Papers by Rodney Brooks

Books

Articles in Refereed Journals

  • Brooks, R. A. "Symbolic Reasoning Among 3-D Models and 2-D Images," Artificial Intelligence Journal, Vol. 17 (1-3), 1981, pp. 285--348.

  • Brooks, R. A. "Symbolic Error Analysis and Robot Planning," International Journal of Robotics Research, Vol. 1, No. 4, December 1982, pp. 29--68.

  • Brooks, R. A. "Model-Based Three Dimensional Interpretations of Two Dimensional Images," IEEE Pattern Analysis and Machine Intelligence, pp. 140--150, March 1983; also in Proceedings of 7th Int. Joint Conf. on Artificial Intelligence, Vancouver, Canada, August 1981, pp. 619--624.

  • Brooks, R. A. "Solving the Find-Path Problem by Good Representation of Free Space," IEEE Systems, Man and Cybernetics, SMC-13, pp. 190--197, March 1983; also in Proceedings of 2nd Annual Conf. on Artificial Intelligence, Pittsburgh, PA, August 1982, pp. 381--386.

  • Brooks, R. A. "Planning Collision Free Motions for Pick and Place Operations," International Journal of Robotics Research, Vol. 2, No. 4, December 1983, pp. 19--44.

  • Brooks, R. A. and T. Lozano-Perez, "A Subdivision Algorithm in Configuration Space for Findpath with Rotation," IEEE Systems, Man and Cybernetics, SMC-15, March/April 1985, pp. 224--233. Also in Proceedings of 8th Int. Joint Conf. on Artificial Intelligence, Karlsruhe, Germany, August 1983, pp. 799--806.

  • Brooks, R. A. "A Robust Layered Control System for a Mobile Robot," [pdf format], IEEE Journal of Robotics and Automation, Vol. 2, No. 1, March 1986, pp. 14--23; also MIT AI Memo 864, September 1985.

  • Brooks, R. A. "A Robot That Walks; Emergent Behaviors from a Carefully Evolved Network," [pdf format], Neural Computation, Vol. 1 No. 2, Summer 1989, pp. 253--262. Also in IEEE International Conference on Robotics and Automation, Scottsdale, AZ, May 1989, pp. 292--296.

  • Flynn, A. M., R. A. Brooks, W. M. Wells III and D. S. Barrett, "Intelligence for Miniature Robots," International Journal of Sensors and Actuators, Vol. 20, December 1989, pp. 187--196.

  • Brooks, R. A. and A. M. Flynn, "Fast, Cheap and Out of Control: A Robot Invasion of the Solar System," [pdf format], Journal of the British Interplanetary Society, October 1989, pp. 478--485.

  • Brooks, R. A., "Elephants Don't Play Chess," [pdf format], Robotics and Autonomous Systems Vol. 6, 1990, pp. 3--15.

  • Brooks, R.A., "Integrated Systems Based on Behaviors," [pdf format], SIGART Bulletin, Vol. 2, No. 4, August 1991, pp. 46--50.

  • Brooks, R. A., "Intelligence Without Representation," [pdf format], Artificial Intelligence Journal (47), 1991, pp. 139--159.

  • Brooks, R. A., "New Approaches to Robotics," [pdf format], Science, Vol. 253, September 1991, pp. 1227--1232.

  • Flynn, A. M., L. S. Tavrow, S. F. Bart, R. A. Brooks, D. J. Ehrlich, K. R. Udayakumar and L. E. Cross, "Piezoelectric Micromotors for Microrobots," Journal of Microelectromechanical Systems, Vol. 1, March 1992, pp. 44--51.

  • Brooks, R.A. and L.A. Stein, "Building Brains for Bodies," [pdf format], Autonomous Robots, Vol. 1, No. 1, November 1994, pp. 7--25.

  • Udayakumar, K.R., J. Chen, A.M. Flynn, S.F. Bart, L.S. Tavrow, D.J. Ehrlich, L.E. Cross and R.A. Brooks, "Ferroelectric Thin Films for Piezoelectric Micromotors," Ferroelectrics, Vol. 160, 1994, pp. 347--356.

  • Brooks, R.A., "From Earwigs to Humans," [pdf format], Robotics and Autonomous Systems, Vol. 20, Nos. 2--4, June 1997, pp. 291--304.

  • Brooks, R.A., "The Cog Project," Journal of the Robotics Society of Japan, Vol. 15, No. 7, October 1997, pp. 968--970.

Proceedings of Refereed Conferences

  • Brooks, R. A., R. Greiner and T. O. Binford, "The ACRONYM Model-Based Vision System," Proceedings of 6th Int. Joint Conf. on Artificial Intelligence, Tokyo, Japan, August 1979, pp. 105--113.

  • Brooks, R. A. and T. O. Binford, "Interpretive Vision and Restriction Graphs," Proceedings of the First Annual National Conference on Artificial Intelligence, Stanford, CA, August 1980, pp. 21--27.

  • Binford, T. O., R. A. Brooks and D. Lowe, "Image Understanding via Geometric Models," Proceedings of the Fifth International Conference on Pattern Recognition, Miami, FL, December 1980, pp. 364--369.

  • Brooks, R. A., R. P. Gabriel and G. L. Steele, Jr., "An Optimizing Compiler for Lexically Scoped Lisp," Proceedings ACM Sigplan 1982 Symposium on Compiler Construction, Boston, MA, June 1982, pp. 261--275.

  • Brooks, R. A., R. P. Gabriel and G. L. Steele, Jr., "S-1 Common Lisp Implementation," Proceedings 1982 ACM Symposium on Lisp and Functional Programming, Pittsburgh, PA, August 1982, pp. 108--113.

  • Brooks, R. A., R. P. Gabriel and G. L. Steele, Jr., "Lisp--in--Lisp: High Performance and Portability," Proceedings of 8th Int. Joint Conf. on Artificial Intelligence, Karlsruhe, Germany, August 1983, pp. 845--849.

  • Brooks, R. A., "Find-Path for a Puma-Class Robot," Proceedings of the Third Annual National Conference on Artificial Intelligence, Washington, D. C., August 1983, pp. 40--44.

  • Brooks, R. A., "Trading Data Space for Reduced Time and Code Space in Real-Time Garbage Collection on Stock Hardware," Proceedings of the ACM Symposium on Lisp and Functional Programming, Austin, TX, August 1984, pp. 256--262.

  • Brooks, R. A. and R. P. Gabriel, "A Critique of Common Lisp," Proceedings of the ACM Symposium on Lisp and Functional Programming, Austin, TX, August 1984, pp. 1--8.

  • Kuan, D. T., R. A. Brooks, J. C. Zamiska and M. Das, "Automatic Path Planning for a Mobile Robot Using a Mixed Representation of Free Space," Proceedings IEEE First Conference on Artificial Intelligence Applications, Denver, CO, December 1984, pp. 70--74.

  • Kuan, D. T., J. C. Zamiska, R. A. Brooks, "Natural Decomposition of Free Space for Path Planning," Proceedings of 1985 IEEE International Conference on Robotics and Automation, St. Louis, MO, March 1985, pp. 168--173.

  • Brooks, R. A., D. B. Posner, J. L. McDonald, J. L. White, E. Benson, and R. P. Gabriel, "Design of An Optimizing, Dynamically Retargetable Compiler for Common Lisp," Proceedings of 1986 ACM Symposium on Lisp & Functional Programming, Cambridge, MA, August 1986, pp. 67--85.

  • Brooks, R. A., J. H. Connell, and A. Flynn, "A Mobile Robot with Onboard Parallel Processor and Large Workspace Arm," Proceedings of Fifth National Conference on Artificial Intelligence, Philadelphia, PA, August 1986, pp. 1096--1100,

  • Brooks, R. A., "A Robust Programming Scheme for a Mobile Robot," Proceedings of NATO Advanced Research Workshop on `Languages for Sensor-Based Control in Robotics', Castelvecchio Pascoli, Italy, September 1986.

  • Brooks, R. A., and J. Connell, "Asynchronous Distributed Control System for a Mobile Robot," Proceedings of SPIE's Cambridge Symposium on Optical and Optoelectronic Engineering, Cambridge, MA, October 1986, pp. 77--84.

  • Cudhea, P. W., and R. A. Brooks, "Coordinating Multiple Goals for a Mobile Robot," Preprints of Intelligent Autonomous Systems, Amsterdam, The Netherlands, December 1986, pp. 168--174.

  • Brooks, R. A., "A Hardware Retargetable Distributed Layered Architecture for Mobile Robot Control," Proceedings of 1987 International Conference on Robotics and Automation, Raleigh, NC, March 1987, pp. 106--110.

  • Flynn, A. M. and R. A. Brooks, "MIT Mobile Robots -- What's Next?," 1988 International Conference on Robotics and Automation, Philadelphia, PA, April 1988, 611--617.

  • Horswill, I. D. and R. A. Brooks, "Situated Vision in a Dynamic World: Chasing Objects," Proceedings AAAI, St. Paul, MN, August 1988, pp. 796--800.

  • Flynn, A. M., R. A. Brooks, W. M. Wells and D. S. Barrett, "The World's Largest One Cubic Inch Robot," IEEE Micro Electro-Mechanical Systems Workshop, Salt Lake City, UT, February 1989, pp. 98--101.

  • Flynn, A. M. and R. A. Brooks, "Building Robots: Expectations and Experiences," Proceedings IROS '89, Tskuba, Japan, September, 1989, pp. 236--243.

  • Angle, C. M. and R. A. Brooks, "Small Planetary Rovers," [pdf format], IEEE International Workshop on Intelligent Robots and Systems, Tsuchiura, Japan, July 1990, pp. 383--388.

  • Brooks, R. A., P. Maes, M. J. Mataric and G. More, "Lunar Base Construction Robots," IEEE International Workshop on Intelligent Robots and Systems, Tsuchiura, Japan, July 1990, pp. 389--392.

  • Mataric, M. J. and R. A. Brooks, "Learning a Distributed Map Representation Based on Navigation Behaviors,", Japan--USA Symposium on Flexible Automation, Kyoto, Japan, July 1990, pp. 499--506.

  • Maes, P. and R. A. Brooks, "Learning to Coordinate Behaviors," [pdf format], AAAI, Boston, MA, August 1990, pp. 796--802.

  • Brooks, R. A., "Challenges for Complete Creature Architectures," [pdf format], First International Conference on Simulation of Adaptive Behavior, Paris, France, September 1990, pp. 434--443.

  • Flynn, A. M., L. S. Tavrow, S. F. Bart, R. A. Brooks, D. J. Ehrlich, K. R. Udayakumar and L. E. Cross, "Piezoelectric Micromotors for Microrobots," 1990 Ultrasonics Symposium, Honolulu, HI, December 1990.

  • Udayakumar, K. R., S. F. Bart, A. M. Flynn, J. Chen, L. S. Tavrow, L. E. Cross, R. A. Brooks, and D. J. Ehrlich, "Ferroelectric Thin Film Ultrasonic Micromotors," IEEE Micro Electro Mechanical Systems: An Investigation of Micro Structures, Sensors, Actuators, Machines and Robots, Nara, Japan, January, 1991, pp. 109--113.

  • Brooks, R. A., "Intelligence Without Reason," [pdf format], Proceedings of 12th Int. Joint Conf. on Artificial Intelligence, Sydney, Australia, August 1991, pp. 569--595.

  • Brooks, R. A., "Artificial Life and Real Robots," [pdf format], Towards a Practice of Autonomous Systems: European Conference on Artifcial Life, Paris, France, MIT Press, December 1991, pp. 3--10.

  • Brooks, R. A., "The Engineering of Physical Grounding," Proceedings of The Fifteenth Annual Conference of the Cognitive Science Society, Boulder, Colorado, Lawrence Erlbaum Associates, Inc., June 1993, pp. 153--154.

  • Brooks, R. A. and L. A. Stein, "Building Brains for Bodies," [pdf format], Proceedings of the AIAA/NASA Conference on Intelligent Robots for Factory, Field, Service, and Space, Houston, Texas, March 1994.

  • Brooks, R.A.,"Coherent Behavior from Many Adaptive Processes," Proceedings of the Third International Conference on Simulation of Adaptive Behavior: From Animals to Animats 3, edited by D. Cliff, P. Husbands, J.A. Meyer and S. Wilson, Brighton, United Kingdom, MIT Press, August, 1994, pp. 22--29.

  • Brooks, R.A. and Charles Rosenberg, "L -- A Common Lisp for Embedded Systems," Association of Lisp Users Meeting and Workshop LUV'95, August, 1995.

  • Brooks, R. A. with contributions from M. Coen, D. Dang, J. DeBonet, J. Kramer, T. Lozano-Perez, J. Mellor, P. Pook, C. Stauffer, L. Stein, M. Torrance and M. Wessler, "The Intelligent Room Project," [pdf format], Proceedings of the Second International Cognitive Technology Conference (CT'97), Aizu, Japan, August 1997.

  • Lorigo, L.M., R.A. Brooks and W.E.L. Grimson, "Visually-Guided Obstacle Avoidance in Unstructured Environments," [pdf format], Proceedings of IROS '97, Grenoble, France, September 1997, pp. 373--379.

  • Brooks, R.A., C. Breazeal (Ferrell), R. Irie, C. Kemp, M. Marjanovic, B. Scassellat and M. Williamson, "Alternate Essences of Intelligence," [pdf format] to appear AAAI-98.

Other Major Publications

  • Brooks, R. A., R. Greiner and T. O. Binford, "A Model-Based Vision System," Proceedings of ARPA Image Understanding Workshop, Cambridge, MA, May 1978, pp. 36--44.

  • Brooks, R. A., R. Greiner and T. O. Binford, "Progress Report on a Model-Based Vision System," Proceedings of ARPA Image Understanding Workshop, Pittsburgh, PA, November 1978, pp. 145--151; also in Proceedings of NSF Workshop on the Representation of Three-Dimensional Objects, Section C, University of Pennsylvania, May 1979.

  • Binford, T. O. and R. A. Brooks "Geometric Reasoning in ACRONYM," Proceedings of ARPA Image Understanding Workshop, Menlo Park, CA, April 1979, pp. 48--54.

  • Brooks, R. A., "Goal-Directed Edge Linking and Ribbon Finding," Proceedings of ARPA Image Understanding Workshop, Menlo Park, CA, April 1979, pp. 72--76.

  • Brooks, R. A. and T. O. Binford, "Representing and Reasoning about Paritally Specified Scenes," Proceedings of ARPA Image Understanding Workshop, College Park, MD, April 1980, pp. 95--103.

  • Brooks, R. A. and T. O. Binford, "Geometric Modeling in Vision for Manufacturing," Proceedings of SPIE, Washington, D. C., April 1981.

  • Brooks, R. A., "Representing Possible Realities for Vision and Manipulation," IEEE Pattern Recognition and Image Processing Conference, Las Vegas, NV, June 1982, pp. 587--592.

  • Brooks, R. A., "Aspects of Mobile Robot Visual Map Making," Proceedings of the Second International Symposium of Robotics Research, Kyoto, Japan, MIT Press, August 1984, pp. 287--293.

  • Lozano-Perez, T. and R. A. Brooks, "An Approach to Automatic Robot Programming," Solid Modeling by Computers, Pickett and Boyse (ed.), Plenum Press, New York, pp. 293--328, 1985; also in Proceedings of 1986 ACM Computer Science Conf., Cincinnatti, OH, February 1986, pp. 61--69; also MIT AI Memo 842, April 1985.

  • Brooks, R. A., "Visual Map Making for a Mobile Robot," Proceedings of 1985 IEEE International Conference on Robotics and Automation, St. Louis, MO, March 1985, pp. 824--829.

  • Lozano-Perez, T. and R. A. Brooks, "Task-Level Manipulator Programming," in Handbook of Industrial Robots, Shimon Y. Nof (ed.), John Wiley & Sons, Inc., New York, 1985, pp. 404--418.

  • Brooks, R. A., "A Layered Intelligent Control System for a Mobile Robot," Proceedings of the Third International Symposium of Robotics Research, Gouvieux, France, MIT Press, October 1985, pp. 1- -8.

  • Brooks, R. A., "Model Based 3-D Interpretation of 2-D Images," From Pixels to Predicates: Recent Advances in Computational and Robotic Vision, Alex P. Pentland (ed.), Ablex Publishing Corporation, Norwood, NJ, 1986, pp. 299--321.

  • Brooks, R. A.,"Autonomous Mobile Robots," AI in the 1980s and Beyond, W. Eric L. Grimson and Ramesh S. Patil, MIT Press, Cambridge, MA, 1987, pp. 343--363.

  • Brooks, R. A., "Intelligence Without Representation," Preprints of the Workshop in Foundations of Artificial Intelligence, Endicott House, Dedham, MA, June, 1987.

  • Brooks, R. A., A. M. Flynn and T. Marill, "Self Calibration of Motion and Stereo Vision for Mobile Robots," Preprints of the Fourth International Symposium of Robotics Research, Santa Cruz, CA, August 1987, pp. 267--276.

  • Brooks, R. A., "The Whole Iguana," SDF Benchmark Symposium, Santa Cruz, CA, August 1987, Robotics Science, Michael Brady (ed), MIT Press, 1989, pp. 432--456.

  • Brooks, R. A., A. M. Flynn and T. Marill, "Self Calibration of Motion and Stereo Vision for Mobile Robot Navigation," Fourth International Symposium of Robotics Research, Santa Cruz, CA, MIT Press, August 1987, pp. 267--276.

  • Brooks, R. A., "Real-Time Vision through Sensor Fission," Preprints of Japan AI-87, Osaka, Japan, October 1987, pp. 443-446.

  • Brooks, R. A., "Micro-Brains for Micro-Brawn; Autonomous Microbots," Proceedings IEEE Workshop on Micro Robots and Teleoperators, Hyannis, MA, IEEE Catalog No. 87TH0204-8, November 1987.

  • Brooks, R. A., "AI: Great Expectations," guest editorial in Manufacturing Engineering, Vol. 148, March 1988.

  • Brooks, R. A., "How To Build Complete Creatures Rather Than Isolated Cognitive Simulators," [pdf format], Architectures for Intelligence, K. VanLehn (ed)}, Erlbaum, Hillsdale, NJ, Fall 1989, pp. 225--239.

  • Brooks, R. A., "Vision and Spatial Modeling for Mobile Robots," Proceedings of the International Workshop on Industrial Applications of Machine Intelligence and Vision, Tokyo, Japan, April 1989, pp. 9--11.

  • Brooks, R. A. and A. M. Flynn, "A Robot Being," Proceedings NATO Workshop on Robotics and Biological Systems, Pisa, Italy, June 1989. Also appeared as "Robot Beings" at IROS '89, Tskuba, Japan, Sept, 1989, pp. 2--10.

  • Maes, P. and R. A. Brooks, "Robot Insect Societies," Data Manager Magazine, May, 1990.

  • Konishi, Mashide and R.A. Brooks, "Multiple Unfused Passive Sensors for Operating in Busy Indoor Environments," October 5, 1990.

  • Brooks, R.A., "The Role of Learning in Autonomous Robots," [pdf format], Proceedings of the Fourth Annual Workshop on Computational Learning Theory (COLT '91), Santa Cruz, CA, Morgan Kaufmann Publishers, August 1991, pp. 5--10.

  • Gavin, A.S. and R.A. Brooks, "Low Computation Vision-Based Navigation for a Martian Rover," American Institute of Aeronautics and Astronautics, Inc., 1993.

  • Brooks, R.A., "Human Level Cognition in Embodied Robots," Proceedings of the International Joint Conference on Neural Networks (IJCNN '93), Nagoya, Japan, October 1993, pp. 1079--1084.

  • Brooks, R.A., "From Earwigs to Humans," [pdf format], Proceedings IIAS The Third Brain and Mind International Symposium "Concept Formation, Thinking and Their Development, Kyoto, Japan, May 1996, pp. 59--66.

  • Brooks, R.A., "Prospects for Human Level Intelligence for Humanoid Robots," [pdf format], Proceedings of the First International Symposium on Humanoid Robots (HURO-96), Tokyo, Japan, October, 1996.

  • Brooks, R.A., "Behavior-Based Humanoid Robotics," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems:IROS 96, Osaka, Japan, November 1996.

  • Brooks, R.A., "Autonomy As Tolerance to Perturbation," Proceedings of the International Workshop: Towards Real Autonomy, Osaka, Japan. November 1996.

  • Brooks, R.A., "Evolutionary Robotics; Where From and Where To," Evolutionary Robotics: From Intelligent Robots to Artificial Life ER'97, AAI Books, Ontario, Canada, 1997, pp. 1--19.

  • Brooks, R.A., "The Cog Project," Journal of the Robotics Society of Japan, Special Issue (Mini) on Humanoid, Vol. 15, No. 7, Toshihiro Matsui, editor, October 1997.

  • Brooks, R. A., "Using Human Development as a Model for Adaptive Robotics," Proceedings of the 8th International Symposium of Robotics Research, edited by Y. Nakamura, Hayama, Japan, October 1997.

  • Brooks, R.A., "Behaviour-based Robots for Dangerous and Difficult Environments," Proceedings of FSR '97, Canberra, Australia, December 1997.

Internal Memoranda and Progress Reports