Book
Journal
Papers
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Dezhen Song, Chang Young Kim, and Jingang Yi, Simultaneous Localization of Multiple Unknown and Transient Radio Sources Using a Mobile Robot, IEEE
Transactions on Robotics (T-RO), vol. 28, no. 3, (Accepted, In Press) [pdf]
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Rappole, J. H., S. Glasscock, K. Goldberg, D. Song, and S. Faridani,
Range Change among New World Tropical and Subtropical Birds, In Tropical vertebrates in a changing world (K.-L. Schuchmann, ed.), Bonner Zoologische Monographien, Nr 57, 2011, Bonn, Germany, pp. 151-167.
[Pdf 4.8M]
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Dezhen Song, Chang Young Kim, and Jingang Yi,
On the Time to Search for an
Intermittent Signal Source Under a Limited Sensing Range, IEEE
Transactions on Robotics (T-RO), vol. 27, no. 2, 2011, pp. 313-323 [Download
from IEEE]
-
Wai Kin Victor Chan, Shengwei Ding, Jingang Yi, and
Dezhen Song, Optimal Scheduling of Multi-Cluster Tools with Constant
Robot Moving Times, Part II: Tree-Like Topology Configurations, IEEE
Transactions on Automation Science and Engineering (T-ASE), vol. 8, no. 1, Jan. 2011, pp. 17-28 [Download from IEEE]
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Dezhen Song and Yiliang Yu, A Low False Negative
Filter for Detecting Rare Bird Species from Short Video Segments using a
Probable Observation Data Set-based EKF Method, IEEE Transactions on
Image Processing (T-IP), vol. 19, no. 9, Sept. 2010, pp. 2321-2331 [Download
from IEEE]
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Yiliang Xu and Dezhen Song, Systems and Algorithms
for Autonomous and Scalable Crowd Surveillance Using Robotic PTZ Cameras
Assisted by a Wide-Angle Camera, Autonomous Robots, Volume 29,
Number 1 / July, 2010, pp.53-66 [Download
from Springer]
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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, Vol. 5, Issue 1, 2010, pp. 57-71. [Download
from Springer]
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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]
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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 (T-RO), Vol. 25, No. 5, October, 2009, pp. 1087-1097 [Download
from IEEE]
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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]
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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 (T-ASE), Vol. 5, No. 2,
pp 321-336, April 2008 [Download
from IEEE]
-
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]
-
Dezhen Song and Ken
Goldberg, Approximate Algorithms for a Collaboratively Controlled
Robotic Camera, IEEE Transactions on Robotics (T-RO), Vol. 23, No. 5, Oct.
2007, pp.
1061-1070
[Download from IEEE]
-
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].
-
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]
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Ken Goldberg, Dezhen Song, and Anthony Levandowski,
Collaborative Teleoperation Using Networked Spatial Dynamic Voting, The Proceedings of THE IEEE, Vol 91, Number 3, March 2003, pp. 430-439.
[Download
from IEEE]
-
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) Back to top
Refereed Conference
Papers
Haifeng Li, Dezhen Song, Yan Lu, and Jingtai Liu,
A Two-View based Multilayer Feature Graph for Robot Navigation,
IEEE International Conference on Robotics and Automation (ICRA), May 14-18, 2012, St. Paul, MN
[pdf 4.2M]
Chang Young Kim, Dezhen Song, Yiliang Xu, and Jingang Yi,
Localization of Multiple Unknown Transient Radio Sources using Multiple Paired Mobile Robots with Limited Sensing Ranges,
IEEE International Conference on Robotics and Automation (ICRA), May 9-13, 2011, Shanghai, China
[pdf
384k]
Ali-akbar Agha-mohammadi and Dezhen Song,
Robust Recognition of Planar Mirrored Walls Using a Single View,
IEEE International Conference on Robotics and Automation (ICRA), May 9-13, 2011, Shanghai, China
[pdf 1.3M]
Yizhai Zhang, Jingliang Li, Jingang Yi,
and Dezhen Song, Balance Control and Analysis of Stationary
Riderless Motorcycles,
IEEE International Conference on Robotics and Automation (ICRA), May
9-13, 2011, Shanghai, China [pdf
600k]
Yiliang Xu, Dezhen Song, and Jingang Yi, Exact
Algorithms for Non-Overlapping 2-Frame Problem with Non-Partial Coverage
for Networked Robotic Cameras, the 6th annual IEEE Conference on
Automation Science and Engineering (CASE 2010), August 21-24, 2010,
Toronto, Ontario, Canada [pdf
911k]
Dezhen Song, Chang Young Kim, and
Jingang Yi, Stochastic Modeling of the Expected Time to Search for an
Intermittent Signal Source Under a Limited Sensing Range, The 2010
Robotics: Science and Systems (RSS) Conference, June 27-June 30, 2010,
Zaragoza, Spain [pdf
411k]
Ji Zhang and Dezhen Song, Error Aware
Monocular Visual Odometry using Vertical Line Pairs for Small Robots in
Urban Areas, Special Track on Physically Grounded AI (PGAI), the
Twenty-Fourth AAAI Conference on Artificial Intelligence (AAAI-10),
Atlanta, Georgia, USA, July 11-15, 2010 [pdf
350k]
Dezhen Song and Yiliang Yu, A Low
False Negative Filter for Detecting Rare Bird Species from Short Video
Segments using a Probable Observation Data Set-based EKF Method,
Special Track on Physically Grounded AI (PGAI), the Twenty-Fourth AAAI
Conference on Artificial Intelligence (AAAI-10), Atlanta, Georgia, USA,
July 11-15, 2010 [pdf
362k]
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]
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]
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 [pdf
1.4M]
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]
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]
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].
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].
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, Mexico [pdf
374k]
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]
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]
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]
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]
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]
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]
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]
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]
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]
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]
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]
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]
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]
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]
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]
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]
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]
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]
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]
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]
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)
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]
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]
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]
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]
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]
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
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
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
Back to top
Video
- 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]
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Book Chapters
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Yiliang Xu and Dezhen Song, Collaborative Crowd
Surveillance Using Networked Robotics Cameras, Bentham E-books:
Networking Humans, Robots, and Environments, Editor: Nak-Young Chong
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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
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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]
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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
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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
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Chang-Young Kim, Dezhen Song, Yiliang Xu, and Jingang
Yi, Localization of Multiple Unknown Transient Radio Sources using
Multiple Paired Mobile Robots with Limited Sensing Ranges, TR
2010-11-2, Department of Computer Science and Engineering, Texas A&M
University, 2010.
-
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.
-
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.
-
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.
-
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
-
Dezhen Song and Ken
Goldberg, ShareCam: Shared Access to a Robotic Streaming Video
Camera, Technical Demos, ACM Multimedia 2003 (MM2003) Nov, 2003.[pdf
210k]
-
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
-
Ken Goldberg, Dezhen
Song et al., The Tele-Actor
Project, Teleopolis, 2nd Wednesdays Art Series at the
Exploratorium, San Francisco, February 13,
2002
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Theses and Theses Supervised
-
Yiliang Xu, Ph.D. thesis, Systems and Algorithms for
Automated Collaborative Observation Using Networked Robotic Cameras,
Texas A&M University, May 2011
-
Ji Zhang, Master thesis, Two Case Studies on
Vision-based Moving Objects Measurement, Texas A&M University, May
2011
-
Hyunnam Lee, Ph.D. thesis,
Vision-based Navigation for Mobile Robots on Ill-Structured Robots,
Department of Electrical and Computer Engineering, Texas A&M
University, August 2008.
-
Ni Qin, Ph.D. thesis,
Algorithms, Rrotocols, and Systems for Remote Observation Using Networked
Robotics Cameras, Department of Computer Science and
Engineering, Texas A&M University, May 2008
-
Qiang Hu, Master thesis,
Robotic Localization of Hostile Networked Radio Sources Using a
Directional Antenna, Department of Electrical and Computer
Engineering, Texas A&M University, Dec. 2005
-
Dezhen Song, Ph.D. thesis: Systems and
Algorithms for Collaborative Tele-Operation. Department of
Industrial Engineering and Operations Research, University of
California, Berkeley, Aug 2004.
-
Dezhen Song, Master thesis: A Soft
Sensor and Its Applications, Department of Control Science and
Engineering, Zhejiang University, Mar. 1998
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Patent
Remote collaborative control and direction, APP#, 20030079218, With Goldberg, Kenneth Y.; (San Francisco, CA) ; Donath, Judith; (Boston, MA) ; Paulos, Eric J.; (San Francisco, CA) ; Pescovitz, David; (San Francisco, CA) ; Dobson, Kelly; (Cambridge, MA) ; Lee, Matthew; (Cambridge, MA) ; Levandowski, Anthony; (Albany, CA) ; Spiegel, Dana; (Boston, MA) ; Tang, Derek; (Cambridge, MA)
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