:: Christopher Clark   -   Publications ::

Journal Publications

• Reinforcement Learning of Adaptive Longitudinal Control for Dynamic Collaborative Driving, Ng., L., Clark, C. M., and Huissoon, J. P., Conditionally accepted to the International Journal of Vehicle Information and Communication Systems, 2008.
• Reinforcement Learning of Dynamic Collaborative Driving II: lateral Adaptive Control, Ng., L., Clark, C. M., and Huissoon, J. P., Conditionally accepted to the International Journal of Vehicle Information and Communication Systems, 2008.
• Decentralized Robust Control of Modular and Reconfigurable Robots with Harmonic Drive Transmission Systems. Z. Li, W. Melek, C, Clark, Robotica 04 Jun 2008 . [PDF]
• A Complete and Scalable Strategy for Coordinating Multiple Robots within Roadmaps. Peasgood, M., Clark, C., McPhee, J., IEEE Transactions on Robotics. Vol. 24, No. 2, Feb 2008. [PDF]

      2007

• Markov-Based Lane-Positioning Using Inter-Vehicle Communication.. Dao, T.S., Leung, K., Clark, C., Huissoon, J., IEEE Transactions on Intelligent Transportation Systems. Vol 8., No. 4, Dec 2007.[PDF]

      2005

• Probabilistic Road Map Sampling Strategies for Multi-Robot Motion Planning. Clark, C., Journal of Robotics and Autonomous Systems, Vol 53, (3-4), 244-264, Dec, 2005. [PDF]

      2004

• Motion Planning for Formations of Mobile Robots. Barfoot, T., Clark, C., Journal of Robotics and Autonomous Systems, Vol. 46, Issue 2, Feb, 2004. [PDF]

      2000

• Robotic System Sensitivity to Neural Network Learning Rate: Theory, Simulation and Experiments. Clark, C., and Mills, J.K., International Journal of Robotics Research, Vol. 19, No. 10, pp. 955-968, October 2000. [PDF]

Conference Publications

• Altruistic Relationships for Optimizing Task Fulfillment in Robot Communities, Clark, C.M, Morton, R., and Bekey, G.A., Proc. of Distributed Autonomous Robot Systems (DARS’08), Nov, 2008.[PDF]
• Archaeology via Underwater Robots: Mapping and Localization within Maltese Cistern Systems, Clark, C.M, Olstad, C.S., Buhagiar, K., and Gambin, T., Proc. of the 10th International Conference on Control, Automationa, Robotics and Vision (ICARCV’08), Dec, 2008.[PDF]
• Real time Experiments in Markov Based Lane Position Estimation Using Wireless Ad-Hoc Network, Dao, T-S., Ng, L., Clark, C. M. and Huissoon, J. P., Proc. of the 2008 IEEE Intelligent Vehicles Symposium (IV’08), June 4-6, 2008.[PDF]
• Reinforcement Learning of Adaptive Longitudinal Vehicle Control for Dynamic Collaborative Driving, Ng, L., Clark, C. M. and Huissoon, J. P., Proc. of the 2008 IEEE Intelligent Vehicles Symposium (IV’08), June 4-6, 2008.[PDF]
• Monocular Vision based Particle Filter Localization in Urban Environments, Leung, K. Y. K., Clark, C. M., and Huissoon, J. P., Proc. of the 2008 IEEE International Conference on Robotics and Automation, May 19-23, 2008.[PDF]
• Toward Systematic Approaches to Design and Implement Vehicles Semi-Active Control Systems, Bolandhemmat, H., Clark, C. M., Golnaraghi, F., Proc. of ISIE08 - IEEE International Symposium on Industrial Electronics, 2008.[PDF]
• Distributed Platoon Assignment and Lane Selection for Traffic Flow Optimization, Dao, T-S., Clark, C. M. and Huissoon, J. P., Proc. of the 2008 IEEE Intelligent Vehicles Symposium (IV’08), June 4-6, 2008.[PDF]

      2007

• Autonomous Control of a Differential Thrust ROV. Wang, W. and Clark, C., Proc. of the 2007 International Symposium on Unmanned Untethered Submersible Technology (UUST), 2007. [PDF]

• SIFT Approach Used in Fish Tracking for Autonomous Underwater Vehicle, Zhou, J., Clark, C. and J. Huissoon,  Proc. of the 2007 International Symposium on Unmanned Untethered Submersible Technology (UUST), 2007. [PDF]

• Dynamics of Step-climbing with Deformable Wheels and Applications for Mobile Robotics, A. Wilhelm, W. Melek, J.P. Huissoon, C. Clark, G. Hirzinger, N. Sporer, M. Fuchs, IEEE/RSJ Conference on Intelligent Robotics and Systems, 2007. [PDF]
• Design of a Wheeled Mobile Robotic Platform with Variable Footprint, A. Wilhelm, J. Huissoon, W. Melek, C. Clark, M. Fuchs, G> Hirzinger, IEEE/RSJ Conference on Intelligent Robotics and Systems, 2007. [PDF]
• Optimized Lane Assignment Using Inter-Vehicle Communication ,T.S., Dao, C.M., Clark, and J.P., Huissoon.. 2007 IEEE Intelligent Vehicles Symposium, IV'07. [PDF]
• Development and characterization of modular and reconfigurable robot joints with harmonic drive transmission systems, Z. Li, W. Melek, C. Clark, International Conference on Changeable, Agile, Reconfigurable and Virtual Production (CARV), Toronto, 2007. [PDF]
• Task Based Configuration Optimization of Modular and Reconfigurable Robots using a Multi-Solution Inverse Kinematics Solver, S. Tabandeh, , W. Melek, C. Clark, International Conference on Changeable, Agile, Reconfigurable and Virtual Production (CARV), Toronto, 2007. [PDF]

      2006

• A genetic algorithm approach to solve for multiple solutions of inverse kinematics using adaptive niching and clustering. Tabandeh S, Clark C, Melek , W, Proceedings of 2006 IEEE World Congress on Computational Intelligence, Vancouver, BC, Canada. [PDF]
• A Distributed Sensing System for Vehicles State Estimation. Bolandhemmat, H.R., Clark, C., Golnaraghi, M.F., Proceedings of The 2006 ASME International Mechanical Engineering Congress and Exposition , Chicago, Illinois, USA, November 2006. [PDF]
• Complete and Scalable Multi-Robot Planning in Tunnel Environments. Mike Peasgood, John McPhee, and Christopher Clark, Proc. of the 1st IFAC Workshop on Multivehicle Systems (MVS'06), October 2006. [PDF]
• A Decentralized Reinforcement Learning Controller for Collaborative Driving. Ng L., Clark C., Huissoon J.P.,In Proceedings of 1st IFAC Workshop on Multi-Vehicle Systems 2006 MVS ’06. Oct 2-3, Salvador, Bahia, Brazil, 2006. [PDF]
• Cooperative Lane-Level Positioning Using Markov Localization. Dao, T.S., Leung, K., Clark, C., Huissoon, J., Proceedings of The International IEEE Conference on Intelligent Transportation Systems, Toronto, Ontario, Canada, September 2006. [PDF]
• Development of a Microscopic Traffic Simulator for Inter-Vehicle Communication Application Research. Leung, K., Dao, T.S., Clark, C., Huissoon, J., Proceedings of The International IEEE Conference on Intelligent Transportation Systems (In publication), Toronto, Ontario, Canada, September 2006. [PDF]
• Geographic Information System Estimation Using Inter-Vehicle Communication. Leung, K., Dao, T.S., Clark, C., Huissoon, J., Proceedings of The Mechatronics Forum Biennial International Conference, Malvern, Pennsylvania, June 2006. [PDF]
• Software and Control Architecture Development of an Autonomous Vehicle. Leung, K., Clark, C., Huissoon, J., Proceedings of ASME International Student Conference 2006, Istanbul, Turkey, May 2006. [PDF]

• Modeling and Simulation of the VideoRay Pro III Underwater Vehicle, W. Wang, and C. M. Clark, OCEANS'06 Asia Pacific IEEE – Singapore, May 2006. [PDF]

• Autonomous fish tracking by ROV using Monocular Camera, J. Zhou, C. M. Clark, Proceedings of the the 3rd Canadian Conference on Computer and Robot Vision (CRV'06) - Volume 00, 2006. [PDF]

      2005

• Localization of Multiple Robots Equipped with Simple Sensors. Peasgood, M., Clark, C., and McPhee, J., Proc. of the IEEE Conference on Mechatronics and Automation, 2005. [PDF]
• Towards Gaussian Multi-Robot SLAM as Applied to Underwater Robotics. Kroetsch, D. and Clark, C., Proc. of the 2005 International Symposium on Unmanned Untethered Submersible Technology (UUST), 2005. [PDF]

      2003

• Motion Planning for Multi-Robot Systems using Dynamic Robot Networks. Clark, C., Rock, S. and Latombe, J.C., Proceedings of the 2003 International Conference on Robotics and Automation, Taipei, Taiwan, May, 2003. [PDF]
• Using Dynamic Robot Networks for Motion Planning in Multi-Robot Space Systems. Clark, C., Rock, S.and Latombe, J.C., Proceedings of the 7th International Symposium on Artificial Intelligence, Robotics and Automation in Space, Kobe, Japan, May, 2003. [PDF]
• An Integrated System for Command and Control of Cooperative Robotic Systems. Clark, C., Frew, E. W., Jones, H.L., and Rock, S. M., Proceedings of the 11th International Conference on Advanced Robotics, Portugal, June, 2003. [PDF]

      2002

• Applying Kinodynamic Randomized Motion Planning with a Dynamic Priority System to Multi-Robot Space Systems. Clark, C., Bretl, T., and Rock, S., Proceedings of the 2002 IEEE Aerospace Conference, Big Sky, MT, March, 2002. [PDF]
• Kinematic Path-planning for Formations of Mobile Robots with a Nonholonomic Constraint. Barfoot, T., Clark, C., Rock, S., and D'Eleuterio, G., Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September, 2002. [PDF]

      2001

• Randomized Motion Planning for Groups of Nonholonomic Robots. Clark, C., and Rock, S., Proceedings of the 6th International Symposium on Artificial Intelligence, Robotics, and Automation in Space, Montreal Canada, June 2001. [PDF]

      1999

• Robotic System Sensitivity to Neural Network Learning Rate. Clark, C., Chen, P.C.Y. and Mills, J.K., Proceedings IEEE Hong Kong Symposium on Robotics and Control, Hong Kong, July, 1999.
• Comparison of Performance of Neural Network Controller Architectures: Error Back Propagation, Mixture of Expert, and 'Move' Neural Network Architectures on Industrial Robot Trajectory Following Tasks. Clark, C. and Mills, J.K., Proceedings of International Conference on Advanced Manufacturing Technology, Xi'an, P.R.C., June, 1999.

      1998

• Increasing Production of Robot Manipulators with Neural Networks. Clark, C. and Mills, J.K., Proceedings CSME FORUM, Toronto, Ontario, May 19-22, 1998.
• Development of a Neural Network Module for Improving the Performance of a Commercial Robot. Chen, P.C.Y., Ogilvie, A., Clark, C., Zhou, K., Mills, J.K., Proceeding of World Automation Congress, Anchorage, Alaska, May, 1998.

Theses     

      2008

• A Decentralized Approach to Dynamic Collaborative Driving Coordination, Dao, T.S., University of Waterloo, Ph.D. Thesis, 2008.[PDF]
• Reinforcement Learning for Dynamic Collaborative Driving, Ng, L., University of Waterloo, Ph.D. Thesis, 2008.[PDF]

      2007

• State Estimation Strategies For Autonomous Underwater Vehicle Fish Tracking Applications, Zhou, J., University of Waterloo, M.Sc. Thesis, 2007.[PDF]
• Cooperative Navigation for teams of Mobile Robots. Peasgood, M., University of Waterloo, Ph.D. Thesis, 2007.[PDF]
• Multi-Frame Measurement Fusion for State Estimation . Kroetsch, D., University of Waterloo, M.Sc. Thesis, 2007. [PDF]
• Design of a Mobile Robotic Platform with Variable Footprint. Wilhelm, A., University of Waterloo, M.Sc. Thesis, 2007. [PDF]
• Monocular Vision Based Particle Filter Localization in Urban Environments. Leung, K., University of Waterloo, M.Sc. Thesis, 2007. [PDF]
• Development and Control of a Modular and Reconfigurable Robot with Harmonic Drive Transmission System.. Li, Z.., University of Waterloo, M.Sc. Thesis, 2007. [PDF]

      2006

• Autonomous Control of a Differential Thrust Micro ROV.. Wang, W.., University of Waterloo M.Sc. Thesis, 2006. [PDF]

      2004

• Dynamic Robot Networks: A Coordination Platform for Multi-Robot Systems. Clark, C., Ph.D. Thesis, 2004. [PDF]