Johann Borenstein -- Publications

Note 1: Highlighted publications can be downloaded completely with illustrations, equations, tables, in Adobe Acrobat .pdf format.

Note 2: Publications marked with three stars (***) are also available in ASCII text-only format, to allow the reader a quick glimpse before downloading the whole .pdf file

Note 3: Publications marked with three pound-signs (###) are also available in HTML format, to allow the reader a quick glimpse before downloading the whole .pdf file. The accuracy of the HTML files is marginal in some cases.

Books

Borenstein, J., Everett, B., and Feng, L., 1996, "Navigating Mobile Robots: Systems and Techniques." A. K. Peters, Ltd., Wellesley, MA, ISBN 1-56881-058-X, Publication Date: February 1996. This book is also available on CD-ROM, which includes video clips, background papers, and author information.

Book Chapters

01 Shoval, S., Ulrich, I., and Borenstein, J., "Computerized Obstacle Avoidance Systems for the Blind and Visually Impaired." Invited chapter in "Intelligent Systems and Technologies in Rehabilitation Engineering." Editors: Teodorescu, H.N.L. and Jain, L.C., CRC Press, ISBN/ISSN: 0849301408, Publication Date: 12/26/00, pp. 414-448.

02 Granosik, G., Borenstein, J., and Hansen, M.G., 2007, "Serpentine Robots for Industrial Inspection and Surveillance." Industrial Robotics -- Programming, Simulation and Applications, edited by Low Kin Huat. Published by pro-Literatur Verlag, Germany, February 2007, pp. 633-662. 2007, ISBN 3-86611-286-6.,

Technical Publications

00 Borenstein, J., Weill, R. and Pessen, D.: "Triaxial Force Sensor for Industrial Robots." CIRP Manufacturing Systems, Vol. 13, No. 3, 1985, pp. 155-163.

01 Borenstein, J. and Koren, Y., 1985, "A Mobile Platform For Nursing Robots." IEEE Transactions on Industrial Electronics, Vol. 32, No. 2, pp. 158-165.

02 Borenstein, J. and Koren, Y., 1987, "Motion Control Analysis of a Mobile Robot." Transactions of ASME, Journal of Dynamics, Measurement and Control, Vol. 109, No. 2, pp. 73-79.

03 Borenstein, J. and Koren, Y., 1988, "Obstacle Avoidance With Ultrasonic Sensors." IEEE Journal of Robotics and Automation, Vol. RA-4, No. 2, pp. 213-218.

04a Borenstein, J. and Koren, Y., 1986 "Optimal Path Algorithms For Autonomous Vehicles." Proceedings of the 18th CIRP Manufacturing Systems Seminar, Stuttgart, West-Germany, June 5-6, 1986.

04b Borenstein, J. and Koren, Y., 1987, "Optimal Path Algorithms For Autonomous Vehicles." CIRP Manufacturing Systems, Vol. 16, No. 4, pp. 297-309.

05 Borenstein, J. and Koren, Y., 1986, "Hierarchical Computer System for Autonomous Vehicle." Proceedings of the 8th Israeli Convention on CAD/CAM and Robotics, Tel-Aviv, Israel, December 2-4.

06 Borenstein, J. Koren, Y., and Weill, R., 1987, "Hierarchically Structured Multisensor System for an Intelligent Mobile Robot." CIRP Annals Vol. 36/1, pp. 331-334.

07 Borenstein, J., 1986, "Fast Fix-Point Trig. by Derivation." FORTH DIMENSIONS, May/June pp. 15-19.

08 Borenstein, J. and Koren, Y., 1990, "Task-Level Tour Plan Generation for Mobile Robots." IEEE Transactions on Systems, Man, and Cybernetics, Vol. 20, No.4, July/August 1990, pp. 938-943.

09 Borenstein, J. and Koren, Y., 1988, "Real-time Obstacle Avoidance for Fast Mobile Robots." Proceedings of the CARS&FOF,1988 Conference, Detroit, Michigan, August 17, 1988.

10*** Borenstein, J. and Koren, Y., 1989, "Real-time Obstacle Avoidance for Fast Mobile Robots." IEEE Transactions on Systems, Man, and Cybernetics, Vol. 19, No. 5, Sept./Oct., pp. 1179-1187. This publication is also available in ASCII text-only format. Click here to view.

11 Borenstein, J. and Koren, Y., 1988, "Fast Obstacle Avoidance for Mobile Robots." Tenth Israel Convention on CAD/CAM and Robotics, Tel-Aviv, Israel, December 27-29.

12 Borenstein, J. and Koren, Y., 1988, "High-speed Obstacle Avoidance for Mobile Robots." Proceedings of the IEEE Symposium on Intelligent Control, Arlington, Virginia, August 24-26, pp. 382-384.

13 Levine, S. P., Borenstein, J., Pilutti, T. E., Raschke, B. S., Koren, Y., Bement, S. L., Kirsch, N. L., 1989, "Semi-Autonomous Robot Platform for Rehabilitation and Other Applications." The Second Workshop on Medical and Healthcare Robotics, Newcastle, England, Sept. 5-7, pp. 15-18.

14 Borenstein, J. and Koren, Y., 1989, "Real-time Obstacle Avoidance for Fast Autonomous and Semi-autonomous Mobile Robots." 3rd Topical Meeting on Robotics and Remote Systems, Charleston, South Carolina, March 13-16, 1989, pp. 4.4.1-4.4.6.

15 Borenstein, J. and Koren, Y., 1989, "Tele-autonomous Guidance for Mobile Robots." IEEE Transactions on Systems, Man, and Cybernetics, Special issue on unmanned systems and vehicles, Vol. 20, No. 6, Nov/Dec 1990, pp. 1437-1443.

16*** Borenstein, J. and Koren, Y., 1991, "The Vector Field Histogram -- Fast Obstacle-Avoidance for Mobile Robots." IEEE Journal of Robotics and Automation, Vol. 7, No. 3., June 1991, pp. 278-288. This publication is also available in ASCII text-only format. Click here to view.

17 Borenstein, J. and Koren, Y., 1990, "Real-time Obstacle Avoidance for Fast Mobile Robots in Cluttered Environments." Proceedings of the 1990 IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, May 13-18, 1990, pp. 572-577.

18*** Borenstein, J, and Koren, Y., 1991, "Histogramic In-motion Mapping for Mobile Robot Obstacle Avoidance." IEEE Journal of Robotics and Automation, Vol. 7, No. 4, 1991, pp. 535-539. This publication is also available in ASCII text-only format. Click here to view.

19 Borenstein, J. and Koren, Y., 1990, "Real-time Map-building for Fast Mobile Robot Obstacle Avoidance." SPIE Symposium on Advances in Intelligent Systems, Mobile Robots V, Boston, MA, Nov. 4-9, pp. 74-81.

20 Raschke, U. and Borenstein, J., 1990, "A Comparisson of Grid-type Map-building Techniques by Index of Performance." Proceedings of the 1990 IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, May 13-18, pp. 1828-1832.

21 Zhao, Y., BeMent, S. L., and Borenstein, J., 1989, "Dynamic Path Planning for Mobile Robot Real-time Navigation." Proceedings of the Twelfth IASTED International Symposium on Robotics and Manufacturing, Santa Barbara, California, November 13-15, pp. 162-166.

22 Borenstein, J., 1990, "The NavBelt - A Computerized Multi-Sensor Travel Aid for Active Guidance of the Blind." Proc. of the Fifth Annual CSUN Conference on Technology and Persons With Disabilities, Los Angeles, California, March 21 - 24, 1990, pp. 107-116.

23 Borenstein, J., Levine, S. and Koren, Y., 1990, "The NavChair - A New Concept in Intelligent Wheelchair Control for People with Multiple Handicaps." CSUN's Fifth Annual Conference on Technology and Persons with Disabilities, Los Angeles, California, March 21-24, 1990, pp. 117-124.

24 Jaros, L., Raschke, U., Levine, S., and Borenstein, J., 1990, "Mobile Robotic Platform Capable of Following a Human Companion." RESNA 14th Annual Conference, Kansas City, MO, 1991.

25 Levine, S. P., Borenstein, J., and Koren, Y., 1990, "The NavChair Control System for Automatic Assistive Wheelchair Navigation." RESNA 13th Annual Conference, Washington, D. C., June 1990, pp. 193-194.

27 Koren, Y. and Borenstein, J., 1991, "Potential Field Methods and Their Inherent Limitations for Mobile Robot Navigation." Proceedings of the IEEE International Conference on Robotics and Automation Sacramento, California, April 7-12, 1991, pp. 1398-1404.

28 Koren, Y. and Borenstein, J., 1990, "Analysis of Control Methods for Mobile Robot Obstacle Avoidance." Proceedings of the IEEE International Workshop on Intelligent Motion Control, Istanbul, Turkey, August 20-22, 1990, pp. 457-462.

29 Borenstein, J. and Koren, Y., 1990, "Tele-autonomous Control -- A New Method for the Remote Guidance of Robots and Vehicles." The 23rd Israel Conference on Mechanical Engineering, Technion City, Haifa, Israel, May 21-22, 1990, pp. 6.2.4/1-6.2.4/4.

30 Borenstein, J. and Raschke, U., 1992, "Real-time Obstacle Avoidance for Non-Point Mobile Robots." SME Transactions on Robotics Research. Vol. 2, pp. 2.1-2.10, 1992.

31 Borenstein, J. and Raschke, U., 1991, "Real-time Obstacle Avoidance for Non-Point Mobile Robots." Proceedings of the Fourth World Conference on Robotics Research, Pittsburgh, Pennsylvania, Sept. 17-19, 1991, pp. 2.1 - 2.9.

32 Borenstein, J. and Koren, Y., 1994, "Error Eliminating Rapid Ultrasonic Firing for Mobile Robot Obstacle Avoidance." IEEE Transactions on Robotics and Automation, February 1995, Vol. 11, No. 1, pp 132-138. This publication is also available in ASCII text-only format. Click here to view.

33 Borenstein, J. and Koren, Y., 1994, "Noise Rejection for Ultrasonic Sensors in Mobile Robot Applications." Proceedings of the IEEE Conference on Robotics and Automation, Nice, France, May 1992, pp. 1727-1732.

34 Borenstein, J., 1994, "Control and Kinematic Design for Multi-degree-of-freedom Mobile Robots With Compliant Linkage." IEEE Transactions on Robotics and Automation, Vol. 11, No. 1, February 1995, Vol. 11, No 1, pp. 21-35. This publication is also available in ASCII text-only format. Click here to view.

35 Borenstein, J., 1992, "Compliant-linkage Kinematic Design for Multi-degree-of-freedom Mobile Robots ." Proceedings of the SPIE Symposium on Advances in Intelligent Systems, Mobile Robots VII, Boston, MA, Nov. 15-20, 1992, pp. 344-351.

36 Borenstein, J., 1993, "Multi-layered Control of a Four-Degree-of-Freedom Mobile Robot With Compliant Linkage." Proceedings of the 1993 IEEE International Conference on Robotics and Automation, Atlanta, Georgia, May 2-7, pp. 3.7 - 3.12.

37 Bell, D. A., Levine, S. P., Koren, Y., Jaros, A., and Borenstein, J., 1993, "Shared Control of the NavChair Obstacle Avoiding Wheelchair." Proceedings of the RESNA '93 conference, June 12-17, 1993.

38 38 Shoval, S., Borenstein, J., and Koren, Y., 1993, "The Navbelt - A Computerized Travel Aid for the Blind." Proceedings of the RESNA '93 conference, June 12-17, 1993.

40 Shoval, S., Koren, Y., and Borenstein, J., 1993, "Optimal Task Allocation in Task-Form-Control State Space." Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, Le Touquet, France, October 17-20, 1993, pp. 27-32.

41 Bell, D.A., Levine, S.P., Koren, Y., Jaros, L.A., Borenstein, J., 1993, "An Identification Technique for Adaptive Shared Control in Human-Machine Systems." Proceedings of the 15th Annual Int. Conf. of the IEEE Engineering in medicine and Biology Society, San Diego, CA, Oct. 1993, pp 1299-1300.

42 Bell, D.A., Levine, S.P., Koren, Y., Jaros, L.A., Borenstein, J., 1994, "Design Criteria for Obstacle Avoidance in a Shared Control System." Proceedings of the RESNA '94 Conference, Nashville, June 17-24, 1994. Note: Winning paper of the Whitaker Student Scientific Paper Competition.

43 Feng, L, Koren, Y., and Borenstein, J., 1993, "Cross-Coupling Motion Controller for Mobile Robots." IEEE Journal of Control Systems. December 1993, pp. 35-43.

44### Shoval, S., Borenstein, J., and Koren, Y., 1998, "Auditory Guidance With the NavBelt - A Computerized Travel Aid for the Blind." IEEE Transactions on Systems, Man, and Cybernetics, August 1998, Volume 28, Number 3, pp. 459 - 467. This publication is also available in HTML format. Click here to view.

45### Shoval, S., Borenstein, J., and Koren, Y., 1998, "The NavBelt - A Computerized Travel Aid For The Blind Based On Mobile Robotics Technology." IEEE Transactions on Biomedical Engineering, Vol. 45, No 11, Nov. 1998, pp. 1376-1386. This publication is also available in HTML format. Click here to view.

46 Simpson, R., Levine, S.P., Bell, D.A., Koren, Y., Borenstein, J., and Jaros, L.A., 1995, "The NavChair Assistive Navigation System." Presented at the 1995 International Joint Conference on Artificial Intelligence (IJCAI), Summer '95.

47 Borenstein, J., 1994, "Four-Degree-of-Freedom Mobile Robot With Compliant Linkage." Proceedings of the 1994 NSF Design and Manufacturing Grantees Conference, Boston, MA, Jan 5-7, 1994, pp. 407-408.

48 Borenstein, J., 1995, "Internal Correction of Dead-reckoning Errors With the Compliant Linkage Vehicle." Journal of Robotic Systems, Vol. 12, No. 4, April 1995, pp. 257-273. This publication is also available in ASCII text-only format. Click here to view.

49 Borenstein, J., 1994, "The CLAPPER: a Dual-Drive Mobile Robot with Internal Correction of Dead-reckoning Errors." Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, May 8-13, 1994, pp. 3085-3090..

50 Bell, D., Borenstein, J, Levine, S., Koren, Y., and Jaros, A., 1994d, "The NavChair: An Assistive Navigation System for Wheelchairs, based on Mobile Robot Obstacle Avoidance."Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, May 8-13, 1994, pp. 2012-2017.

51 Feng, L. Koren, Y., and Borenstein, J., 1994e, "A Model-Reference Adaptive Motion Controller for a Differential-Drive Mobile Robot." Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, May 8-13, 1994, pp. 3091-3097.

52 Shoval, S., Borenstein, J., and Koren, Y., 1994f, "Mobile Robot Obstacle Avoidance in a Computerized Travel Aid for the Blind." Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, May 8-13, 1994, pp. 2023-2029.

53 Borenstein, J, 1994g, "Internal Correction of Dead-reckoning Errors With the Smart Encoder Trailer." 1994 International Conference on Intelligent Robots and Systems (lROS '94). Munich, Germany, September 12-16, 1994, pp. 127-134.

54 Feng, L., Borenstein, J., and Wehe, D.K., 1996, "A Completely Wireless Development System for Mobile Robots." Robotic and Manufacturing Systems (WAC '96 Conference), Montpellier, France, May 27-30,1996, pp. 277-282..

55 Wehe, D., Borenstein, J., Weymouth, T., Bidlack, C., Feng, L., Hampapur, A., Koren, Y., 1994h, "Autonomous Navigation of Mobile Platforms in Hazardous Environments." 5th International Symposium on Robotics and Manufacturing (ISRAM), Maui, Hawaii, August 14-17, 1994.

56 Borenstein, J., Wehe, D., Feng, C., Koren, Y., 1994, "Mobile Robot Navigation in Narrow Aisles with Ultrasonic Sensors." Proceedings of the ANS 6th Topical Meeting on Robotics and Remote Systems, Monterey, California, February 5-10, 1995

57 Fan, Z., Borenstein, J., Wehe, D., and Koren, Y.,1995, "Experimental Evaluation of an Encoder Trailer for Dead-reckoning in Tracked Mobile Robots." Proceedings of the 10th IEEE International Symposium on Intelligent Control, August 27 - 29, 1995, pp. 571-576.

58 Borenstein, J. and Feng. L., 1996, "Measurement and Correction of Systematic Odometry Errors in Mobile Robots." IEEE Journal of Robotics and Automation, Vol 12, No 6, December 1996, pp. 869-880.

59 Borenstein, J. and Feng. L., 1995, "Correction of Systematic Odometry Errors in Mobile Robots." Proceedings of the 1995 International Conference on Intelligent Robots and Systems (lROS '95), Pittsburgh, Pennsylvania, August 5-9, 1995, pp. 569-574.

60 Borenstein, J. and Feng. L., 1995, "UMBmark: A Benchmark Test for Measuring Odometry Errors in Mobile Robots." Proceedings of the 1995 SPIE Conference on Mobile Robots, Philadelphia, October 22-26, 1995.

61 Holt, B., Borenstein, J., Koren, Y., and Wehe, D.K., 1996, "OmniNav: Obstacle Avoidance for Large, Non-circular, Omnidirectional Mobile Robots." Robotics and Manufacturing Vol. 6 (ISRAM 1996 Conference), Montpellier, France, May 27-30,1996, pp. 311-317.

62 Borenstein, J.: "The OmniMate: A Mobile Robot With Omnidirectional Motion, Internal Odometry Error Correction, and Recovery from Actuator Failure." Robotic and Manufacturing Systems (WAC '96 Conference), Montpellier, France, May 27-30,1996, pp. 119-124.

63 Borenstein J. and Feng, L., 1996, "Gyrodometry: A New Method for Combining Data from Gyros and Odometry in Mobile Robots." Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnessota, Apr. 22-28, 1996, pp. 423-428.

64 Borenstein, J., Everett, H.R. , Feng, L., and Wehe, D., 1996, "Mobile Robot Positioning: Sensors and Techniques." Invited paper for the Journal of Robotic Systems, Special Issue on Mobile Robots. Vol. 14, No. 4, April 1997, pp. 231-249.

65 Borenstein, J. and Ulrich, I., 1997, "The GuideCane - A Computerized Travel Aid for the Active Guidance of Blind Pedestrians." Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM, Apr. 21-27, 1997. pp. 1283-1288. This publication is also available in HTML format. Click here to view.

66 Borenstein, J., 1997, "Experimental Results from Internal Odometry Error Correction With the OmniMate Mobile Platform." IEEE Transactions on Robotics and Automation, Vol. 14, No. 6, December 1998, 963-969

67 Borenstein, J. and Wehe, D.K., 1997, "Internal Correction of Odometry Errors with the OmniMate." Proceedings of the Seventh Topical Meeting on Robotics and Remote Systems, Augusta, Georgia, April 27 - May 1st, 1997, pp. 323-329.

68 Borenstein, J. and Evans, J., 1997, "The OmniMate Mobile Robot - Design, Implementation, and Experimental Results." Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, Apr. 21-27, 1997, pp. 3505-3510.

69 Levine, S.P., Bell, D.A., Jaros, L.A., Simpson, R.C., Koren, Y., and Borenstein, J., 1999, "The NavChair Assistive Wheelchair Navigation System." IEEE Transactions on Rehabilitation Engineering, Vol. 7, N0. 4, December 1999, pp. 443-451.

70 Simpson, R.C., Levine, S.P., Bell, D.A., Jaros, L.A., Koren, Y., and Borenstein, J., 1998, "NavChair: An Assistive Wheelchair Navigation System with Automatic Adaptation." Assistive Technology and Artificial Intelligence (LNAI 1458), 1998, Springer Verlag Berlin Heidelberg, pp. 235-255.

71 Borenstein, J., 1998, "Experimental Evaluation of a Fiber Optics Gyroscope for Improving Dead-reckoning Accuracy in Mobile Robots." Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Leuven, Belgium, May 16-21, 1998, pp. 3456-3461.

72 Ulrich, I. and Borenstein, J., 2001, "The GuideCane - Applying Mobile Robot Technologies to Assist the Visually Impaired." IEEE Transaction on Systems, Man, and Cybernetics-Part A: Systems and Humans, Vol. 31, No. 2, March 2001, pp. 131-136.

73 Ulrich, I. and Borenstein, J., 1998, "VFH+: Reliable Obstacle Avoidance for Fast Mobile Robots." Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Leuven, Belgium, May 16-21, 1998, pp. 1572-1577.

74 Hong Y., Borenstein, J., and Wehe D.K, 1998, "Double-VFH: Reliable Obstacle Avoidance for Large, Non-point, Omni-directional Mobile Robots." Proceedings of the ANS Conference on Robotics and Remote Systems, Pittsburgh, April 25-29, 1999, Electronic Proceedings file 1204.pdf.

75 Borenstein, J., 2000, "The OmniMate: A Guidewire- and Beacon-free Mobile Robot/AGV for Highly Reconfigurable Applications." International Journal of Production Research, Vol. 38, No. 9, June 15, 2000, pp. 1993-2010.

76 Shoval, S. and Borenstein, J., 1999, "Angular Position Measurement Using Ultrasonic Sensors." Proceedings of the ANS Conference on Robotics and Remote Systems, Pittsburgh, April 25-29, 1999, Electronic Proceedings file 0205.pdf.

77 Ojeda, L. and Borenstein, J., 2000, "Experimental Results With the KVH C-100 Fluxgate Compass in Mobile Robots." Proceedings of the IASTED International Conference on Robotics and Applications 2000, Aug. 14-16, Honolulu, Hawaii.

78 Ulrich, I. and Borenstein, J., 2000, "VFH*: Local Obstacle Avoidance with Look-ahead Verification." Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA, April 24-28, 2000, pp. 2505-2511.

79 Borenstein, J., 2000, "The OmniMate: A Guidewire-free AGV for Highly Flexible Automation." Presented at the 2000 Japan-USA Symposium on Flexible Automation, Ann Arbor, MI., July 23 - 26 2000.

80 Chung, H., Ojeda, L., and Borenstein, J., 2001, "Accurate Mobile Robot Dead-reckoning With a Precision-calibrated Fiber Optic Gyroscope." IEEE Transactions on Robotics and Automation, Vol. 17, No. 1, February 2001, pp. 80-84.

81 Chung, H., Ojeda, L., and Borenstein, J., 2001, "Sensor fusion for Mobile Robot Dead-reckoning with a Precision-calibrated Fiber Optic Gyroscope. Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Korea, May 21-26, 2001, pp. 3588-3593.

82 Ojeda, L., Chung, H., and Borenstein, J., 2000, "Precision Calibration of Fiber-optics Gyroscopes for Mobile Robot Navigation." Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA, April 24-28, 2000, pp. 2064-2069.

83 Shoval and Borenstein, 2001, "Measuring the Relative Position and Orientation Between Two Mobile Robot With Binaural Sonar." Proceedings of the ANS 9th International Topical Meeting on Robotics and Remote Systems," Seattle, Washington, March 4- 8, 2001.

84 Hong Y., Borenstein, J., and Wehe D.K, 2000, "Sonar Based Obstacle Avoidance System for Large, Non-point, Omni-direction Mobile Robots." Presented at the Spectrum 2000 International Conference on Nuclear and Hazardous Waste Management, Chattanooga, TN, Sept. 24-28, 2000.

85 Shoval, S., Ulrich, I., and Borenstein, J., 2001, Computerized Obstacle Avoidance Systems for the Blind and Visually Impaired." IEEE Robotics and Automation Magazine, Vol. 10, No 1, March 2003, pp. 9-20.

87 Shoval, S. and Borenstein, J., 2001, "Using Coded Signals to Benefit from Ultrasonic Sensor Crosstalk in Mobile Robot Obstacle Avoidance." Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, May 21-26, pp. 2879-2884.

89 Ojeda, L. and Borenstein, J., 2002, "FLEXnav: Fuzzy Logic Expert Rule-based Position Estimation for Mobile Robots on Rugged Terrain." Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington DC, USA, 11 - 15 May 2002, pp. 317-322.

91 Long, G., Anderson, J., and Borenstein, J., 2002, "The OmniPede: A New Approach to Obstacle Traversion." Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington DC, USA, 11 - 15 May 2002, pp. 714-719.

92 Ye, C. and Borenstein, J., 2002, "Characterization of a 2-D Laser Scanner for Mobile Robot Obstacle Negotiation." Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington DC, USA, 11 - 15 May 2002, pp. 2512-2518.

93 Cao, A., and Borenstein, J., 2002, "Experimental Characterization of Polaroid Ultrasonic Sensors in Single and Phased Array Configuration." Proceedings of the UGV Technology Conference at the 2002 SPIE AeroSense Symposium, Orlando, FL, April , 1-5, 2002.

94 Ojeda, L. and Borenstein, J., 2004, "Methods for the Reduction of Odometry Errors in Over-constrained Mobile Robots." Autonomous Robots (Journal), Vol 16, pp. 273-286.

95 Ojeda, L. and Borenstein, J., 2003, "Reduction of Odometry Errors in Over-constrained Mobile Robots." Proceedings of the UGV Technology Conference at the 2003 SPIE AeroSense Symposium, Orlando, FL, April 21-25, 2003.

96 Ye, C. and Borenstein, J., 2004, "A Novel Filter for Terrain Mapping." IEEE Transactions on Robotics and Automation, Vol. 20, No. 5, Oct. 2004, pp. 913-921.

97 Ye, C. and Borenstein, J., 2003, "A New Terrain Mapping Method for Mobile Robot Obstacle Negotiation." Proceedings of the UGV Technology Conference at the 2003 SPIE AeroSense Symposium, Orlando, FL, April 21-25, 2003.

98 Granosik, G. and Borenstein, J., 2004, "Minimizing air consumption of pneumatic actuators in mobile robots." Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA., April 26-May 1, 2004, pp. 3634-3639.

99 Ye, C. and Borenstein, J., 2004, "A Method for Mobile Robot Navigation on Rough Terrain." Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA, April 26-May 1, 2004, pp. 3863-3869.

101 Ye, C. and Borenstein, J., 2004, "Obstacle Avoidance for the Segway Robotic Mobility Platform." American Nuclear Society 10th International Conference on Robotics and Remote Systems for Hazardous Environments, Gainesville, Fl, March 28-31, 2004.

102 Ojeda, L. Reina, G., and Borenstein, J., 2004, "Experimental Results from FLEXnav: An Expert Rule-based Dead-reckoning System for Mars Rovers." IEEE Aerospace Conference, Big Sky, MT, March 6-13, 2004, Paper ID: 1126.

103 Granosik, G. and Borenstein, J., 2005, "Integrated Joint Actuator for Serpentine Robots." IEEE Transactions on Mechatronics, Vol. 10, No. 5, October 2005, pp. 473 -- 481.

105 Ojeda, L., Raju, M., and Borenstein, J., 2004, "FLEXnav: A Fuzzy Logic Expert Dead-reckoning System for the Segway RMP." Proceedings of the SPIE Defense and Security Symposium, Unmanned Ground Vehicle Technology VI (OR54), Orlando FL, 12-16 April 2004.

106 Ye, C. and Borenstein, J., 2004, "T-transformation: a New Traversability Analysis Method for Terrain Navigation." Proceedings of the SPIE Defense and Security Symposium, Unmanned Ground Vehicle Technology VI (OR54), Orlando FL, 12-16 April 2004.

107 Ojeda, L. Reina, G., Cruz, D., and Borenstein, J., 2006, "Current-based Slippage Detection and Odometry Correction for Mobile Robots and Planetary Rovers." IEEE Transactions on Robotics. Vol. 22, No. 2, April 2006, pp. 366-378.

108 Granosik, G., and Borenstein, J., 2005, "The OmniTread Serpentine Robot with Pneumatic Joint Actuation." Proceedings of the Fifth International Workshop on Robot Motion and Control. Dymaczewo, Poland, June 23-25, 2005.

109 Borenstein, J., Granosik, G., and Hansen, M., 2005, "The OmniTread Serpentine Robot -- Design and Field Performance." Proceedings of the SPIE Defense and Security Conference, Unmanned Ground Vehicle Technology VII, Orlando, Florida, March 28th to April 1st, 2005.

110 Granosik, G., Hansen, M., and Borenstein, J., 2005, "The OmniTread Serpentine Robot for Industrial Inspection and Surveillance." Industrial Robots Journal, Special Issue on Mobile Robots, vol. IR32-2, March 18th, 2005, pp. 139-148.

111 Ojeda, L., Borenstein, J., and, Witus, G., 2005, "Terrain Trafficability Characterization with a Mobile Robot." Proceedings of the SPIE Defense and Security Conference, Unmanned Ground Vehicle Technology VII, Orlando, Florida, March 28th to April 1st, 2005.

112 Ojeda, L., Reina, G., Cruz, D., and Borenstein, J., 2006, "The FLEXnav Precision Dead-reckoning System." International Journal of Vehicle Autonomous Systems (IJVAS), Special Issue on "Computational Intelligence and Its Applications to Mobile Robots and Autonomous Systems. Vol 4 No. 2-4, 2006, pp. 173-195.

115 Granosik, G., and Borenstein, J., 2005, "Pneumatic actuators for serpentine robots." 8th International Conference on Walking and Climbing Robots (CLAWAR), London, U.K., 12-15 Sept. 2005, pp. 719-726.

117 Ojeda, L., Borenstein, J., Witus, G., and Karlsen, R., 2006, "Terrain Characterization and Classification with a Mobile Robot." Journal of Field Robotics. Vol. 23, No. 2, March 2006, pp. 103-122.

119 Borenstein, J., Hansen, J., and Nguyen, H., 2006, "The OmniTread OT-4 Serpentine Robot for Emergencies and Hazardous Environments." 2006 International Joint Topical Meeting: "Sharing Solutions for Emergencies and Hazardous Environments," February 12-15, 2006, Salt Lake City, Utah, USA.

120 Ojeda, L., Borenstein, J., 2006, "Non-GPS Navigation for Emergency Responders." 2006 International Joint Topical Meeting: "Sharing Solutions for Emergencies and Hazardous Environments," February 12-15, 2006, Salt Lake City, Utah, USA.

121 Baker, J. and Borenstein, J, 2006, "The Joysnake -- A Haptic Operator Console for High-Degree-of-Freedom Robots." 2006 International Joint Topical Meeting: "Sharing Solutions for Emergencies and Hazardous Environments," February 12-15, 2006, Salt Lake City, Utah, USA

122 Reina, G., Ojeda, L., Milella, A., and Borenstein, J., 2006, "Wheel Slippage and Sinkage Detection for Planetary Rovers." IEEE Transactions on Mechatronics, Special Issue on "Novel Aspects in Robotics." Vol. 11, No. 2, April 2006, pp. 185-195.

125 Borenstein, J., Hansen, M., and Borrell, A., 2007, "The OmniTread OT-4 Serpentine Robot -- Design and Performance." Journal of Field Robotics, Vol. 24, No. 7, pp. 601-621.

128 Ojeda, L., Borenstein, J., 2007, "Non-GPS Navigation for Security Personnel and Emergency Responders." Journal of Navigation. Vol. 60 No. 3, September 2007, pp. 391-407.
(In accordance with copyright agreement with the publisher and copyright holder, Cambridge University Press, we provide here a link to the Journal of Navigation web site).

129 Borenstein, J. and Hansen, M., 2007, "OmniTread OT-4 Serpentine Robot -- New Features and Experiments." Proceedings of the SPIE Defense and Security Conference, Unmanned Systems Technology IX, Orlando, Florida, April 9-13, 2007.

130 Ojeda, L., Borenstein, J., 2007, "Non-GPS Navigation with the Personal Dead-reckoning System." Proceedings of the SPIE Defense and Security Conference, Unmanned Systems Technology IX, Orlando, Florida, April 9-13, 2007.

137 Hutchison, W.R., Constantine, B.J., Borenstein, J., and Pratt, J., 2007, "Development of Control for a Serpentine Robot." Proceedings of the 7th IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA2007), Jacksonville, Florida, USA, June 20-23, 2007.

142 Ojeda, L. and Borenstein, J., 2007, "Personal Dead-reckoning System for GPS-denied Environments." IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR2007) in Rome, Italy, September 27-29, 2007.

144 Borenstein, J, Ojeda, L., and Kwanmuang, S, 2009, "Heuristic Reduction of Gyro Drift in a Personal Dead-reckoning System." Journal of Navigation, Vol 62, No 1, January 2009, pp. 41-58. (In accordance with the copyright agreement with the publisher and copyright holder, Cambridge University Press, we provide here a link to the Journal of Navigation web site).

146 Borenstein, J. and Ojeda, L.,2009, "Heuristic Reduction of Gyro Drift in Vehicle Tracking Applications." International Journal of Vehicle Information and Communication Systems, Vol. 2, No.1/2, August, pp. 78-98.
(In accordance with the copyright agreement with the publisher and copyright holder, Cambridge University Press, we provide here a link to the Journal of Navigation web site).

148 Borenstein, J, Ojeda, L., 2010, "Heuristic Drift Elimination for Personnel Tracking Systems." Journal of Navigation, Vol. 63, No. 4, Oct. 2010, pp. 591-606.

149 Borenstein, J. and Ojeda, L., 2009, "Heuristic Reduction of Gyro Drift in Gyro-based Vehicle Tracking." SPIE Defense, Security + Sensing; Conference 7305: Sensors, and Command, Control, Communications, and Intelligent (C3I) Technologies for Homeland Security and Homeland Defense VIII, Orlando, FL, April 13-17, 2009.

150 Borenstein, J, Ojeda, L., and Kwanmuang, S, 2009, "Heuristic Reduction of Gyro Drift in IMU-based Personnel Tracking Systems." SPIE Defense, Security + Sensing; Conference 7306A: Optics and Photonics in Global Homeland Security V, Orlando, FL, April 13-17, 2009.

151 Okubo, Y., Ye, C. and Borenstein, J., 2009, "Characterization of the Hokuyo URG-04LX Laser Rangefinder for Mobile Robot Obstacle Negotiation." SPIE Defense, Security + Sensing; Unmanned Systems Technology XI, Conference 7332: Unmanned, Robotic, and Layered Systems, Orlando, FL, April 13-17, 2009.

154 Borenstein, J., Thomas, D., Sights, B., Ojeda, L., Bankole, P., Fellars, D., 2010, "Human Leader and Robot Follower Team: Correcting Leader's Position from Follower's Heading." Proceedings of the SPIE Defense, Security + Sensing; Unmanned Systems Technology XII, Conference DS117: Unmanned, Robotic, and Layered Systems. Orlando, FL, April 5-9, 2010.

155 Borenstein, J., Miller, R., Borrell, A., and Thomas, D., 2010, "Heuristics-enhanced Dead-reckoning (HEDR) for Accurate Position Tracking of Tele-operated UGVs." Proceedings of the SPIE Defense, Security + Sensing; Unmanned Systems Technology XII, Conference DS117: Unmanned, Robotic, and Layered Systems. Orlando, FL, April 5-9, 2010.

156 Aggarwal, P., Thomas, D., Ojeda, L, and Borenstein, J, 2011, "Map matching and heuristic elimination of gyro drift for personal navigation systems in GPS-denied conditions. " Journal of Measurement Science Technology, Vol. 22, Jan. 2011.

161 Ojeda, L. and Borenstein, J., 2011, "Transfer Alignment from a Personal Dead Reckoning System to a Handheld IMU. " Proceedings of the SPIE Defense, Security + Sensing; Conference DS209: Head- and Helmet-Mounted Displays XVI: Design and Applications. Orlando, FL, April 25-29.

162 Kwanmuang, Borenstein, Ojeda, 2011, "Magnetometer-enhanced Personal Locator for Tunnels and GPS-denied Outdoor Environments. " Proceedings of the SPIE Defense, Security + Sensing; Unmanned Systems Technology XIII, Conference DS117: Unmanned, Robotic and Layered Systems. Orlando, FL, April 25-29.

165 Borenstein, J., Miller, R., Borrell, A, 2012, "TelOpTrak: Heuristics-enhanced Indoor Location Tracking for Tele-operated Robots." Journal of Navigation, Vol. 65, No. 02, pp. 265-279.

VIDEO PROCEEDINGS

V01 Borenstein, J., 1994Video, "Four-Degree-of-Freedom Redundant Drive Vehicle With Compliant Linkage." Video Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, May 8-13, 1994. (Note: Video Proceedings booklet lists this entry under incorrect title and abstract).

V02 Borenstein, J., 1995Video, "The CLAPPER: A Dual-drive Mobile Robot With Internal Correction of Dead-reckoning Errors." Video Proceedings of the 1995 IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 21-27, 1995.

V03 Borenstein, J. and Borrell, A., 2008, "The OmniTread OT-4 Serpentine Robot." Video Proceedings IEEE International Conference on Robotics and Automation (ICRA2008), Pasadena, CA, May 19-23, 2008. Winner of the Best Video Award.

TECHNICAL REPORTS

01 Feng, L., Borenstein, J., and Everett, B., 1994, "Where am I? Sensors and Methods for Autonomous Mobile Robot Localization." Technical Report, The University of Michigan UM-MEAM-94-21, December 1994.

02*** Borenstein, J. and Feng, L., 1994, "UMBmark A Method for Measuring, Comparing, and Correcting Dead-reckoning Errors in Mobile Robots." Technical Report, The University of Michigan UM-MEAM-94-22, December 1994. This publication is also available in ASCII text-only format. Click here to view.

03 Z. Fan, J. Borenstein, D. Wehe, Y, Koren, "Experimental Evaluation of an Encoder Trailer for Dead-reckoning in Tracked Mobile Robots." Technical Report, The University of Michigan, UM-MEAM-94-24, December 1994.

04*** Borenstein, J., Everett, B., and Feng, L., 1996, "Where am I? Sensors and Methods for Mobile Robot Positioning." March 1996.

05 Borenstein, J., 1996, "Mobile Robotics Lab - 10-year Anniversary Research Report." Technical Report, The University of Michigan, UM-MEAM-96-13, October 1996. This multi-media collection of graphics-rich presentations, video clips, and background papers shows our best projects. The collection is accessible on the web and on CD-ROM.

06 Borenstein, J., Everett, H.R., Feng, L., 1996, " 'Where am I?' Sensors and Methods for Mobile Robot Positioning." Technical Report, The University of Michigan. This 230-page report is available in its entirety on the web and on CD-ROM.

TR07 Roush, J. Yetis, A., and Borenstein, J., 1999, "Object Classification for Ultrasonic Sensor-based Obstacle Avoidance." Technical Report, The University of Michigan, UM-MEAM-99-07, June 1999.

TR08 Ojeda, L. and Borenstein, J., 2001, "Improved Position Estimation for Mobile Robots on Rough Terrain Using Attitude Information." Technical Report, The University of Michigan, UM-ME-01-01, August 2001.

TR09 Borenstein, J., "Mobile Robotics Lab - 15-year Anniversary Research Report." Technical Report UM-ME-01-03, August 2001. On CD-ROM.

TR10 Ojeda, L., Raju, M., and Borenstein, J. "Experimental Results from UM's Proprioceptive Position Estimation System Installed on CMU's ATRV." Technical Report, University of Michigan, Dept. of Mechanical Engineering, #03-01, February 19th, 2003

PATENTS

01 Borenstein, J., Koren, Y., and Levine, S. P.: "Obstacle-Avoiding Navigation System," U.S. patent #5006988, issued April 9, 1991., 33 claims, (Rights Assigned to the University of Michigan).

02 Borenstein, J. and Koren Y.: "Error Eliminating Rapid Ultrasonic Firing for Mobile Robot Obstacle Avoidance." U.S. patent #5,239,515 issued August 24, 93, (Rights Assigned to the University of Michigan).

03 Borenstein, J.: " Multi-Degree-of-Freedom Vehicle."U.S. patent #5,456,332, issued October 10, 1995, May 1995 (Rights Assigned to the University of Michigan).

04 Borenstein, J.: "Mobile Robot Internal Position Error Correction System." U.S. patent #5559696, issued September 24,1996. (Rights Assigned to the University of Michigan).

05 Borenstein, J.: "User-Driven Active Guidance System." U.S. patent #5,687,136, issued November 11,1997. (Rights Assigned to the University of Michigan).

06 Borenstein, J. and Long, G. A., "Apparatus for Obstacle Traversion." U.S. patent #6,512,345, issued January 28, 2003. (Rights Assigned to the University of Michigan).

07. Borenstein, J. "Apparatus for Obstacle Traversion" -- Continuation-in-part. U.S. patent #6,774,597, issued August 10, 2004. (Rights Assigned to the University of Michigan), Application # 10/318,452

08. Borenstein, J. and Granosik, G.: "Integrated, Proportionally Controlled, and Naturally Compliant Universal Joint Actuator with Controllable Stiffness." U.S. patent #6,870,343 issued March 22, 2005. (Rights Assigned to the University of Michigan).