UPS Foundation Professor Departments of Mechanical Engineering and Applied Mechanics and Computer and Information Science Member

of the GRASP Laboratory and the Penn Genome Frontiers Institute School of Engineering and Applied Science University of Pennsylvania http://www.seas.upenn.edu/~kumar Education B. Tech., Mechanical Engineering Indian Institute of Technology, Kanpur, India, May 1983 M.Sc., Mechanical Engineering Thesis: Robot Manipulators - Workspaces and Geometric Dexterity The Ohio State University, Columbus, Ohio, March 1985 Ph.D., Mechanical Engineering Dissertation: Motion Planning for Legged Locomotion Systems on Uneven Terrain The Ohio State University, Columbus, Ohio, September 1987 Professional Experience 20082005-08 2000-04 1999 1998Deputy Dean (Education), School of Engineering and Applied Science, University of Pennsylvania. Chairman, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania. Deputy Dean (Research), School of Engineering and Applied Science, University of Pennsylvania. Visiting Professor, Johns Hopkins University, Baltimore, Maryland. Professor, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania (secondary appointment in Computer and Information Science and the Department of Systems Engineering). Director, General Robotics Automation Sensing and Perception (GRASP) Laboratory. Visiting Scientist, Applied Science and Engineering Laboratories, Alfred I. DuPont Institute, Wilmington, Delaware. Associate Professor, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania (secondary appointment in Computer and Information Science). Assistant Professor, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania (with a secondary appointment in Computer and Information Science). Research Assistant and Research Fellow, The Ohio State University

Vijay Kumar

1998-05 1996 1993-98 1987-93 1983-87

Vijay Kumar Page 2 Awards/Honors The Ohio State University Presidential Fellowship (1986) NSF Presidential Young Investigator Award (1991) Lindback Award for Distinguished Teaching, University of Pennsylvania (1996) The Ferdinand Freudenstein Award for significant contributions to mechanisms and robotics, 5th National Conference on Mechanisms and Robotics (1997) Best paper award, Distributed Autonomous Robotic Systems (DARS), 2002. Fellow, American Society of Mechanical Engineers (2003) Kayamori Best Paper Award, IEEE Int. Conference on Robotics and Automation, 2005. IEEE Robotics and Automation Society Distinguished Lecturer (2005-09) Fellow, Institute for Electrical and Electronics Engineers (2005) Advisor to Best Student Paper Award, IEEE Int. Conference on Robotics and Automation, 2008. MSC Software Best Paper Award, ASME Int. Design Engineering Tech. Conferences, 2008. Advisor to Best Paper Award, Robotics Science and Systems, 2009. Association for Laboratory Automation Award, IEEE Int. Conference on Automation Science and Engineering, 2009. Advisor to Best Student Paper Award, Distributed Autonomous Robotic Systems, 2010. Best Paper Award, IEEE Int. Conference on Robotics and Automation, 2011. Best Paper Award, Robotics Science and Systems, 2011. Refereed Journal Publications 1. Kumar, R. V., Waldron, K.J. and Tsai, M.J., "Geometric Optimization of Serial Chain Manipulator Structures for Working Volume and Dexterity," International Journal of Robotics Research, Vol. 5, No. 2., 1986, pp. 91-103. Pandy, M.G., Kumar, V., Berme, N., and Waldron, K.J., "The Dynamics of Quadrupedal Locomotion," Journal of Biomechanical Engineering, Vol. 110, No. 3, 1988, pp. 230-237. Kumar, V. and Waldron, K.J., "Force Distribution in Closed Kinematic Chains," IEEE Journal on Robotics and Automation," Vol. 4, No. 6, December 1988, pp. 657-664. Kumar, V. and Waldron, K.J., "Adaptive Gait Control for a Walking Robot," Journal of Robotic Systems, Vol. 6, No. 1. February 1989, pp. 49-75. Kumar, V. and Waldron, K.J., "Actively Coordinated Mobility Systems," ASME Journal of Mechanisms, Transmissions and Automation in Design, Vol. 111, No. 2, 1989, pp. 223-231. Kumar, V. and Waldron, K.J., "Suboptimal Algorithms for Force Distribution in Multifingered Grippers," IEEE Journal on Robotics and Automation, Vol. 5, No. 4, 1989, pp. 491-498. Kumar, V. and Waldron, K.J., "Force Distribution in Walking Vehicles on Uneven Terrain," ASME Journal of Mechanisms, Transmissions and Automation in Design, Vol. 112, No. 1, 1990, pp. 90-99. Kumar, V. and Gardner, J.F., "Kinematics of Redundantly Actuated Kinematic Chains," IEEE Journal on Robotics and Automation, Vol. 6, No. 13, 1990, pp. 269-273. Kumar, V., "Instantaneous Kinematics of Parallel-Chain Robotic Mechanisms," ASME Journal of Mechanisms, Transmissions, Automation in Design, Vol. 114, No. 3, 1992, pp. 349-358. Kim, J-H. and Kumar, V., "Robot Kinematics via Line Transformations," Journal of Robotic Systems, Vol. 7, No. 4, August 1990, pp. 649-674. Yun, X. and Kumar, V., "An Approach to Simultaneous Control of Trajectory and Interaction Forces in Dual Arm Configurations," IEEE Journal of Robotics and Automation, Vol. 7, No. 5, October 1991, pp. 618-625.

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Vijay Kumar Page 3 12. 13. 14. 15. 16. Kumar, V., "Characterization of Workspaces of Parallel Manipulators," Mechanical Design, Vol. 114, No. 3, 1992, pp. 368-375. ASME Journal of

Kumar, V., "A Compact Inverse Velocity Solution for Redundant Robots," Int. Journal of Robotics Research, Vol. 12, No.1, February 1993, pp. 45-54. Wang, Y. and Kumar, V. , "Simulation of Mechanical Systems with Unilateral Constraints," Journal of Mechanical Design, June, 1994, pp. 571-580. Ouerfelli, M. and Kumar, V., "Optimization of a 5-R Linkage,"ASME Journal of Mechanical Design, Vol. 116, No. 1, March 1994, pp. 166-173. Sarkar, N., Yun, X. and Kumar, V., "Control of Mechanical Systems with Rolling Contacts: Applications to Mobile Robots," International Journal of Robotics Research, Vol. 13, No. 1, February 1994: 55-69. Pfreundschuh, G., Kumar, V. and Sugar, T.G., "Design and Control of a Three Degree of Freedom In-Parallel Actuated Manipulator," Journal of Robotic Systems, Vol. 11, No. 2, 1994, pp. 103-115. Paljug, E., Yun, X., and Kumar, V., "Control of Rolling Contacts in Two-Arm Manipulation," IEEE Transactions on Robotics and Automation," IEEE Journal of Robotics and Automation, Vol. 10, No. 4, August 1994, pp. 441-452. Chen, W. and Kumar, V., Workspaces of Mechanical Systems with Rolling Contacts, Journal of Advanced Robotics, The International Journal of the Robotics Society of Japan, Vol. 9, No. 5, 1995: 483-504. Wang, C. C., and Kumar, V., Kinematics and Control of Mobile Manipulators, Journal of Applied Mechanisms and Robotics, 1995, pp. 1-9. Wellman, P., Krovi, V., Kumar, V. and Harwin, W. A Wheelchair with Legs for People with Motor Disabilities, IEEE Transactions on Rehabilitation Engineering, Vol. 3, No. 4, 1995, pp. 343 - 53. Kumar, V., Bajcsy, R., Harwin, W. and Harker, P., Rapid Design and Prototyping of Customized Rehabilitation Aids, Special Section on Computers in Manufacturing, Communications of the ACM, Vol. 39, No. 2., February, 1996: 55-61. Howard, W. S. and Kumar, V., "On the Stability of Grasped Objects1,'' IEEE Transactions on Robotics and Automation, Vo. 12, No. 6, December 1996: 904-917. Sarkar, N., Yun, X. and Kumar, V., "Control of Contact Interactions with Acatastatic Nonholonomic Constraints," International Journal of Robotics Research, Vol 16, No.3, June l997: 357-374. Garvin, G. J., Zefran, M., Henis, E. A., and Kumar, V. "Two Arm Trajectory Planning in a Manipulation Task," Journal of Biological Cybernetics, Vol. 76, 1997: 53-62. Sarkar, N. and Kumar, V., "Velocity and Acceleration Analysis of Contact between ThreeDimensional Rigid Bodies," ASME Journal of Applied Mechanics, Vol. 63, Dec. 1996: 974-984. Adams, J., et al. Cooperative Material Handling by Human and Robotic Agents: Module Development and System Synthesis, Expert Systems with Applications, Pergamon, Vol. 11, No. 2, 1996: 89-97. Sarkar, N., Yun, X. and Kumar, V., "Dynamic Control of 3-D Rolling Contacts in Two-Arm Manipulation," IEEE Transactions on Robotics and Automation, Vol. 13, No. 3, pp. 364-376, 1997.

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This paper was one of five nominations for the best paper award for the IEEE Transactions on Robotics and Automation in 1996.

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Howard, W. S., Zefran, M., and Kumar, V., On the 66 Stiffness Matrix for Three-Dimensional Motions, Journal of Mechanism and Machine Theory, Vol. 33, No. 4, May 1998: 389-408. Zefran, M., and Kumar, V., "Rigid Body Motion Interpolation," Computer Aided Design, Vol. 30, Issue 3, 1998: 179-189. Zefran, M., Kumar, V. and Croke, C., Generation of Smooth Three-Dimensional Rigid Body Motions, IEEE Transactions on Robotics and Automation, Vol. 14, No. 4, Aug 1998: 576-589. Zefran, M., Kumar, V. and Croke, C., Metrics and Connections for Rigid Body Kinematics, International Journal of Robotics Research, Vol. 18, No. 2, February 1999: 243-258. Chen, C., and Kumar, V., "Motion Planning for Walking Vehicles Using Ordinal Optimization," IEEE Robotics and Automation Magazine, Vol. 5, No. 2, June 1998: 22-32. Desai, J., Zefran, M., and Kumar, V., "Two Arm Manipulation with Friction-Assisted Grasping," International Journal of Advanced Robotics, Special Issue on Selected Papers from IROS97. Krovi, V., and Kumar, V., "Design and Control of a Hybrid Mobility System," ASME Trans. Journal of Mechanical Design, Vol. 121, No. 3, pp. 448-455, September 1999. Krovi, V., Kumar, V., Ananthasuresh, G.K., and Vezien J-M., "Design and Virtual Prototyping of Rehabilitation Aids," ASME Trans. Journal of Mechanical Design, Vol. 121, No. 3, pp. 456-458, September 1999. Ouerfelli, M., Kumar, V., and W. S. Harwin, "Kinematic Modeling of Head-Neck Movements", IEEE Trans. Systems, Man, and Cybernetics, Part A: Systems and Humans, Vol. 29, No. 6, 1999: 604-615. Zefran, M., and Kumar, V., "A Geometrical Approach to the Study of the Cartesian Stiffness Matrix," ASME Journal of Mechanical Design, Vol. 124, No. 1, 2002: 30-38. Desai, J., and Kumar, V., "Motion Planning of Nonholonomic Cooperating Mobile Manipulators," Journal of Robotic Systems, Vol. 16, No. 10, 1999: 557-579. Kumar, V., Kinzel, G., Wei, S., Bengu, G., and Zhou, J. Multi-University Design Projects, ASEE Journal of Engineering Education, Vol. 89, No. 3, 2000: 23-32. Ostrowski, J., Desai, J., and Kumar, V., "Optimal Gait Selection for Nonholonomic Locomotion Systems," International Journal of Robotics Research, Vol. 19, No. 3, 2000: 1-13. Chen, C., and Kumar, V., "Motion Planning for Walking Vehicles on Uneven Terrain," Journal of Robotic Systems, Vol. 16, No. 10, 1999: 527-545. Song, P., Kraus, P., Kumar, V., and Dupont, P., Analysis of Rigid Body Dynamic Models for Simulation of Systems with Frictional Contacts, ASME Transactions Journal of Applied Mechanics, V. 68, No. 1, pp. 118-128, Jan. 2001. Wang, C. C., and Kumar, V., The Performance of Repeatable Control Schemes for Redundant Robots, Journal of Robotic Systems, Vol. 18, No. 4, 2001. Ouerfelli, M., Kumar, V., and Harwin, W.S. Methods for kinematic modeling of biological and robotic systems, Medical Engineering and Physics, Elsevier Press, Vol. 22, 2000: 509-520. V. Krovi, G. K. Ananthasuresh, and V. Kumar, "Kinematic Synthesis of Spatial R-R Dyads for Path Following With Applications to Coupled Serial Chain Mechanisms," ASME Journal of Mechanical Design, Vol. 123, No. 3, 2001: 359-366.

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Ansar, A., Rodrigues, D., Desai, J., Daniilidis, K., Kumar, V. and Campos, M. Visual and Haptic Collaborative Tele-presence, Computers & Graphics, Special Issue on Mixed Realities Beyond Conventions, Vol. 25, No. 5, October 2001. Desai, J., Ostrowski, J., and Kumar, V. Modeling and Control of Formations of Nonholonomic Mobile Robots, IEEE Transactions on Robotics and Automation, Vol. 17(6), Dec. 2001: 905-908. Sugar, T. and Kumar, V., Control of Cooperating Mobile Manipulators, IEEE Transactions on Robotics and Automation, Vol. 18, No. 1, February, 2002: 94-103. T. G. Sugar and V. Kumar, "Metrics for Analysis and Optimization of Grasps and Fixtures," International Journal of Robotics and Automation, Vol. 17, Issue 1, 2002 (Special Issue on Compliance and Compliant Mechanisms): pp. 28-37. T. G. Sugar and V. Kumar, "Design and Control of a Compliant Parallel Manipulator," ASME Journal of Mechanical Design, Vol. 124, No. 4, 2002: 676-683. R. Alur, C. Belta, V. Kumar, M. Mintz, G. Pappas, H. Rubin, and J. Schug, Modeling and Analyzing Biomolecular Networks, Computing in Science and Engineering, Special Issue in Biocomputation, Jan/Feb. 2002: 20-31. Belta, C. and Kumar, V., Euclidean metrics for motion generation on SE(3), Journal of Mechanical Engineering Science Part C, vol. 216, no. C1, pp. 47-61, 2002. Belta, C. and Kumar, V., Computation of rigid body motion, Electronic Journal of Computational Kinematics, Vol 1, No. 1, http://www-sop.inria.fr/coprin/EJCK/EJCK.html. Krovi, V., Ananthasuresh, G.K., and Kumar, V., "Kinematic and Kinetostatic Synthesis of Planar Coupled Multi-Link Serial Chain Mechanisms," ASME Journal of Mechanical Design, Vol. 24 (2), June 2002:143-155. Belta, C. and Kumar, V. A SVD-Based Projection method for interpolation on SE(3), IEEE Transactions on Robotics and Automation, Vol. 18, No. 3, June 2002. A. Das, R. Fierro, V. Kumar, J. Ostrowski, J. Spletzer, and C. J. Taylor, Vision Based Formation Control of Multiple Robots, Vol. 18, No. 5, IEEE Transactions on Robotics and Automation, October 2002: 813-825. R. Fierro, A. Das, J. Spletzer, Y. Hur, R. Alur, J. Esposito, G. Grudic, V. Kumar, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall and C. J. Taylor, A framework and architecture for multirobot coordination, International Journal of Robotics Research, Vol. 21, No. 10-11, 2002: 977-995. R. Alur, T. Dang, J. Esposito, Y. Hur, F. Ivancic, V. Kumar, I. Lee, P. Mishra, G. Pappas, and O. Sokolsky: Hierarchical Modeling and Analysis of Embedded Systems, Proceedings of the IEEE, (Volume 91, Number 1), January 2003. Belta, C., and Kumar, V. Motion generation for groups of robots, ASME Journal of Mechanical Design, Vol. 126, No. 1, January 2004. Chaimowicz, L., Kumar, V. and Campos, F. M., A Paradigm for Dynamic Coordination of Multiple Robots, Autonomous Robots, Volume 17, Issue 1, July 2004: Pages 7 21. Tanner, H. G., Kumar, V. and G. J. Pappas, Leader-to-Formation Stability, IEEE Transactions on Robotics and Automation, Vol. 20, No. 3, June, 2004.

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Vijay Kumar Page 6 63. P. Song, J.S. Pang, and V. Kumar, A Semi-Implicit Time-Stepping Model for Frictional Compliant Contact Problems. International Journal for Numerical Methods in Engineering, Vol. 60, June 2004: 2231-2261. J. Esposito and V. Kumar, An Asynchronous Integration and Event Detection Algorithm for Simulating Multi-Agent Hybrid Systems, ACM Transactions on Modeling and Computer Simulation, Vol. 14, No. 4, October 2004: 336-358. Belta, C., and Kumar, V. Abstractions and Control Policies for a Swarm of Robots, IEEE Transactions on Robotics, vol.20, no.5, 2004: 865-875. G. A. S. Pereira, V. Kumar, and M. F. M. Campos, Decentralized Algorithms for Multirobot Manipulation via Caging, in International Journal of Robotics Research, 2004. V. Kumar, D. Rus, and S. Singh, Robot and Sensor Networks for First Responders, IEEE Pervasive Computing, October-December , 2004: pp 24-33. Belta, C., Esposito, J. M., Kim, J, and Kumar, V., Computational techniques for analysis of genetic network dynamics, Int. Journal of Robotics Research, Vol. 24, February March, 2005: 219-229. E. Stump and V. Kumar, Workspaces of Cable-Actuated Parallel Manipulators, ASME Journal of Mechanical Design, Vol. 128, January, 2006. Solomon, D., Kumar, V., Jenkins, R. A. and Jewell, J., Head control strategies during whole-body turns, Experimental Brain Research, Vol. 173, No. 2, 2006. Pang, J. S., Kumar, V., and Song, V., Convergence of Time-Stepping Method for Initial and Boundary-Value Frictional Compliant Contact Problems, SIAM J. Numerical Analysis, Vol. 43, No. 5, 2006: 2200-2206. Grocholsky, B., Keller, J., Kumar, V. and Pappas, G. Cooperative Air-Ground Surveillance, IEEE Robotics and Automation Magazine, Vol. 13 (3), 2006: 16-25. J.M. Esposito, and V. Kumar, Event detection near singularities, ACM Transactions on Modeling and Computer Simulation, Volume 17, Issue 1, p. 1-22, January 2007. Parikh, S., Grassi, V., and V. Kumar, Integrating Human Inputs with Autonomous Behaviors on an Intelligent Wheelchair Platform, IEEE Intelligent Systems: Special Issue on Interacting with Autonomy, Vol. 22, No. 2, March/April 2007. A. Halasz, V. Kumar, M. Imielinski, C. Belta, O. Sokolsky, S. Pathak and H. Rubin, Analysis of Lactose Metabolism in E.coli using Reachability Analysis of Hybrid Systems, IET Systems Biology, Vol. 1, No. 2, 2007: 61-148. M. A. Hsieh, A. Cowley, V. Kumar, and C.J. Taylor. Maintaining Network Connectivity and Performance in Robot Teams, Journal of Field Robotics, Vol. 25, No. 1-2, 2008: 111-131. M. A. Hsieh, L. Chaimowicz, A. Cowley, B. Grocholsky, J. F. Keller, V. Kumar, C. J. Taylor, Y. Endo, R. C. Arkin, B. Jung, D. F. Wolf, G. Sukhatme, and D. C. MacKenzie. Adaptive teams of Autonomous Aerial and Ground Robots for Situational Awareness, Journal of Field Robotics, Vol. 24, No. 11-12, 2007: 991-1014. A.A. Julius, . Halsz. S. Sakar, V. Kumar, G. J. Pappas, Controlling biological systems: the lactose regulation system of E.coli, IEEE Trans. Automatic Control and IEEE Trans. Circuit and Systems, joint special issue on Systems Biology, 2007. N. Michael, J. Fink, and V. Kumar, Experimental Testbed for Large Teams of Cooperating Robots and Sensors, IEEE Robotics and Automation Magazine, 2008.

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M. Ani Hsieh, Vijay Kumar and Luiz Chaimowicz, Decentralized controllers for shape generation with robotic swarms, Robotica, Vol. 26, No. 5, September 2008: 691-701. N. Michael, J. Fink, and V. Kumar, Controlling Ensembles of Robots via a Supervisory Aerial Robot, Advanced Robotics, Vol. 22, 2008:1361-1377. P. Cheng and V. Kumar, Sampling-based falsification and verification of controllers for continuous dynamic systems, Int. Journal Robotics Research, Vol. 27, No. 11-12, Nov/Dec 2008: 1232-1245. M. Ani Hsieh, dm Halsz, Spring Berman and Vijay Kumar, Biologically inspired redistribution of a swarm of robots among multiple sites, Swarm Intelligence, Vol. 2, No. 2-4, December, 2008. P. Cheng, J. Fink, and V. Kumar, Cooperative Towing with Multiple Robots, ASME Transactions: Journal of Mechanisms and Robotics, Vol. 1, February 2009. J-Y Sul, C.. K. Wu, F. Zeng, J. Jochems, M. T. Lee, T. K. Kim, T. Peritz, P. Buckley, D. Cappelleri, M. Maronski, M. Kim, V. Kumar, D. Meaney, J. Kim and J. Eberwine, Transcriptome Transfer Produces a Predictable Cellular Phenotype, Proceedings of the National Academy of Science, 2009. E. Stump, V. Kumar, B. Grocholsky and P. Shiroma, Control for Localization of Targets using Range-only Sensors, International Journal of Robotics Research 28(6), June. 2009:743757. Spring Berman, Adam Halasz, M. Ani Hsieh, and Vijay Kumar, Optimized Stochastic Policies for Task Allocation in Swarms of Robots, IEEE Transactions on Robotics, August 2009. N. Michael and V. Kumar, Planning and control of ensembles of robots with nonholonomic constraints, International Journal of Robotics Research 28(8), Aug. 2009:962975. M. S. Sakar, E. B. Steager, D. H. Kim, M. J. Kim, G. J. Pappas and V. Kumar, Single cell manipulation using ferromagnetic composite microtransporters, Applied Physics Letters, Vol. 96, 2010. M. Kumar, V. Kumar, and D. Garg, Segregation of heterogeneous units in a swarm of robotic agents, IEEE Transactions on Automatic Control, 2010. D. Cappelleri, G. Krishnan, C. Kim, V. Kumar and S. Kota, Toward the design of a decoupled, two-dimensional, vision-based, micro-Newton force sensor, Transactions of the ASME, Journal of Mechanisms and Robotics, May, 2010. D. Cappelleri, A. Halasz, J-Y Sul, T. K. Kim, J. Eberwine and V. Kumar, Toward a Fully Automated High-Throughput Phototransfection System, Journal of the Association of Laboratory Automation, August 2010: 329-341. N. Ayanian and V. Kumar, Decentralized Feedback Controllers for Multi-Agent Teams in Environments with Obstacles, IEEE Transactions on Robotics, Vol. 26, No. 5, 2010. N. Michael, D. Mellinger, Q. Lindsey, and V. Kumar. The GRASP multiple micro UAV testbed. IEEE Robotics and Automation Magazine, Vol. 17, No. 3. 2010. N. Michael, J. Fink and V. Kumar. Cooperative manipulation and transportation with aerial robots. Autonomous Robots. Vol. 30, No. 1, 2011. E. B. Steager, M. S. Sakar, D. H. Kim, V. Kumar, G. Pappas, M. J. Kim. Electrokinetic and optical control of bacterial microrobots. J. Micromechanics and Microengineering. Vol. 21, 2011.

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Vijay Kumar Page 8 97. M. S. Sakar, E. B. Steager, D. H. Kim, A. A. Julius, M. Kim, V. Kumar and G. J. Pappas. Modeling, control and experimental characterization of microbiorobots. Int. J. Robotics Research. 2011 (in press). D. Cappelleri, P. Cheng, J. Fink, B. Gavrea and V. Kumar, Automated Assembly for Mesoscale Parts,IEEE Transactions on Automation Science and Engineering, Vol. 8, No. 3, July, 2011: 598613. V. Kallem, A. T. Komoroski, and V. Kumar, "Sequential Composition for Navigating a Nonholonomic System in the Presence of Obstacles," IEEE Transactions on Robotics, 2011 (to be published).

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100. S. Berman, Q. Lindsey, M. S. Sakar, V. Kumar and S. C. Pratt, Experimental study and modeling of group retrieval and approaches to collective transport in swarm robotic systems, Proceedings of the IEEE, Vol. 99, No. 9, Sept. 2011. 101. N. Michael and V. Kumar, Control of Ensembles of Aerial Robots, Proceedings of the IEEE, Vol. 99, No. 9, Sept. 2011. 102. J. Fink, A. Ribeiro, and V. Kumar, Robust Cyber-Physical Control of Mobility and Communications in Autonomous Robot Teams, Proceedings of the IEEE, 2011 (accepted for publication). 103. D.J. Cappelleri, G. Piazza and V. Kumar, A two dimensional vision-based force sensor for microrobotic applications. Sensors and Actuators A: Physical (2011), in press. 104. Q. Jiang and V. Kumar, Stability Analysis of Equilibrium Configurations of Objects Suspended from Multiple Aerial Robots, ASME Transactions Journal of Mechanisms and Robotics, 2011 (accepted for publication). 105. M. Turpin, N. Michael, and V. Kumar, Trajectory design and control for aggressive formation flight with quadrotors, Autonomous Robots, Feb. 2012. 106. Q. Jiang and V. Kumar, The Inverse Kinematics of Cooperative Transport with Multiple Aerial Robots, IEEE Trans. Robotics, 2012 (conditionally accepted for publication). Books 1. 2. 3. 4. Cooperative Control, Kumar, V., Leonard, N., and A. S. Morse, Lecture Notes in Control and Information Sciences, Vol. 309, Springer Verlag, 2004. 10th International Symposium on Experimental Robotics, Khatib, O., Kumar, V. and Rus, D., Springer Tracts in Advanced Robotics, 2006. Robotics: State of the Art and Future Challenges, Bekey, G. A., Ambrose, R., Kumar, V., Lavery, D., Sanderson, D., Yuh, J. and Wilcox, B., Imperial College Press, 2008. 11th International Symposium on Experimental Robotics, Khatib, O., Kumar, V. and Pappas, G., Springer Tracts in Advanced Robotics, 2008.

Chapters in Books 1. Kumar, R.V., Waldron, K.J. and Tsai, M.J., "Geometric Optimization of Serial Chain Manipulator Structures for Working Volume and Dexterity," in Kinematics of Robot Manipulators, Ed. J.M.McCarthy, MIT Press, Cambridge, Massachusetts, 1987, pp. 99-101.

Vijay Kumar Page 9 2. 3. Kumar, V. and Waldron, K.J., "A Review of Research on Walking Vehicles," Robotics Review 1, Ed. T.Lozano-Perez and O. Khatib, MIT Press, Cambridge, Massachusetts, 1989, pp. 243-266. Kim, J.H., Kumar, V. and Waldron, K.J., "Force Distribution Algorithms for Multifingered Grippers," Advances in Control Systems and Dynamics, Ed. C.T. Leondes, Academic Press, Vol. 38, 1990, pp. 289-315. Kumar, V., "Coordination of Multi-Degree-of-Freedom Mechanisms," The First Forty Years of Modern Kinematics: A Tribute to Ferdinand Freudenstein, Ed. A. Erdman, Wiley-Interscience Series in Design Engineering, John Wiley and Sons, 1993. Kumar, V. and Waldron, K.J., "A Review of Research on Walking Vehicles," Autonomous Mobile Robots, Vol. 1, Ed. A. Elfes and S. S. Iyengar, IEEE Computer Society Press, 1991, pp. 503-526. Kumar, V., Rahman, T., and Krovi, V., "Assistive Devices for People with Motor Disabilities," Wiley Encyclopedia for Electrical and Electronics Engineers, Ed. J. Webster, 1997. Kumar, V. and Krovi, V., "Customized Assistive Devices for People with Motor Disabilities," Encylopedia of Microcomputers, Ed. J. Williams, 1997. Kumar, V., Zefran, M., and Ostrowski, J., Intelligent Motion Planning and Control, Handbook of Industrial Robotics, John Wiley and Sons, Ed. S. Nof, 1998. Bicchi, A. and Kumar, V., Robotic Grasping and Manipulation, Ramsete: Articulated and Mobile Robots for Services and Technology, Eds. Siciliano, Bicchi, Nicosia, and Valigi, Lecture Notes in Control and Information Series (LNCIS), Vol. 270, Springer Verlag, 2001. Krovi, V. and Kumar, V., Rapid Design and Prototyping of Customized Rehabilitation Aids, Encylopedia of Library and Information Science, Ed. A. Kent, 2001. R. Fierro, P. Song, A. Das, and V. Kumar, Cooperative Control of Robot Formations, Cooperative Control and Optimization: Series on Applied Optimization, Ed. R. Murphey and P. Paradalos, Kluwer Academic Press, 2002: 79-93. Zhang, F., Grocholsky, B., Kumar, V., and M. Mintz, Cooperative Control for Localization of Mobile Sensor Networks, Cooperative Control, Lecture Notes in Control and Information Sciences, Vol. 309, Eds: V. Kumar, N. Leonard, and A. S. Morse, Springer Verlag, 2004. R. Fierro, L. Chaimowicz, and V. Kumar, "Multi-Robot Cooperation," Autonomous Mobile Robots: Sensing, Control, Decision Making and Applications, S. S. Ge and F. L. Lewis (eds.), CRC Press Taylor & Francis Group, Chapter 11, 2005. C. Belta and V. Kumar, Geometric Methods for Multirobot Optimal Motion Planning, Handbook of Geometric Computing, E. B. Corrochano, Springer-Verlag, 2005.

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Refereed Papers in Conference Proceedings and Books 1. Kumar, V., Tsai, M.J., and Waldron, K.J., "Geometric Optimization of Manipulator Structures for Working Volume and Dexterity," Proceedings of the IEEE International Conference on Robotics and Automation, St. Louis, Missouri, 1985, pp. 228-236. Kumar, V. and Waldron, K.J., "Suboptimal Algorithms for Force Distribution in Multifingered Grippers," Proceedings of the IEEE International Conference on Robotics and Automation, Raleigh, North Carolina, 1987, pp. 252-257. Pandy, M.G., Kumar, V., Berme, N., and Waldron, K.J., "The Dynamics of Quadrupedal Locomotion," in 1987 Biomechanics Symposium, AMD-Vol. 84, Ed. D.L. Butler and P.A. Torzilli,

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Vijay Kumar Page 10 Proceedings of the ASME Conference on Applied Mechanics, Bioengineering and Fluids Engineering, Cincinnati, Ohio, 1987, pp. 365-368. 4. Waldron, K.J., Kumar, V. and Burkat, A., "An Actively Coordinated Mobility System for a Planetary Rover," Proceedings of the 3rd International Conference on Advanced Robotics, Versailles, France, October 12-15, 1987, pp. 77-86. Kumar, V. and Waldron, K.J., "Actively Coordinated Vehicle Systems," Trends in Vehicle Design Research, ASME pub. DE-Vol. 11, Ed. S.A. Velinsky, Proceedings of the 1987 ASME Winter Annual Meeting, Boston, December 13-18, pp. 1-10. Kumar, V. and Waldron, K.J., "Force Distribution in Closed Kinematic Chains," Proceedings of the IEEE International Conference on Robotics and Automation, Philadelphia, April 1988, pp. 114-119. Kumar, V. and Waldron, K.J., "Analysis of Omnidirectional Gaits for Walking Machines for Operation on Uneven Terrain," Proceedings of the 7th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Udine, Italy, September 12-15, 1988, pp. 37-62. Kumar, V. and Waldron, K.J., "Force Distribution in Walking Vehicles on Uneven Terrain," in Trends and Developments in Mechanisms, Machines and Robotics, Ed. A. Midha, ASME pub. DEVol. 15-3, Proceedings of the 1988 ASME Mechanisms Conference, Kissimmee, Florida, 1988, pp. 473-480. Ulrich, N. and Kumar, V., "Grasping Using Fingers with Coupled Joints," in Trends and Developments in Mechanisms, Machines and Robotics, Ed. A. Midha, ASME pub. DE-Vol. 15-3, Proceedings of the 1988 ASME Mechanisms Conference, Kissimmee, Florida, 1988, pp. 201-208. Gardner, J.F., Kumar, V. and Ho, J.H., "Kinematics and Control of Redundantly Actuated Closed Chains," Proceedings of the IEEE International Conference on Robotics and Automation, Scottsdale, Arizona, May 1989, pp. 418-424. Kumar, V. and Gardner, J.F., "Kinematics of Redundantly Actuated Kinematic Chains," Advanced Robotics 1989, Ed. K. J. Waldron, Proceedings of the 4th International Conference on Advanced Robotics, Columbus, June 1989, pp. 488-512. Yun, X., and Kumar, V., "An Approach to Simultaneous Control of Trajectory and Interaction Forces in Dual Arm Configurations," Advanced Robotics 1989, Ed. K. J. Waldron, Proceedings of the 4th International Conference on Advanced Robotics, Columbus, June 1989, pp. 278-298. Kumar, V., Yun, X., and Bajcsy, R., "Exploration of Unknown Mechanical Assemblies through Manipulation," Advances in Intelligent Robotics Systems Symposium, SPIE, Philadelphia, November 5 -10, 1989. Kumar, V., Meyer, B.P., and Ulrich, N., "Mechanics and Design of a Planar Parallel Manipulator," Proceedings of the 1st National Conference on Applied Mechanisms and Robotics, Cincinnati, November 5-8, 1989. J-H. Kim, and Kumar, V., "Robot Kinematics via Line Transformations," Proceedings of the 1st National Conference on Applied Mechanisms and Robotics, Cincinnati, November 5-8, 1989. Chen, W., and Kumar, V., "Inertial Characteristics of Redundant Robotic Systems," in Robotics Research - 1989, Ed. K. Youcef-Toumi and H. Kazerooni, Proceedings of the 1989 ASME Winter Annual Meeting, December 11-15, 1989, pp. 131-142. Yun, X., King, R., Lee, I., and Kumar, V., "A Two-Arm Exploratory System for Identifying Movable and Removable Parts," in Robotics Research - 1989, Ed. K. Youcef-Toumi and H. Kazerooni, Proceedings of the 1989 ASME Winter Annual Meeting, December 11-15, 1989, pp. 125-130.

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Ulrich, N., Kumar, V. Paul, R.P. and Bajcsy, R., "Grasping through Mechanical Intelligence," Proceedings of the 8th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Cracow, Poland, 1990. Kumar, V., "Workspaces and Geometric Dexterity of Parallel Manipulators," in Mechanism Synthesis and Analysis, Ed. M. McCarthy, S. Derby, and A. Pisano, ASME Publication No. DE-Vol. 25, Proceedings of the 21st Biennial Mechanisms Conference, Chicago, September 15-19, 1990. Kumar, V., "Instantaneous Kinematics of Parallel Systems," in Mechanism Synthesis and Analysis, Ed. M. McCarthy, S. Derby, and A. Pisano, ASME Publication No. DE-Vol. 25, Proceedings of the 21st Biennial Mechanisms Conference, Chicago, September 15-19, 1990. Pfreundschuh, G., Kumar, V. and Sugar, T.G., "Design and Control of a Three Degree of Freedom In-Parallel Actuated Manipulator," Proceedings of the IEEE International Conference on Robotics and Automation, April 7-11, 1991, pp. 1659-1665. Kumar, V., Yun, X., Paljug, E., and Sarkar, N., "Control of Contact Conditions for Manipulation with Multiple Robotic Systems," Proceedings of the IEEE International Conference on Robotics and Automation, April 7-11, 1991, pp. 170-175. Ulrich, N. and Kumar, V., "Passive Gravity Compensation for Robot Manipulators,"Proceedings of the IEEE International Conference on Robotics and Automation, April 7-11, 1991, pp. 1536-1541. Ulrich, N. and Kumar, V., "Mechanical Design Methods of Improving Manipulator Performance,"Proceedings of the 5th International Conference on Advanced Robotics, Pisa, June 1991, pp. 515-520. J-H. Kim, and Kumar, V., "A Kinestatic Analysis of Cooperating Robot Systems," Proceedings of the 5th International Conference on Advanced Robotics, Pisa, June 1991, pp. 603-608. E. Paljug, Yun, X., and Kumar, V., "Two Arm Manipulation via Controlled Rolling," Proceedings of the 5th International Conference on Advanced Robotics, Pisa, June 1991, 591-596. Campos, M., Bajcsy, R. and Kumar, V., "Exploratory Procedures for Material Properties: The Temperature Perception," Proceedings of the 5th International Conference on Advanced Robotics, Pisa, June 1991, pp. 205-210. Bajcsy, R., Kumar, V., Paul, R., and Yun, X., "A Multiagent System for Intelligent Material Handling," Proceedings of the 5th International Conference on Advanced Robotics, Pisa, June 1991, pp. 18-23. Ulrich, N. and Kumar, V., "Mechanical Design Methods of Improving Manipulator Performance," Advances in Design Automation, Vol. 1, Ed. G. Gabriele, ASME Pub. DE-Vol. 32-1, Proceedings of the Design Automation Conference, Miami, Fla, September 1991, pp. 545-550. Ouerfelli, M. and Kumar, V., "Optimization of a 5-R Linkage," Advances in Design Automation, Vol. 1, Ed. G. Gabriele, ASME Pub. DE-Vol. 32-1, Proceedings of the Design Automation Conference, Miami, Fla, September 1991, pp. 545-550. Johnson, L., Kumar, V. and Gardener, J., "Optimization of Contact Forces in Multifingered Grippers and Walking Vehicles," Proceedings of the 2nd National Conference on Applied Mechanisms and Robotics, Cincinnati, November 4-5, 1991. Wang, Y., Kumar, V. and Abel, J. , "Dynamics of Rigid bodies Undergoing Multiple Frictional Contacts," IEEE International Conference on Robotics and Automation, Nice, France, May 10-15, 1992, pp. 2764-2769.

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Vijay Kumar Page 12 33. Yun, X., Kumar, V., Sarkar, N., and Paljug, E. , "Control of Multiple Arm Systems with Rolling Constraints," IEEE International Conference on Robotics and Automation, Nice, France, May 10-15, 1992, pp. 2193-2198. Paljug, E., Sugar, T., Kumar, V. and Yun, X., "Important Considerations in Force Control with Applications to Multi-Arm Manipulation," IEEE International Conference on Robotics and Automation, Nice, France, May 10-15, 1992, pp. 1270-1275. Kumar, V., "A Compact Inverse Velocity Solution for Redundant Robots,"IEEE International Conference on Robotics and Automation, Nice, France, May 10-15, 1992, pp. 482-487. Ouerfelli, M., Harwin, W., and Kumar, V., "A Pneumatic Actuation System for a WheelchairMounted Robot Arm," 15th RESNA International Conference, Toronto, June 6-11, 1992. Bajcsy, R., Koivunen, V., Kumar, V., and Vezien, J-M., "Rapid Prototyping from Physical Models," Proceedings of the Darpa Workshop on Information Technology for Manufacturing Automation and Concurrent Engineering, Palo Alto, CA, June 16-18, 1992, pp. 721-724. Kumar, V., Sugar, T.G. and Pfreundschuh, G. "A Three Degree of Freedom In-Parallel Actuated Manipulator," Proceedings of the 9th CISM-IFToMM Symposium on Theory and Practice of Manipulators, September 1-4, Udine, Italy, 1992. Wang, Y. and Kumar, V. , "Simulation of Mechanical Systems with Unilateral Constraints," Mechanism Design and Synthesis, ASME Pub. no. DE-Vol. 46, Eds. Kinzel et al. Proceedings of the 22nd Biennial ASME Mechanisms Conference, Phoenix, Sept., 1992, pp. 129-134. Wang, C-C., Sarkar, N. and Kumar, V. , "Rate Kinematics of Mobile Manipulators," Robotics, Spatial Mechanisms, and Mechanical Systems, ASME Pub. no. DE-Vol. 46, Eds. Kinzel et al. Proceedings of the 22nd Biennial ASME Mechanisms Conference, Phoenix, Sep., 1992, pp. 225232. Campos, M., Kumar, V. and Bajcsy, R., "Kinematic Identification of Linkages," Proceedings of the 3rd International Conference on Advances in Robot Kinematics, Ferrara, Italy, Sep. 7-9, 1992. Ruzena Bajcsy, Vijay Kumar, Max Mintz, Richard Paul, and Xiaoping Yun, "A Multiagent Robotic System for Intelligent Material Handling,'' Workshop on Intelligent Robotic Systems: Design and Applications, SPIE's Intelligent Robotics Symposium, Boston, November 16, 1992. Sarkar, N., Yun, X. and Kumar, V., "Control of Rolling Contacts in Two-Arm Manipulation," IEEE International Conference on Robotics and Automation, Atlanta, May 2-7, 1993. Wang, C-C. and Kumar, V., "Velocity Control of Mobile Manipulators," IEEE International Conference on Robotics and Automation, Atlanta, May 2-7, 1993. Howard, W.S. and Kumar, V., "A Minimum Principle for the Dynamic Analysis of Systems with Frictional Contacts," IEEE International Conference on Robotics and Automation, Atlanta, May 2-7, 1993, pp. 437-442. Ouerfelli, M., Harwin, W., and Kumar, V., "An Inexpensive Pneumatic Manipulator for Rehabiliation Applications," IEEE International Conference on Robotics and Automation, Atlanta, May 2-7, 1993. Sarkar, N., Yun, X. and Kumar, V., "Dynamic Control of a Robot in a Multiagent Framework," IEEE International Conference on Robots and Intelligent Systems, Tokyo, June, 1993. Chen, W. and Kumar, V., Workspaces of Mechanical Systems with Rolling Contacts, Proceedings of the 6th International Conference on Advanced Robotics, Tokyo, November 1993, pp. 205-210.

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Vijay Kumar Page 13 49. Sarkar, N., Yun, X. and Kumar, V., "Dynamic Path Following: A New Control Algorithm for Mobile Robots,'' 32nd IEEE International Conference on Decision and Control, San Antonio, Texas, December 15-17, 1993. Wang, C-C. and Kumar, V., "Kinematics and Control of Mobile Manipulators," 3rd National Applied Mechanisms and Robotics Conference, Cincinnati, November 7-10, 1993. Sarkar, N., Yun, Y. and Kumar, V., "Control of a Single Robot in a Decentralized Multi-Robot System,'' IEEE International Conference on Robotics and Automation, May 8-13, 1994, San Diego. Wellman, P., Krovi, V. and Kumar, V., "An Adaptive Mobility System for the Disabled,'' IEEE International Conference on Robotics and Automation, May 8-13, 1994, San Diego. Howard, W. S. and Kumar, V., "Kinematics and Stability of Grasps with Compliant Contacts,'' IEEE International Conference on Robotics and Automation, May 8-13, 1994, San Diego. Zefran, M., Kumar, V. and Yun, X., "Optimal Trajectories and Force Distribution for Cooperative Manipulation Tasks,'' IEEE International Conference on Robotics and Automation, May 8-13, 1994, San Diego. Garvin, G., Zefran, M., Henis, E. and Kumar, V., "A Study on Optimality Criteria for Two Hand Reaching Tasks," 13th Southern Biomedical Engineering Conference, April 16-17, 1994, Washington, D.C. Ouerfelli, M., Kumar, V., and Harwin, W., "Identification of Kinematic Chains with Applications to Biomechanics," 13th Southern Biomedical Engineering Conference, April 16-17, 1994, Washington, D.C. Krovi, V., Wellman, P., Kumar, V., and Harwin, W., "A Walking Wheelchair for the Motor Disabled," Fourth International Conference on Rehabilitation Robotics, June 15-16, 1994, Wilmington, DE. Ouerfelli, M., Kumar, V., and Harwin, W., "Identification of Kinematic Chains for the Design of Head-Control Interfaces," Fourth International Conference on Rehabilitation Robotics, June 15-16, 1994, Wilmington, DE. Wellman, P. and Kumar, V., "A Hybrid Adaptive Mobility System," 23nd Biennial ASME Mechanisms Conference, Minneapolis, Sept 12-14, ASME Publication Mechanism Synthesis and Analysis, 1994. Narasimhan, S. and Kumar, V., "A Second Order Analysis of Manipulator Kinematics in Singular Configurations," 23nd Biennial ASME Mechanisms Conference, Minneapolis, Sept 12-14, ASME Publication Mechanism Synthesis and Analysis, 1994. Sarkar, N. and Kumar, V., "Velocity and Acceleration Analysis of Contact between ThreeDimensional Rigid Bodies," 23nd Biennial ASME Mechanisms Conference, Minneapolis, Sept 1214, ASME Publication Mechanism Synthesis and Analysis, DE-Vol. 70, 1994, pp. 433-440. Donoghue, J., Howard, W. and Kumar, V., "Stable Workpiece Fixturing," 23nd Biennial ASME Mechanisms Conference, Minneapolis, Sept 12-14, 1994. Gerdes, J. C., and Kumar, V., "An Impact Model for Mechanical Backlash for Control System Analysis," American Control Conference, Seatle, Washington, June 21-23, 1995. Zefran, M. and Kumar, V., ``Optimal control of systems with unilateral constraints,'' IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 1995.

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Vijay Kumar Page 14 64. 65. 66. Wang, C. C., and Kumar, V., The Performance of Repeatable Control Schemes for Redundant Robots, IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 1995. Howard, S., and Kumar, V., Modeling and Analysis of the Stability of Enveloping Grasps, IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 1995. Adams, J., et al. Cooperative Material Handling by Human and Robotic Agents: Module Development and System Synthesis, Proceedings of the Conference on Intelligent Robot Systems (IROS'95), Pittsburgh, PA, 1995. Zefran, M., Kumar, V., Desai, J. and Henis, E., ``Two-Arm Manipulation: What can we learn by studying humans?'' Proceedings of the Conference on Intelligent Robot Systems (IROS'95), Pittsburgh, PA, 1995. Jayanthi, S., Harwin, W., Kumar, V. and Keefe, M. Application of Stereolithography in the Fabrication of Rehabilitation Aids, Proceedings of the Solid Freeform Fabrication Symposium, Austin, Aug. 7-19, 1995. Howard, S., Zefran, M., and Kumar, V., "On the 66 Stiffness Matrix for Three Dimensional Motions," 9th World Congress on the Theory of Machines and Mechanisms, Milano, Italy, Aug 30 Sept 2, 1995. Zefran, M., and Kumar, V., On the generation of smooth three-dimensional rigid body motions, Workshop on Computational Kinematics, Sophia-Antipolis, France, Sept 4-7, 1995 (not published in book form). Salgonicoff, M., et al. Virtual Headstick Rehabilitation Robot System, Conference on Systems, Man and Cybernetics, October 20-23, 1995. IEEE International

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Salgonicoff, M., et al. Virtual headstick-telemanipulator for people with disabilities, Intelligent Systems and Advanced Manufacturing, SPIE, Philadelphia, PA, October 23-26, 1995. Kumar, V., Bajcsy, R. and Harwin, W., Design of customized rehabilitation aids for people with disabilities, Proceedings of the 7th International Symposium on Robotics Research, Springer Verlag, Eds. G. Giralt and G. Herzinger, Herrsching, Germany, October 21-24, 1995. Krovi, V. and Kumar, V., Optimal traction control in a wheelchair with legs and wheels2, Proceedings of the 4th National Applied Mechanisms and Robotics Conference, Cincinnati, OH, Dec 10-13, 1995, Paper No. AMR95-030. Zefran, M., and Kumar, V., Planning smooth motions on SE(3), IEEE International Conference on Robotics and Automation, Minneapolis, April 23-27, 1996. Desai, J., Wang, C-C., Zefran, M., and Kumar, V., Motion planning of multiple mobile manipulators, IEEE International Conference on Robotics and Automation, Minneapolis, April 2327, 1996. Chen, C., and Kumar, V., Motion planning of walking vehicles, IEEE International Conference on Robotics and Automation, Minneapolis, April 23-27, 1996, pp. 3277-3282. Zefran, M., and Kumar, V., Coordinate-free formulation of the Cartesian Stiffness Matrix, 5th International Symposium on Advances in Robot Kinematics, Portoroz, Slovenia, June 22-26, 1996, pp. 119-128.

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This paper won the best student paper award at the 4th National Conference on Applied Mechanisms and Robotics, 1995.

Vijay Kumar Page 15 79. Zefran, M., Desai, J. and Kumar, V., Continuous Motion Plans for Robotic Systems with Changing Dynamic Behavior, 2nd Int. Workshop on Algorithmic Foundations of Robotics, Toulouse, France, July 2-5, 1996. Zefran, M., Kumar, V. and Croke, C., Choice of Riemannian Metrics for Rigid Body Kinematics, ASME Design Technical Conference - 24th Biennial ASME Mechanisms Conference, Irvine, Aug 18-21, 1996 (on CD-ROM). Vezien, J.-M., Kumar, V., Bajcsy, Harwin, W. and Mahoney, R., Design of Customized Rehabilitation Aids,'' International Workshop on Medical Robots, Vienna, Oct. 1-3, 1996. Kumar, V., Bajcsy, R., Metaxas, D., Harwin, W. and Mahoney, R., Rapid Prototyping of Rehabilitation Aids for the Physically Disabled,'' NSF Design and Manufacturing Grantees Conference, Seattle, WA, January 7-10, 1997.

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83. Zefran, M. and Kumar, V., "Choice of Affine Connection in Stiffness Analysis," IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, April 20-24, 1997. 84. Desai, J., and Kumar, V., "Nonholonomic Motion Planning of Multiple Mobile Manipulators," IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, April 20-24, 1997. Kraus, P. and Kumar, V., "Rigid Body Collisions," IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, April 20-24, 1997, pp. 1382-1387. Ostrowski, J., Desai, J., and Kumar, V., "Optimal Gait Selection for Nonholonomic Locomotion Systems," IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, April 20-24, 1997. Desai, J., Zefran, M., and Kumar, V., "Two Arm Manipulation with Friction-Assisted Grasping," Proceedings of the Conference on Intelligent Robot Systems (IROS'97), Grenoble, France, Sept 8-11, 1997. Zefran, M. and Kumar, V., "A variational calculus framework for motion planning," International Conference on Advanced Robotics, Monterey, CA, July 7-9, 1997. Zefran, M. and Kumar, V., "Motion planning for systems with changing dynamics," Slovene Electrotechnical and Computer Science Conference, 1997. Kraus, P., Fredricsson, A., and Kumar, V., "Modeling of Frictional Contacts for Dynamic Simulation," International Conference on Intelligent Robot Systems (IROS'97), Grenoble, France, Sep 8-11, 1997. Desai, J. and Kumar, V., "Experimental investigation of planar two-arm friction assisted grasping tasks," Sixth Annual Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems, ASME Winter Annual Meeting, Dallas, Nov 15-21, 1997. Krovi, V., Kumar, V., Ananthasuresh, G.K., and Vezien J-M."Design and Virtual Prototyping of Rehabilitation Aids, " Proceedings of the 1997 ASME Design Engineering Technical Conferences, Vol. DETC97/DFM-4361, Sacramento, California, September 14-17, 1997 (on CD-ROM). Kumar, V., Zefran, M., and Ostrowski, J., Motion Planning in Humans and Robots, Proceedings of the 8th International Symposium on Robotics Research, Springer Verlag, Kanagawa, Japan, October 3-7, 1997 (to be published). Krovi, V., Ananthasuresh, G.K., and Kumar, V., "Synthesis of Coupled Multi-Link Serial Chain Mechanisms, " Proceedings of the 5th National Applied Mechanisms and Robotics Conference, Oct. 12-15, 1997 (on CD-ROM).

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Krovi, V., Feehery, P., Heinrichs, T., Ternus, J., and Kumar, V. "Design and Virtual Prototyping of Rehabilitation Aids3, " Proceedings of the 5th National Applied Mechanisms and Robotics Conference, Oct. 12-15, 1997, AMR97-027. Zhang, H., Kumar, V., and Ostrowski, J., Motion Planning under Uncertainty, IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 16-21, 19984. Desai, J., Ostrowski, J., and Kumar, V., Control of Formations for Multiple Robots, IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 16-21, 1998. Sugar, T., and Kumar, V., Decentralized Control of Cooperating Mobile Manipulators, IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 16-21, 1998. Bruyninckx, H., Demey, S., and Kumar, V., A Generalized Measure for the Stability of Compliant Grasps, IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 1621, 1998.

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100. Zefran, M., and Kumar, V., "Rigid Body Motion Interpolation," IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 16-21, 1998. 101. Kraus, P., Kumar, V., and Dupont, P., Contact Models for Dynamic Simulation, IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 16-21, 1998. 102. Desai, J., Zefran, M., and Kumar, V., A Geometric Approach to Second Order Kinematic Analysis of Manipulators, Advances in Robot Kinematics: Analysis and Control, Ed: J. Lenarcic and M. Husty, Kluwer Academic Publishers, 1998: pp. 365-374 (Proceedings of the 6th International Symposium on Advances in Robot Kinematics, Strobl, Austria, June 29-July 3, 1998). 103. Sugar, T., and Kumar, V., Design and Control of a Compliant In-Parallel Arm for Mobile Manipulators, 25thASME Biennial Mechanisms Conference, Atlanta, Georgia, September 13-16, 1998 (on CD-ROM). 104. Krovi, V., Anantasuresh, G. K., and Kumar, V., Position and Force Synthesis of Assistive Devices for People with Disabilities, 25thASME Biennial Mechanisms Conference, Atlanta, Georgia, September 13-16, 1998 (on CD-ROM). 105. Krovi, V., Anantasuresh, G. K., and Kumar, V., Spatial Synthesis of Coupled Serial Chains, 25thASME Biennial Mechanisms Conference, Atlanta, Georgia, September 13-16, 1998 (on CDROM). 106. Sugar, T., and Kumar, V., Multiple Cooperating Mobile Manipulators, IEEE International Conference on Robotics and Automation, Detroit, May 10-15, 1999. 107. Desai, J., Kumar, V., and Ostrowski, J., Transitions and formation control for multiple mobile robots, IEEE International Conference on Robotics and Automation, Detroit, May 10-15, 19995. 108. Alur, R., Esposito, J., Kim, M.-J., Kumar, V., and Lee, I. Formal modeling and analysis of hybrid systems: A case study in multirobot coordination, FM'99: Proceedings of the World Congress on Formal Methods, Springer Verlag, 1999.

This paper won the best student paper award at the 5th National Conference on Applied Mechanisms and Robotics, 1997. 4 This paper was nominated for the best paper award at the 1998 IEEE International Conference on Robotics and Automation. 5 This paper was one of four finalists for the Best Student Paper Award.

Vijay Kumar Page 17 109. Sugar, T., and Kumar, V., Control and Coordination of Multiple Mobile Robots in Manipulation and Material Handling Tasks, International Symposium on Experimental Robotics, Sydney, Australia, March 1999. 110. Solomon, D., Jewell, J. and Kumar, V., Yaw head orientation during whole body gaze shifts, 9th Annual Meeting of the Society for the Neural Control of Movement, April 16-19, 1999. 111. Song, P., Krovi, V., Kumar, V., and Mahoney, R., Design and Virtual Prototyping of Human-Worn Manipulation Devices, 1999, ASME DETC 19th International Computers & Information in Engineering Conference, Sept. 12-15, Las Vegas, Nevada. 112. Krovi, V., Ananthasuresh, G. K. and Kumar, V., Synthesis of Spatial Mechanisms, ASME DETC 19th International Computers & Information in Engineering Conference, Sept. 12-15, Las Vegas, Nevada. 113. Song, P., Krovi, V., Kumar, V., and Mahoney, R., Design Of Human-Worn Assistive Device For People With Disabilities, International Conference on Rehabilitation Robotics, Stanford, California, 1999. 114. Alur, R., Grosu, R., Hur, Y., Kumar, V., and Lee, I. Modular specifications of hybrid systems in CHARON, Proceedings of Third Intl. Workshop on Hybrid Systems: Computation and Control, LNCS 1790, pp. 6--19, 2000. 115. Esposito, J. and Kumar, V., Robust closed-loop motion plans for mobile robots, IEEE International Conference on Robotics and Automation, San Francisco, 2000, April 24-28. 116. Song, P., Yashima, M., and Kumar, V., Dynamic simulation and grasping for whole-arm manipulation, IEEE International Conference on Robotics and Automation, San Francisco, 2000, April 24-286. 117. Bicchi, A. and Kumar, V. Robotic Grasping and Contact, IEEE International Conference on Robotics and Automation, San Francisco, 2000, April 24-28 (invited paper). 118. Sugar, T.., and Kumar, V., Metrics for Analysis and Optimization of Grasps and Fixtures, IEEE International Conference on Robotics and Automation, San Francisco, 2000, April 24-28. 119. Belta, C., and Kumar, V., New Metrics for Rigid Body Motion Interpolation, Ball 2000 A Symposium commemorating the works and life of Sir Robert Stawell Ball on the occasion of the 100th Anniversary of "A Treatise on the Theory of Screws", Cambridge, UK, July 9-12, 2000. 120. Belta, C., and Kumar, V., An efficient approach to geometric rigid body interpolation, 26thASME Biennial Mechanisms Conference, Baltimore, MD, September 2000. 121. R. Alur, A. Das, J. Esposito, R. Fierro, Y. Hur, G. Grudic, V. Kumar, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall, J. Spletzer, and C. J. Taylor, "A framework and architecture for multirobot coordination," International Symposium on Experimental Robotics, December 10 - 13, Waikiki, Hawaii. Experimental Robotics: LNCS Series, Springer-Verlag, 2001. 122. Esposito, J., Kumar, V., and Pappas, G., Accurate Event Detection for Simulation of Hybrid Systems, Hybrid Systems: Computation And Control, Lecture Notes in Computer Science, presented at the Fourth International Workshop on Hybrid Systems, March 28-30, 2001. 123. Esposito, J., and Kumar, V., Efficient Dynamic Simulation of Hierarchical Systems, IEEE International Conference on Robotics and Automation, May 21-26, Seoul, Korea.

This paper was one of three finalists for the Best Paper Award.

Vijay Kumar Page 18 124. Belta, C. and Kumar, V., Motion generation for formations of robots: A geometric approach, IEEE International Conference on Robotics and Automation, May 21-26, Seoul, Korea7. 125. Alur, R., Belta, C., Ivancic, F., Kumar, V., Mintz, M., Pappas, G., Rubin, H., and Schug, S. Hybrid Modeling and Simulation of Biomolecular Networks, Hybrid Systems: Computation And Control, Lecture Notes in Computer Science, presented at the Fourth International Workshop on Hybrid Systems, March 28-30, 2001. 126. Fierro, R., Das, A., and Kumar, V., Hybrid Control of Formations of Robots, 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, May 21-26, 20018. 127. A. Das, R. Fierro, V. Kumar, J. Southall, J. Spletzer, and C. Taylor, "Real-time vision based control of a nonholonomic mobile robot," IEEE Int. Conf. on Robotics and Automation, Seoul, Korea, May 2001, pp. 1714-1719. 128. P. Song, M. Yashima, and V. Kumar, Dynamics and Control of Whole Arm Grasps, Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, May 21-26, 2001. 129. J. Spletzer, A. K. Das, R. Fierro, C. J. Taylor, V. Kumar, and J. P. Ostrowski, Cooperative Localization and Control for Multi-Robot Manipulation, Proceedings of the Conference on Intelligent Robot Systems (IROS' 01), Maui, Hawaii, October 29- Nov. 3, 2001. 130. Alur, R., Dang, T., Esposito, J., Fierro, R., Hur, Y., Ivancic, F., Kumar, V., Lee, I., Mishra, P., Pappas, G., and Sokolsky, O. EMSOFT'01: First Workshop on Embedded Software, October, 8th 10th, 2001, Lake Tahoe, CA. 131. J.M. Esposito, V. Kumar, and G. Pappas, Multi-Agent Hybrid System Simulation, IEEE Conference on Decision and Control, Orlando, FLA, Dec 2001. 132. R. Fierro, C. Belta, J. Desai, and V. Kumar, "On controlling aircraft formations," Proc. IEEE Conference on Decision and Control, Orlando, FL, Dec. 2001, pp. 1065-1070. 133. C. Belta, J. Schug, V. Kumar, H. Rubin, P. Dunlap and G. Pappas, Reachability Analysis with Application to Biomolecular Networks, Proc. IEEE Conference on Decision and Control, Orlando, FL, Dec. 2001. 134. R. S. Rao, S. H. Jung, V. Kumar, J. Ostrowski, S. Patel, C. J. Taylor, Virtual Interface Development and Sensor Based Door Navigation for Nonholonomic Vehicles, International Cambridge Workshop on Universal Access and Assitive Technologies (CWUAAT), Cambridge, UK, March 2002. 135. J.M Esposito and V .Kumar, "A method for modifying closed loop motion plans to satisfy unpredictable dynamic constraints at runtime", Proc. IEEE Intl. Conf. On Robotics and Automation Washington D.C., May 20029. 136. C. Belta and V. Kumar, Trajectory design for formations of robots by kinetic energy shaping, Proc. IEEE Intl. Conf. On Robotics and Automation Washington D.C., May 2002. 137. P. Song and V. Kumar, A Potential Field Based Approach to Multi-Robot Manipulation, Proc. IEEE Intl. Conf. On Robotics and Automation Washington D.C., May 2002. 138. Z. Wang and V. Kumar, A Decentralized Test for Object Closure by Multiple Cooperating Mobile Robots, Sixth International Symposium on Distributed Autonomous Robotic Systems, DARS 2002, Fukuoka, Japan, June 25-27, 200210.
7 8

This paper was one of three finalists for the Best Student Paper Award. This paper was one of three finalists for the Best Paper Award. 9 This paper was one of three finalists for the Best Paper Award.

Vijay Kumar Page 19

139. Herbert G. Tanner, Vijay Kumar and George J. Pappas, The effect of Feedback and Feedforward on Formation ISS, 2002 International Conference on Robotics and Automation, May 11-15, Washington DC, pp 3448-3453. 140. Chaimowicz, L., Campos, M. F. M., and Kumar, V., Dynamic Role Assignment for Cooperative Robots, Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington, May 2002. 141. R. S. Rao, K. Conn, S. H. Jung, J. Katupitiya, T. Kientz, V. Kumar, J. Ostrowski, S. Patel, C. J. Taylor, Human Robot Interaction: Application to Smart Wheelchairs, IEEE International Conference on Robotics and Automation 2002, Washington, D.C. 142. G. Pereira, V. Kumar, and M. Campos, Cooperative transport of planar objects by multiple mobile robots using object closure, 8th International Symposium on Experimental Robotics (ISER '02), Sant'Angelo d'Ischia, Italy, 8-11 July 2002. 143. Herbert G. Tanner, Vijay Kumar and George J. Pappas, Stability Properties of Interconnected Vehicles, 15th International Symposium on Mathematical Theory of Networks and Systems, South Bend, IN, Aug 12-16, 2002. 144. Chin, K. W., Breslawski, R., Kientz, T., and Kumar, V., A Mobile Robot for Uneven Terrain, Proceedings of the Design, 27th Biennial Mechanisms and Robotics Conference, Design Engineering Technical Conferences, September 29 October 2, 2002. 145. Belta, C. and Kumar, V., Motion generation for formations of robots: a centralized, geometric approach, 27th Biennial Mechanisms and Robotics Conference, Design Engineering Technical Conferences, September 29 October 2, 2002. 146. Belta, C., Habets, L., and Kumar, V., Control of multi-affine systems on rectangles with applications to hybrid biomolecular networks, IEEE Conference on Decision and Control,, Dec 1012, Las Vegas, 2002. 147. A. Das, J. Spletzer, V. Kumar and C. J. Taylor, Ad Hoc Networks for Localization and Control, IEEE Conference on Decision and Control, Las Vegas, Dec 10-12, 2002. 148. Calin Belta and Vijay Kumar, Towards abstraction and control for large groups of robots, 2nd International Workshop on Control Problems in Robotics and Automation, Las Vegas, NV, Dec 2002. 149. G. A. S. Pereira, V. Kumar, and M. F. M. Campos, Decentralized Algorithms for Multirobot Manipulation via Caging, in Proceedings of the Fifth International Workshop on Algorithmic Foundations of Robotics (WAFR'02), pp. 242-258, (Nice, France), December 2002. 150. R. Alur, C. Belta, F. Ivancic, V. Kumar, H. Rubin, J. Schug, O. Sokolsky and J. Webb, Visual programming for modeling and simulation of bioregulatory networks, International Conference on High Performance Computing, Bangalore, India, Dec. 2002. 151. G. A. S. Pereira, V. Kumar, and M. F. M. Campos, Localization and Tracking in Robot Networks, in Proceedings of the 11th International Conference on Advanced Robotics (ICAR'03), (Coimbra, Portugal), June 30 - July 3, 2003. 152. G. A. S. Pereira, A. K. Das, V. Kumar, and M. F. M. Campos, Decentralized Motion Planning for Multiple Robots subject to sensing and communication constraints, in Proceedings of the Second Multi-Robot Systems Workshop, pp. 267-278, (Washington, DC, USA), March 2003.

10

This paper won the Conference Best Paper Award.

Vijay Kumar Page 20 153. C. Belta, P. Finin, A. Halasz, M. Imielinski, J. Kim, V. Kumar and H. Rubin, Modeling and analysis of metabolism and the stringent response in Mycobacterium tuberculosis, Proceedings of the DARPA Biocomp PI meeting, May, 13-16, 2003. 154. G. Kantor, S. Singh, R. Peterson, D. Rus, A. Das, V. Kumar, G. Pereira and J. Spletzer, Distributed Search and Rescue with Robot and Sensor Teams, in Proceedings of the 4th International Conference on Field and Service Robotics, July, 2003, Japan. 155. Song, P. and V. Kumar, Distributed Compliant Model for Efficient Dynamic Simulation of Systems with Frictional Contacts, ASME International Design Engineering Technical Conferences, Chicago, September, 2003. 156. Calin Belta and Vijay Kumar, Abstraction and control for groups of fully-actuated planar robots, Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September 2003. 157. G. A. S. Pereira, V. Kumar, and M. F. M. Campos, Formation Control with Configuration Space Constraints, Proceedings of the International Conference on Intelligent Robots and Systems, October 27 - 31, 2003. 158. S. Chitta and V. Kumar, Dynamics and Generation of Gaits for a Planar Rollerblading Robot, Proceedings of the International Conference on Intelligent Robots and Systems, October 27 - 31, 2003. 159. S. Parikh, R. Rao, S. Jung, V. Kumar, J. Ostrowski, and C. Taylor, Human Robot Interaction and Usability Studies for a Smart Wheelchair, Proceedings of the International Conference on Intelligent Robots and Systems, Las Vegas, October 27 - 31, 2003. 160. J. W. Kim, J. F. Keller, and V. Kumar, Design and Verification of Controllers for Airships, Proceedings of the International Conference on Intelligent Robots and Systems, October 27 - 31, 2003. 161. R. Rao, V. Kumar, and C. Taylor, Visual Servoing of a UGV from a UAV using Differential Flatness, Proceedings of the International Conference on Intelligent Robots and Systems, Las Vegas, October 27 - 31, 2003. 162. S. G. Loizou, H. G. Tanner, V. Kumar and K. J. Kyriakopoulos, Closed loop navigation for mobile agents in dynamic environments, Proceedings of the International Conference on Intelligent Robots and Systems, October 27 - 31, 2003. 163. G. Grudic, V. Kumar and L. Ungar, Using Policy Gradient Reinforcement Learning on Autonomous Robot Controllers, Proceedings of the International Conference on Intelligent Robots and Systems, October 27 - 31, 2003. 164. Belta, C., Pereira, G., and Kumar, V., Abstraction and control policies for large groups of robots, 11th International Symposium of Robotics Research, October 19-22, 2003, Siena, Italy. 165. Belta, C., Finin, P., Habets, L.C., Halasz, A., Imielinski, M., Kumar, V., and Rubin, H. Understanding the Bacterial Stringent Response Using Reachability Analysis of Hybrid Systems. 7th International Workshop on Hybrid Systems: Computation and Control. Lecture Notes in Computer Science 2993. R. Alur and G. J. Pappas (Eds.) 111-125, 2004. 166. S. P. Parikh, V. Grassi Jr., V. Kumar, and J. Okamoto Jr., Incorporating User Inputs in Motion Planning for a Smart Wheelchair, , IEEE International Conference on Robotics and Automation, New Orleans, LA, April 2004.

Vijay Kumar Page 21 167. L. Chaimowicz, B. Grocholsky, J. F. Keller, V. Kumar and C. J. Taylor, Experiments in Multirobot Air-Ground Coordination, IEEE International Conference on Robotics and Automation, New Orleans, LA, April 2004. 168. Zhang, F., B. Grocholsky, and V. Kumar, Formations for Localization of Robot Networks, IEEE International Conference on Robotics and Automation, New Orleans, LA, April 2004. 169. M. A. Hsieh, V. Kumar, and C. J. Taylor, Constructing Radio Signal Strength Maps with Multiple Robots, IEEE International Conference on Robotics and Automation, New Orleans, LA, April 2004. 170. Chitta, C., Heger, F., and V. Kumar, Design and Gait Control of a Roller Blading Robot, IEEE International Conference on Robotics and Automation, New Orleans, LA, April 2004. 171. P. Song, J. Trinkle, V. Kumar, and J. Pang, Design of Part Feeding and Assembly Processes with Dynamics, IEEE International Conference on Robotics and Automation, New Orleans, LA, April 200411. 172. R. Rao, C. J. Taylor, and V. Kumar, Experiments in Robot Control from Uncalibrated Overhead Imagery, Proceedings of the 9th International Symposium of Experimental Robotics, Singapore, June 2004. 173. B. Grocholsky, S. Bayraktar, V. Kumar, C. J. Taylor, and G. Pappas, Synergies in Feature Localization by Air-Ground Teams, Proceedings of the 9th International Symposium of Experimental Robotics, Singapore, June 2004. 174. R. Rao, C. J. Taylor, and V. Kumar, Calibrating an Air-Ground Control System from Motion Correspondences, Proceedings of the IEEE International Conf. on Computer Vision and Pattern Recognition, Washington D.C., June 2004. 175. L. Chaimowicz and V. Kumar, Aerial Shepherds: Coordination among UAVs and Swarms of Robots, 7th International Symposium on Distributed Autonomous Robotic Systems, Toulouse, France, June 23-25, 2004. 176. J. Esposito, J. W. Kim, and V. Kumar, Adaptive RRTs for Validating Hybrid Robotic Control Systems, 6th International Workshop on Algorithmic Foundations of Robotics, Utrecht, Netherlands, July 11-13, 2004. 177. Zhang, F., Pereira, G., and V. Kumar, Necessary and Sufficient Conditions for Localization of Robot Networks, ASME International Design Engineering Technical Conferences, Mechanics and Robotics Conference, Salt Lake City, 200412. 178. Stump, E. and V. Kumar, Workspace Delineation of Cable-Actuated Parallel Manipulators, ASME International Design Engineering Technical Conferences, Mechanics and Robotics Conference, Salt Lake City, 2004. 179. Chitta, C., Heger, F., and V. Kumar, Design, Analysis, Simulation and Experimental Results for a Rollerblading Robot, ASME International Design Engineering Technical Conferences, Mechanics and Robotics Conference, Salt Lake City, 2004. 180. L. Chaimowicz, A. Cowley, B. Grocholsky, M. A. Hsieh, J. F. Keller, V. Kumar, and C. J. Taylor, Deploying Air-Ground Multi-Robot Teams in Urban Environments, Proceedings of the Third Multi-Robot Systems Workshop, Washington, DC, March 2005.

11 12

This paper won the Kayamori Best Paper Award. This paper was one of three finalists for the Mechanisms and Robotics Best Paper Award.

Vijay Kumar Page 22 181. S. Chitta, P. Cheng, E. Frazzoli, and V. Kumar, RoboTrikke: A Novel Undulatory Locomotion System, IEEE International Conference on Robotics and Automation, April 18-22, 2005, Barcelona, Spain. 182. R. Rao, V. Kumar, and C. J. Taylor, Planning and Control of Mobile Robots in Image Space from Overhead Cameras, IEEE International Conference on Robotics and Automation, April 18-22, 2005, Barcelona, Spain. 183. B. Grocholsky, R. Swaminathan, J. Keller, V. Kumar and G. Pappas, Information Driven Coordinated Air-Ground Proactive Sensing, IEEE International Conference on Robotics and Automation, April 18-22, 2005, Barcelona, Spain. 184. L. Chaimowicz, N. Michael, and V. Kumar, Controlling Swarms of Robots Using Interpolated Implicit Functions, IEEE International Conference on Robotics and Automation, April 18-22, 2005, Barcelona, Spain. 185. S. P. Parikh, V. Grassi, V. Kumar, and J. Okamoto, Usability Study of a Control Framework for an Intelligent Wheelchair, IEEE International Conference on Robotics and Automation, April 18-22, 2005, Barcelona, Spain. 186. P. Song, V. Kumar, and J-S. Pang, A Two-Point Boundary-Value Approach for Planning Manipulation Tasks, Robotics: Science and Systems I, Cambridge, Massachusetts, June 8-11, 2005. 187. J. Kim, J. M. Esposito, and V. Kumar, An RRT-Based Algorithm for Testing and Validating Multirobot Controllers, Robotics: Science and Systems I, Cambridge, Massachusetts, June 8-11, 2005. 188. Bharath Mukundakrishnan, Vijay Kumar, Peng Song, Jeff Trinkle, and Jong-Shi Pang, A hierarchical approach for design and assembly of mechanisms", Proc. 2005 ASME International Design Engineering Technical Conf. and Computers and Information in Engineering Conf. (IDETC/CIE '05), DETC2005-85618, ISBN 0-7918-3766-1, Volume 1, September 24-28, Long Beach, California. 189. Sachin Chitta Vijay Kumar, Biking without pedaling", Proc. 2005 ASME International Design Engineering Technical Conf. and Computers and Information in Engineering Conf. (IDETC/CIE '05), DETC2005-85618, ISBN 0-7918-3766-1, Volume 1, September 24-28, Long Beach, California. 190. A. Ahmadzadeh, A. Halasz, S. Prajna, A. Jadbabaie, and V. Kumar, Analysis of the Lactose metabolism in E. coli using sum-of-squares decomposition, Joint 44th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 05), Seville, Spain, December 12-15, 2005. 191. A. Halasz, M. Imielinksi, O. Sokolsky, H. Rubin and V. Kumar,, The lactose utilization network of E.Coli as a Hybrid System, Foundations of Systems Biology and Engineering, Santa Barbara, California, August 2005. 192. V. Kumar, An International Assessment of the State-of-the-Art and Challenges in Robotics, International Symposium on Robotics Research, San Fransisco, CA, October 12-15, 2005. (Invited talk). 193. A. Ahmadzadeh, A. Halasz, S. Prajna, A. Jadbabaie, and V. Kumar, Analysis of the Lactose metabolism in E. coli using sum-of-squares decomposition, Proceedings of the 44th IEEE Conference on Decision and Control, Seville, December 12-15, Spain, 2005. 194. Mong-Ying Ani Hsieh and Vijay Kumar, Pattern generation with multiple robots, IEEE International Conference on Robotics and Automation, Orlando, Florida, May 16-18, 2006.

Vijay Kumar Page 23 195. David J. Cappelleri, Jonathan Fink, Barry Munkundakrishnan, Vijay Kumar, and Jeffrey C. Trinkle, Designing Open-Loop Plans for Planar Micro-Manipulation, IEEE International Conference on Robotics and Automation, Orlando, Florida, May 16-18, 2006. 196. Nathan Michael, Calin Belta and Vijay Kumar, Controlling Three-Dimensional Swarms of Robots, IEEE International Conference on Robotics and Automation, Orlando, Florida, May 16-18, 2006. 197. Peng Cheng, Emilio Frazzoli and Vijay Kumar, Motion Planning for a Roller Racer using a Stick/Slip Model, IEEE International Conference on Robotics and Automation, Orlando, Florida, May 16-18, 2006. 198. Mong-Ying A. Hsieh, Anthony Cowley, Vijay Kumar, and Camillo J. Taylor, Towards the deployment of a mobile robot network with end-to-end performance guarantees, IEEE International Conference on Robotics and Automation, Orlando, Florida, May 16-18, 2006. 199. Ben Grocholsky, Ethan Stump, and Vijay Kumar, An Extensive Representation for Range-Only SLAM, International Symposium on Experimental Robotics, Rio de Janeiro, July 7-10, 2006. 200. Peng Cheng and Vijay Kumar, Sampling-based Falsification and Verification of Controllers for Continuous Dynamic Systems, Workshop on Algorithmic Foundations of Robotics, New York City, July 16-18, 2006. 201. Ethan Stump, Ben Grocholsky and Vijay Kumar, Extensive Representations and Algorithms for Nonlinear Filtering and Estimation, Workshop on Algorithmic Foundations of Robotics, New York City, July 16-18, 2006. 202. Ali Ahmadzadeh , Gilad Buchman , Peng Cheng , Ali Jadbabaie , Jim Keller , Vijay Kumar and George Pappas, Cooperative control of UAVs for Search and Coverage, Proceedings of the AUVSI Conference on Unmanned Systems, Orlando, Florida, August 2006. 203. Spring Berman, Adam Halasz, Vijay Kumar, and Stephen Pratt, Algorithms for the Analysis and Synthesis of a Bio-Inspired Swarm Robotic System, Workshop on Swarm Robotics (SAB '06), Rome, Italy, September 30-October 1, 2006. LNCS 4433, eds. E. Sahin, W. Spears, A. Winfield. pp. 56-70, 2007. 204. Berman, S., . Halsz, and V. Kumar, MARCO: A Reachability Algorithm for Multi-Affine Systems with Application to Biological Systems, 10th Int'l Workshop on Hybrid Systems: Computation and Control, 2007, LNCS 4416, 76-89. 205. A. Julius, . Halsz, V. Kumar, G. Pappas, A finite model for the random behavior in the lactose regulation system of Escherichia coli, 7th International Conference on Systems Biology, Yokohama, Japan, October 2006. 206. A.A. Julius, A. Halasz, V. Kumar, G.J. Pappas, Finite state abstraction of a stochastic model of the lactose regulation system of Escherichia coli, Proc. 45th IEEE Conf. Decision and Control 2006, San Diego. 207. S.G. Loizou, V. Kumar, Weak Input-to-State Stability Properties for Navigation Function Based Controllers, 45th IEEE Conference on Decision and Control, San Diego, California, USA, December 2006 208. A.A. Julius, A. Halasz, V. Kumar, G.J. Pappas, "Controlling biological systems: the lactose regulation system of Escherichia coli", American Control Conference 2007, New York, July 11-13, 2007.

Vijay Kumar Page 24 209. Mong-Ying A. Hsieh, Savvas Loizou, and Vijay Kumar, Stabilization of Multiple Robots on Stable Orbits via Local Sensing, IEEE International Conference on Robotics and Automation, Rome, Italy, April 10-14, 2007. 210. Peng Cheng, George Pappas, and Vijay Kumar, Decidability of Motion Planning with Differential Constraints, IEEE International Conference on Robotics and Automation, Rome, Italy, April 10-14, 2007. 211. Savvas Loizou, and Vijay Kumar, Mixed Initiative Control of Autonomous Vehicles, IEEE International Conference on Robotics and Automation, Rome, Italy, April 10-14, 2007. 212. Spring Berman, Adam Halasz, Vijay Kumar, and Stephen Pratt, Bio-Inspired Group Behaviors for the Deployment of a Swarm of Robots to Multiple Destinations, IEEE International Conference on Robotics and Automation, Rome, Italy, April 10-14, 2007. 213. Stephen Berard, Jeffrey Trinkle, Binh Nguyen, Ben Roghani, Jonathan Fink and Vijay Kumar, daVinci Code: A Multi-Model Simulation and Analysis Tool for Multi-Body Systems, IEEE International Conference on Robotics and Automation, Rome, Italy, April 10-14, 2007. 214. Jonathan Fink, Nathan Michael, and Vijay Kumar, Composition of Vector Fields for Multi-Robot Manipulation via Caging, Robotics Science and Systems 2007, Atlanta, Georgia, June 27-30, 2007. 215. Dimitris Theodorakatos, Ethan Stump and Vijay Kumar, Kinematics and Pose Estimation for Cable-Actuated Parallel Manipulators, ASME International Design Engineering Technical Conferences, Las Vegas, Nevada, September 4-7, 2007. 216. David Cappelleri, James Keller, Terry Kientz, Peter Szczesniak and Vijay Kumar, SAAST Robotics An Intensive Three-Week Robotics Program for High School Students, ASME International Design Engineering Technical Conferences, Las Vegas, Nevada, September 4-7, 2007. 217. Peng Cheng, David Cappelleri, Bogdan Gavrea and Vijay Kumar, Planning and Control of Mesoscale Manipulation Tasks with Uncertainties, Robotics Science and Systems 2007, Atlanta, Georgia, June 27-30, 2007. 218. N. Michael, J. Fink, and V. Kumar. Controlling a team of ground robots via an aerial robot. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Diego, CA, Nov. 2007. 219. Adam Halasz, M. Ani Hsieh, Spring Berman, and Vijay Kumar, Dynamic Redistribution of a Swarm of Robots Among Multiple Sites, Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07). San Diego, CA. 220. Nathan Michael, Jonathan Fink, Savvas Loizou and Vijay Kumar, Architecture, Abstractions and Algorithms for Large Teams of Robots, International Symposium of Robotics Research, Hiroshima, Japan, November 22-27, 2007. 221. Ali Ahmadzadeh, Ali Jadbabaie, Vijay Kumar, and George Pappas, Stable multi-particle systems and application in multi-vehicle path planning and coverage, Proceedings of the 46th IEEE Conference on Decision and Control, New Orleans, Dec 12-14, 2007. 222. M. S. Sakar, E. Steager, A. Julius, V. Kumar, M. J. Kim, and G. Pappas, Microfabricated Structures Powered by Flagellated Bacteria, 8th International Conference on Systems Biology, Long Beach, CA, October 1-7, 2007. 223. N. Michael, M. M. Zavlanos, V. Kumar, and G. J. Pappas. Distributed multi-robot task assignment and formation control. Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 128-133, Pasadena, CA, May 2008.

Vijay Kumar Page 25 224. E. Stump, A. Jadbabaie and V. Kumar. Connectivity Management in Robot Teams. IEEE International Conference on Robotics and Automation, Pasadena, CA, May 2008. 225. N. Ayanian and V. Kumar, Decentralized Feedback Controllers for Multi-Agent Teams in Environments with Obstacles, IEEE International Conference on Robotics and Automation, Pasadena, CA, May 200813. 226. N. Michael, M. M. Zavlanos, V. Kumar, and G. J. Pappas. Maintaining connectivity in mobile robot networks. In Proc. of the Int. Symposium on Experimental Robotics, Athens, Greece, July 2008. 227. Peng Cheng, Jonathan Fink, and Vijay Kumar Abstractions and Algorithms for Cooperative Multiple Robot Planar Manipulation, Robotics Science and Systems (RSS), Zurich, Switzerland, June 2008. 228. N. Michael and V. Kumar. Controlling shapes of ensembles of robots of finite size with nonholonomic constraints. Robotics: Science and Systems, Zurich, Switzerland, June 200814. 229. H. Kress-Gazit, N. Ayanian, G. Pappas, and V. Kumar, Recycling Controllers, IEEE Conf. on Automation Science and Engineering, Washington, DC, August 2008. 230. N. Ayanian, P.J. White, A. Halasz, M. Yim, and V. Kumar, Stochastic Control for Self-Assembly of XBots, ASME IDETC/CIE Mechanisms and Robotics Conference, New York, NY, August 2008. 231. Jonathan Fink, Peng Cheng, and Vijay Kumar, Cooperative Towing with Multiple Robots, In ASME IDETC/CIE Mechanisms and Robotics Conference, New York, NY, August 3-6, 2008. 232. L. Pimenta, M. Schwager, Q. Lindsey, V. Kumar, and D. Rus. Simultaneous coverage and tracking (SCAT) of moving targets with robot networks. 8th Int. Workshop on the Algorithmic Foundation of Robotics, Guanajuato, Mexico, December 2008. 233. S. Berman, A. Halasz, M. Ani Hsieh, and V. Kumar. Navigation-Based Optimization of Stochastic Deployment Strategies for a Robot Swarm to Multiple Sites. IEEE International Conference on Decision and Control (CDC'08). Dec 9-11, Cancun, Mexico. 234. L. Pimenta, V. Kumar, R, Mesquita and G. Pereira, Sensing and Coverage for a Network of Heterogeneous Robots, Proceedings of the 47th IEEE International Conference on Decision and Control (CDC'08). Dec 9-11, Cancun, Mexico. 235. J. Fink, T. Collins, V. Kumar, Y. Mostofi, J. Baras and B. Sadler, A Simulation Environment for Modeling and Development of Algorithms for Ensembles of Mobile Microsystems, Proc. of the SPIE Conf. on Micro- and Nanotechnology Sensors, Systems, and Applications, Orlando, Florida, April 2009. 236. A. A. Julius, M. S. Sakar, E. Steager, U. K. Cheang, M. J. Kim, V. Kumar and G. Pappas, Harnessing Bacterial Power in Microscale Actuation, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 13-15, 2009. 237. L. Matthey, S. Berman, and V. Kumar, Stochastic Policies for a Swarm Robotic Assembly System, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 13-15, 2009. 238. D. Mellinger, V. Kumar and M. Yim, Control of Locomotion using Shape Changing Wheels, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 13-15, 2009.

13 14

Best student paper award, IEEE International Conference on Robotics and Automation, 2008. Finalist, best student paper award, Robotics Science and Systems, 2008.

Vijay Kumar Page 26 239. N. Michael, J. Fink, and V. Kumar. Cooperative manipulation and transportation with aerial robots. In Robotics: Science and Systems, Seattle, WA, June 200915. 240. D. Cappelleri, A. Halasz, J-Y. Sul, T. Kim, J. Eberwine, and V. Kumar, Towards Fully Automated Phototransfection, IEEE Conference on Automation Science and Engineering (CASE), Bangalore, India, August 22-25, 200916. 241. N. Ayanian, V. Kumar and D. Koditschek, Synthesis of Controllers to Create, Maintain and Reconfigure Robot Formations with Communication Constraints, International Symposium on Robotics Research, Lucerne, Switzerland, August 31-September 3, 2009. 242. J. Fink, N. Michael, S. Kim and V. Kumar. Planning and control for cooperative manipulation and transportation with aerial robots. International Symposium on Robotics Research, Lucerne, Switzerland, August 31-September 3, 2009. 243. J. Fink, N. Michael, A. Kushleyev and V. Kumar. Experimental Characterization of Radio Signal Propagation in Indoor Environments with Application to Estimation and Control. Proceedings of the International Conference on Intelligent Robots and Systems, October 2009, St. Louis, Missouri. 244. S. Berman, Q. Lindsey, M. S. Sakar, V. Kumar and S. Pratt, Study of group food retrieval by ants as a model of multi-robot collective transport strategies, Robotics Science and Systems, June, 2010. 245. S. Bhattacharya, V. Kumar and M. Likhachev, Search-based Path Planning with Homotopy Class Constraints, 3rd International Symposium on Combinatorial Search (SoCS-2010), July 8-10, Stone Mountain Resort, Atlanta, Georgia. 246. S. Bhattacharya, M. Likhachev and V. Kumar, Multi-agent Path Planning with Multiple Tasks and Distance Constraints, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, May 3-7, 2010. 247. N. Ayanian and V. Kumar, Abstractions and Controllers for Groups of Robots in Environments with Obstacles, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, May 3-7, 2010. 248. D. Melinger and V. Kumar, Control and Planning for Vehicles with Uncertainty in Dynamics, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, May 3-7, 2010. 249. J. Fink and V. Kumar, Online Methods for Radio Signal Mapping with Mobile Robots, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, May 3-7, 2010. 250. M. S. Sakar, E. Steager, A. A. Julius, M. Kim, V. Kumar, and G. J. Pappas, Biosensing and Actuation for Microbiorobots, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, May 3-7, 2010. 251. J. Derenick, V. Kumar, and A. Jadbabaie, Towards Simplicial Coverage Repair for Mobile Robot Teams, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, May 3-7, 2010. 252. S. Gray, J. Seo, P. White, N. Zeichner, M. Yim and V. Kumar, A Toolchain for the Design and Simulation of Foldable Programmable Matter, Proceedings of the ASME International Design Technical Conferences and Computer and Information in Engineering Conference, Montreal, Canada, Aug. 15-18, 2010.
15 16

Best student paper award, Robotics Science and Systems, 2009. Winner of the Association for Laboratory Automation (ALA) Young Scientist award for the best paper and presentation in laboratory automation by a junior faculty member or graduate student.

Vijay Kumar Page 27

253. Jiang, Q. and Kumar, V., "The Inverse Kinematics of 3-D Towing," Advances in Robot Kinematics, Ed. Lenarcic, J., Stanisic, M.M., Springer, 2010, pp. 321-328. 254. S. Bhattacharya, V. Kumar and M. Likhachev, Search-Based Path Planning with Homotopy Class Constraints, Proceedings of the 24th AAAI Conference on Artificial Intelligence (AAAI), July 2010. 255. Jiang, Q. and Kumar, V., "The Direct Kinematics of Objects Suspended from Cables," Proceedings of the ASME IDETC/CIE Mechanisms and Robotics Conference, Montreal, CA, August 15-18, 2010. 256. D. Mellinger, M. Shomin, N. Michael and V. Kumar, " Cooperative Grasping and Transport using Multiple Quadrotors," 10th International Symposium on Distributed Autonomous Robots, Lausanne, Switzerland, Nov 1-3, 2010. 257. S. Bhattacharya, N. Michael and V. Kumar, "Distributed Coverage and Exploration in Unknown Non-Convex Environments," 10th International Symposium on Distributed Autonomous Robots, Lausanne, Switzerland, Nov 1-3, 2010. 258. D. Mellinger, N. Michael and V. Kumar, "Trajectory Generation and Control for Precise Aggressive Maneuvers with Quadrotors," International Symposium on Experimental Robotics, New Delhi, India, Dec 18-21, 2010. 259. N. Michael, M. Schwager, V. Kumar and D. Rus, "An Experimental Study of Time Scales and Stability in Networked Multi-Robot Systems," International Symposium on Experimental Robotics, New Delhi, India, Dec 18-21, 2010. 260. S. Shen, N. Michael and V. Kumar, 3D Estimation and Control for Autonomous Flight with Constrained Computation, Proc. IEEE International Conference on Robotics and Automation. Shanghai, China, May, 2011. 261. D. Mellinger and V. Kumar, Minimum Snap Trajectory Generation and Control for Quadrotors, Proc. IEEE International Conference on Robotics and Automation. Shanghai, China, May, 2011. 262. S. Bhattacharya, H. Heidarsson, G. Sukhatme and V. Kumar, Cooperative Control of Autonomous Surface Vehicles for Oil Skimming and Cleanup, Proc. IEEE International Conference on Robotics and Automation. Shanghai, China, May, 2011. 263. M. Sakar, E. Steager, A. Cowley, V. Kumar, and G. Pappas Wireless Manipulation of Single Cells using Magnetic Microtransporters, Proc. IEEE International Conference on Robotics and Automation. Shanghai, China, May, 2011. 264. S. Berman, V. Kumar and R. Nagpal, Design of Control Policies for Spatially Inhomogeneous Robot Swarms with Application to Commercial Pollination, Proc. IEEE International Conference on Robotics and Automation. Shanghai, China, May, 2011. 265. M. Schwager, N. Michael, V. Kumar and D. Rus, Time Scales and Stability in Networked MultiRobot Systems, Proc. IEEE International Conference on Robotics and Automation. Shanghai, China, May, 2011. 266. Q. Lindsey, D. Mellinger and V. Kumar, Construction of Cubic Structures with Quadrotor Teams, Robotics Science and Systems, Los Angeles, CA, June 27-July 1, 2011. 267. S. Bhattacharya, M. Likhachev and V. Kumar, Identifying Homotopy Classes of Trajectories for Robot Exploration and Path Planning, Robotics Science and Systems, Los Angeles, CA, June 27July 1, 2011.

Vijay Kumar Page 28 268. M. Turpin, N. Michael, and V. Kumar. Trajectory design and control for aggressive formation flight with quadrotors. In Proceedings of the International Symposium on Robotics Research, Flagstaff, AZ, Aug. 2011. 269. M. Schwager, P. Dames, V. Kumar and D. Rus. A Multi-Robot Control Policy for Information Gathering in the Presence of Unknown Hazards, In Proceedings of the International Symposium on Robotics Research, Flagstaff, AZ, Aug. 2011. 270. V. Kumar and N. Michael. Opportunities and Challenges for Micro Aerial Vehicles. In Proceedings of the International Symposium on Robotics Research, Flagstaff, AZ, Aug. 2011. 271. J. Derenick, N. Michael, and V. Kumar. Energy-aware coverage control with docking for networked robots. In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Syst., San Francisco, CA, Sept. 2011. 272. D. Mellinger, M. Shomin, Q. Lindsey and V. Kumar. Design, Modeling, Estimation and Control for Aerial Grasping and Manipulation. IEEE/RSJ Intl. Conf. on Intelligent Robots and Syst., San Francisco, CA, Sept. 2011. 273. J. Fink, J. Derenick, and V. Kumar. Localization Using Ambiguous Bearing Estimates from Received Signal Strength. In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Syst., San Francisco, CA, Sept. 2011. 274. N. Ayanian, V. Kallem, and V. Kumar. Synthesis of Multiple Feedback Controllers for Multiple Aerial Robots with Geometric Constraints. In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Syst., San Francisco, CA, Sept. 2011. 275. D. Mellinger, A. Kushleyev, and V. Kumar. Mixed-Integer Quadratic Program (MIQP) Trajectory Generation for Heterogeneous Quadrotor Teams. Proc. of the IEEE Int. Conference on Robotics and Automation, Minneapolis, MN, May 14-18, 2012. 276. M. Turpin, N. Michael and V. Kumar. Decentralized Formation Control with Variable Shapes for Aerial Robots. Proc. of the IEEE Int. Conference on Robotics and Automation, Minneapolis, MN, May 14-18, 2012. 277. S. Shen, N. Michael and V. Kumar. Autonomous Indoor 3-D Exploration with a Micro-Aerial Vehicle. Proc. of the IEEE Int. Conference on Robotics and Automation, Minneapolis, MN, May 1418, 2012. 278. J. Seo, S. Kim and V. Kumar. Planar, Bimanual, Whole-Arm Grasping. Proc. of the IEEE Int. Conference on Robotics and Automation, Minneapolis, MN, May 14-18, 2012. 279. D. Panagou and V. Kumar. Maintaining Visibility for Leader-Follower Formations. Proc. of the IEEE Int. Conference on Robotics and Automation, Minneapolis, MN, May 14-18, 2012. Keynote Lectures and Seminars 1. 2. 3. 4. 5. School of Engineering, Dartmouth College, Hanover, New Hampshire, February, 1987. Department of Mechanical Engineering, University of Pittsburgh, Pittsburgh, February, 1987. Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, March 1987. Department of Mechanical Engineering, University of Michigan, Ann Arbor, April, 1987. Department of Mechanical Engineering, University of California, Irvine, November, 1990.

Vijay Kumar Page 29 6. 7. 8. 9. Department of Mechanical Engineering, University of Duisburg, Duisburg, Germany, December 1990. Department of Mechanical Engineering, Darmstadt Technische Hochschule, Darmstadt, Germany, December 1990. Department of Mechanical Engineering, University of Stuttgart, Stuttgart, Germany, December 1990. Department of Mechanical Engineering, Pennsylvania State University, State College, February 1991.

10. Department of Mechanical Engineering, Villanova University, Villanova, March 1991. 11. Oakridge National Laboratory, Oakridge, Tennessee, August 1991. 12. Department of Mechanical Engineering, John Hopkins University, December 1992. 13. Applied Science and Engineering Laboratories, University of Delaware, April 1993. 14. Department of Mechanical Engineering, University of Maryland, December 1993. 15. Department of Mechanical Engineering, University of Toronto, August 1994. 16. Department of Mechanical Engineering, John Hopkins University, November 1994. 17. State University of New York, Stonybrook, March, 1996. 18. Department of Physical Therapy, University of Delaware, February 1996. 19. Department of Mechanical Engineering, University of Delaware, October 1996. 20. Department of Mechanical Engineering, Katholik University, December 1996. 21. Division of Applied Science, Harvard University, January 1997. 22. Department of Computer Science, Federal University of Minas Gerais, Belo Horizonte, Brazil, June 1997. 23. Department of Mechanical Engineering, Drexel University, Philadelphia, February 1998. 24. Department of Mathematics, University of Pennsylvania, Philadelphia, November 1998. 25. Department of Mechanical Engineering, Rutgers Univeristy, New Jersey, March 1999. 26. Department of Mechanical Engineering, Arizona State University, Tempe, Arizona, October 1999. 27. Department of Mechanical Engineering, Johns Hopkins University, Baltimore, Maryland, November 1999. 28. Keynote Lecture, National Conference on Mechanisms and Machines, Bombay, India, 1999. 29. NSF CISE Distinguished Lecture, Arlington, VA, June 13, 2000. 30. Department of Mechanical Engineering, McGill University, Montreal, Canada, November, 2000. 31. Robotics Institute Seminar, Carnegie Mellon University, February, 2001.

Vijay Kumar Page 30 32. Department of Computer Science, Yale University, February 8, 2002. 33. Department of Mechanical Engineering, Drexel University, October 4, 2002. 34. Workshop on Intelligent Human Augmentation and Virtual Environments, University of North Carolina, Chapel Hill, October 17-19, 2002. 35. Intel Corporation, Portland, Oregon, January 2003. 36. Department of Mechanical Engineering, Johns Hopkins University, Baltimore, January 2003. 37. Institute for Systems Research, University of Maryland, February 2003. 38. Coordinated Science Laboratory, University of Illinois, Urbana-Champaign, March 2003. 39. Department of Mechanical Engineering, Tokyo Institute of Technology, Japan, July, 2003. 40. Department of Mechanical Engineering, Boston University, January , 2004. 41. Department of Computer Science, University of Southern California, February, 2004. 42. Jet Propulsion Laboratory, Los Angeles, February, 2004. 43. Engineering in Medicine, National Academy of Engineering Mid-Atlantic Symposium, 2004. 44. Thomas Jefferson University, December, 2004. 45. Air Force Research Laboratory, Space Vehicles Directorate, Kirtland Airforce Base, Albuquerque, New Mexico, May, 2005 46. Department of Mechanical Engineering, University of New Mexico, Albuquerque, May 2005. 47. Public lecture, NASA, Goddard, July 2005. 48. Department of Electrical and Computer Engineering, University of Toronto, September 2005. 49. Robotics Institute, Carnegie Mellon University, February, 2006. 50. Keynote, International Advanced Robotics Program Planning Forum, Orlando, Florida, May 14, 2006. 51. Department of Mechanical Engineering, State University of New York, Buffalo, August 2006. 52. Keynote lecture, 28th International Congress of Electronics Engineers, Institute of Technology, Chihuahua, Mexico, October 2006. 53. Robotics and Intelligent Machines Seminar Series, Georgia Institute of Technology, November 2006. 54. U.S. Military Academy, West Point, February, 2007 55. City College of New York, February, 2007. 56. Keynote Lecture, Foundations of Nanoscale Science: Self-Assembled Architectures and Devices, March, 2007. 57. Department of Mechanical Science and Engineering, University of Illinois, Urbana Champaign, April 2007.

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58. Department of Mechanical Engineering, Massachusetts Institute of Technology, May 2007. 59. Keynote Lecture, International Symposium on Assembly and Manufacturing, Ann Arbor, Michigan, July 2007. 60. Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland, September 2007. 61. Department of Computer Science, Robotics Day, Rennselaer Polytechnic Institute, October 2007. 62. Department of Computer Science, University of Southern California, December 2007. 63. Department of Mechanical Engineering, Nanyang Technological University (NTU), Singapore, December 2007. 64. Department of Electrical Engineering, Polytechnic University, New York, January 2008. 65. Department of Mechanical Engineering, University of California, Santa Barbara, March 2008. 66. Plenary Lecture, IEEE Conference on Automation Science and Engineering, Washington DC, August 2008. 67. Controls Seminar, University of Michigan, Ann Arbor, September 2008. 68. Workshop on Cyber-Physical Systems, International Conference on Robots and Systems (IROS 2008), Nice, France, 2008. 69. Invited Speaker, Robotics and Automation Symposium, University of Tokyo, 2008. 70. Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, February 2009. 71. Keynote Lecture, International Conference on Robot Communication and Coordination, Robocomm 2009, Odense, Denmark, April 2009. 72. Department of Mechanical Engineering, Rice University, Houston, April 2009. 73. Distinguished Lecture, IEEE Washington Chapter, McLean, VA, April 2009. 74. Intelligent Systems Division, Manufacturing Engineering Laboratory, National Institute of Standards and Technology, Gaithersburg, MD, April 2009. 75. Booze Allen Hamilton Distinguished Lecturer, Department of Electrical and Computer Engineering, University of Maryland, September 25, 2009. 76. Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, October 30, 2010. 77. Center for Information and Systems Engineering, Boston University, January 2010. 78. Keynote, Mechanisms and Robotics, ASME International Design Engineering Technical Conferences, Montreal, Canada, August 16, 2010. 79. Institute of Pure and Applied Mathematics, University of California, Los Angeles, October 18, 2010. 80. Science and Technology Innovators Lecture, University of Minnesota, Minneapolis, November 9, 2010.

Vijay Kumar Page 32 81. Department of Mechanical Engineering, Shanghai Jiaotong University, Shanghai, China, December 14, 2010. 82. Department of Mechanical Engineering, Indian Institute of Technology, New Delhi, December 22, 2010. 83. Department of Electrical Engineering and Computer Science, University of California, Berkeley, February 11, 2011. 84. Institute of Systems Research, University of Maryland, College Park, MD, February 25, 2011. 85. Institute for System Research, Instituto Superior Tecnico, Lisbon, Portugal, April 7, 2011. 86. Department of Mechanical Engineering and Applied Mechanics, University of Texas, Austin, April 12, 2011. 87. Keynote, Austrian Robotics Workshop, Tirol, Austria, May 23, 2011. 88. Keynote, Congreso Internacional De Ingenieria Electrica, Electronica, Sistemas Y Ramas Afines, Lima, Peru, August 8, 2011. 89. Plenary, Frontiers of Real-World Multi-Robot Systems: Challenges and Opportunities, Duke University, Durham, NC, October 10, 2011. 90. Department of Mechanical Engineering, Yale University, Nov. 2, 2011. 91. TCS Excellence in Computer Science (TECS) Week, Pune, Jan 9-13, 2012.

Invited Presentations in Workshops 1. 2. 3. "Guidance and Coordination in Legged Locomotion Systems," DARPA Workshop on Advanced Locomotion Systems, Columbus, Ohio, November 12-13, 1987. "Wrench Decomposition for Multiple Robotic Subsystems," Applications of Mathematics to Kinematics and Robotics, Center for Applied Mathematics, Lambrecht, West Germany, June, 1990. "Optimal Solutions for Serial-Chain Inverse Kinematics and for Parallel-Chain Inverse Statics," Redundancy: Performance Indicies, Singularities Avoidance and Algorithmic Implementations, IEEE Conference on Robotics and Automation, May 10-15, Nice, France, 1992. "Multiple Mobile Manipulators for Material Handling," DARPA Workshop on Concurrent Engineering and Manufacturing, Stanford, CA, June 16-18, 1992. "Rapid Prototyping from Physical Models," Information Technology for Manufacturing and Concurrent Engineering, Proceedings of a DARPA Workshop, Stanford, CA, June 16-18, 1992, pp. 721-724. "Simulation of Mechanical Systems with Frictional Contacts," Applications of Mathematics to Kinematics and Robotics, Center for Applied Mathematics, Ebernburg, Germany, July 12-17, 1992. Educational Issues in Manufacturing, Intelligent Systems and Advanced Manufacturing, SPIE, Philadelphia, PA, October 23-26, 1995 (Panelist on a roundtable). Motion planning on SE(3), ARO/Academia/ARL Integration Workshop, Aberdeen, Sep 11-12, 1995.

4. 5.

6. 7. 8.

Vijay Kumar Page 33 9. Rapid prototyping of rehabilitation aids for people with motor disabilities, International Symposium on Robotics Research, Munich, Oct 20-24, 1995.

10. New Perspectives on Research and Education in Mechanisms, ASME Design Technical Conference - 24 th Biennial Mechanisms conference, Irvine, CA, Aug 20, 1996. 11. A/E/C Systems '97 & M/CAD Expo '97, Philadelphia, June 18, 1997. 12. "Modeling of Frictional Contacts for Dynamic Simulation," Workshop on Dynamic Simulation, International Conference on Intelligent Robot Systems (IROS'97), Grenoble, France, Sep 11, 1997. 13. Analysis of Grasp Stability and Quality Measures, Workshop on Theory of Grasping and Fixturing, International Conference on Robotics and Automation, Leuven, Belgium, May 15, 1997. 14. Kumar, V., Zefran, M., and Ostrowski, J., Motion Planning in Humans and Robots, Proceedings of the 8th International Symposium on Robotics Research, Springer Verlag, Kanagawa, Japan, October 3-7, 1997. 15. Challenges in Simulation of Systems with Multiple Frictional Contacts, Workshop on New Directions in Contact Analysis and Simulation, International Conference on Robotics and Automation, May 16, 1998. 16. Metrics for Robotic Grasping and Fixturing, Workshop on Grasping, Fixturing, and Manipulation: Toward a Common Language, International Conference on Robotics and Automation, May 16, 1998. 17. Screw System Theory and Applications, Tutorial organized with K. J. Waldron, ASME Design Technical Conference - 25th Biennial Mechanisms conference, Atlanta, GA, September, 1998. 18. ARO Workshop on Hybrid Systems, July 1998. 19. Networks of Embedded Systems, DARPA NEST Workshop, Boston, March 2000. 20. New directions in dynamics and controls, Chair, NSF Workshop on Mathematics and Robotics, Washington DC, May 2000. 21. Challenges in Robotics, Dynamic Systems and Controls, College Park, MD, June 2000. 22. Next Generation Human-Assist Devices and Automation, NSF/NIOSH Workshop, Sept, 2000. Organized with Steve Derby and Sridhar Kota. 23. Applications of Screw System Theory and Lie Theory to Spatial Kinematics, ASME Design Technical Conference - 25th Biennial Mechanisms conference, Baltimore, MD, September, 2000. Organizer. 24. Cooperative Control and Sensing with Multiple Robots, AFOSR Workshop on Cooperative Control, Gainesville, Florida, December, 2000. 25. Hybrid Systems Approach to Biomolecular Networks, DARPA Workshop on Biocomputation, Washington, D.C., March 1, 2001. 26. Cooperative Control of Multiple Robotics, DARPA Workshop on Cooperative Robotics, February 20, 2001. 27. Cooperative Robotics, Symposium on Control of Groups, 5th SIAM Conference on Control and its Applications, July 9-13, 2001. 28. Cooperative Control of Aerial and Ground Vehicles, Workshop on Intelligent Human Augmentation and Virtual Environments, University of North Carolina, Chapel Hill, October 17-19, 2002.

Vijay Kumar Page 34 29. SIAM Annual Meeting, Snowbird, Utah, May 2003. 30. Multi-robot Grasping, Fixturing and Manipulation, Keynote Address, International Federation for the Theory of Mechanisms and Machines, Tokyo, Japan, July, 2003. 31. ONR GATO Workshop, Washington D.C., February, 2004. 32. AMS meeting, Mathematics in Robotics, Northwestern University, October, 2004. 33. ISAT Study: Embedded Humans, Stanford University, June 29, 2005. 34. Keynote, Aerospace and Guidance Control Meeting, Hilton Head, SC, October 17, 2005. 35. An International Assessment of the State-of-the-Art and Challenges in Robotics, International Symposium on Robotics Research, San Fransisco, CA, October 12-15, 2005. 36. IPAM Workshop on Swarming by Nature and by Design, March 1, 2006. 37. Challenges in Networked Robot Systems, Workshop on Network Robot Systems, IEEE International Conference on Robotics and Automation, Orlando, Florida, May 19, 2006. 38. Robotics and Cyber-Physical Systems, Workshop on Cyber Physical Systems, International Conference on Intelligent Robots and Systems (IROS), Nice, France, Sep 24, 2008. 39. Natural Algorithms, Princeton University, November 2010. 40. Opportunities and challenges with autonomous micro aerial vehicles. Proc. of the Intl. Sym. of Robot. Research, Flagstaff, AZ, Aug. 2011.

Patents Kumar, V., Wellman, P. and Krovi, V., "Adaptive Mobility System," U.S. Patent No. 5,513,716, April 16, 1996. Daniilidis, K., Angelopoulou, E. and Kumar, V., Multispectral Omnidirectional Optical Sensor and Methods Therefore, U. S. Patent No. 6,982,743, January 3, 2006. Membership on Editorial Boards Editorial Board, Journal of the Franklin Institute (1994 - 2000). Associate Editor, IEEE Transactions on Robotics and Automation (1994-1998). Associate Editor, ASME Journal of Mechanical Design (1997- 2001). Editorial Board, Electronic Journal of Computational Kinematics (2001-2002). Editor, IEEE Transactions on Automation Science and Engineering (2007- ) Editorial Board, Springer Tracts on Advanced Robotics (2009 - ) Editorial Board, ASME Journal of Mechanisms and Robotics (2009- ). Editorial Board, Autonomous Robots (2010 - ).

Press Coverage 1. 2. 3. Scientific American, Free wheeling, C. Seife, December 1995. Philadelphia Inquirer, Walking wheelchair, Leslie Nicholson, February 12, 1998. (Excerpts from this two page feature appeared in newspapers all over the country.) Advance, Robotic wheelchair, Jolynn Weiler, March 30, 1998: pages 35-36.

Vijay Kumar Page 35 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. Philadelphia Channel 6 TV, Prime Time, 1998. (This five minute segment on robotics research featuring my work ran several times through 1998.) Fox News, Interview, July 25, 1998. Financial Times, Interviewed on robotics exhibits by high school students at the International Science Fair in Philadelphia, May 1999. Prism, American Society of Engineering Educators, feature articles on robotics technology and education, March 2000. Wall Street Journal, features robotics technology for servicing satellites, February 2005. Philadelphia Business Journal, Robots putting their heads together, June 10, 2005, http://philadelphia.bizjournals.com/philadelphia/stories/2005/06/13/story1.html. (Also appeared on MSNBC http://msnbc.msn.com/id/8199356/) Philadelphia Inquirer, September 2006. National Geographic, June 2007. http://www7.nationalgeographic.com/ngm/0707/feature5/. SAAST Robotics for High School Students, Fox TV, Channel 29 and NBC TV, Channel 3, Philadelphia, July 27, 2007. NSF Press release: http://www.nsf.gov/news/news_summ.jsp?cntn_id=110002&org=NSF&from=news. Interview on Aggregation and Swarm Behaviors on the one hour Seattle Public Radio Weekday Program, February 9, 2009. http://www.kuow.org/program.php?id=16878. Coverage of work on autonomous aerial robots. New Scientist number 1 video clip of the month, New York Times one of five robots to watch, Popular Science, Engadget o http://www.newscientist.com/article/dn19032-new-scientist-tv--best-of-the-web.html o http://bits.blogs.nytimes.com/2010/07/15/five-robots-to-watch/?src=me&ref=technology o http://www.popsci.com/technology/article/2010-07/video-upenns-quadcopters-now-workteams-lift-heavy-payloads o http://www.popsci.com/technology/article/2010-06/upenns-autonomous-quadcopter-makesnavigating-tight-spaces-look-easy

Membership on Planning and Review Committees Robotics Council, National Science Foundation, 2000-2002. Robotics Technical Advisory Board, Army Research Laboratories, 2004. NAS Committee on Assessment of Options for Extending the Life of the Hubble Space Telescope (prepublication copy of report), 2004. NSF/NASA Committee on Assessment of International Research and Development in Robotics, 2004. National Resource Council Committee to review NASA's Capability Roadmaps on Human Exploration Systems and Mobility and Autonomous Systems and Robotics, 2005. NSF Council of Visitors, Computer and Information Science and Engineering, 2006. CCC Robotics Roadmap Committee, 2008-09. Professional Affiliations 1. 2. 3. 4. Fellow, American Society of Mechanical Engineers Fellow, Institution of Electrical and Electronic Engineers Member, Robotics International, Society of Manufacturing Engineers Member, American Society of Engineering Education

Program Committees Program Committee, 4th International Conference on Advanced Robotics, 1988. Applied Mechanics Division Committee, American Society of Mechanical Engineers, Philadelphia, 1988 - 1991. Program Committee, 5th International Conference on Advanced Robotics, 1991. Program Committee, International Conference on Intelligent Robot Systems (IROS'95), Pittsburgh, PA, 1995.

Vijay Kumar Page 36 Program Committee, Second ECPD International Conference on Advanced Robotics, Intelligent Automation and Active Systems, Vienna, Austria, 1996. Program Committee, IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1997. Co-organizer of workshop New Directions in Contact Analysis and Simulation, International Conference on Robotics and Automation, May 16, 1998. Program Committee, Mechanisms Conference, ASME Design Technical Conferences, Atlanta, Sept 13-16, 1998. Program Committee, International Conference on Rehabilitation Robotics, Stanford, Palo Alto, 1999. Program Committee, International Conference on Robotics and Automation, Stanford, April 2000. ASME Design Engineering Division, Mechanisms Committee, 2000-2006. Program Committee, IEEE/RSJ International Conference on Intelligent Robots and Systems, Hawaii, October, 2001. Program Committee, ASME Design Engineering Technical Conferences, Mechanisms Committee, Pittsburgh, September 2001. Program Committee, ISORA 2002 9th International Symposium on Robotics and Applications, Orlando, Florida. Program Committee, ISRA 2002, 3rd International Symposium on Robotics and Automation, Toluca, Mexico. Program Committee, International Conference on Robotics and Automation, Washington, D.C., May 2002. Program Committee, International Conference on Robotics and Automation, Taipei, Taiwan, September 2003. Program Committee, International Conference on Robotics and Automation, New Orleans, LA, May 2004. Program Committee, IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, October, 2003. Program Committee, 7th International Symposium on Distributed Autonomous Robotic Systems, Toulouse June 23-25, 2004. Program Committee, 5th International Symposium on Intelligent Autonomous Vehicles, Lisbon, Portugal, July 2-4, 2004. Program Committee, International Conference on Robotics and Automation, Barcelona, April 2005. Program Committee, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005. Senior Program Committee, Robotics: Science and Systems, Cambridge, June, 2005. Program Co-Chair, IEEE International Conference on Automation Science and Engineering, Scottsdale, Arizona, 2007. Senior Program Committee, Autonomous Agents and Multi-Agent Systems (AAMAS), 2008. Senior Program Committee, International Conference on Robotics and Automation, Pasadena, April 2008. Senior Program Committee, International Conference on Robotics and Automation, Tokyo, May 2009. General Conference Co-Chair, IEEE International Conference on Automation Science and Engineering, Scottsdale, Arizona, 2009 Program Chair, International Conference on Robotics and Automation, Pasadena, May 2010. Senior Program Committee, International Conference on Robotics and Automation, Shanghai, May 2011. Senior Program Committee, International Conference on Robotics and Automation, Minneapolis, May 2012.

Professional Society Committees Chair, Mechanisms and Robotics Committee, ASME Design Engineering Division, 2006-2007. Administrative Committee Elected Member, IEEE Robotics and Automation Society, 2007-2009. Associate Vice President, Administrative Committee, IEEE Robotics and Automation Society, 20082009. Administrative Committee Member at Large, IEEE Robotics and Automation Society, 2010-12. Member, Design Engineering Division Executive Committee, ASME, 2008-present.

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Vijay Kumar Page 38 Organization of Conferences and Workshops Conference Chair, 27th Biennial Conference on Mechanisms and Robotics, ASME Design Engineering Technical Conferences, Mechanisms Committee, Montreal, September 2002. Block Island Workshop on Cooperative Control, Organizer (with N. Leonard and S. Morse), Block Island, June 10-12, 2003. Robotics and Emergency Response, Organizer (with D. Rus and S. Singh), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop, October 26, 2003. Workshop on Swarming in Natural and Engineered Systems, NAPA, CA, August 2-3, 2005. General Conference Chair, ASME Design Engineering Technical Conferences, Philadelphia, September 2006. Conference Co-Chair, International Symposium on Experimental Robotics, Rio de Janeiro, Brazil, July 2006. Local Arrangements Co-Chair, Robotics Science and Systems, Philadelphia, PA, August 13-15, 2006. 2nd Biennial Workshop on Swarming in Natural and Engineered Systems, Philadelphia, PA, May 1617, 2007. Conference Co-Chair, International Symposium on Experimental Robotics, Athens, Greece, July 2008. 3rd Biennial Workshop on Swarming in Natural and Engineered Systems, Block Island, RI, June 3-4, 2009. Program Chair, IEEE International Conference on Robotics and Automation, Anchorage, Alaska, 2010.

Supervision of Doctoral Dissertations 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. Nathan Ulrich, Mechanical Design Optimization of Manipulator Design Performance, Fall 1990. Currently, Reseach Scientist, Woods Hole Oceanographic Laboratory, Massachussetts. Jung-ha Kim, Kinematics and Statics of Multifingered Grippers, Fall 1990. Currently Professor, Kook Min University, Seoul, N. Korea. Yin-Tien Wang, Analysis and Simulation of Mechanical Systems with Multiple Frictional Contacts, Summer 1992. Currently, Associate Professor, Tamkang University, Taiwan. Nilanjan Sarkar, Control of Mechanical Systems with Rolling Contacts, Spring 1993 (co-supervised by X.Yun). Currently, Associate Professor, Vanderbilt University. Mohamed Ouerfelli, Kinematics of head movements in paraplegics and interaction with robot manipulators, November 1994. Currently, Assistant Professor, King Fahd University, Saudi Arabia. William Howard, Stability of Grasps: Beyond Force Closure, June 1995. Currently, Manager, Kliklok Corporation, Atlanta, Georgia. Chau-Chang Wang, Kinematics and Control of Redundant Nonholonomic Systems, August 1995. Currently, Associate Professor, National Sun Yat-sen University, Taiwan. Milos Zefran, Continuous methods for motion planning, December 1996. Currently, Assistant Professor, University of Illinois, Chicago, Recipient of the NSF Career Award. Jaydev Desai, Motion planning and control of cooperative robotic systems (co-supervised by J. P. Ostrowski). Currently, Associate Professor, University of Maryland. Venkat Krovi, Design and Virtual Prototyping of User Customized Assistive Devices. (co-supervised by G. K. Ananthasuresh). Currently, Assistant Professor, McGill University, Canada. Thomas G. Sugar. Coordination of multiple mobile robots for material handling. Currently, Assistant Professor, Arizona State University, Phoenix, Arizona. Peter Kraus. Modeling of Rigid Body Contacts for Dynamic Simulation. Peng Song. Dynamics, Analysis and Simulation of Multibody Systems with Frictional Contacts. Currently, Assistant Professor, Rutgers University of Pennsylvania. Joel Esposito. Simulation and Control of Hybrid Systems with Applications to Multi-agent Mobile Robotics. Currently, Assistant Professor, U. S. Naval Academy. Aveek Das, Cooperative Control of Robot Formations. 2004. Currently at Sarnoff Corporation. Calin Belta. Geometric Methods for Multirobot Planning and Control. 2003. Currently, Assistant Professor, Drexel University. Rahul Rao, Image Based Control of an Unmanned Ground Vehicle from an Overhead Camera, 2004. Currently at Intel Corporation.

Vijay Kumar Page 39 18. Sachin Chitta, Dynamics and Control of Modular Locomotion Systems, 2005. Research Scientist, Willow Garage. 19. Sarangi Patel Parikh, A Framework for Computer Mediated Motion Control: Human Robot Augmentation with Applications to Assistive Technology, 2005. Assistant Professor, U. S. Naval Academy. 20. Meghann Lomas, December 2006. Lockheed Martin Corporation. 21. Mong-Ying (Ani) Hsieh, August 2007. Assistant Professor, Drexel University. 22. David Cappelleri, Flexible Automation for Micro and Meso-Scale Manipulation Tasks with Applications to Manufacturing and Biotechnology, August 2008. Assistant Professor, Stevens Institute of Technology. 23. Nathan Michael, Planning and control for teams of robots in complex environments, December 2008. Research Assistant Professor, University of Pennsylvania. 24. Ethan Stump, Control for Localization and Visibility Maintenance of an Independent Agent using Robotic Teams, December 2009. Army Research Laboratory. 25. Spring Berman, Abstractions, Analysis Techniques, and Synthesis of Scalable Control Strategies for Robot Swarms, May 2010. Postdoctoral Fellow, Harvard University, Assistant Professor, Arizona State University. 26. Mahmut Selman Sakar, MicroBioRobots for Single Cell Manipulation, September 2010 (cosupervised with G. Pappas). Postdoctoral Fellow, Massachusetts Institute of Technology. 27. Nora Ayanian, August 2011 (co-supervised with D. Koditschek). Postdoctoral Fellow, Massachusetts Institute of Technology. 28. Jonathan Fink, August 2011. Army Research Laboratory. 29. Subhrajit Bhattacharya, Jan 2012, Postdoctoral Fellow, Department of Mathematics, University of Pennsylvania. 30. Daniel Mellinger, Jan 2012, President, KMel Robotics. Postdoctoral Fellows 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19. Elan Henis, 1992-93 (currently at the IBM Haifa Research Laboratory). Herman Bruyninckx, 1996-97 (currently on the faculty of the Katholik University, Leuven, Belgium). Jean-Marc Vezien, 1996-98 (currently at INRIA, France). Greg Grudic, 1998-01 (currently Asst. Prof., Computer Science, Univ. Colorado). Rafael Fierro, 1999 01 (currently Asst. Prof., Electrical Engineering, Oklahoma State University). John Ben Southall, 1999- 00 (currently at Sarnoff). Herbert Tanner, 2001-2002 (joint with George Pappas) Xiaoye Wang, 2002 (joint with Harvey Rubin and G. K. Ananthasuresh) Ben Grocholsky, 2003-2006 (Research Scientist, Carnegie Mellon University). Peng Song, 2003-2005 (currently Asst. Prof., Rutgers University). Luiz Chaimowicz, 2003-2005 (currently Asst. Prof., Federal University of Mineas Gerais, Brazil). Peng Cheng, 2005-2008 (currently Research Scientist, Mathworks Inc.). Adam Halasz, 2005-2008 (currently Assistant Professor, West Virginia University). Savvas Loizou, 2005 2007 (Asst. Prof., Frederick University, Cyprus). Bogdan Gavrea, 2006 2007 (Asst. Prof., Technical University of Cluj-Napoca, Romania). Jason Derenick, 2009- 2011. (United Technologies). Vinutha Kallem, 2008 2011. (Sarnoff Corporation). Qimi Jiang , 2009 2011. Edward Steager, 2009 present.

Supervision of Masters Thesis 1. 2. 3. 4. Michael C. Johnson, Force and Motion Control of Redundantly Actuated Robotic Systems with Closed Kinematic Chains, Fall 1989. George Pfreundschuh, Kinematics, Design and Control of a Parallel Manipulator, Summer 1990. Leslie Johnson, A Numerical Technique for Determination of Contact Forces for Multifingered Robotic Grippers, Summer 1991. Thomas G. Sugar, Design and Control of an in-Parallel Pneumatically-Actuated Manipulator, Summer 1992.

Vijay Kumar Page 40 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. J. Chris Gerdes, Modeling and Analysis of the Dynamic Behavior of Spur Gears with Applications To Control, Summer 1992. Seshadri Narasimhan, Control of Robot Manipulators in Singular Configurations (May 1994). Greg Garvin, Kinematics and Trajectory Generation in Two-Armed Reaching and Manipulation (May 1994). Parris Wellman, An Adaptive Mobility System, August 1994. Milos Zefran, Numerical Techniques for Time Optimal Robot Control, August 1995. Venkat Krovi, Modeling and Control of a Hybrid Locomotion System, December 1995. Brad Dufour, Strength Amplification in Assistive Devices for People with Physical Disabilities, December 1997. Robert Breslawski, Articulated wheeled and legged mobility system for uneven terrain, December 1999. Dimitris Theodorakatos, Cable-Actuated Parallel Manipulators, May 2007. Erik Smith, Path-planning and control with workspace constraints of cable-actuated parallel manipulators, December 2008. Dinesh Thakur, May 2011. Mike Shomin, July 2011.

Courses taught Freshman level Introduction to Design and Manufacturing (MEAM 100) Sophomore level Engineering Mechanics - Dynamics (MEAM 211), Mechanical Engineering Laboratory (MEAM 247), EAS 299, Engineering Research Experience (Course on selecting research problems and mentors, and writing research proposals) Junior level Kinematics and Dynamics of Machinery (MEAM 452), Senior Design Projects (MEAM 445), EAS 300, Engineering Research and Scholarly Communication (course focusing on preparing papers for publication) Senior level Kinematics and Dynamics of Machinery (MEAM 452), Modeling and Control of Mechanical Systems (MEAM 513), Senior Design Projects (MEAM 446), Engineering Mathematics (MEAM 500), Robotics (MEAM 520), Dynamics (MEAM 535), Mechatronics (MEAM 410) Graduate level - first year (core courses) Engineering Mathematics (MEAM 500), Modeling and Control of Mechanical Systems (MEAM 513), Robotics (MEAM 520), Dynamics (MEAM 535) Graduate level - advanced (electives) Advanced Kinematics (MEAM 528), Advanced Topics in Robotics (CIS 681, MEAM 620), Robot Control (CIS 682), Human Visuo-Motor Control (co-taught, Psych 739).

Vijay Kumar Page 41 Current Funding 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. National Science Foundation, ITR Collaborative Research: Networks of Robots and Sensors for First Responders, Principal Investigator at Penn [with D. Rus (MIT) and S. Singh (CMU)], 2004-2008. National Science Foundation, Grasp and Manipulation Planning in the Presence of Dynamics and Uncertainty, Principal Investigator at Penn [with J. C. Trinkle and J-S. Pang (RPI)]. Army Research Office, MURI, Scalable Swarms of Autonomous Robots and Mobile Sensors (SWARMS), 2004-2009 (PI, with Berkeley, Santa Barbara, MIT and Yale collaborators) Department of Education, GAANN Fellowships in Biological Modeling, Analysis, Computation and Synthesis, 2006-2009. National Science Foundation, IUCRC Center for First Response, Principal Investigator, 2006present. Army Research Laboratory, Micro Autonomous Systems Technologies Autonomy, 2008-2013 [Center Director and PI with Georgia Tech, Berkeley and U. New Mexico]. Office of Naval Research, Heterogeneous Unmanned Networked Vehicles, 2008-2013 [with G. Pappas (PI), Ali Jadbabaie, Dan Koditschek, and investigators from Georgia Tech, Arizona State University and Berkeley]. Defense Advanced Research Projects Agency, Programmable Matter, 2008-2010 [with M. Yim, and investigators from MIT (prime), Harvard and Berkeley.] Office of Naval Research, Adaptive Networks for Threat and Intrusion Detection and Termination (ANTIDOTE), 2009-2014 [Penn PI, with investigators from USC (prime), CMU and MIT]. Office of Naval Research, Smart Adaptive Reliable Teams for Persistent Surveillance (SMARTS), 2009-2014 [Penn PI, with investigators from MIT (prime), Berkeley, and Boston University]. Lockheed Martin, Teams of Autonomous Robots and Sensors for ISR, 2009-2010. Army Research Laboratory, Robotics Collaborative Technology Alliance 2010-15 [with K. Daniilidis (PI), D. Koditschek, M. Yim, K. Kuchenbecker, J. Shi and multiple other institutions.] Defense Advanced Research Projects Agency, ARM-S, 2010-12 [Penn PI, with investigators from iRobot (prime) and U. Massachussetts.] Air Force of Scientific Research, Control of Heterogeneous Assets for Situational Awareness, 201015 [with D. Koditschek (PI), A. Jadbabaie, A. Ribeiro and investigators from U. Minnesota and U. California Berkeley].

Vijay Kumar Page 42 Previous Funding 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19. 20. 21. 22. 23. 24. 25. 26. 27. University of Pennsylvania Research Foundation, Force and touch sensing in robotics and manufacturing, $10,000, 1988-1991, Principal Investigator. University of Pennsylvania Research Foundation, Dynamic coordination for robot manipulators, $10,000, 1991-1992 (Xiaoping Yun, Vijay Kumar and Sumit Roy), Co-Principal Investigator. NSF, CISE Research Instrumentation, $118,000, 1991-1993 (Vijay Kumar, Xiaoping Yun, Sumit Roy and Richard Paul), Principal Investigator. Barrett Technology Incorporated, Control of enveloping grasps, $25,000 (1992-1993), Principal Investigator. NATO, Dynamics of Multi-Body Systems with Multiple Frictional Contacts, 215,000 Belgian Francs (approximately $20,000), 1992-1994 (Horst Klepp and Vijay Kumar), Co-Principal Investigator. University of Pennsylvania, University Educational Funds, Computer Integrated Manufacturing, $30,000, 1992-93, Principal Investigator. University of Pennsylvania Research Foundation, Coordination of limbs in biological systems, $10,000, 1993-94, Principal Investigator. Neymours Foundation, A.I. DuPont Institute, Design and control of a pneumatic, wheelchairmounted, robot arm, $75,000, 1990-1993, Principal Investigator. Whitaker Foundation, Walking chairs for the disabled, $180,000, 1992-1995 (Vijay Kumar, Xiaoping Yun and William Harwin), Principal Investigator. Tokheim Corporation, Automatic Fueling of Vehicles, $90,000, 1993-95, Principal Investigator. NASA, Enveloping Grasps with Mobile Whole Arm Manipulators, $66,000, 1993-1995, Principal Investigator. DARPA, Multiagent intelligent adaptive coordinated robotic system, $1,542,367, 1991-1994 (Ruzena Bajcsy, Vijay Kumar, Max Mintz, Richard Paul, and Xiaoping Yun), Co-Principal Investigator. NSF, Cooperation and Coordination of Two Arms in Biological and Robotic Systems, $240,000, 1992-1996 (Vijay Kumar and Xiaoping Yun), Principal Investigator. NSF, Presidential Young Investigator Award, $327,500 (1991-97), Principal Investigator. NSF, Gateway coalition grant, $272,541, 1993-1998, Principal Investigator. NSF, Acquisition of Equipment for a Customized Production Systems Laboratory, $483,721, 19951997 (V. Kumar, P. Harker, M. Cohen, D. Bogen, N. Badler, R. Bajcsy, R. Paul, and J. Smith), Principal Investigator. NSF, Graduate Traineeship, $550,000, 1993-1998 (R. Bajcsy, V. Kumar, M. Mintz, R. Paul, G. Provan and S. Roy), Co-Principal Investigator. NSF, Rapid Prototyping of Aids for the Physically Disabled, $1,400,000, 1994-97 (R. Bajcsy, V. Kumar, D. Bogen, W. Harwin and D. Metaxas), Co-Principal Investigator. Defense Advanced Research Projects Agency, Omnidirectional Sensing and Control for Multirobot Coordination, $450,000, 1998-99 (V. Kumar, C. J. Taylor, K. Daniilidis, and J. Ostrowski), Principal Investigator. ARO, Multi-University Research Initiative: Algorithmics of Motion, $2,500,000, 1995-2000 (R. Bajcsy, V. Kumar, E. Simoncelli, M. Mintz, D. Metaxas, J. Gallier), Co-Principal Investigator. ARO, Algorithms for Motion Planning, Sensing and Simulation, $110,000, 1996-1998 (R. Bajcsy, V. Kumar, C.-H. Chen and P. Harker), Co-Principal Investigator. NSF, Asymmetric Broadcast Channels: Applications to Multirobot Coordination, $834,000, 19972002 (R. Bajcsy, D. Farber, V. Kumar, I. Lee, and J. Smith), Co-Principal Investigator. NSF, Micro and Macro Prototyping of Compliant Mechanisms, $300,000, 1997-2000 (J. Ostrowski, G. K. Suresh, R. Bajcsy, and V. Kumar), Co-Principal Investigator. Department of Education, Graduate Assistance in Areas of National Need, $500,000, 1998-2001, Principal Investigator. Mellon Foundation, Electronic Enterprise for Cost-Effective Laboratory Instruction, 1997-2000 (D. Pope, V. Kumar, M. Litt, K. Tobin, J. Van der Spiegel), Co-Principal Investigator. Defense Advanced Research Projects Agency, Control of Multiple Autonomous Robots, $1,300,000, 1999-2001 (V. Kumar, R. Alur, I. Lee, C. J. Taylor, K. Daniilidis, J. Ostrowski, and L. Ungar), Principal Investigator. Defense Advanced Research Projects Agency, Design, Implementation, and Validation of Embedded Software, $2,200,000, 2000-2003 (with R. Alur, I. Lee, and G. Pappas), Co-Principal Investigator.

Vijay Kumar Page 43 28. National Science Foundation, Customized Interfaces For Assistive Technology, $489,800, 20002003 (with C.J. Taylor and J. Ostrowski), Principal Investigator. 29. Air Force Office of Scientific Research, Coordinated Control of Groups of Vehicles, $500,000, 2001-2004 (with J. Ostrowski and N. Leonard), Principal Investigator. 30. Defense Advanced Research Projects Agency, Modeling, Analysis, Simulation and Synthesis of Biomolecular Networks, $1,799,999, 2001-2004 (with H. Rubin), Co- Principal Investigator. 31. National Science Foundation, Modeling and Analysis of Biological Information Networks, $300,000, 2002-2003 (with R. Alur, G. Pappas, and H. Rubin), Co-Principal Investigator. 32. Lockheed Martin, NEPHEST Research, $192,024, 2002-2003 (with R. Alur, G. Pappas, and O. Sokolosky), Principal Investigator. 33. Defense Advanced Research Projects Agency, Adaptive, Autonomous Robot Teams for Situational Awareness, $3,919,191, 2002-2004, (with C.J. Taylor and J. Ostrowski), Principal Investigator. 34. National Science Foundation, ITR: Antidote: Adaptive Network of Robots for Threat and Intrusion Detection and Emergency Response, $300,000, 2002-2005, Principal Investigator. 35. National Science Foundation, Focus Research Collaborative Proposal: Differential Algebraic Inequalities and Their Applications, $210,000, 2002-2005, Principal Investigator. 36. National Science Foundation, NEAR: Network of Autonomous Robots, $453,799, (J. Ostrowski), 2002-2005, (with J. Ostrowski), Principal Investigator. 37. Army Research Office, MURI via U Cal Berkley, Adaptive Coordinated Control of Intelligent Multi-Agent Teams (ACCLIMATE), $1,406,500, 2002-2007, (with K. Daniilidis,J. Ostrowski, G. Pappas, and C.J. Taylor), Principal Investigator at Penn [with S. S. Sastry (PI) and H. Choset]. 38. National Science Foundation, Scalable Algorithms for Safety Verification and Reachability Analysis of Hybrid Systems, Principal Investigator at Penn [with C. Belta, Boston University], $130,000, 2004-2007. 39. Lockheed Martin Corporation, Intelligent Control and Autonomous Replanning of Unmanned Systems (ICARUS), 2006-2007, $317,848. 40. Office of Naval Research, Verification and Validation for Autonomous Systems, $333,900, 20042006. 41. Defense Advanced Research Projects Agency, Nano Air Vehicles (with M. Yim, PI), $120,548, 2006-2007. 42. Boeing Company, Research and Simulation Development for Topology Control Algorithms for Ad Hoc Rotorcraft Teams, 2006-2007. Industrial Consulting and Research Partnerships International Assessment and Strategy Center, 2009-present. Lockheed Martin, 2005-present. Boeing Company, 2005-2006. Honda Motor Company 1999-2005. General Motors Corporation, 1999-2000. Tokheim Corporation, 1994-1996. USPS and Planmatics, 1996. Ford Motor Company, 1996. Barrett Technology, 1992-1993.