PUBLICATIONS

 

 

Journal Papers and Book Chapters

 

1.       J.S. Pang, V. Kumar, and P. Song, Convergence of Time-Stepping Methods for Initial and Boundary Value Frictional Compliant Contact Problems", SIAM Journal on Numerical Analysis, Vol. 43, No. 5, pp. 2200-2226, 2006. [pdf]

2.       P. Song, J.S. Pang, and V. Kumar, "A Two-Point Boundary-Value Approach for Planning Manipulation Tasks", Robotics: Science and Systems, S. Thrun, G. Sukhatme, and O. Brock (eds.), pp. 121-129, The MIT Press, 2005. [pdf]

3.       R. Fierro and P. Song, Coordination of Robot Teams: A Decentralized Approach", Applications of advanced Control Theory to Robotics and Automation, L Menini, L. Zaccarian, and C. T. Abdallah (eds.), pp. 447-463, Kluwer Academic Press, 2005. [pdf]

4.       P. Song, J.S. Pang, and V. Kumar, “A Semi-Implicit Time-Stepping Model for Frictional Compliant Contact Problems”. International Journal for Numerical Methods in Engineering, V. 60, pp. 2231-2261, 2004 [pdf]

5.       P. Song, P. Kraus, V. Kumar, and P. Dupont, “Analysis of Rigid Body Dynamic Models for Simulation of Systems with Frictional Contacts”. ASME Journal of Applied Mechanics, Vol. 68, No. 1, pp. 118-128, 2001. [pdf]

6.       R. Fierro, P. Song, A. Das, and V. Kumar, “Cooperative Control of Robot Formations”. Cooperative Control and Optimization, R. Murphey and P. Pardalos (eds.), Applied Optimization, Vol. 66, Chapter 5, pp. 73-93, Kluwer Academic Press, 2001. [pdf]

 

Conference Proceedings

 

7.       P. Song, V. Kumar, J.C. Trinkle, and J.S. Pang, A Family of Models for Manipulation Planning", The 6th IEEE International Symposium on Assembly and Task Planning Montreal, pp. 236-241, Montreal, Canada, 2005 [pdf]

8.       B. Mukundakrishnan, P. Song, V. Kumar, J.C. Trinkle, and J.S. Pang, A hierarchical approach for design and assembly of mechanisms", The 2005 ASME Design Engineering Technical Conferences, Long Beach, CA, September 2005. [pdf]

9.       P. Song, J.C. Trinkle, V. Kumar, and J.S. Pang, “Design of Part Feeding and Assembly Processes with Dynamics”. The 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA. Kayamori Best Paper Award. [pdf]

10.    P. Song and V. Kumar, “Distributed Compliant Model for Efficient Dynamic Simulation of Systems with Frictional Contacts”, In the Proceedings of the 2003 ASME Design Engineering Technical Conferences, Chicago, Illinois, 2003. [pdf]

11.    P. Song and V. Kumar, “A Potential Field Based Approach to Multi-Robot Manipulation”. In the Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington D.C., 2002. [pdf]

12.    P. Song, M. Yashima, and V. Kumar, “Dynamics and Control of Whole Arm Grasps”. In the Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, 2001. [pdf]

13.    P. Song, M. Yashima, and V. Kumar, “Dynamic Simulation for Grasping and Whole Arm Manipulation”. In the Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, California, 2000. Finalist for the Best Paper in Manipulation Award. [pdf]

14.    P. Song, V. Krovi, V. Kumar, and R. Mahoney, “Design and Virtual Prototyping of Human-Worn Manipulation Devices”, In the Proceedings of the ASME Design Engineering Technical Conferences, Las Vegas, Nevada, 1999. [pdf]

15.    P. Song, V. Krovi, V. Kumar, and R. Mahoney, “Design of Human-Worn Assistive Devices for People with Dis­abilities”. In the Proceedings of the 6th International Conference on Rehabilitation Robotics, Stanford, California, 1999. [pdf]

16.    V. Krovi, P. Song, V. Kumar, and G.K. Ananthasuresh, “Design of Customized Articulated Assistive Devices”. In the Proceedings of the National Conference on Machines and Mechanisms, Mumbai, India, 1999. [pdf]

17.    P. Song, V. Krovi, V. Kumar, R. Mahoney, and R. Bajcsy, “Supporting Tools for Design and Virtual Proto­typing of One-of-a-Kind Assistive Devices”. In the Proceedings of the NSF Design and Manufacturing Grantees Conference, Long Beach, California, 1999. [pdf]

18.    P. Song, S. Li, and T. Jin, “On the Research and Development of a Novel Laser Micrometer for Dynamic Measurement”, In the Proceedings of the 1996 Japan-China Bilateral Symposium on Advanced Manufacturing Engineering, Hayama, Kanagawa, Japan, pp. 193-197, 1996.

 

Techanical Reports

 

19.    P. Song, P. Kraus, V. Kumar, and P. Dupont, "Analysis of Rigid Body Dynamic Models for Simulation of Systems with Frictional Contacts", Technical Report MS-CIS-00-08, Department of Computer and Information Science, University of Pennsylvania, available at http://www.cis.upenn.edu/~techreports/abstracts00.html. 

20.    R. Fierro, P. Song, A. Das, and V. Kumar, "A framework for scalable cooperative navigation of autonomous vehicles," Technical Report MS-CIS-01-09, Department of Computer and Information Science, University of Pennsylvania, March 2001, available at http://www.cis.upenn.edu/~techreports/abstracts01.html. [pdf]