Robotics and Artificial Intelligence Laboratory

Thomas Howard

Assistant Professor, Department of Electrial and Computer Engineering


Email: thoward@ece.rochester.edu

Websites: Google Scholar, Department

Biosketch


Thomas HowardThomas Howard is an Assistant Professor in the Department of Electrical and Computer Engineering at the University of Rochester. He also holds secondary appointments in the Department of Computer Science and the Department of Biomedical Engineering and is a member of the Goergen Institute for Data Science. Previously he held appointments as a Research Scientist and a Postdoctoral Associate at MIT's Computer Science and Artificial Intelligence Laboratory in the Robust Robotics Group, a Research Technologist II at the Jet Propulsion Laboratory in the Robotic Software Systems group and a Lecturer in Mechanical Engineering at Caltech. He earned his Ph.D. in Robotics from Carnegie Mellon University and holds Bachelor of Science degrees in Mechanical Engineering and Electrical and Computer Engineering from the University of Rochester.

Education


Postdoctoral Associate, Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, 2012-2013

Ph.D. in Robotics, Carnegie Mellon University, 2009

M.S. in Robotics, Carnegie Mellon University, 2006

B.S. in Mechanical Engineering with High Distinction, University of Rochester, 2004

B.S. in Electrical and Computer Engineering with High Distinction, University of Rochester, 2004

Research


My work spans several domains of robotics and artificial intelligence. A common thread of my investigations involves the development of computationally efficient algorithms that enable robots to make more informed decisions by exploiting sophisticated predictive models. Below is a brief sample of my research.

Natural Language Understanding of Robot Instructions

Natural Language Understanding of Robot InstructionsAfter several years of studying how best to search the continuum of actions for the best possible motions, I became interested in how planning problems emerge from interactions and observations between the robot and the environment. Rather than rely on intermediate layers of autonomy architectures to translate instructions into constraints and cost functions, I am seeking to develop techniques that identify the formulation of trajectory planning problems directly from unstructured natural language. Recently I developed a technique that uses probabilistic graphical models trained with a corpus of labeled examples to determine the constraint set that best represents a given command, thereby avoiding computational bottlenecks imposed by search in a state-action space for the most probable path.

S. Patki, A. Daniele, M. Walter, and T.M. Howard, "Inferring Compact Representations for Efficient Natural Language Understanding of Robot Instructions," In 2019 IEEE International Conference on Robotics and Automation. May 2019, forthcoming

J. Arkin, R. Paul, S. Roy, D. Park, N. Roy, and T.M. Howard, "Real-Time Human-Robot Communication for Manipulation Tasks in Partially Observed Environments," In International Symposium on Experimental Robotics. Nov. 2018, forthcoming

R. Paul, J. Arkin, D. Aksaray, N. Roy, and T.M. Howard, "Efficient Grounding of Abstract Spatial Concepts for Natural Language Interaction with Robot Platforms," International Journal of Robotics Research. Jun. 2018

Dexterous Manipulation

Dexterous ManipulationSeveral challenges for dexterous manipulation include coordination of many degrees of freedom, modeling of interactions between objects and end-effectors, and effective techniques for human-robot interaction. I applied the concepts behind model-predictive trajectory generation of mobile robots for mobile manipulators by augmenting the space of parameterized action sequences with degrees of freedom of the manipulator. This was used as part of a supervised teleoperation system for a mobile manipulator designed to improve the efficiency and reduce the cognitive load of human operators. I later extended this technique for coordinated planning of a robot arm, hand, and neck as motion planning lead of the JPL/Caltech team during Phase I of the DARPA Autonomous Robotic Manipulation program.

N. Hudson, T.M. Howard, J. Ma, A. Jain, M. Bajracharya, S. Myint, C. Kuo, L. Matthies, and P. Backes, "End-to-End Dexterous Manipulation with Deliberate Interactive Estimation," In Proceedings of the 2012 International Conference on Robotics and Automation. IEEE, May 2012, pp. 2371-2378

D. Anderson, T.M. Howard, D. Apfelbaum, Herman Herman, and A. Kelly, "Coordinated Control and Range Imaging for Mobile Manipulation," In Experimental Robotics. Springer Tracts in Advanced Robotics. Springer, Jan. 2009, vol. 54, pp. 547-556

Mobile Robot Navigation

Mobile Robot NavigationThe fundamental challenge of robot navigation involves making optimal decisions under temporal and computational resource constraints. I began work in the topic by developing efficient algorithms for navigation search space design through intelligent sampling of boundary states in both constrained and unstructured environments. I applied this technique for autonomous in-lane navigation as a member of Tartan Racing on Boss, winner of the 2007 DARPA Urban Challenge. I later addressed difficulties around following of paths with geometric singularities (turn-in-place) and discontinuities (cusps and multi-point turns) using unconstrained optimization trajectory generation with parameterized action sequences initialized by a regional motion planner.

D. Ferguson, T.M. Howard, and M. Likhachev, "Motion Planning in Urban Environments," Journal of Field Robotics. vol. 25, pp. 939-960, 2008

T.M. Howard, C. Green, D. Ferguson, and A. Kelly, "State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Complex Environments," Journal of Field Robotics. vol. 25, pp. 325-345, 2008

Model-Predictive Motion Planning

Model-Predictive Motion PlanningRobots need to understand the consequences of their own actions in order to make informed decisions about safety and optimality of candidate motions. My work in this area has primarily focused on the development and application of techniques that invert arbitrarily complex models of motion and environmental interaction, with particular attention to terrain shape and wheel-terrain interaction. I later demonstrated that this method could be applied for predictive compensation of impaired mobility through experiments of a planetary rover with a disabled drive motor. My thesis work presented an algorithm that adapts coarse recombinant motion planning search spaces to the local environment to improve the relative optimality and computational efficiency of planning in complex environments.

T.M. Howard and A. Kelly, "Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots," International Journal of Robotics Research. vol. 26, pp. 141-166, Feb. 2007

M. Pivtorakio, T.M. Howard, I. Nesnas, and A. Kelly, "Field Experiments in Rover Navigation via Model-Based Trajectory Generation and Nonholonomic Motion Planning in State Lattices," In 9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space. Feb. 2008

Publications


Journal Articles

[J8] R. Paul, J. Arkin, D. Aksaray, N. Roy, and T.M. Howard, "Efficient Grounding of Abstract Spatial Concepts for Natural Language Interaction with Robot Platforms," International Journal of Robotics Research. Jun. 2018

[J7] A. Broad, J. Arkin, N. Ratliff, T.M. Howard, and B. Argall, "Real-Time Natural Language Corrections for Assistive Robotic Manipulators," International Journal of Robotics Research. vol. 36, pp. 684-698, May 2017

[J6] T.M. Howard, M. Pivtoraiko, R. Knepper, and A. Kelly, "Model-Predictive Motion Planning: Several Key Developments for Autonomous Mobile Robots," IEEE Robotics and Automation Magazine. vol. 21, pp. 64-73, Mar. 2014

[J5] N. Hudson, J. Ma, P. Hebert, A. Jain, M. Bajracharya, T. Allen, R. Sharan, M. Horowitz, C. Kuo, T.M. Howard, L. Matthies, P. Backes, and J. Burdick, "Model-based autonomous system for performing dexterous, human-level manipulation tasks," Autonomous Robots. vol. 36, pp. 31-49, Jan. 2014

[J4] D. Ferguson, T.M. Howard, and M. Likhachev, "Motion Planning in Urban Environments," Journal of Field Robotics. vol. 25, pp. 939-960, 2008

[J3] C. Urmson, J. Anhalt, D. Bagnell, C. Baker, R. Bittner, M.N. Clark, J. Dolan, D. Duggins, T. Galatali, C. Geyer, M. Gittleman, S. Harbaugh, M. Hebert, T.M. Howard, S. Kolski, A. Kelly, M. Likhachev, M. McNaughton, N. Miller, K. Peterson, B. Pilnick, R. Rajkumar, P. Rybski, B. Salesky, Y. Seo, S. Singh, J. Snider, A. Stentz, W. Whittaker, Z. Wolkowicki, J. Ziglar, H. Bae, T. Brown, D. Demitrish, B. Litkouhi, J. Nickolaou, V. Sadekar, W. Zhang, J. Struble, M. Taylor, M. Darms, and D. Ferguson, "Autonomous Driving in Urban Environments: Boss and the Urban Challenge," Journal of Field Robotics. vol. 25, pp. 425-466, Jun. 2008

[J2] T.M. Howard, C. Green, D. Ferguson, and A. Kelly, "State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Complex Environments," Journal of Field Robotics. vol. 25, pp. 325-345, 2008

[J1] T.M. Howard and A. Kelly, "Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots," International Journal of Robotics Research. vol. 26, pp. 141-166, Feb. 2007

Refereed Conference Papers

[C42] S. Patki, A. Daniele, M. Walter, and T.M. Howard, "Inferring Compact Representations for Efficient Natural Language Understanding of Robot Instructions," In 2019 IEEE International Conference on Robotics and Automation. May 2019, forthcoming

[C41] R.A. Chavali, N. Kent, M.E. Napoli, T.M. Howard, and M. Travers, "Inferring Distributions of Parameterized Controllers for Efficient Sampling-Based Locomotion of Underactuated Robots," In 2019 American Control Conference. Jul. 2019, forthcoming

[C40] S. Patki and T.M. Howard, "Language-guided Adaptive Perception for Efficient Grounded Communication with Robotic Manipulators in Cluttered Environments," In 19th Annual Meeting of the Special Interest Group on Discourse and Dialogue. Jul. 2018

[C39] J. Arkin, R. Paul, S. Roy, D. Park, N. Roy, and T.M. Howard, "Real-Time Human-Robot Communication for Manipulation Tasks in Partially Observed Environments," In International Symposium on Experimental Robotics. Nov. 2018, forthcoming

[C38] M. Napoli, C. Freitas, S. Goswami, S. McAleavey, M. Doyley, and T.M. Howard, "Hybrid Force/Velocity Control with Compliance Estimation via Strain Elastography for Robot Assisted Ultrasound Screening," In 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. IEEE, Aug. 2018, forthcoming

[C37] M. Napoli, H. Biggie, and T.M. Howard, "Learning Models for Predictive Adaptation in State Lattices," In Field and Service Robotics: Results of the 11th International Conference. Springer Proceedings in Advanced Robotics. Springer, Cham, 2018, vol. 5, pp. 285-300

[C36] A. Daniele, T.M. Howard, and M. Walter, "A Multiview Approach to Learning Articulated Motion Models," In International Symposium on Robotics Research. Dec. 2017

[C35] M. Napoli, H. Biggie, and T.M. Howard, "On the Performance of Selective Adaptation in State Lattices for Mobile Robot Motion Planning," In IEEE/RSJ International Conference on Intelligent Robots and Systems. Sep. 2017

[C34] J. Arkin, M. Walter, A. Boteanu, M. Napoli, H. Biggie, H. Kress-Gazit, and T.M. Howard, "Contextual Awareness: Understanding Monologic Natural Language Instructions for Autonomous Robots," In IEEE International Symposium on Robot and Human Interactive Communication. Aug. 2017

[C33] R. Paul, J. Arkin, N. Roy, and T.M. Howard, "Grounding Abstract Spatial Concepts for Language Interaction with Robots," In International Joint Conference on Artificial Intelligence. Aug. 2017

[C32] D. Yi, M. Goodrich, T.M. Howard, and K. Seppi, "Topology-Aware RRT* for Parallel Optimal Sampling in Topologies," In 2017 IEEE International Conference on Systems, Man, and Cybernetics. IEEE, Oct. 2017

[C31] J. Oh, T.M. Howard, M.R. Walter, D. Barber, M. Zhu, S. Park, A. Suppe, L. Navarro-Serment, F. Duvallet, A. Boularias, O. Romero, J. Vinokurov, T. Keegan, R. Dean, C. Lennon, B. Bodt, M. Childers, J. Shi, K. Daniilidis, N. Roy, C. Lebiere, M. Hebert, and A. Stentz, "Integrated Intelligence for Human-Robot Teams," In Experimental Robotics: 2016 International Symposium on Experimental Robotics. Springer Proceedings in Advanced Robotics. Springer, Mar. 2017, vol. 1, pp. 309-322

[C30] A. Boteanu, J. Arkin, T.M. Howard, and H. Kress-Gazit, "A Model for Verifiable Grounding and Execution of Complex Language Instructions," In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, Oct. 2016, pp. 2649-2654

[C29] D. Yi, T.M. Howard, K. Seppi, and M. Goodrich, "Expressing Homotopic Requirements for Mobile Robot Navigation through Natural Language Instructions," In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, Oct. 2016, pp. 1462-1468

[C28] M. Wijesundara, C. Tapparello, A. Gamage, G. Yadhavan, L. Gittelson, T.M. Howard, and W. Heinzelman, "Design of a Kinetic Energy Harvester for Elephant Mounted Sensor Nodes of JumboNet," In 2016 IEEE Global Communication Conference (GLOBECOM). Dec. 2016

[C27] R. Paul, J. Arkin, N. Roy, and T.M. Howard, "Efficient Grounding of Abstract Spatial Concepts for Natural Language Interaction with Robot Manipulators," In 2016 Robotics: Science and Systems Conference. Jun. 2016

[C26] D. Barber, T.M. Howard, and M.R. Walter, "A Multimodal Interface for Real-Time Soldier-Robot Teaming," In Unmanned Systems Technology XVIII. International Society for Optics and Photonics, Apr. 2016, vol. 9837

[C25] I. Chung, O. Propp, M.R. Walter, and T.M. Howard, "On the Performance of Hierarchical Distributed Correspondence Graphs for Efficient Symbol Grounding of Robot Instructions," In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, Oct. 2015

[C24] S. Hemachandra, F. Duvallet, T.M. Howard, N. Roy, A. Stentz, and M.R. Walter, "Learning Models for Following Natural Language Directions in Unknown Environments," In 2015 IEEE International Conference on Robotics and Automation. IEEE, May 2015, pp. 5608-5615

[C23] F. Duvallet, M.R. Walter, T.M. Howard, S. Hemachandra, J. Oh, S. Teller, N. Roy, and A. Stentz, "Inferring Maps and Behaviors from Natural Language Instructions," In Proceedings of the 14th International Symposium on Experimental Robotics. Springer, Nov. 2015, pp. 373-388

[C22] R. Mukherjee, T.M. Howard, S. Myint, J. Schang, and J. Craft, "Vehicle Dynamics Models for Onboard Motion Planning," In Proceedings of the ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASME, Aug. 2014

[C21] T.M. Howard, S. Tellex, and N. Roy, "A natural language planner interface for mobile manipulators," In 2014 IEEE International Conference on Robotics and Automation. IEEE, May 2014, pp. 6652-6659

[C20] P. Hebert, T.M. Howard, N. Hudson, J. Ma, and P. Backes, "The next best touch for model-based localization," In 2013 IEEE International Conference on Robotics and Automation. IEEE, May 2013, pp. 99-106

[C19] P. Hebert, N. Hudson, J. Ma, T.M. Howard, T. Fuchs, M. Bajracharya, and J. Burdick, "Combined Shape, Appearance and Silhouette for Simultaneous Manipulator and Object Tracking," In Proceedings of the 2012 International Conference on Robotics and Automation. IEEE, May 2012, pp. 2405-2412

[C18] T.M. Howard, A. Morfopoulos, J. Morrison, Y. Kuwata, C. Villalpando, L. Matthies, and M. McHenry, "Enabling continuous planetary rover navigation through FPGA stereo and visual odometry," In 2012 IEEE Aerospace Conference. IEEE, Mar. 2012, pp. 1-9

[C17] N. Hudson, T.M. Howard, J. Ma, A. Jain, M. Bajracharya, S. Myint, C. Kuo, L. Matthies, and P. Backes, "End-to-End Dexterous Manipulation with Deliberate Interactive Estimation," In Proceedings of the 2012 International Conference on Robotics and Automation. IEEE, May 2012, pp. 2371-2378

[C16] T.M. Howard, J. Cameron, S. Myint, H. Nayar, and A. Jain, "A KML interface for dynamics simulation of robotic planetary exploration," In 2011 Aerospace Conference. IEEE, Mar. 2011, pp. 1-8

[C15] H. Nayar, J. Cameron, M. DiCicco, T.M. Howard, A. Jain, Y. Kuwata, C. Lim, R. Mukherjee, S. Myint, A. Palkovic, M. Pomerantz, and S. Wall, "Surface operations analyses for lunar missions," In AIAA SPACE 2010 Conference & Exposition. AIAA, Aug. 2010, pp. 1-15

[C14] P. Krusi, M. Pivtoraiko, A. Kelly, T.M. Howard, and R. Siegwart, "Path Set Relaxation for Mobile Robot Navigation," In Proceedings of the 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space. Aug. 2010, pp. 1-8

[C13] P.M. Furlong, T.M. Howard, and D. Wettergreen, "Model predictive control for mobile robots with actively reconfigurable chassis," In Field and Service Robotics: Results of the 7th International Conference. Springer Tracts in Advanced Robotics. Springer, Jan. 2010, vol. 62, pp. 469-478

[C12] T.M. Howard, C. Green, and A. Kelly, "Receding Horizon Model-Predictive Control for Mobile Robot Navigation of Intricate Paths," In Field and Service Robotics: Results of the 7th International Conference. Springer Tracts in Advanced Robotics. Springer, Jan. 2010, vol. 62, pp. 69-78

[C11] C. Urmson, J. Anhalt, D. Bagnell, C. Baker, R. Bittner, M.N. Clark, J. Dolan, D. Duggins, T. Galatali, C. Geyer, M. Gittleman, S. Harbaugh, M. Hebert, T.M. Howard, S. Kolski, A. Kelly, M. Likhachev, M. McNaughton, N. Miller, K. Peterson, B. Pilnick, R. Rajkumar, P. Rybski, B. Salesky, Y. Seo, S. Singh, J. Snider, A. Stentz, W. Whittaker, Z. Wolkowicki, J. Ziglar, H. Bae, T. Brown, D. Demitrish, B. Litkouhi, J. Nickolaou, V. Sadekar, W. Zhang, J. Struble, M. Taylor, M. Darms, and D. Ferguson, "Autonomous driving in urban environments: Boss and the urban challenge," In The DARPA Urban Challenge. Springer Tracts in Advanced Robotics. Springer, Jan. 2009, pp. 1-59

[C10] D. Anderson, T.M. Howard, D. Apfelbaum, Herman Herman, and A. Kelly, "Coordinated Control and Range Imaging for Mobile Manipulation," In Experimental Robotics. Springer Tracts in Advanced Robotics. Springer, Jan. 2009, vol. 54, pp. 547-556

[C9] M. Pivtorakio, T.M. Howard, I. Nesnas, and A. Kelly, "Field Experiments in Rover Navigation via Model-Based Trajectory Generation and Nonholonomic Motion Planning in State Lattices," In 9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space. Feb. 2008

[C8] T.M. Howard, C. Green, and A. Kelly, "State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Highly Constrained Environments," In Proceedings of the 6th International Conference on Field and Service Robotics. Springer, Jan. 2008, pp. 585-593

[C7] D. Ferguson, T.M. Howard, and M. Likhachev, "Motion planning in urban environments: Part I," In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, Sep. 2008, pp. 1063-1069

[C6] D. Ferguson, T.M. Howard, and M. Likhachev, "Motion planning in urban environments: Part II," In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, Sep. 2008, pp. 1070-1076

[C5] T.M. Howard, R.A. Knepper, and A. Kelly, "Constrained optimization path following of wheeled robots in natural terrain," In Experimental Robotics. Springer Tracts in Advanced Robotics. Springer, Jan. 2008, vol. 39, pp. 343-352

[C4] C. Green, T.M. Howard, and A. Kelly, "Terrain aware inversion of predictive models for planetary rovers," In Unmanned Systems Technology IX. International Society for Optics and Photonics, May 2007, vol. 6561

[C3] T.M. Howard and A. Kelly, "Trajectory and spline generation for all-wheel steering mobile robots," In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, Oct. 2006, pp. 4827-4832

[C2] T.M. Howard and A. Kelly, "Trajectory generation on rough terrain considering actuator dynamics," In Field and Service Robotics. Springer Tracts in Advanced Robotics. Springer, Jan. 2006, vol. 25, pp. 479-490

[C1] T.M. Howard and A. Kelly, "Terrain-adaptive generation of optimal continuous trajectories for mobile robots," In 8th International Symposium on Artificial Intelligence, Robotics, and Automation in Space. Sep. 2005, pp. 1-8

Book Chapter

[B1] T. Fraichard and T.M. Howard, Handbook of Intelligent Vehicles. Springer, ch. Iterative Motion Planning and Safety Issues, pp. 1433-1458

Theses

[T1] T.M. Howard, "Adaptive model-predictive motion planning for navigation in complex environments," Ph.D. dissertation, Carnegie Mellon University, Aug. 2009

Refereed Workshop and Symposium Papers

[WS12] M. Esponda and T.M. Howard, "Adaptive Grasp Control through Multi-Modal Interactions for Assistive Prosthetic Devices," In 5th AAAI Fall Symposium Series on Artificial Intelligence for Human-Robot Interaction. Oct. 2018, forthcoming

[WS11] J. Arkin and T.M. Howard, "Experiments in Proactive Symbol Grounding for Efficient Physically Situated Human-Robot Dialogue," In Special Session on Physically Situated Dialogue at the 19th Annual Meeting of the Special Interest Group on Discourse and Dialogue. Jul. 2018

[WS10] A. Boteanu, J. Arkin, S. Patki, T.M. Howard, and H. Kress-Gazit, "Robot-Initiated Specification Repair through Grounded Language Interaction," In AAAI Fall Symposium on Natural Communication for Human-Robot Collaboration. Nov. 2017

[WS9] A. Daniele, T.M. Howard, and M. Walter, "Learning Articulated Object Models from Language and Vision," In AAAI Fall Symposium on Natural Communication for Human-Robot Collaboration. Nov. 2017

[WS8] A. Broad, J. Arkin, N. Ratliff, T.M. Howard, and B. Argall, "Towards Real-Time Natural Language Corrections for Assistive Robots," In 2nd Workshop on Model Learning for Human-Robot Communcation at the Robotics: Science and Systems Conference. Jun. 2016

[WS7] J. Arkin and T.M. Howard, "Learning Efficient Models for Natural Language Understanding of Quantifiable Spatial Relationships," In Workshop on Model Learning for Human-Robot Communication at the Robotics: Science and Systems Conference. Jul. 2015

[WS6] T.M. Howard, I. Chung, O. Propp, M.R. Walter, and N. Roy, "Efficient Natural Language Interfaces for Assistive Robots," In Workshop on Rehabilitation and Assistive Robotics at the IEEE/RSJ International Conference on Intelligent Robots and Systems. Oct. 2014

[WS5] S. Tellex, R.A. Knepper, A. Li, T.M. Howard, D. Rus, and N. Roy, "Asking for Help: Assembling Furniture by Asking for Help from a Human Partner," In Collaborative Manipulation workshop at Human-Robot Interaction. Oct. 2013

[WS4] S. Tellex, T.M. Howard, and N. Roy, "A Natural Language Planner Interface for Mobile Manipulators," In Workshop on Robot Learning at the International Conference on Machine Learning. Jul. 2013, forthcoming

[WS3] P. Hebert, J. Burdick, T.M. Howard, N. Hudson, and J. Ma, "Action Inference: The Next Best Touch," In Mobile Manipulation workshop at Robotics Science and Systems. May 2012, forthcoming

[WS2] Y. Kuwata, A. Elfes, M. Maimone, A. Howard, M. Pivtoraiko, T.M. Howard, and A. Stoica, "Path Planning Challenges for Planetary Robots," In 2nd Workshop on Planning, Perception, and Navigation for Intelligent Vehicles at the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. Sep. 2008

[WS1] A. Kelly and T.M. Howard, "Terrain aware inversion of predictive models for planetary rovers," In 2007 NASA Science and Technology Conference. Jun. 2007

Conference Abstracts and Posters

[AP4] S. Patki, J. Arkin, E. Fahnestock, and T.M. Howard, "A Framework for Proactive and Adaptive Natural Language Interaction in Dynamic and Unstructured Environments," In 2nd Robot Teammates Operating in Dynamic, Unstructured Environments (RT-DUNE) at the 2019 International Conference on Robotics and Automation. May 2019, forthcoming

[AP3] A. Rouse, M. Schieber, and T.M. Howard, "Artificial neural network models for predicting reaching and grasping behavior from neural activity in motor cortex," In 2017 Biomedical Engineering Society Annual Meeting. Oct. 2017, forthcoming

[AP2] T.M. Howard, R. Paul, D. Aksaray, J. Arkin, and N. Roy, "Grounding spatial concepts for autonomous mobile robots," In 8th International Conference on Applied Human Factors and Ergonomics. Jun. 2017, forthcoming

[AP1] R. Tedrake, M. Fallon, S. Karumanchi, S. Kuindersma, M.E. Antone, T. Schneider, T.M. Howard, M.R. Walter, H. Dai, R. Deits, M. Fleder, D. Fourie, R. Hammond, S. Hemachandra, P. Ilardi, C. Perez-D'Arpino, S. Pillai, A. Valenzuela, C. Cantu, C. Dolan, I. Evans, S. Jorgensen, J. Kristeller, J.A. Shah, K. Iagnemma, and S.J. Teller, "A summary of team MIT's approach to the virtual robotics challenge," In 2014 IEEE International Conference on Robotics and Automation. May 2014

Awards


Franklin V. Taylor Memorial Award, 2017 IEEE Int. Conference on Systems, Man, and Cybernetics, 2017

Best Paper Award, 2016 Robotics: Science and Systems Conference, 2016

Goergen Institute for Data Science Center of Excellence Distinguished Researcher, 2015-2017

NASA Group Achievement Award (MSL Project Operations Team), 2014

NASA Group Achievement Award (Autonomous Robotic Manipulation Software Team), 2012

JPL Bonus Team Award, 2012

Finalist, Best Manipulation Paper Award, International Conference on Robotics and Automation, 2012

JPL Spot Award, 2010

First Place, DARPA Urban Challenge (Team Award), 2007

International Foundation of Robotics Research Student Travel Fellowship, 2006

University of Rochester Mechanical Engineering Emil L. Kuichling Prize, 2003