Michael Koval

• About
• Research
• Publications
• Software

Journal Papers

• Michael C. Koval, Nancy S. Pollard, and Siddhartha S. Srinivasa. Pre- and post-contact policy decomposition for planar contact manipulation under uncertainty. International Journal of Robotics Research, 35(1-3):244–264, 2016. doi:10.1177/0278364915594474.
• Michael C. Koval, Nancy S. Pollard, and Siddhartha S. Srinivasa. Pose estimation for planar contact manipulation with manifold particle filters. International Journal of Robotics Research, 34(7):922–945, 2015. doi:10.1177/0278364915571007.
• Mehmet R. Dogar, Michael C. Koval, Abhijeet Tallavajhula, and Siddhartha S. Srinivasa. Object search by manipulation. Autonomous Robots, 36(1-2):153–167, October 2013. doi:10.1007/s10514-013-9372-x.

Conference Papers

• Joni Pajarinen, Ville Kyrki, Michael C. Koval, Siddhartha S. Srinivasa, Jan Peters, and Gerhard Neumann. Hybrid control trajectory optimization under uncertainty. In IEEE/RSJ International Conference on Intelligent Robots and Systems. September 2017. doi:10.1109/IROS.2017.8206460.
• Michael C. Koval, Matthew Klingensmith, Siddhartha S. Srinivasa, Nancy S. Pollard, and Michael Kaess. The manifold particle filter for state estimation on high-dimensional implicit manifolds. In IEEE International Conference on Robotics and Automation. May 2017. doi:10.1109/ICRA.2017.7989543.
• Michael C. Koval, David Hsu, Nancy S. Pollard, and Siddhartha S. Srinivasa. Configuration lattices for planar contact manipulation under uncertainty. In Workshop on the Algorithmic Foundations of Robotics. December 2016.
• Siddhartha S. Srinivasa, Aaron M. Johnson, Gilwoo Lee, Michael C. Koval, Shushman Choudhury, Jennifer E. King, Christopher M. Dellin, Matthew Harding, David T. Butterworth, Prasanna Velagapudi, and Allison Thackston. A system for multi-step mobile manipulation: architecture, algorithms, and experiments. In International Symposium on Experimental Robotics. October 2016. doi:10.1007/978-3-319-50115-4_23.
• Michael C. Koval, Jennifer E. King, and Siddhartha S. Srinivasa. Robust trajectory selection for rearrangement planning as a multi-armed bandit problem. In IEEE/RSJ International Conference on Intelligent Robots and Systems. September 2015. doi:10.1109/IROS.2015.7353743.
• Michael C. Koval, Nancy S. Pollard, and Siddhartha S. Srinivasa. Pre- and post-contact policy decomposition for planar contact manipulation under uncertainty. In Robotics: Science and Systems. July 2014. doi:10.15607/RSS.2014.X.034.
• Michael C. Koval, Nancy S. Pollard, and Siddhartha S. Srinivasa. Manifold representations for state estimation in contact manipulation. In International Symposium of Robotics Research. December 2013. Invited. doi:10.1007/978-3-319-28872-7_22.
• Michael C. Koval, Mehmet R. Dogar, Nancy S. Pollard, and Siddhartha S. Srinivasa. Pose estimation for contact manipulation with manifold particle filters. In IEEE/RSJ International Conference on Intelligent Robots and Systems. November 2013. doi:10.1109/IROS.2013.6697009.
• Mehmet R. Dogar, Michael C. Koval, Abhijeet Tallavajhula, and Siddhartha S. Srinivasa. Object search by manipulation. In IEEE International Conference on Robotics and Automation. May 2013. doi:10.1109/ICRA.2013.6631288.

Workshop Papers

• Garth J. Zeglin, Aaron Walsman, Laura Herlant, Zhaodong Zheng, Yuyang Guo, Michael C. Koval, Kevin Lenzo, Hui Jun Tay, Prasanna Velagapudi, Katie Correll, and Siddhartha Srinivasa. HERB's Sure Thing: a rapid drama system for rehearsing and performing live robot theater. In IEEE International Workshop on Advanced Robotics and its Social Impacts. September 2014. Workshop. doi:10.1109/ARSO.2014.7020993.

Theses

• Michael C. Koval. Robust Manipulation via Contact Sensing. PhD thesis, Carnegie Mellon University, 2016.

Technical Reports

• Joni Pajarinen, Ville Kyrki, Michael Koval, Siddhartha Srinivasa, Jan Peters, and Gerhard Neumann. Hybrid control trajectory optimization under uncertainty. Technical Report arxiv:1702.04396, arXiv, February 2017. Preprint.
• Michael C. Koval, David Hsu, Nancy S. Pollard, and Siddhartha S. Srinivasa. Configuration lattices for planar contact manipulation under uncertainty. Technical Report arXiv:1605.00169, arXiv, May 2016. Preprint.
• Matthew Klingensmith, Michael C. Koval, Siddhartha S. Srinivasa, Nancy S. Pollard, and Michael Kaess. The manifold particle filter for state estimation on high-dimensional implicit manifolds. Technical Report arXiv:1604.07224, arXiv, April 2016. Preprint.
• Michael C. Koval, Mehmet R. Dogar, Nancy S. Pollard, and Siddhartha S. Srinivasa. Pose estimation for contact manipulation with manifold particle filters. Technical Report CMU-RI-TR-13-11, Robotics Institute, May 2013.
• Michael C. Koval, Peter Vasilnak, and Elie Rosen. Navi design report: 2012 Intelligent Ground Vehicle Competition. Technical Report, Rutgers University, June 2012.
• Adam Stambler, Peter Vasilnak, and Michael C. Koval. Navigator design report: 2011 Intelligent Ground Vehicle Competition. Technical Report, Rutgers University, June 2011.

Patents

• Systems and methods for processing objects including a zone gantry system. November 2018. US Patent App. 15/925,409.
• Systems and methods for processing objects including space efficient distribution stations and automated output processing. November 2018. US Patent App. 15/956,442.
• Systems and methods for processing objects including transport vehicles. November 2018. US Patent App. 15/926,767.
• Systems and methods for providing singulation of objects for processing using object movement redistribution. November 2018. US Patent App. 15/961,294.
• Systems and methods for processing objects, including automated radial processing stations. October 2018. US Patent App. 15/928,556.
• Systems and methods for processing objects, including automated mobile matrix bins. October 2018. US Patent App. 15/928,977.
• Systems and methods for processing objects including a linear gantry system. September 2018. US Patent App. 15/923,765.
• Systems and methods for processing objects including mobile matrix carrier systems. September 2018. US Patent App. 15/926,497.
• Systems and methods for storing, retreiving and processing objects including stackable semicircular towers. September 2018. US Patent App. 15/922,310.
• Systems and methods for processing objects, including automated mobile matrix carriers. September 2018. US Patent App. 15/934,462.
• Systems and methods for processing objects, including automated processing. September 2018. US Patent App. 15/935,835.
• Systems and methods for processing objects including an auto-shuttle system. September 2018. US Patent App. 15/924,883.
• Systems and methods for processing objects, including automated linear processing stations. September 2018. US Patent App. 15/934,396.