Directory

Timothy W. Bretl's directory photo.

Timothy W. Bretl

(he/him/his)

Professor

Primary Affiliation

Autonomous Materials Systems

Affiliations

Status Affiliate Faculty

Home Department of Aerospace Engineering

Phone 244-3126

Email tbretl@illinois.edu

Address

  • Biography

    Tim Bretl is a professor in the Department of Aerospace Engineering. He joined the Aerospace Engineering faculty at the University of Illinois at Urbana-Champaign in 2006. He is a faculty member in the Beckman Institute Artificial Intelligence Group.

    Tim's dissertation focused on motion planning for large free-climbing robots, which (like human free-climbers) rely only on frictional contact with rock features, not tools like pitons. This research led to a working implementation on a real robot, in cooperation with NASA-JPL. Most recently, he was a postdoctoral fellow in computer science at Stanford University, where he extended this work to a variety of other legged robots, including a humanoid and a hexapod for lunar exploration.

    Education

    • B.S., engineering, Swarthmore College, 1999
    • B.A., mathematics, Swarthmore College, 1999
    • M.S., aeronautics and astronautics, Stanford University, 2000
    • Ph.D., aeronautics and astronautics, Stanford University, 2005
  • Honors
    • 2016: William L. Everett Award for Teaching Excellence 
    • 2012 (Spring): List of Teachers Ranked as Excellent by Their Students 
    • 2012: Finalist, Best Application Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems 
    • 2012: Best Manipulation Paper, International Conference on Robotics and Automation
    • 2010: NSF CAREER Award 
  • Research

    Research interests:

    • engineering education

    • rehabilitation robotics (upper- and lower-limb prosthetic devices)

    • brain-machine interfaces

    • optimal control

    • robotic manipulation

    • motion planning

    • theoretical and algorithmic foundations of robotics and automation


    Tim develops tools for motion analysis, planning, and control. These tools include geometric search algorithms, methods of model reduction, and convex optimization routines that take advantage of problem structure. He is applying these tools to a diverse set of mechanical and biological systems: legged robots for planetary exploration, autonomous sailplanes for atmospheric and environmental science, neuro-prosthetic devices with a control interface designed using biological principles, and robotic manipulators for intelligent machining of deformable objects. All of these applications are safety-critical, so there is a strong emphasis on trust: tools must be practical, easy to implement, and have verifiable performance guarantees.

  • 2024

    • The Impact of Adverse Environmental Conditions on Fiducial Marker Detection from Rotorcraft Choi, S. Y., Lee, J. and Bretl, T., 2024, AIAA SciTech Forum and Exposition, 2024. American Institute of Aeronautics and Astronautics Inc, AIAA, (AIAA SciTech Forum and Exposition, 2024).
    • The Use of Multi-Scale Fiducial Markers To Aid Takeoff and Landing Navigation by Rotorcraft Lee, J., Choi, S. Y. and Bretl, T., 2024, AIAA SciTech Forum and Exposition, 2024. American Institute of Aeronautics and Astronautics Inc, AIAA, (AIAA SciTech Forum and Exposition, 2024).

    2023

    • Closed-Loop Control of Front Speed During Frontal Polymerization of Dicyclopentadiene—A Numerical Study Schaer, G. and Bretl, T., Aug 2023, In: Advanced Theory and Simulations. 6, 8, 2300015.
    • Determining the Best Policies for Second-Chance Tests for STEM Students Emeka, C. A., Smith, D. H., Zilles, C., West, M., Herman, G. L. and Bretl, T., Jun 25 2023, In: ASEE Annual Conference and Exposition, Conference Proceedings.
    • Hypergraph-Based Multi-robot Task and Motion Planning Motes, J., Chen, T., Bretl, T., Aguirre, M. M. and Amato, N. M., Oct 1 2023, In: IEEE Transactions on Robotics. 39, 5, p. 4166-4186 21 p.
    • Pointwise Sufficient Conditions for One-Dimensional Optimal Control Problems Borum, A. and Bretl, T., 2023, In: IEEE Control Systems Letters. 7, p. 3830-3835 6 p.
    • Second-Chance Testing as a Means of Reducing Students' Test Anxiety and Improving Outcomes Emeka, C. A., Zilles, C., West, M., Herman, G. L. and Bretl, T., Jun 25 2023, In: ASEE Annual Conference and Exposition, Conference Proceedings.
    • System Identification of a Subscale Distributed Electric Propulsion Aircraft Perry, A. T., Bretl, T. and Ansell, P. J., May 2023, In: Journal of Aircraft. 60, 3, p. 702-715 14 p.
    • TrackDLO: Tracking Deformable Linear Objects Under Occlusion With Motion Coherence Xiang, J., Dinkel, H., Zhao, H., Gao, N., Coltin, B., Smith, T. and Bretl, T., Oct 1 2023, In: IEEE Robotics and Automation Letters. 8, 10, p. 6179-6186 8 p.

    2022

    • Environment Warped Gait Trajectory Optimization for Complex Terrains Pan, Z., Chen, T., Fang, X., Bretl, T., Gao, X. and Wu, K., Oct 1 2022, In: IEEE Robotics and Automation Letters. 7, 4, p. 12403-12410 8 p.
    • Extrinsic Calibration of Multiple Inertial Sensors From Arbitrary Trajectories Lee, J., Hanley, D. and Bretl, T., Apr 1 2022, In: IEEE Robotics and Automation Letters. 7, 2, p. 2055-2062 8 p.
    • ICaps: Iterative Category-Level Object Pose and Shape Estimation Deng, X., Geng, J., Bretl, T., Xiang, Y. and Fox, D., Apr 1 2022, In: IEEE Robotics and Automation Letters. 7, 2, p. 1784-1791 8 p.
    • Truly Deterministic Policy Optimization Saleh, E., Ghaffari, S., Bretl, T. and West, M., 2022, Advances in Neural Information Processing Systems 35 - 36th Conference on Neural Information Processing Systems, NeurIPS 2022. Koyejo, S., Mohamed, S., Agarwal, A., Belgrave, D., Cho, K. and Oh, A. (eds.). Neural information processing systems foundation, (Advances in Neural Information Processing Systems; vol. 35).

    2021

    • A preliminary framework and feasibility study for spacecraft disturbance source detection and isolation with distributed inertial sensors Augustyniak, A. J., Hanley, D., Bretl, T., Hejmanowski, N. J. and Carroll, D. L., 2021, AIAA Scitech 2021 Forum. American Institute of Aeronautics and Astronautics Inc, AIAA, p. 1-16 16 p. (AIAA Scitech 2021 Forum).
    • Aeropropulsive coupling effects on a general-aviation aircraft with distributed electric propulsion Perry, A. T., Bretl, T. and Ansell, P. J., 2021, In: Journal of Aircraft. 58, 6, p. 1351-1363 13 p.
    • PoseRBPF: A Rao–Blackwellized Particle Filter for 6-D Object Pose Tracking Deng, X., Mousavian, A., Xiang, Y., Xia, F., Bretl, T. and Fox, D., Oct 1 2021, In: IEEE Transactions on Robotics. 37, 5, p. 1328-1342 15 p.
    • Students' Perceptions and Behavior Related to Second-Chance Testing Emeka, C., Bretl, T., Herman, G., West, M. and Zilles, C., 2021, Proceedings - 2021 IEEE Frontiers in Education Conference, FIE 2021. Institute of Electrical and Electronics Engineers Inc., (Proceedings - Frontiers in Education Conference, FIE; vol. 2021-October).
    • The Impact of Height on Indoor Positioning with Magnetic Fields Hanley, D., De Oliveira, A. S. D., Zhang, X., Kim, D. H., Wei, Y. and Bretl, T., 2021, In: IEEE Transactions on Instrumentation and Measurement. 70, 9354181.

    2020

    • A Quantitative Analysis of When Students Choose to Grade Questions on Computerized Exams with Multiple Attempts Verma, A., Bretl, T., West, M. and Zilles, C., Aug 12 2020, L@S 2020 - Proceedings of the 7th ACM Conference on Learning @ Scale. Association for Computing Machinery, p. 329-332 4 p. (L@S 2020 - Proceedings of the 7th ACM Conference on Learning @ Scale).
    • Comparison of Grade Replacement and Weighted Averages for Second-Chance Exams Herman, G. L., Cai, Z., Bretl, T., Zilles, C. and West, M., Aug 10 2020, ICER 2020 - Proceedings of the 2020 ACM Conference on International Computing Education Research. Association for Computing Machinery, p. 56-66 11 p. (ICER 2020 - Proceedings of the 2020 ACM Conference on International Computing Education Research).
    • Impact of integrating computation into undergraduate curriculum: New modules and long-term trends Lu, G. M., Trinkle, D. R., Schleife, A., Leal, C., Krogstad, J., Maass, R., Bellon, P., Huang, P. Y., Perry, N. H., West, M., Bretl, T. and Herman, G. L., Jun 22 2020, In: ASEE Annual Conference and Exposition, Conference Proceedings. 2020-June, 797.
    • Infinitely long isotropic Kirchhoff rods with helical centerlines cannot be stable Borum, A. and Bretl, T., Aug 2020, In: Physical Review E. 102, 2, p. 023004 023004.
    • Motion planning for dual-arm manipulation of elastic rods Sintov, A., Macenski, S., Borum, A. and Bretl, T., Oct 2020, In: IEEE Robotics and Automation Letters. 5, 4, p. 6065-6072 8 p., 9146666.
    • Self-supervised 6D Object Pose Estimation for Robot Manipulation Deng, X., Xiang, Y., Mousavian, A., Eppner, C., Bretl, T. and Fox, D., May 2020, 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. Institute of Electrical and Electronics Engineers Inc., p. 3665-3671 7 p. 9196714. (Proceedings - IEEE International Conference on Robotics and Automation).
    • The effects of second-chance testing on learning outcomes in a first-year STEM course in engineering Schmitz, C. D., Herman, G. L. and Bretl, T., Jun 22 2020, In: ASEE Annual Conference and Exposition, Conference Proceedings. 2020-June, 1355.
    • When Is a Helix Stable? Borum, A. and Bretl, T., Aug 21 2020, In: Physical review letters. 125, 8, 088001.

    2019

    • Effect of discrete and continuous parameter variation on difficulty in automatic item generation Chen, B., Zilles, C., West, M. and Bretl, T., 2019, Artificial Intelligence in Education - 20th International Conference, AIED 2019, Proceedings. Isotani, S., Millán, E., Ogan, A., McLaren, B., Hastings, P. and Luckin, R. (eds.). Springer, p. 71-83 13 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 11625 LNAI).
    • Epstein, Project Maven, and Some Reasons to Think about Where We Get Our Funding [Ethical, Legal, and Societal Issues] Bretl, T., Righetti, L. and Madhavan, R., Dec 2019, In: IEEE Robotics and Automation Magazine. 26, 4, p. 8-13 6 p., 8931077.
    • Every university should have a computer-based testing facility Zilles, C., West, M., Herman, G. and Bretl, T., 2019, CSEDU 2019 - Proceedings of the 11th International Conference on Computer Supported Education. Lane, H., Zvacek, S. and Uhomoibhi, J. (eds.). SciTePress, p. 414-420 7 p. (CSEDU 2019 - Proceedings of the 11th International Conference on Computer Supported Education; vol. 1).
    • Impact of computational curricular reform on non-participating undergraduate courses: Student and faculty perspective Lee, C. W., Schleife, A., Trinkle, D. R., Krogstad, J. A., Maass, R., Bellon, P., Shang, J. K., Leal, C., West, M., Bretl, T., Herman, G. L. and Tang, S., Jun 15 2019, In: ASEE Annual Conference and Exposition, Conference Proceedings.
    • Large-area MRI-compatible epidermal electronic interfaces for prosthetic control and cognitive monitoring Tian, L., Zimmerman, B., Akhtar, A., Yu, K. J., Moore, M., Wu, J., Larsen, R. J., Lee, J. W., Li, J., Liu, Y., Metzger, B., Qu, S., Guo, X., Mathewson, K. E., Fan, J. A., Cornman, J., Fatina, M., Xie, Z., Ma, Y. and Zhang, J. and 9 others, , Mar 1 2019, In: Nature biomedical engineering. 3, 3, p. 194-205 12 p.
    • PoseRBPF: A Rao-Blackwellized Particle Filter for 6D Object Pose Tracking Deng, X., Mousavian, A., Xiang, Y., Xia, F., Bretl, T. and Fox, D., 2019, Robotics: Science and Systems XV. Bicchi, A., Kress-Gazit, H. & Hutchinson, S. (eds.). MIT Press Journals, (Robotics: Science and Systems).
    • System identification and dynamics modeling of a distributed electric propulsion aircraft Perry, A. T., Bretl, T. and Ansell, P. J., 2019, AIAA Aviation 2019 Forum. American Institute of Aeronautics and Astronautics Inc, AIAA, p. 1-14 14 p. (AIAA Aviation 2019 Forum).

    2018

    • Computational curriculum for MatSE undergraduates and the influence on senior classes Zhang, X., Schleife, A., Ferguson, A., Bellon, P., Bretl, T., Herman, G. L., Krogstad, J. A., Maass, R., Leal, C., Trinkle, D. R., Shang, J. K. and West, M., Jun 23 2018, In: ASEE Annual Conference and Exposition, Conference Proceedings. 2018-June
    • Controlling sensation intensity for electrotactile stimulation in human-machine interfaces Akhtar, A., Sombeck, J., Boyce, B. and Bretl, T., Apr 2018, In: Science Robotics. 3, 17, eaap9770.
    • Design and Development of a Dynamically, Scaled Distributed Electric Propulsion Aircraft Testbed Pieper, K., Perry, A., Ansell, P. and Bretl, T., Nov 29 2018, 2018 AIAA/IEEE Electric Aircraft Technologies Symposium, EATS 2018. Institute of Electrical and Electronics Engineers Inc., 8552755. (2018 AIAA/IEEE Electric Aircraft Technologies Symposium, EATS 2018).
    • Experimental Evaluation of the Planar Assumption in Magnetic Positioning Hanley, D., Zhang, X., Dantas De Oliveira, A. S., Steinberg, D. and Bretl, T., Nov 13 2018, IPIN 2018 - 9th International Conference on Indoor Positioning and Indoor Navigation. Institute of Electrical and Electronics Engineers Inc., 8533828. (IPIN 2018 - 9th International Conference on Indoor Positioning and Indoor Navigation).
    • FEATS: Synthetic feature tracks for structure from motion evaluation Degol, J., Lee, J. Y., Kataria, R., Yuan, D., Bretl, T. and Hoiem, D., Oct 12 2018, Proceedings - 2018 International Conference on 3D Vision, 3DV 2018. Institute of Electrical and Electronics Engineers Inc., p. 352-361 10 p. 8490986. (Proceedings - 2018 International Conference on 3D Vision, 3DV 2018).
    • Feature-constrained Active Visual SLAM for Mobile Robot Navigation Deng, X., Zhang, Z., Sintov, A., Huang, J. and Bretl, T., Sep 10 2018, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., p. 7233-7238 6 p. 8460721. (Proceedings - IEEE International Conference on Robotics and Automation).
    • Improved Structure from Motion Using Fiducial Marker Matching DeGol, J., Bretl, T. and Hoiem, D., 2018, Computer Vision – ECCV 2018 - 15th European Conference, 2018, Proceedings. Ferrari, V., Sminchisescu, C., Hebert, M. and Weiss, Y. (eds.). Springer, p. 281-296 16 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 11207 LNCS).
    • Making testing less trying: Lessons learned from operating a computer-based testing facility Zilles, C., West, M., Mussulman, D. and Bretl, T., Jul 2 2018, Frontiers in Education: Fostering Innovation Through Diversity, FIE 2018 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., 8658551. (Proceedings - Frontiers in Education Conference, FIE; vol. 2018-October).
    • Motion planning of fully actuated closed kinematic chains with revolute joints: A comparative analysis Sintov, A., Borum, A. and Bretl, T., Oct 2018, In: IEEE Robotics and Automation Letters. 3, 4, p. 2886-2893 8 p.
    • Teaching undergraduate courses on robotics and control in prison Bretl, T., Sep 2018, Mechanical Engineering, 140, 9, p. S11-S16.
    • The performance of 9-11-year-old children using an SSVEP-based BCI for target selection Norton, J. J. S., Mullins, J., Alitz, B. E. and Bretl, T., Jul 27 2018, In: Journal of Neural Engineering. 15, 5, 056012.

    2017

    • A compliant four-bar linkage mechanism that makes the fingers of a prosthetic hand more impact resistant Choi, K. Y., Akhtar, A. and Bretl, T., Jul 21 2017, ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 6694-6699 6 p. 7989791. (Proceedings - IEEE International Conference on Robotics and Automation).
    • A portable, arbitrary waveform, multichannel constant current electrotactile stimulator Cornman, J., Akhtar, A. and Bretl, T., Aug 10 2017, 8th International IEEE EMBS Conference on Neural Engineering, NER 2017. IEEE Computer Society, p. 300-303 4 p. 8008350. (International IEEE/EMBS Conference on Neural Engineering, NER).
    • ChromaTag: A Colored Marker and Fast Detection Algorithm Degol, J., Bretl, T. and Hoiem, D., Dec 22 2017, Proceedings - 2017 IEEE International Conference on Computer Vision, ICCV 2017. Institute of Electrical and Electronics Engineers Inc., p. 1481-1490 10 p. 8237426. (Proceedings of the IEEE International Conference on Computer Vision; vol. 2017-October).
    • Computational curriculum for MatSE undergraduates Kononov, A., Bellon, P., Bretl, T., Ferguson, A. L., Herman, G. L., Kilian, K. A., Krogstad, J. A., Leal, C., Maass, R., Schleife, A., Shang, J. K., Trinkle, D. R. and West, M., Jun 24 2017, In: ASEE Annual Conference and Exposition, Conference Proceedings. 2017-June
    • Estimation of distal arm joint angles from EMG and shoulder orientation for transhumeral prostheses Akhtar, A., Aghasadeghi, N., Hargrove, L. and Bretl, T., Aug 2017, In: Journal of Electromyography and Kinesiology. 35, p. 86-94 9 p.
    • MagPIE: A dataset for indoor positioning with magnetic anomalies Hanley, D., Faustino, A. B., Zelman, S. D., Degenhardt, D. A. and Bretl, T., Nov 20 2017, 2017 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2017. Institute of Electrical and Electronics Engineers Inc., p. 1-8 8 p. (2017 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2017; vol. 2017-January).
    • Reduction of Sufficient Conditions for Optimal Control Problems with Subgroup Symmetry Borum, A. and Bretl, T., Jul 2017, In: IEEE Transactions on Automatic Control. 62, 7, p. 3209-3224 16 p., 7742897.
    • The elicitation of steady-state visual evoked potentials during sleep Norton, J. J. S., Umunna, S. and Bretl, T., Apr 1 2017, In: Psychophysiology. 54, 4, p. 496-507 12 p.

    2016

    • A low-cost, open-source, compliant hand for enabling sensorimotor control for people with transradial amputations Akhtar, A., Choi, K. Y., Fatina, M., Cornman, J., Wu, E., Sombeck, J., Yim, C., Slade, P., Lee, J., Moore, J., Gonzales, D., Wu, A., Anderson, G., Rotter, D., Shin, C. and Bretl, T., Oct 13 2016, 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016. Institute of Electrical and Electronics Engineers Inc., p. 4642-4645 4 p. 7591762. (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS; vol. 2016-October).
    • An Epidermal Stimulation and Sensing Platform for Sensorimotor Prosthetic Control, Management of Lower Back Exertion, and Electrical Muscle Activation Xu, B., Akhtar, A., Liu, Y., Chen, H., Yeo, W. H., Park, S., Boyce, B., Kim, H., Yu, J., Lai, H. Y., Jung, S., Zhou, Y., Kim, J., Cho, S., Huang, Y., Bretl, T. and Rogers, J. A., Jun 2016, In: Advanced Materials. 28, 22, p. 4462-4471 10 p.
    • An improved model-based observer for inertial navigation for quadrotors with low cost IMUs Hanley, D. and Bretl, T., 2016, AIAA Guidance, Navigation, and Control Conference. American Institute of Aeronautics and Astronautics Inc, AIAA, (2016 AIAA Guidance, Navigation, and Control Conference).
    • Automatic grasp selection using a camera in a hand prosthesis Degol, J., Akhtar, A., Manja, B. and Bretl, T., Oct 13 2016, 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016. Institute of Electrical and Electronics Engineers Inc., p. 431-434 4 p. 7590732. (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS; vol. 2016-October).
    • Epidermal mechano-acoustic sensing electronics for cardiovascular diagnostics and human-machine interfaces Liu, Y., Norton, J. J. S., Qazi, R., Zou, Z., Ammann, K. R., Liu, H., Yan, L., Tran, P. L., Jang, K. I., Lee, J. W., Zhang, D., Kilian, K., Jung, S. H., Bretl, T., Xiao, J., Slepian, M. J., Huang, Y., Jeong, J. W. and Rogers, J. A., Nov 2016, In: Science Advances. 2, 11, e1601185.
    • Flexible Electronics: An Epidermal Stimulation and Sensing Platform for Sensorimotor Prosthetic Control, Management of Lower Back Exertion, and Electrical Muscle Activation (Adv. Mater. 22/2016) Xu, B., Akhtar, A., Liu, Y., Chen, H., Yeo, W. H., Park, S. I. I., Boyce, B., Kim, H., Yu, J., Lai, H. Y., Jung, S., Zhou, Y., Kim, J., Cho, S., Huang, Y., Bretl, T. and Rogers, J. A., Jun 8 2016, In: Advanced Materials. 28, 22, p. 4563 1 p.
    • Helices, relative equilibria, and optimality on the special Euclidean group Borum, A. and Bretl, T., Dec 27 2016, 2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc., p. 185-190 6 p. 7798267. (2016 IEEE 55th Conference on Decision and Control, CDC 2016).
    • Sufficient conditions for a path-connected set of local solutions to an optimal control problem Borum, A. and Bretl, T., 2016, In: SIAM Journal on Applied Mathematics. 76, 3, p. 976-999 24 p.

    2015

    • A passive mechanism for relocating payloads with a quadrotor Degol, J., Hanley, D., Aghasadeghi, N. and Bretl, T., Dec 11 2015, IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., p. 4337-4342 6 p. 7353992. (IEEE International Conference on Intelligent Robots and Systems; vol. 2015-December).
    • An SSVEP-based brain-computer interface for text spelling with adaptive queries that maximize information gain rates Akce, A., Norton, J. J. S. and Bretl, T., Sep 1 2015, In: IEEE Transactions on Neural Systems and Rehabilitation Engineering. 23, 5, p. 857-866 10 p., 6971133.
    • Manipulation planning with contacts for an extensible elastic rod by sampling on the submanifold of static equilibrium configurations Roussel, O., Borum, A., Taix, M. and Bretl, T., Jun 29 2015, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June ed. Institute of Electrical and Electronics Engineers Inc., p. 3116-3121 6 p. 7139627. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2015-June, no. June).
    • Manipulation planning with contacts for an extensible elastic rod by sampling on the submanifold of static equilibrium configurations Roussel, O., Borum, A., Taix, M. and Bretl, T., Jun 29 2015, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June ed. Institute of Electrical and Electronics Engineers Inc., p. 3116-3121 6 p. 7139627. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2015-June, no. June).
    • Soft, curved electrode systems capable of integration on the auricle as a persistent brain-computer interface Norton, J. J. S., Lee, D. S., Lee, J. W., Lee, W., Kwon, O., Won, P., Jung, S. Y., Cheng, H., Jeong, J. W., Akce, A., Umunna, S., Na, I., Kwon, Y. H., Wang, X. Q., Liu, Z. J., Paik, U., Huang, Y., Bretl, T., Yeo, W. H. and Rogers, J. A. and 1 others, , Mar 31 2015, In: Proceedings of the National Academy of Sciences of the United States of America. 112, 13, p. 3920-3925 6 p.
    • Tact: Design and performance of an open-source, affordable, myoelectric prosthetic hand Slade, P., Akhtar, A., Nguyen, M. and Bretl, T., Jun 29 2015, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June ed. Institute of Electrical and Electronics Engineers Inc., p. 6451-6456 6 p. 7140105. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2015-June, no. June).
    • The free configuration space of a Kirchhoff elastic rod is path-connected Borum, A. and Bretl, T., Jun 29 2015, In: Proceedings - IEEE International Conference on Robotics and Automation. 2015-June, June, p. 2958-2964 7 p., 7139604.

    2014

    • A two-stage suboptimal approximation for variable compliance and torque control Geoffroy, P., Bordron, O., Mansard, N., Raison, M., Stasse, O. and Bretl, T., Jul 22 2014, 2014 European Control Conference, ECC 2014. Institute of Electrical and Electronics Engineers Inc., p. 1151-1157 7 p. 6862557. (2014 European Control Conference, ECC 2014).
    • Controlling many differential-drive robots with uniform control inputs Becker, A., Onyuksel, C., Bretl, T. and McLurkin, J., Nov 11 2014, In: International Journal of Robotics Research. 33, 13, p. 1626-1644 19 p.
    • Demonstration: Passive mechanical skin stretch for multiple degree-of-freedom proprioception in a hand prosthesis Akhtar, A., Nguyen, M., Wan, L., Boyce, B., Slade, P. and Bretl, T., 2014, Haptics: Neuroscience, Devices, Modeling, and Applications - 9th International Conference, EuroHaptics 2014, Proceedings. Auvray, M., Duriez, C., Duriez, C. and Auvray, M. (eds.). Springer, p. 413-415 3 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 8619).
    • Efficient motion planning for quasi-static elastic rods using geometry neighborhood approximation Roussel, O., Taïx, M. and Bretl, T., 2014, AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Institute of Electrical and Electronics Engineers Inc., p. 1024-1029 6 p. 6878215. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).
    • Geometric optimal control for symmetry breaking cost functions Borum, A. D. and Bretl, T., 2014, 53rd IEEE Conference on Decision and Control,CDC 2014. February ed. Institute of Electrical and Electronics Engineers Inc., p. 5855-5861 7 p. 7040306. (Proceedings of the IEEE Conference on Decision and Control; vol. 2015-February, no. February).
    • Interpreting lateral dynamic weight shifts using a simple inverted pendulum model Kennedy, M. W., Bretl, T. and Schmiedeler, J. P., May 2014, In: Gait and Posture. 40, 1, p. 134-139 6 p.
    • Inverse optimal control for differentially flat systems with application To locomotion modeling Aghasadeghi, N. and Bretl, T., Sep 22 2014, Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 6018-6025 8 p. 6907746. (Proceedings - IEEE International Conference on Robotics and Automation).
    • Passive mechanical skin stretch for multiple degree-of-freedom proprioception in a hand prosthesis Akhtar, A., Nguyen, M., Wan, L., Boyce, B., Slade, P. and Bretl, T., 2014, Haptics: Neuroscience, Devices, Modeling, and Applications - 9th International Conference, EuroHaptics 2014, Proceedings. Auvray, M., Duriez, C., Duriez, C. and Auvray, M. (eds.). Springer, p. 120-128 9 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 8619).
    • Playing checkers with your mind: An interactive multiplayer hardware game platform for brain-computer interfaces Akhtar, A., Norton, J. J. S., Kasraie, M. and Bretl, T., Nov 2 2014, 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014. Institute of Electrical and Electronics Engineers Inc., p. 1650-1653 4 p. 6943922. (2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014).
    • Quasi-static manipulation of a Kirchhoff elastic rod based on a geometric analysis of equilibrium configurations Bretl, T. and McCarthy, Z., Jan 2014, In: International Journal of Robotics Research. 33, 1, p. 48-68 21 p.
    • Quasi-static manipulation of a planar elastic rod using multiple robotic grippers Mukadam, M., Borum, A. and Bretl, T., Oct 31 2014, IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., p. 55-60 6 p. 6942540. (IEEE International Conference on Intelligent Robots and Systems).
    • State estimation and tracking of deforming planar elastic rods Borum, A., Matthews, D. and Bretl, T., Sep 22 2014, Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 4127-4132 6 p. 6907459. (Proceedings - IEEE International Conference on Robotics and Automation).
    • The relationship between energy, phase charge, impedance, and perceived sensation in electrotactile stimulation Akhtar, A., Boyce, B. and Bretl, T., 2014, IEEE Haptics Symposium 2014, HAPTICS 2014 - Proceedings. IEEE Computer Society, p. 69-74 6 p. 6775435. (IEEE Haptics Symposium, HAPTICS).

    2013

    • A brain-machine interface to navigate a mobile robot in a planar workspace: Enabling humans to fly simulated aircraft with EEG Akce, A., Johnson, M., Dantsker, O. and Bretl, T., 2013, In: IEEE Transactions on Neural Systems and Rehabilitation Engineering. 21, 2, p. 306-318 13 p., 6381524.
    • Development of the UIUC aero testbed: A large-scale unmanned electric aerobatic aircraft for aerodynamics research Dantsker, O. D., Johnson, M. J., Selig, M. S. and Bretl, T. W., Sep 16 2013.
    • Equilibrium configurations of a kirchhoff elastic rod under quasi-static manipulation Bretl, T. and McCarthy, Z., 2013, Springer Tracts in Advanced Robotics. Frazzoli, E., Roy, N., Lozano-Perez, T. and Rus, D. (eds.). Springer, p. 71-87 17 p. (Springer Tracts in Advanced Robotics; vol. 86).
    • Inverse optimal control for deterministic continuous-time nonlinear systems Johnson, M., Aghasadeghi, N. and Bretl, T., 2013, 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013. Institute of Electrical and Electronics Engineers Inc., p. 2906-2913 8 p. 6760325. (Proceedings of the IEEE Conference on Decision and Control).
    • Learning impedance controller parameters for lower-limb prostheses Aghasadeghi, N., Zhao, H., Hargrove, L. J., Ames, A. D., Perreault, E. J. and Bretl, T., 2013, IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. p. 4268-4274 7 p. 6696968. (IEEE International Conference on Intelligent Robots and Systems).
    • Materials and optimized designs for human-machine interfaces via epidermal electronics Jeong, J. W., Yeo, W. H., Akhtar, A., Norton, J. J. S., Kwack, Y. J., Li, S., Jung, S. Y., Su, Y., Lee, W., Xia, J., Cheng, H., Huang, Y., Choi, W. S., Bretl, T. and Rogers, J. A., Dec 17 2013, In: Advanced Materials. 25, 47, p. 6839-6846 8 p.
    • Mechanics and quasi-static manipulation of planar elastic kinematic chains Bretl, T. and McCarthy, Z., 2013, In: IEEE Transactions on Robotics. 29, 1, p. 1-14 14 p., 6327684.
    • Robust coverage by a mobile robot of a planar workspace Bretl, T. and Hutchinson, S., 2013, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013. p. 4582-4587 6 p. 6631228. (Proceedings - IEEE International Conference on Robotics and Automation).
    • Towards a brain computer interface based on the N2pc event-related potential Awni, H., Norton, J. J. S., Umunna, S., Federmeier, K. D. and Bretl, T., 2013, 2013 6th International IEEE EMBS Conference on Neural Engineering, NER 2013. p. 1021-1024 4 p. 6696110. (International IEEE/EMBS Conference on Neural Engineering, NER).

    2012

    • A brain-machine interface to navigate mobile robots along human-like paths amidst obstacles Akce, A., Norton, J. and Bretl, T., 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. p. 4084-4089 6 p. 6386024. (IEEE International Conference on Intelligent Robots and Systems).
    • A convex approach to inverse optimal control and its application to modeling human locomotion Puydupin-Jamin, A. S., Johnson, M. and Bretl, T. W., 2012, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., p. 531-536 6 p. 6225317. (Proceedings - IEEE International Conference on Robotics and Automation).
    • A stochastic control approach to optimally designing hierarchical flash sets in P300 communication prostheses Ma, R., Aghasadeghi, N., Jarzebowski, J., Bretl, T. and Coleman, T. P., Jan 2012, In: IEEE Transactions on Neural Systems and Rehabilitation Engineering. 20, 1, p. 102-112 11 p., 6112238.
    • Approximate steering of a unicycle under bounded model perturbation using ensemble control Becker, A. and Bretl, T., 2012, In: IEEE Transactions on Robotics. 28, 3, p. 580-591 12 p., 6157635.
    • Control and planning of 3-D dynamic walking with asymptotically stable gait primitives Gregg, R. D., Tilton, A. K., Candido, S., Bretl, T. and Spong, M. W., 2012, In: IEEE Transactions on Robotics. 28, 6, p. 1415-1423 9 p., 6266755.
    • Development of a fixed wing multi-role unmanned aircraft vehicle research testbed Dantsker, O. D., Johnson, M. J., Akce, A. and Bretl, T. W., 2012.
    • Experiments in quasi-static manipulation of a planar elastic rod Matthews, D. and Bretl, T. W., 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. p. 5420-5427 8 p. 6385876. (IEEE International Conference on Intelligent Robots and Systems).
    • Feedback control of many differential-drive robots with uniform control inputs Becker, A., Onyuksel, C. and Bretl, T. W., 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. p. 2256-2262 7 p. 6385723. (IEEE International Conference on Intelligent Robots and Systems).
    • Inverse optimal control for a hybrid dynamical system with impacts Aghasadeghi, N., Long, A. and Bretl, T., 2012, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., p. 4962-4967 6 p. 6225259. (Proceedings - IEEE International Conference on Robotics and Automation).
    • Mechanics and manipulation of planar elastic kinematic chains McCarthy, Z. and Bretl, T. W., 2012, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., p. 2798-2805 8 p. 6224693. (Proceedings - IEEE International Conference on Robotics and Automation).
    • Minimum-time optimal control of many robots that move in the same direction at different speeds Bretl, T., Apr 2012, In: IEEE Transactions on Robotics. 28, 2, p. 351-363 13 p., 6087289.
    • Modeling, control, and analysis of a robotic assist device Shorter, K. A., Li, Y., Bretl, T. and Hsiao-Wecksler, E. T., Dec 2012, In: Mechatronics. 22, 8, p. 1067-1077 11 p.
    • Modelling search with a binary sensor utilizing self-conjugacy of the exponential family Bonnie, D., Candido, S., Bretl, T. and Hutchinson, S., 2012, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., p. 3975-3982 8 p. 6224652. (Proceedings - IEEE International Conference on Robotics and Automation).
    • Motion primitives for path following with a self-assembled robotic swimmer Orduno, C., Becker, A. and Bretl, T., 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. p. 1440-1446 7 p. 6385734. (IEEE International Conference on Intelligent Robots and Systems).
    • Prediction of distal arm joint angles from EMG and shoulder orientation for prosthesis control Akhtar, A., Hargrove, L. J. and Bretl, T., 2012, 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2012. p. 4160-4163 4 p. 6346883. (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS).
    • Prediction of distal arm joint angles from EMG and shoulder orientation for prosthesis control. Akhtar, A., Hargrove, L. J. and Bretl, T. W., Dec 1 2012, In: Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference. 2012, p. 4160-4163 4 p.
    • Proving path non-existence using sampling and alpha shapes McCarthy, Z., Bretl, T. W. and Hutchinson, S. A., 2012, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., p. 2563-2569 7 p. 6225300. (Proceedings - IEEE International Conference on Robotics and Automation).
    • Robust optimal deployment of mobile sensor networks Hutchinson, S. and Bretl, T., 2012, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., p. 671-676 6 p. 6225200. (Proceedings - IEEE International Conference on Robotics and Automation).

    2011

    • A compact representation of locally-shortest paths and its application to a human-robot interface Akce, A. and Bretl, T., 2011, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011. p. 2713-2718 6 p. 5980418. (Proceedings - IEEE International Conference on Robotics and Automation).
    • A feedback information-theoretic approach to the design of brain-computer interfaces Omar, C., Akce, A., Johnson, M., Bretl, T., Ma, R., Maclin, E., Mccormick, M. and Coleman, T. P., Jan 2011, In: International Journal of Human-Computer Interaction. 27, 1, p. 5-23 19 p.
    • Actuation timing strategies for a portable powered ankle foot orthosis Morris, E. A., Shorter, K. A., Li, Y., Hsiao-Wecksler, E. T., Kogler, G. F., Bretl, T. and Durfee, W. K., 2011, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011. p. 807-814 8 p. (ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011; vol. 2).
    • Estimating system state during human walking with a powered ankle-foot orthosis Li, D. Y., Becker, A., Shorter, K. A., Bretl, T. and Hsiao-Wecksler, E. T., Oct 2011, In: IEEE/ASME Transactions on Mechatronics. 16, 5, p. 835-844 10 p., 5985534.
    • Maximum entropy inverse reinforcement learning in continuous state spaces with path integrals Aghasadeghi, N. and Bretl, T., 2011, IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. p. 1561-1566 6 p. 6048804. (IEEE International Conference on Intelligent Robots and Systems).
    • Motion planning under bounded uncertainty using ensemble control Becker, A. and Bretl, T., 2011, Robotics: Science and Systems VI. Durrant-Whyte, H., Matsuoka, Y. & Neira, J. (eds.). MIT Press Journals, p. 299-306 8 p. (Robotics: Science and Systems; vol. 6).
    • Probably approximately correct coverage for robots with uncertainty Das, C., Becker, A. and Bretl, T., 2011, IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. p. 1160-1166 7 p. 6048323. (IEEE International Conference on Intelligent Robots and Systems).
    • Simulation and experimental analysis of a portable powered ankle-foot orthosis control Li, Y., Shorter, K. A., Hsiao-Wecksler, E. T. and Bretl, T., 2011, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011. p. 77-84 8 p. (ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011; vol. 1).

    2010

    • A probabilistic language model for hand drawings Akce, A. and Bretl, T., 2010, Proceedings - 2010 20th International Conference on Pattern Recognition, ICPR 2010. p. 109-112 4 p. 5597640. (Proceedings - International Conference on Pattern Recognition).
    • An optimal solution to the linear search problem for a robot with dynamics De Pablo, I. R., Becker, A. and Bretl, T., 2010, IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. p. 652-657 6 p. 5653185. (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings).
    • Asymptotically stable gait primitives for planning dynamic bipedal locomotion in three dimensions Gregg, R. D., Bretl, T. and Spong, M. W., 2010, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. p. 1695-1702 8 p. 5509585. (Proceedings - IEEE International Conference on Robotics and Automation).
    • Comments on "an optimality principle governing human walking" Bretl, T., Arechavaleta, G., Akce, A. and Laumond, J. P., Dec 2010, In: IEEE Transactions on Robotics. 26, 6, p. 1105-1106 2 p., 5624646.
    • Remote teleoperation of an unmanned aircraft with a brain-machine interface: Theory and preliminary results Akce, A., Johnson, M. and Bretl, T. W., 2010, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. p. 5322-5327 6 p. 5509671. (Proceedings - IEEE International Conference on Robotics and Automation).

    2009

    • Automated manipulation of spherical objects in three dimensions using a gimbaled air jet Becker, A., Sandheinrich, R. and Bretl, T. W., Dec 11 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. p. 781-786 6 p. 5354427. (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).
    • Control of many robots moving in the same direction with different speeds: a decoupling approach Von, D. D. and Bretl, T., 2009, 2009 American Control Conference, ACC 2009. p. 1794-1799 6 p. 5160686. (Proceedings of the American Control Conference).

    2008

    • Control of many agents by moving their targets: Maintaining separation Bretl, T., 2008, Recent Progress in Robotics: Viable Robotic Service to Human. Lee, S., Suh, I. H. and Mun Sang, K. (eds.). p. 145-156 12 p. (Lecture Notes in Control and Information Sciences; vol. 370).
    • Control of many agents using few instructions Bretl, T. W., 2008, Robotics: Science and Systems III. Burgard, W., Brock, O. and Stachniss, C. (eds.). MIT Press Journals, p. 209-216 8 p. (Robotics: Science and Systems; vol. 3).
    • Motion planning for a six-legged lunar robot Hauser, K., Bretl, T., Latombe, J. C. and Wilcox, B., 2008, Algorithmic Foundation of Robotics VII - Selected Contributions of the Seventh International Workshop on the Algorithmic Foundations of Robotics. p. 301-316 16 p. (Springer Tracts in Advanced Robotics; vol. 47).
    • Motion planning for legged robots on varied terrain Hauser, K., Bretl, T., Latombe, J. C., Harada, K. and Wilcox, B., Nov 2008, In: International Journal of Robotics Research. 27, 11-12, p. 1325-1349 25 p.
    • Policies for neural prosthetic control: Initial experiments with a text interface Omar, C., Johnson, M., Bretl, T. and Coleman, T., 2008, 2008 American Control Conference, ACC. p. 4161-4166 6 p. 4587146. (Proceedings of the American Control Conference).
    • Querying the user properly for high-performance brain-machine interfaces: Recursive estimation, control, and feedback information-theoretic perspectives Omar, C., Johnson, M., Bretl, T. W. and Coleman, T. P., 2008, 2008 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP. p. 5216-5219 4 p. 4518835. (ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings).
    • Testing static equilibrium for legged robots Bretl, T. and Lall, S., Aug 2008, In: IEEE Transactions on Robotics. 24, 4, p. 794-807 14 p.
    • Using motion primitives in probabilistic sample-based planning for humanoid robots Hauser, K., Bretl, T., Harada, K. and Latombe, J. C., 2008, Algorithmic Foundation of Robotics VII - Selected Contributions of the Seventh International Workshop on the Algorithmic Foundations of Robotics. p. 507-522 16 p. (Springer Tracts in Advanced Robotics; vol. 47).

    2007

    • Kinematic and dynamic control of a wheeled mobile robot DeVon, D. and Bretl, T., 2007, Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. p. 4065-4070 6 p. 4399599. (IEEE International Conference on Intelligent Robots and Systems).

    2006

    • A fast and adaptive test of static equilibrium for legged robots Bretl, T. and Lall, S., 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. p. 1109-1116 8 p. 1641858. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2006).
    • Control of a climbing robot using real-time convex optimization Miller, T. G., Bretl, T. W. and Rock, S., 2006, 4th IFAC Symposium on Mechatronic Systems, MX 2006. PART 1 ed. IFAC Secretariat, p. 409-414 6 p. (IFAC Proceedings Volumes (IFAC-PapersOnline); vol. 4, no. PART 1).
    • Free-climbing with a multi-use robot Bretl, T., Rock, S., Latombe, J. C., Kennedy, B. and Aghazarian, H., 2006, Experimental Robotics IX: The 9th International Symposium on Experimental Robotics. Ang, M. & Khatib, O. (eds.). p. 449-458 10 p. (Springer Tracts in Advanced Robotics; vol. 21).
    • Motion planning of multi-limbed robots subject to equilibrium constraints: The free-climbing robot problem Bretl, T., Apr 2006, In: International Journal of Robotics Research. 25, 4, p. 317-342 26 p.
    • Natural motion generation for humanoid robots Harada, K., Hauser, K., Bretl, T. and Latombe, J. C., 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. p. 833-839 7 p. 4058464. (IEEE International Conference on Intelligent Robots and Systems).

    2005

    • Learning-assisted multi-step planning Hauser, K., Bretl, T. and Latombe, J. C., 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation. p. 4575-4580 6 p. 1570825. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2005).
    • Multi-step motion planning for free-climbing robots Bretl, T., Lall, S., Latombe, J. C. and Rock, S., 2005, Algorithmic Foundations of Robotics VI. Springer, p. 59-74 16 p. (Springer Tracts in Advanced Robotics; vol. 17).
    • Non-gaited humanoid locomotion planning Hauser, K., Bretl, T. and Latombe, J. C., 2005, Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots. p. 7-12 6 p. 1573537. (Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots; vol. 2005).
    • Toward autonomous free-climbing robots Bretl, T., Latombe, J. C. and Rock, S., 2005, In: Springer Tracts in Advanced Robotics. 15, p. 6-15 10 p.

    2003

    • Motion planning for a three-limbed climbing robot in vertical natural terrain Bretl, T., Rock, S. and Latombe, J. C., 2003, In: Proceedings - IEEE International Conference on Robotics and Automation. 3, p. 2946-2953 8 p.

    2002

    • Applying kinodynamic randomized motion planning with a dynamic priority system to multi-robot space systems Clark, C. M., Bretl, T. and Rock, S., 2002, 2002 IEEE Aerospace Conference, Proceedings. p. 3621-3631 11 p. 1035338. (IEEE Aerospace Conference Proceedings; vol. 7).
    • Robust execution of aggressive maneuvers for planetary robotics Bretl, T. C. and Rock, S., 2002, AIAA Guidance, Navigation, and Control Conference and Exhibit. American Institute of Aeronautics and Astronautics Inc., (AIAA Guidance, Navigation, and Control Conference and Exhibit).

    1999

    • Fluid-structure interaction simulation of a cross parachute: Comparison of numerical predictions with wind tunnel data Stein, K., Benney, R., Tezduyar, T., Kalro, V., Potvin, J. and Bretl, T., 1999, p. 172-181. 10 p.