Book

Dezhen Song, Sharing a Vision: Systems and Algorithms for Collaboratively-Teleoperated Robotic Cameras, a Monograph in Springer Tracts on Advanced Robotics, Vol. 51, ISBN: 978-3-540-88064-6, 2009, Springer. Available at Springer Amazon.com Target.com

Journal Papers

1. Dezhen Song, Chang Young Kim, and Jingang Yi, Simultaneous Localization of Multiple Unknown CSMA-based Wireless Sensor Network Nodes Using a Mobile Robot with a Directional Antenna, Journal of Intelligent Service Robots, Vol. 2, No. 4, October, 2009, pp. 219-233 [Download from Springer]

2. Jingang Yi, Hongpeng Wang, Junjie Zhang, Dezhen Song, Suhada Jayasuriya, and Jingtain Liu, Modeling and Analysis of Skid-Steered Mobile Robots with Applications to Low-Cost Inertial Measurement Unit-Based Motion Estimation, IEEE Transactions on Robotics, Vol. 25, No. 5, October, 2009, pp. 1087-1097 [Download from IEEE]

3. Dezhen Song, Yiliang Xu, and Ni Qin, Aligning Windows of Live Video from an Imprecise Pan-Tilt-Zoom Camera into a Remote Panoramic Display for Remote Nature Observation, Journal of Real Time Image Processing [Accepted, appear online first]

4. Dezhen Song, Ni Qin, and Ken Goldberg, Systems, Control Models, and Codec for Collaborative Observation of Remote Environments with an Autonomous Networked Robotic Camera, Autonomous Robots, May 2008, Vol. 24, No. 4, pp. 435–449 [Download from Springer]

5. Jingang Yi, Shengwei Ding, Dezhen Song, and Mike Tao Zhang, Steady-State Throughput and Scheduling Analysis of Multi-Cluster Tools: A Decomposition Approach, IEEE Transactions on Automation Science and Engineering, Vol. 5, No. 2, pp 321-336, April 2008 [Download from IEEE]

6. Dezhen Song, Hyun Nam Lee, Jingang Yi, and Anthony Levandowski, Vision-based Motion Planning for an Autonomous Motorcycle on Ill-Structured Roads, Autonomous Robots, Vol. 23, No. 3, Oct. 2007,  pp. 197-212 [Download from Springer]

7. Dezhen Song and Ken Goldberg, Approximate Algorithms for a Collaboratively Controlled Robotic Camera, IEEE Transactions on Robotics, Vol. 23, No. 5, Oct. 2007, pp. 1061-1070 [Download from IEEE]

8. Dezhen Song, A Frank van der Stappen, and Ken Goldberg, Exact Algorithms for Single Frame Selection on Multi-Axis Satellites, IEEE Transactions on Automation Science and Engineering, Vol. 3, No. 1. January 2006, pp.16-28.[Download from IEEE].

9. Goldberg K., Pashkevich A., Song D. Geometrical calibration of robotic web-cameras. Transactions of Belarusian Engineering Academy, vol. 1(15)/1, 2003, pp. 12-14.[pdf 1.0M]

10. Ken Goldberg, Dezhen Song, and Anthony Levandowski, Collaborative Teleoperation with Using Networked Spatial Dynamic Voting, The Proceedings of THE IEEE, Vol 91, Number 3, March 2003, pp. 430-439. [Download from IEEE]

11. D. Song and L. Dai (1996) Online adaptive estimation and control of raw gas endpoint. Journal of Zhejiang University. Special issue in process control., pp:404-407 (In Chinese)

Refereed Conference Papers

1. Jingang Yi, Yizhai Zhang, Dezhen Song, Autonomous Motorcycles for Agile Maneuvers, Part I: Dynamic Modeling, the 48th IEEE Conference on Decision and Control (CDC), Shanghai, Dec. 16-18, 2009. [pdf 262k]

2. Jingang Yi, Yizhai Zhang, Dezhen Song, Autonomous Motorcycles for Agile Maneuvers, Part II: Control Systems Design, the 48th IEEE Conference on Decision and Control (CDC), Shanghai, Dec. 16-18, 2009. [pdf 500k]

3. Siamak Faridani, Bryce Lee, Selma Glasscock, John Rappole, Dezhen Song, Ken Goldberg, A Networked Telerobotic Observatory for Collaborative Remote Observation of Avian Activity and Range Change, the IFAC workshop on networked robots, Oct. 6-8, 2009, Golden, Colorado [Acceptance rate N/A] [pdf 1.4M]

4. Yiliang Xu and Dezhen Song, Systems and Algorithms for Autonomously Simultaneous Observation of Multiple Objects Using Robotic PTZ Cameras Assisted by a Wide-Angle Camera, The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, USA, Oct. 11-15, 2009 [pdf 510k]

5. Ji Zhang and Dezhen Song, On the Error Analysis of Vertical Line Pair-based Monocular Visual Odometry in Urban Area, The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, USA, Oct. 11-15, 2009  [pdf 750k]

6. Dezhen Song, Chang Young Kim, Jingang Yi, Monte Carlo Simultaneous Localization of Multiple Unknown Transient Radio Sources Using a Mobile Robot with a Directional Antenna, IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 12-17, 2009 [pdf 372k].

7. Hongpeng Wang, Junjie Zhang, Jingang Yi, Dezhen Song, Suhada Jayasuriya, Jingtai Liu, Modeling and Analysis of Skid-Steered Mobile Robots, IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 12-17, 2009 [pdf 1400k].

8. Dezhen Song, Hyunnam Lee, and Jingang Yi, On the Analysis of the Depth Error on the Road Plane for Monocular Vision-Based Robot Navigation, The Eighth International Workshop on the Algorithmic Foundations of Robotics (WAFR), Dec. 7-9, 2008, Guanajuato, México [pdf 374k]

9. Jingang Yi, Hongpeng Wang, Jingtai Liu, Dezhen Song, LMST-Based Safety-Preserved Consensus Control of Multi-Robot Systems with Kinodynamic Constraints, Dynamic Systems and Control Conference (DSCC), Ann Arbor, Michigan, October 20-22, 2008 [pdf 347K]

10. Wai Kin Victor Chan, Jingang Yi, Shengwei Ding, and Dezhen Song, Optimal Scheduling of K-Unit Production of Multi-Cluster Tools with Single-Blade Robots, IEEE International Conference on Automation Science and Engineering (CASE), Washington DC, August, 2008 (Finalist, Best Conference Paper Award) [pdf 268k]

11. Dezhen Song, Ni Qin, Yiliang Xu, Chang Young Kim, David Luneau, and Ken Goldberg, System and Algorithms for an Autonomous Observatory Assisting the Search for the Ivory-Billed Woodpecker, IEEE International Conference on Automation Science and Engineering (CASE), Washington DC, August, 2008 [pdf 1400k]

12. Jeremy Schiff, Anand P. Kulkarni, Danny Bazo, Vincent Duindam, Ron Alterovitz, Dezhen Song, Ken Goldberg, Actuator networks for navigating an unmonitored mobile robot, IEEE International Conference on Automation Science and Engineering (CASE), Washington DC, August, 2008 [pdf 1500k]

13. Yiliang Xu, Dezhen Song, Jingang Yi, and A.Frank van der Stappen, An Approximation Algorithm for the Least Overlapping p-Frame Problem with Non-Partial Coverage for Networked Robotic Cameras, IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, May 2008. [pdf 310k]

14. Ni Qin and Dezhen Song, On-Demand Sharing of a High-Resolution Panorama Video from Networked Robotic Cameras, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct, 2007, San Diego, CA [pdf 260k]

15. Jingang Yi, Junjie Zhang, Dezhen Song, and Suhada Jayasuriya, IMU-based Localization and Slip Estimation for Skid-Steered Mobile Robots,  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct, 2007, San Diego, CA [pdf 1.68M]

16. Jingang Yi, Dezhen Song, Junjie Zhang, and Zane Goodwin, Adaptive Trajectory Tracking Control of Skid-Steered Mobile Robots, IEEE International Conference on Robotics and Automation (ICRA), April, 2007, Roma, Italy [pdf 739k]

17. Jingang Yi, Shengwei Ding, Dezhen Song, and Mike Tao Zhang, Multi-Robot Scheduling in Cluster Tools with Buffer/Process Modules, IEEE International Conference on Robotics and Automation (ICRA), April, 2007, Roma, Italy [pdf 875k]

18. Dezhen Song, Jingang Yi, and Zane Goodwin, Localization of Unknown Networked Radio Sources Using a Mobile Robot with a Directional Antenna, American Control Conference (ACC), July 2007, New York, NY [pdf 473k]

19. Dezhen Song, Hyun Nam Lee, Jingang Yi, and Anthony Levandowski, Vision-based Motion Planning for an Autonomous Motorcycle on Ill-Structured Road, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2006, Beijing, China [pdf 793k]

20. Dezhen Song, Ni Qin, and Ken Goldberg, A Minimum Variance Calibration Algorithm for Pan-Tilt Robotic Cameras in Natural Environments, IEEE International Conference on Robotics and Automation (ICRA), May. 2006, Orlando, Florida [pdf 250k]

21. Ni Qin, Dezhen Song, and Ken Goldberg, Aligning Windows of Live Video from an Imprecise Pan-Tilt-Zoom Robotic Camera into a Remote Panoramic Display, IEEE International Conference on Robotics and Automation (ICRA), May. 2006, Orlando, Florida [pdf 380k]

22. Jingang Yi, Dezhen Song, and Anthony Levandowski, Trajectory Tracking and Balance Stabilization Control of Autonomous Motorcycles, IEEE International Conference on Robotics and Automation (ICRA), May. 2006, Orlando, Florida [pdf 700k]

23. Dezhen Song and Ken Goldberg, Networked Robotic Cameras for Collaborative Observation of Natural Environments, The 12th International Symposium of Robotics Research (ISRR 2005), October 12th-15th, 2005, San Francisco, CA, USA [pdf 480k]

24. Dezhen Song, Qiang Hu, Ni Qin, and Ken Goldberg, Automating Inspection and Documentation of Remote Building Construction using a Robotic Camera, IEEE International Conference on Automation Science and Engineering (CASE) 2005,  August 1 & 2, 2005, Edmonton, Canada [pdf 550k]

25. Jingang Yi, Shengwei Ding, and Dezhen Song,  Steady-State Throughput and Scheduling Analysis of Multi-Cluster Tools for Semiconductor Manufacturing: A Decomposition Approach, (Kayamori Best Paper Award), IEEE International Conference on Robotics and Automation, Barcelona, Spain, April, 2005 [pdf 153k]

26. Dezhen Song, A. Frank van der Stappen, and Ken Goldberg, An Exact Algorithm Optimizing Coverage-Resolution for Automated Satellite Frame Selection, IEEE International Conference on Robotics and Automation (ICRA) 2004 [pdf 809k]

27. Ken Goldberg, Dezhen Song, In Yong Song, Jane McGonigal, Wei Zheng, and Dana Plautz, Unsupervised Scoring for Scalable Internet-Based Collaborative Teleoperation, IEEE International Conference on Robotics and Automation (ICRA) 2004 [pdf 588k]

28. Dezhen Song, Algorithms and Systems for Shared Access to a Robotic Streaming Video Camera, Doctoral Symposium, ACM Multimedia 2003 (MM2003), Berkeley, California, Nov., 2003 [pdf  125k]

29. D. Song and K. Goldberg, ShareCam Part I: Interface, System Architecture, and Implementation of a Collaboratively Controlled Robotic Webcam, IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, Oct. 2003. [pdf 737k] (Finalist, NTF Award on Entertainment Robots and Systems)

30. D. Song, K. Goldberg, and A. Pashkevich, ShareCam Part II: Approximate and Distributed Algorithms for a Collaboratively Controlled Robotic Webcam, IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, Oct.2003. [pdf 326k]

31. S. Har-Peled, V. Koltun, D. Song, and K. Goldberg, Efficient Algorithms for Shared Camera Control, In Proceedings of the 19th ACM Symposium on Computational Geometry, 2003. [pdf 380k]

32. D. Song, A.F. van der Stappen, and K. Goldberg, Exact and Distributed Algorithms for Collaborative Camera Control, the Fifth International Workshop on Algorithmic Foundations of Robotics. Nice, France, Dec 15~17, 2002. [pdf 600k]

33. K. Goldberg, D. Song, Y. Khor, D. Pescovitz, A. Levandowski, J. Himmelstein, J. Shih, A. Ho, E. Paulos, J. Donath, Collaborative Online Teleoperation with Spatial Dynamic Voting and a Human ``Tele-Actor'' , the IEEE International Conference on Robotics and Automation, Washington D.C. May 11~15, 2002. [pdf 720k]

34. D. Song and D. B. Kaber (2000). Web-based interface design for teleoperation. In the Proceedings of the XIVth Triennial Congress of the International Ergonomics Association and 44th Annual Meeting of the Human Factors and Ergonomics Society (pp. 449-452). Human Factors and Ergonomics Society: Santa Monica, CA. [pdf 496k]

35. D. Song and D. B. Kaber, (1999) Teleoperation test-bed development for human factors research. The 2nd Annual Student's Symposium on Human Factors & Ergonomics of Complex Systems. Greensboro, NC, April

36. D. B. Kaber, R. Zhou, and D. Song, (1999). Design and prototyping of an economical teleoperations test-bed for human factors research: Cost, resource requirements and capability assessment. The 25th International Conference on Computers & Industrial Engineering. New Orleans, LA, Mar. 27-29

37. D. Song and L. Dai, (1997) A hybrid model based soft-sensor and application. Proceedings of the 4th International Conference on Measurement and Control of Granular Materials, MCGM97, Shenyang, P R China, 17-19 September 1997, pp:171-177

Video

1. A. Levandowski, A. Schultz, C. Smart, A. Krasnov, H. Chau, B. Majusiak, F. Wang, D. Song, J.Yi., H. Lee, and A. Parish Autonomous Motorcycles, IEEE International Conference on Robotics and Automation (ICRA), 2005, May. 2006, Orlando, Florida [wmv 46Mb]

Book Chapters

1. Yiliang Xu and Dezhen Song, Collaborative Crowd Surveillance Using Networked Robotics Cameras, Bentham E-books: Networking Humans, Robots, and Environments, Editor: Nak-Young Chong

2. Dezhen Song, Hyunnam Lee, and Jingang Yi, On the Analysis of the Depth Error on the Road Plane for Monocular Vision-Based Robot Navigation, Algorithmic Foundations for Robotics VIII, Springer tracts on advanced robotics, Springer, 2008

3. D. Song, K. Goldberg, and N. Y. Chong, Chapter 32: Networked Teleoperation, Springer Handbook of Robotics, Siciliano, Bruno; Khatib, Oussama (Eds.), Springer, 2008 [Award for Excellence in Physical Sciences & Mathematics, Association of American Publishers]

4. Dezhen Song and Ken Goldberg, Networked Robotic Cameras for Collaborative Observation of Natural Environments, Robotics Research, The 12th International Symposium, Editors: Sebastian Thrun, Hugh Durrant-Whyte, and Rodney Brooks, Springer tracts on advanced robotics, Springer, 2007

5. D. Song, A.F. van der Stappen, and K. Goldberg, Exact and Distributed Algorithms for Collaborative Camera Control, Editors:J.-D. Boissonnat, J. Burdick, K. Goldberg, and S. Hutchinson, Algorithmic Foundations of Robotics V, Springer tracts on advanced robotics, Springer, 2002

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Technical Reports

1. Dezhen Song, Ni Qin, and Ken Goldberg, Technical report, Algorithms for Maintaining a High-Resolution Panoramic Display with a Tele-Operated Robotic Camera, TR 2005-5-1, Department of Computer Science, Texas A&M University, 2005.

2. Dezhen Song, Probabilistic Modeling of Leach Protocol and Computing Sensor Energy Consumption Rate in Sensor Networks. Technical report, TR 2005-2-2, Department of Computer Science, Texas A&M University, 2005.

3. Dezhen Song, Chang Young Kim, and Jingang Yi, Monte Carlo Simultaneous Localization of Multiple Unknown Transient Radio Sources Using a Mobile Robot with a Directional Antenna, TR 2008-11-1, Department of Computer Science and Engineering, Texas A&M University, 2008.

4. Dezhen Song and Yiliang Xu, Monocular Vision-based Detection of a Flying Bird, TR 2008-11-3, Department of Computer Science and Engineering, Texas A&M University, 2008.
    

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Technical Demonstrations and Exhibitions

1. Dezhen Song and Ken Goldberg, ShareCam: Shared Access to a Robotic Streaming Video Camera, Technical Demos, ACM Multimedia 2003 (MM2003) Nov, 2003.[pdf  210k]

2. Ken Goldberg, Dezhen Song, In Yong Song, Jane McGonigal, Wei Zheng, Collaborative Tele-Experiences: Tele-Actor, Co-Opticon and Tele-Twister, dorkbot-sf, rxGallery, Oct, 2003

3. Ken Goldberg, Dezhen Song et al., The Tele-Actor Project, Teleopolis, 2nd Wednesdays Art Series at the Exploratorium, San Francisco, February 13, 2002
   

Theses

1. Dezhen Song, PhD thesis: Systems and Algorithms for Collaborative Tele-Operation. Department of Industrial Engineering and Operations Research, University of California, Berkeley, Aug 2004.

2. Dezhen Song, Master thesis: Soft sensor and its applications, Department of Control Science and Engineering, Zhejiang University, Mar. 1998