Jochem, D.
`Pomerleau. In Proceedings of International Symposium on Robotics Research, Hayama
`Japan, October 1997.
`55. Performance Specification Development for Roadway Departure Collision Avoidance
`Systems. D. Pomerleau, L. Emery, and C. Thorpe. In Proceedings of ITS World
`Congress, October 1997, Berlin Germany.
`56. Robust Car Tracking using Kalman filtering and Bayesian templates. Frank Dellaert and
`Chuck Thorpe, SPIE Conference on Intelligent Transportation Systems, Pittsburgh, PA,
`October,1997
`57. A Distributed Tactical Reasoning Framework for Intelligent Vehicles. Rahul Sukthankar,
`Dean Pomerleau, Charles E. Thorpe, Proc. SPIE Conference on Intelligent Systems and
`Advanced Manufacturing, October 1997
`58. A Hybrid Human-Computer Autonomous Vehicle Architecture, M. Bayouth, I.
`Nourbakhsh, C.E. Thorpe, The Third ECPD International Conference on Advanced
`Robotics, Intelligent Automation and Active Systems, September 1997.
`59. Mixed Traffic and Automated Highways. C. Thorpe. In Proceedings of IROS 97,
`Grenoble France, September 1997.
`60. Map Building with Radar and Motion Sensors for Automated Highway Vehicle
`Navigation. K. Kimoto and C. Thorpe. In Proceedings of IROS 97, Grenoble France,
`September 1997.
`
`Page 11 of 18
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`61. Adaptive Intelligent Vehicle Modules for Tactical Driving. R. Sukthankar, J. Hancock, S.
`Baluja, D. Pomerleau, and C. Thorpe. Proc. AAAI Workshop on Adaptive Intelligent
`Agents, 1996.
`62. Vision Based Intersection Navigation, Jochem, Todd M., Pomerleau, Dean A., and
`Thorpe, Charles E. IEEE Symposium on Intelligent Vehicles, September 18-20, 1996,
`Tokyo, Japan.
`63. Combining Multiple Goals in a Behavior-Based Architecture. J. Rosenblatt and C.
`Thorpe. In Proceedings of IROS, Pittsburgh PA, 1995.
`64. ELVIS: Eigenvectors for Land Vehicle Image System. J. Hancock, C. Thorpe. In
`Proceedings of IROS, Pittsburgh PA, 1995. Also appeared as Carnegie Mellon Robotics
`Institute Technical Report CMU-RI-TR-94-43, December 1994.
`65. Operator Interface Design Issues In A Low-Bandwidth And High-Latency Vehicle
`Teleoperation System. J. Kay and C. Thorpe. In International Conference on
`Environmental Systems, 1995. Appears as SAE Technical Report 951485. Warrendale,
`PA: Society of Automotive Engineers International.
`66. Robots, Transportation, and Society. C. Thorpe and D. Pomerleau. In Proceedings of
`ISRR-7, Munich Germany, 1995; also i