Journal Publications
2011
Behavioral Characterization and Particle Filter Localization of a Shovelnose Guitarfish, Xydes A., Moline M.A., Lowe C. G., Farrugia T. J., Clark C.M., Submitted to the Journal of Ocean Engineering
High-Resolution Mapping of Oxygen Dynamics in the Marine Environment with an Autonomous Underwater Vehicle, Clark C.M., Xydes A., Hall K., Schreiber F., Klemme J., Moline M.A., Hancke H., Submitted to the Journal of Field Robotics
Assigning Closely-Spaced Task Points to Multiple Autonomous Underwater Vehicles, Chow, B., Clark, C.M., T.S., Huissoon J.P., Journal of Ocean Technology, Vol. 6, No. 1, 2011. [PDF]
A strategy for optimization of cooperative platoon formation, Dao T.S., Huissoon J.P., Clark C.M., International Journal of Vehicle Information and Communication Systems, Vol. 2, No. 3, 2011. [PDF]
2010
The Malta Cistern Mapping Project: Underwater Robot Mapping and Localization within Ancient Tunnel Systems White, C., Hiranandani, D., Olstad, C., Buhagiar, K., Gabmin, T., Clark, C.M. Journal of Field Robotics, 2010. [PDF]
Development of a Systematic and Practical Methodology for the Design of Vehicles Semi-Active Suspension Control System, BolandHemmat, H., Clark, C.M., Golnaraghi, M.F., Vehicle Dynamic Systems, Vol. 48, No. 5, pp. 567 - 585, May 2010.[PDF]
An Adaptive Niching Genetic Algorithm Approach for Generating Multiple Solutions of Serial Manipulator Inverse Kinematics with Applications to Modular Robots, Tabandeh, S., Melek, W., and Clark, C. M., Journal Robotica, Vol. 28, No. 04, pp. 493 - 507, 2010. [PDF]
2009
Design and Implementation of Markov-Based Lane Localization System, Dao T.S., Clark C.M., Huissoon J.P., Conditionally accepted in the IEEE Transactions on Automation Science Engineering, 2009.
2008
Reinforcement Learning of Adaptive Longitudinal Control for Dynamic Collaborative Driving, Ng., L., Clark, C. M., and Huissoon, J. P., International Journal of Vehicle Information and Communication Systems, Vol. 1, No.3/4 pp. 208 - 228, 2008. [PDF]
Reinforcement Learning of Dynamic Collaborative Driving II: lateral Adaptive Control, Ng., L., Clark, C. M., and Huissoon, J. P., International Journal of Vehicle Information and Communication Systems, Vol. 1, No.3/4 pp. 229 - 248, 2008. [PDF]
Decentralized Robust Control of Modular and Reconfigurable Robots with Harmonic Drive Transmission Systems., Z. Li, W. Melek, C, Clark,Robotica 04 Jun 2008 .[PDF]
A Complete and Scalable Strategy for Coordinating Multiple Robots within Roadmaps. Peasgood, M., Clark, C., McPhee, J., IEEE Transactions on Robotics. Vol. 24, No. 2, Feb 2008. [PDF]
2007
Markov-Based Lane-Positioning Using Inter-Vehicle Communication. .Dao, T.S., Leung, K., Clark, C., Huissoon, J., IEEE Transactions on Intelligent Transportation Systems.Vol 8., No. 4, Dec 2007. [PDF]
2005
Probabilistic Road Map Sampling Strategies for Multi-Robot Motion Planning. Clark, C., Journal of Robotics and Autonomous Systems, Vol 53, (3-4), 244-264, Dec, 2005. [PDF]
2004
Motion Planning for Formations of Mobile Robots Barfoot, T., Clark, C., Journal of Robotics and Autonomous Systems, Vol. 46, Issue 2, Feb, 2004. [PDF]
2000
Robotic System Sensitivity to Neural Network Learning Rate: Theory, Simulation and Experiments Clark, C., and Mills, J.K., International Journal of Robotics Research, Vol. 19, No. 10, pp. 955-968, October 2000. [PDF]
Conference Publications
2011
Ice Detection for Under Ice AUV Navigation, Maxson M., Moline M.A., Layton S., Johnsen G., Berge J., Clark, C.M., To appear in the Proc. of the 21st International Offshore (Ocean) and Polar Engineering Conference (ISOPE 2011), June, 2011.
Real-Time Visualizations of Ocean Data Collected by the NORUS
Glider in Svalbard, Norway, Wood Z., Moline M. A., Clark C.M., Medina D.To appear in the Proc. of the 21st International Offshore (Ocean) and Polar Engineering Conference (ISOPE 2011), June, 2011.
Surface Reconstruction of Maltese Cisterns using ROV Sonar Data for Archeological Study, Forney C., Forrester J., McVicker W., Bagley B., White J., Smith T., Batryn J., Gonzalez A., Lehr J., Gambin T., Clark C., Wood, Z., To appear in the Proc. of the 7th International Symposium on Visual Computing, 2011.
2010
Multi-Robot Boundary Tracking with Phase and Workload Balancing, Boardman, B., Edmonds, J., K, and Clark, C.M., To appear in the Proc. of the IEEE Conference on Intelligent Robotic Systems (IROS 2010), Oct., 2010. [PDF]
2009
Altruistic Task Allocation despite Unbalanced Relationships within
Multi-Robot Communities, Morton, R., Bekey, G.A., and Clark, C.M. Proc. of IEEE Conference on Intelligent Robots and Systems (IROS’09), Oct, 2009. [PDF]
Assigning Closely Spaced Targets to Multiple Autonomous Underwater Vehicles, Chow, B., Huissoon, J.P., and Clark, C.M.,Proc. of the Unmanned Untethered Submersible Technology (UUST 09), 2009. [PDF]
The Malta Cistern Mapping Project: Expedition II, Clark, C.M., Hiranandani, D., White, C., Boardman, M., Schlachtman, M., Phillips, P., Kuehn, J., Gambin, T., and Buhagiar, K., Proc. of the Unmanned Untethered Submersible Technology (UUST 09), 2009. [PDF]
Underwater Robots with Sonar and Smart Tether for Underground Cistern Mapping and Exploration, Hiranandani, D., White, C., Clark, C.M., Gambin, T., and Buhagiar, K., Proc. of (VAST 09), 2009. [PDF]
Enhanced Vehicle Recognition utilizing Sensor Fusion and Statistical Algorithms, Roussel, S., Porumamilla, H., Birdsong, C., Schuster, P., and Clark, C.M., Proc. of the ASME International Mechanical Engineering Congress and Exposition (IMECE 09),2009. [PDF]
2008
Altruistic Relationships for Optimizing Task Fulfillment in Robot Communities, Clark, C.M, Morton, R., and Bekey, G.A., Proc. of Distributed Autonomous Robot Systems (DARS’08), Nov, 2008. [PDF]
Archaeology via Underwater Robots: Mapping and Localization within Maltese Cistern Systems, Clark, C.M, Olstad, C.S., Buhagiar, K., and Gambin, T., Proc. of the 10th International Conference on Control, Automationa, Robotics and Vision (ICARCV’08), Dec, 2008. [PDF]
Real time Experiments in Markov Based Lane Position Estimation Using Wireless Ad-Hoc Network, Dao, T-S., Ng, L., Clark, C. M. and Huissoon, J. P., Proc. of the 2008 IEEE Intelligent Vehicles Symposium (IV’08), June 4-6, 2008. [PDF]
Reinforcement Learning of Adaptive Longitudinal Vehicle Control for Dynamic Collaborative Driving, Ng, L., Clark, C. M. and Huissoon, J. P., Proc. of the 2008 IEEE Intelligent Vehicles Symposium (IV’08), June 4-6, 2008. [PDF]
Monocular Vision based Particle Filter Localization in Urban Environments, Leung, K. Y., Clark, C. M., and Huissoon, J. P.,Proc. of the 2008 IEEE International Conference on Robotics and Automation, May 19-23, 2008. [PDF]
Toward Systematic Approaches to Design and Implement Vehicles Semi-Active Control Systems, Bolandhemmat, H., Clark, C.M., and Golnaraghi, F., Proc. of ISIE08 - IEEE International Symposium on Industrial Electronics, 2008. [PDF]
Distributed Platoon Assignment and Lane Selection for Traffic Flow Optimization, Dao, T-S., Clark, C. M. and Huissoon, J. P., Proc. of the 2008 IEEE Intelligent Vehicles Symposium (IV’08), June 4-6, 2008. [PDF]
2007
Autonomous Control of a Differential Thrust ROV. Wang, W. and Clark, C., Proc. of the 2007 International Symposium on Unmanned Untethered Submersible Technology (UUST), 2007. [PDF]
SIFT Approach Used in Fish Tracking for Autonomous Underwater Vehicle, Zhou, J., Clark, C. and Huissoon, J.P., Proc. of the 2007 International Symposium on Unmanned Untethered Submersible Technology (UUST), 2007.
Dynamics of Step-climbing with Deformable Wheels and Applications for Mobile Robotics, Wilhelm, A., Melek, W., Huissoon, J.P., Clark, C.M., Hirzinger, G., Sporer, N., and Fuchs, M., IEEE/RSJ Conference on Intelligent Robotics and Systems, 2007. [PDF]
Design of a Wheeled Mobile Robotic Platform with Variable Footprint, Wilhelm, A.,, Huissoon, J.P., Melek, W., Clark, C.M., Fuchs, M., and Hirzinger, IEEE/RSJ Conference on Intelligent Robotics and Systems, 2007. [PDF]
Optimized Lane Assignment Using Inter-Vehicle Communication,Dao, T.S., Clark, C.M., and Huissoon., J.P., 2007 IEEE Intelligent Vehicles Symposium, IV'07. [PDF]
Development and characterization of modular and reconfigurable robot joints with harmonic drive transmission systems,Z. Li, W. Melek, C. Clark, International Conference on Changeable, Agile, Reconfigurable and Virtual Production (CARV), Toronto, 2007. [PDF]
Task Based Configuration Optimization of Modular and Reconfigurable Robots using a Multi-Solution Inverse Kinematics Solver, S. Tabandeh, W. Melek, C. Clark, International Conference on Changeable, Agile, Reconfigurable and Virtual Production (CARV), Toronto, 2007. [PDF]
2006
A genetic algorithm approach to solve for multiple solutions of inverse kinematics using adaptive niching and clustering, Tabandeh S, Clark C, Melek , W, Proceedings of 2006 IEEE World Congress on Computational Intelligence, Vancouver, BC, Canada, 2006. [PDF]
A Distributed Sensing System for Vehicles State Estimation, Bolandhemmat, H.R., Clark, C., Golnaraghi, M.F., Proceedings of The 2006 ASME International Mechanical Engineering Congress and Exposition , Chicago, Illinois, USA, November 2006. [PDF]
Complete and Scalable Multi-Robot Planning in Tunnel Environments, Peasgood, M., McPhee, J., and Clark, C.M.,Proc. of the 1st IFAC Workshop on Multivehicle Systems (MVS '06), Oct, 2006. [PDF]
A Decentralized Reinforcement Learning Controller for Collaborative Driving, Ng L., Clark C., Huissoon J.P., In Proceedings of 1st IFAC Workshop on Multi-Vehicle Systems (MVS '06). Oct 2-3, Salvador, Bahia, Brazil, 2006. [PDF]
Cooperative Lane-Level Positioning Using Markov Localization, Dao, T.S., Leung, K., Clark, C., Huissoon, J., Proceedings of The International IEEE Conference on Intelligent Transportation Systems, Toronto, Canada, September 2006.[PDF]
Development of a Microscopic Traffic Simulator for Inter-Vehicle Communication Application Research, Leung, K., Dao, T.S., Clark, C., Huissoon, J., Proceedings of The International IEEE Conference on Intelligent Transportation Systems, Toronto, Canada, September 2006. [PDF]
Geographic Information System Estimation Using Inter-Vehicle Communication. Leung, K., Dao, T.S., Clark, C., Huissoon, J., Proceedings of The Mechatronics Forum Biennial International Conference, Malvern, Pennsylvania, June 2006. [PDF]
Software and Control Architecture Development of an Autonomous Vehicle, Leung, K., Clark, C., Huissoon, J., Proceedings of ASME International Student Conference 2006, Istanbul, Turkey, May 2006. [PDF]
Modeling and Simulation of the VideoRay Pro III Underwater Vehicle, W. Wang, and C. M. Clark, OCEANS'06 Asia Pacific IEEE, May 2006. [PDF]
Autonomous fish tracking by ROV using Monocular Camera, J. Zhou, C. M. Clark, Proceedings of the the 3rd Canadian Conference on Computer and Robot Vision (CRV'06) - Volume 00, 2006. [PDF]
2005
Localization of Multiple Robots Equipped with Simple Sensors, Peasgood, M., Clark, C., and McPhee, J., Proc. of the IEEE Conference on Mechatronics and Automation, 2005. [PDF]
Towards Gaussian Multi-Robot SLAM as Applied to Underwater Robotics, Kroetsch, D. and Clark, C., Proc. of the 2005 International Symposium on Unmanned Untethered Submersible Technology (UUST), 2005. [PDF]
2003
Motion Planning for Multi-Robot Systems using Dynamic Robot Networks, Clark, C., Rock, S. and Latombe, J.C., Proceedings of the
2003 International Conference on Robotics and Automation, Taipei, Taiwan, May, 2003. [PDF]
Using Dynamic Robot Networks for Motion Planning in Multi-Robot Space Systems, Clark, C., Rock, S.and Latombe, J.C., Proceedings of the 7th International Symposium on Artificial Intelligence, Robotics and Automation in Space, Kobe, Japan, May, 2003. [PDF]
An Integrated System for Command and Control of Cooperative Robotic Systems, Clark, C., Frew, E. W., Jones, H.L., and Rock, S. M., Proceedings of the 11th International Conference on Advanced Robotics, Portugal, June, 2003. [PDF]
2002
Applying Kinodynamic Randomized Motion Planning with a Dynamic Priority System to Multi-Robot Space Systems, Clark, C., Bretl, T., and Rock, S., Proceedings of the 2002 IEEE Aerospace Conference, Big Sky, MT, March, 2002. [PDF]
Kinematic Path-planning for Formations of Mobile Robots with a Nonholonomic Constraint, Barfoot, T., Clark, C., Rock, S., and D'Eleuterio, G., Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September, 2002. [PDF]
2001
Randomized Motion Planning for Groups of Nonholonomic Robots, Clark, C., and Rock, S., Proceedings of the 6th International Symposium on Artificial Intelligence, Robotics, and Automation in Space, Montreal Canada, June 2001. [PDF]
1999
Robotic System Sensitivity to Neural Network Learning Rate, Clark, C., Chen, P.C.Y. and Mills, J.K., Proceedings IEEE Hong Kong Symposium on Robotics and Control, Hong Kong, July, 1999.
Comparison of Performance of Neural Network Controller Architectures: Error Back Propagation, Mixture of Expert, and 'Move' Neural Network Architectures on Industrial Robot Trajectory Following Tasks. Clark, C. and Mills, J.K., Proceedings of International Conference on Advanced Manufacturing Technology, P.R.C., June, 1999.
1998
Increasing Production of Robot Manipulators with Neural Networks, Clark, C. and Mills, J.K., Proceedings CSME FORUM, Toronto, Canada, May 19-22, 1998.
Development of a Neural Network Module for Improving the Performance of a Commercial Robot, Chen, P.C.Y., Ogilvie, A., Clark, C., Zhou, K., Mills, J.K., Proceeding of World Automation Congress, Anchorage, Alaska, May, 1998.
Theses
2010
Intelligent Planning and Assimilation of AUV-Obtained Measurements within a ROMS-Based Ocean Modeling System, Davini, B., California Polytechnic State UniversityM.S. Thesis, 2010.[PDF]
Multi-Robot Boundary Tracking with Workload and Phase Balancing, Boardman, M., California Polytechnic State UniversityM.S. Thesis, 2010.[PDF]
Using Monocular Vision and Image Correlation to Accomplish Autonomous Localization, Schlachtman, M., California Polytechnic State UniversityM.S. Thesis, 2010.
2009
Distributed Sensing and Observer Design for Vehicles State Estimation, Bolandhemmat, H., University of Waterloo, Ph.D. Thesis, 2009. [PDF]
Assigning Closely Spaced Targets to Multiple Autonomous Underwater Vehicles, Chow, B., University of Waterloo, M.A.Sc. Thesis, 2009. [PDF]
2008
A Decentralized Approach to Dynamic Collaborative Driving Coordination, Dao, T.S., University of Waterloo, Ph.D. Thesis, 2008. [PDF]
Reinforcement Learning for Dynamic Collaborative Driving, Ng, L., University of Waterloo, Ph.D. Thesis, 2008. [PDF]
2007
State Estimation Strategies For Autonomous Underwater Vehicle Fish Tracking Applications, Zhou, J., University of
Waterloo, M.Sc. Thesis, 2007. [PDF]
Cooperative Navigation for teams of Mobile Robots, Peasgood, M., University of Waterloo, Ph.D. Thesis, 2007. [PDF]
Multi-Frame Measurement Fusion for State Estimation, Kroetsch, D., University of Waterloo, M.Sc. Thesis, 2007. [PDF]
Design of a Mobile Robotic Platform with Variable Footprint, Wilhelm, A., 2007. [PDF]
Monocular Vision Based Particle Filter Localization in Urban Environments, Leung, K., University of Waterloo, M.Sc. Thesis, 2007.
[PDF]
Development and Control of a Modular and Reconfigurable Robot with Harmonic Drive Transmission System, Li, Z.., University of Waterloo, M.Sc. Thesis, 2007. [PDF]
2006
Autonomous Control of a Differential Thrust Micro ROV, Wang, W., University of Waterloo M.Sc. Thesis, 2006. [PDF]
2004
Dynamic Robot Networks: A Coordination Platform for Multi-Robot Systems, Clark, C., Ph.D. Thesis, 2004. [PDF]