Journal Papers

1. 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]

2. 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]

3. 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]

4. 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]

5. 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].

6. 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]

7. 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]

8. 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, 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

2. 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

3. 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]

4. Jeremy Schiff, Anand P. Kulkarni, Danny Bazo, Vincent Duindam, Ron Alterovitz, Dezhen Song, Ken Goldberg, Actuator Networks for Navigation of an Unobserved Mobile Robot without Localization, IEEE International Conference on Automation Science and Engineering (CASE), Washington DC, August, 2008 [pdf 1500k]

5. 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]

6. 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]

7. 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]

8. 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]

9. 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]

10. 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]

11. 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]

12. 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]

13. 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]

14. 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]

15. 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]

16. 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]

17. 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]

18. 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]

19. 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]

20. 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]

21. 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)

22. 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]

23. 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]

24. 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]

25. 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]

26. 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]

27. 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

28. 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

29. 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 and Book Chapters

1. Dezhen Song, Sharing a Vision: Systems and Algorithms for Collaboratively-Teleoperated Robotic Cameras, a Monograph in Springer Tracts on Advanced Robotics, Springer. (Accepted)

2. 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

3. D. Song, K. Goldberg, and N. Y. Chong, Chapter 32: Networked Teleoperation, Springer Handbook on Robotics, (To appear)

4. 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

Back to top

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.

Back to top

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
   

Thesis

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