Publications

- A.H. Chang, C.M. Hubicki, J.J. Aguilar, D.I. Goldman, A.D. Ames, P.A. Vela. Learning to Jump in Granular Media: Unifying Optimal Control Synthesis with Gaussian Process-Based Regression. In to appear IEEE International Conference on Robotics and Automation, 2017. (more)
- A.H. Chang, P.A. Vela. Closed-Loop Navigation of Traveling Wave Rectilinear Motion Through Obstacle-Strewn Terrain. In to appear IEEE International Conference on Robotics and Automation, 2017. (more)
- N.P. Hyun, P.A. Vela, E.I. Verriest. A New Framework for Optimal Path Planning of Rectangular Robots Using a Weighted $L_p$ Norm. In to appear IEEE International Conference on Robotics and Automation, 2017. (more)
- J.S. Smith, P.A. Vela. Planning in Perception Space. In to appear IEEE International Conference on Robotics and Automation, 2017. (more)

- A.H. Chang, M.M. Serrano, P.A. Vela. Shape-Centric Modeling of Traveling Wave Rectilinear Locomotion for Snake-Like Robots. In Proceedings of IEEE Conference on Decision and Control, 2016. (more)
- A.H. Chang, M.M. Serrano, P.A. Vela. Shape-Centric Modeling of Lateral Undulation and Sidewinding Gaits for Snake Robots. In Proceedings of IEEE Conference on Decision and Control, 2016. (more)
- G. Ogunmakin, P. Vela, C. Rebola. A Semi-Automated System for Measuring the Effects of Technology Interventions in Older Adult Populations. In Measuring Behavior, Pages 117-122, 2016. (more)
- M.M. Serrano, YP Chen, A. Howard, P.A. Vela. Lower Limb Pose Estimation for Monitoring the Kicking Patterns of Infants. In International Conference of the IEEE Engineering in Medicine and Biology Society, Pages 2157-2160, 2016. (more)
- M.M. Serrano, YP Chen, A. Howard, P.A. Vela. Automated Feet Detection for Clinical Gait Assessment. In International Conference of the IEEE Engineering in Medicine and Biology Society, Pages 2161-2164, 2016. (more)
- G. Zhang, M.J. Lilly, P.A. Vela. Learning Binary Features Online from Motion Dynamics for Incremental Loop-Closure Detection and Place Recognition. In Proceedings of IEEE International Conference on Robotics and Automation, 2016. (more)

- A. Chang, M.M. Serrano, G. Zhang, P.A. Vela. Incorporating frictional anisotropy in the design of a robotic snake through the exploitation of scales. In ICRA, Pages 3729-3734, 2015. (more) doi
- G. Hadjidemetriou, M.M. Serrano, P.A. Vela, S. Christodoulou. Patch Defects Detection in Images Using Support Vector Machines. In International Conference on Civil, Structural and Environmental Engineering Computing, Prague, Czech Republic, 2015. (more)
- P. Mavrovounioti, G. Hadjidemetriou, P.A. Vela, S. Christodoulou. Computer-Vision-Aided Automatic Generation of Building Information Models. In International Conference on Civil, Structural and Environmental Engineering Computing, Prague, Czech Republic, 2015. (more)
- G. Zhang, P. Vela. Optimal Observability and Minimal Cardinality Localization and Mapping. In Proceedings of IEEE International Conference on Robotics and Automation, 2015. (more) doi
- G. Zhang, P. Vela. Good Features to Track for Visual SLAM. In Proceedings IEEE Conference on Vision and Pattern Recognition, 2015. (more) pdf

- M. Bügler, G. Ogunmakin, J. Teizer, P. A. Vela, A. Borrmann. A Comprehensive Methodology for Vision-Based Progress and Activity Estimation of Excavation Processes for Productivity Assessment. In EG-ICE Workshop on Intelligent Computing in Engineering, Cardiff, Wales, 2014. (more) pdf
- L. Keselman, E. Verriest, P.A. Vela. Forage RRT - An Efficient Approach To Task-Space Goal Planning for High Dimensional Systems. In Proceedings of IEEE International Conference on Robotics and Automation, Pages 1572-1577, 2014. (more) doi
- M.M. Serrano, S.S, Sharpe, R. Kuckuk, D.I, Goldman, P.A. Vela. High Performance Tracker for Subsurface Locomotive Studies. In Annual Meeting of Society for Integrative and Comparative Biology, 2014. (more)
- G. Zhang, P.A. Vela, I. Brilakis. Automatic Generation of as-built Geometric Civil Infrastructure Models from Point Cloud Data. In International Workshop on Construction in Civil Engineering, Pages 406-413, Orlando, FL, 2014. (more) doi
- G. Zhang, P. Vela, P. Tsiotras, D-M. Cho. Efficient Closed-Loop Detection and Pose Estimation for Vision-Only Relative Localization in Space with a Cooperative Target. In AIAA Space and Astronautics Forum and Exposition, San Diego, CA, 2014. (more) doi

- Rashidi A, I. Brilakis, P.A. Vela. Monocular Videogrammetry for Generating Absolute-Scale 3D Point Cloud Data of Civil and Infrastructure Scenes. In International Workshop on Construction in Civil Engineering, Pages 581-588, Los Angeles, CA, 2013. (more) doi
- G. Chowdhary, H.A. Kingravi, J, How, P.A. Vela. Nonparametric adaptive control of time-varying systems using Gaussian processes. In Proceedings of the American Control Conference, Pages 2655-2661, 2013. (more) doi
- G. Chowdhary, H. Kingravi, J.P. How, P.A. Vela. Nonparametric Adaptive Control using Gaussian Processes. In Proceedings of IEEE Conference on Decision and Control, Pages 861-867, 2013. (more) doi
- G. Chowdhary, H. Kingravi, R.C. Grande, J.P. How, P. Vela. Nonparametric Adaptive Control using Gaussian Processes. In AIAA Guidance Navigation and Control Conference, 2013. (more)
- G. Chowdhary, H.A. Kingravi, R. Grande, J. How, P.A. Vela. Bayesian Nonparametric Adaptive Control using Gaussian Processes. In Multidisciplinary Conference on Reinforcement Learning and Decision Making, 2013. (more)
- G. Chowdhary, H.A. Kingravi, R. Grande, J. How, P.A. Vela. Bayesian Nonparametric Adaptive Control using Gaussian Processes. In NIPS Workshop on Advances in Machine Learning for Sensorimotor Control, 2013. (more)
- P. Karasev, P. Vela, A. Tannenbaum. IMU-Compensated Image Segmentation for Improved Vision-Based Control Performance. In IEEE Systems Conference, Pages 251-257, 2013. (more) doi
- H. Kingravi, P.A Vela, A. Gray. Reduced Set KPCA for Improving the Training and Execution Speed of Kernel Machines. In SIAM International Conference on Data Mining, Pages 441-449, Austin, TX, 2013. (more) doi
- I. Kolesov, J. Lee, P. Vela, A. Tannenbaum. A Stochastic Approach for Non-Rigid Image Registration. In Conference on Image Processing - Algorithms and Systems XI, Proceedings of SPIE, Volume 8655, 2013. (more) doi pdf
- I. Kolesov, J. Lee, P. Vela, A. Tannenbaum. Stochastic Image Registration with User Constraints. In Conference on Medical Imaging - Image Processing, Proceedings of SPIE, Volume 8669, 2013. (more) doi pdf
- I. Kolesov, P. Karasev, N. Shusharinia, P.A Vela, A. Tannenbaum, G. Sharp. Interactive Segmentation of Structures in the Head and Neck Using Steerable Active Contours. In Medical Physics - Annual Meeting of the American Association of Physicists in Medicine, Volume 40, 2013. (more)
- G. Ogunmakin, J. Teizer, Vela P.A.. Quantifying Interactions Amongst Construction Site Machines. In Conference of European Group for Intelligent Computing in Engineering, Pages 2-11, Vienna, Austria, 2013. (more)
- A. Rashidi, I. Brilakis, P.A. Vela. Built Infrastructure Point Cloud Data Cleaning: An Overview of Gap Filling Algorithms. In International Conference on Construction Applications of Virtual Reality, Pages 585-593, London, UK, 2013. (more) pdf
- G. Zhang, P.A. Vela, I. Brilakis. Detecting, Fitting, and Classifying Surface Primitives for Infrastructure Point Cloud Data. In International Workshop on Construction in Civil Engineering, Pages 589-596, Los Angeles, CA, 2013. (more) doi

- L, Rebola, C. B. Bowers, P. Vela. Communication Technologies for Older Adults in Retirement Communities. In Proceedings of the ALAIPO, Cordoba, Argentina, 2012. (more)
- F Dai, A Rashidi, I Brilakis, PA Vela. Comparison of Image-Based and Time-of-Flight-Based Technologies for 3D Reconstruction of Infrastructure. In ASCE Construction Research Congress, Pages 929-939, West Lafayette, IN, 2012. (more) doi
- P.A. Karasev, A.E. Vela, P.A. Vela, A.R. Tannenbaum. Detection of Human-Initiated Vehicle Maneuvers via Group-Sparsity. In MTNS, 2012. (more) pdf
- A. Rashidi, F. Dai, I. Brilakis, P.A. Vela. A Novel Approach for Automated Selection of Key Video Frames for 3D Reconstruction of Civil Infrastructure. In International Workshop on Construction in Civil Engineering, Pages 188-195, Clearwater Beach, FL, 2012. (more)
- C. Rebola, G. Ogunmakin, P.A. Vela. Automated Behavioral Mapping for Monitoring Social Interactions Among Older Adults. In Proc. of International Conference on Social Robotics, Pages 188-198, 2012. (more)
- C.B. Rebola, P. Vela, C. Saurus, J. Palacio, G. Ogunmakin. Stitchtures: Interactive Art Installations for Social Interventions in Retirement Communities. In Proceedings of the SIGDOC, Pages 71-78, Seattle, WA, 2012. (more) doi
- M.M. Serrano, S. Sharpe, D.I. Goldman, P.A. Vela. Marker-Based Tracking of Subsurface Locomotion in Noisy Environments. In Workshop on Visual Observation and Analysis of Animal and Insect Behavior, Tsukuba, Japan, 2012. (more) pdf
- A.E. Vela, P. Karasev, P.A. Vela. A posteriori aircraft control signal recovery via sparsity-inducing norm minimization. In Digital Avionics Systems Conference (DASC), 2012 IEEE/AIAA 31st, Pages 4-1, 2012. (more) pdf
- G. Zhang, P. Karasev, I. Brilakis, P.A. Vela. A Sparsity-Inducing Optimization Algorithm for the Extraction of Planar Structures in Noisy Point Cloud Data. In International Workshop on Construction in Civil Engineering, Pages 317-324, 2012. (more) doi pdf

- F. Dai, A. Rashidi, I. Brilakis I, P.A. Vela. Generating the Sparse Point Cloud of a Civil Infrastructure Scene Using a Single Video Camera under Practical Constraints. In Winter Simulation Conference, Pages 3588-3599, Phoenix, AZ, 2011. (more) doi
- H. Fathi, I. Brilakis, P.A. Vela. Automated 3D Structure Inference of Civil Infrastructure Using a Stereo Camera Set. In International Workshop on Construction in Civil Engineering, Pages 118-125, 2011. (more)
- P.A. Karasev, M.M. Serrano, P.A. Vela, A. Tannenbaum. Depth invariant visual servoing. In Proceedings of IEEE Conference on Decision and Control, Pages 4992-4998, 2011. (more) pdf
- H.A. Kingravi, G. Chowdhary, P.A. Vela, Eric N. Johnson. A Reproducing Kernel Hilbert Space Approach for the Online Update of Radial Bases in Neuro-Adaptive Control. In Proceedings of IEEE Conference on Decision and Control, Pages 1796-1802, 2011. (more) doi
- A. Rashidi, F. Dai, I. Brilakis, P.A. Vela. Comparison of Camera Motion Estimation Methods for 3D Reconstruction of Infrastructure. In International Workshop on Construction in Civil Engineering, Pages 363-371, Miami, FL, 2011. (more)
- C.B. Rebola, P. Vela, C. Saurus, J. Palacio, G. Ogunmakin. Stitchtures: Interactive Art Installation for Social Interventions. In International Symposium on Electronic Art, Istanbul, Turkey, 2011. (more)
- K. Xue, G. Ogunmakin, Y. Liu, P.A. Vela, Y. Wang. PTZ camera-based adaptive panoramic and multi-layered background model. In International Conference on Image Processing, Pages 2949-2952, Brussels, Belgium, 2011. (more) doi
- J. Yang, P.A. Vela, J. Teizer, Z. Shi. Vision-Based Crane Tracking for Understanding Construction Activity. In ASCE International Workshop on Computing in Civil Engineering, Pages 258-265, 2011. (more) doi pdf
- J. Yang, Z.K. Shi, P.A. Vela. Person Reidentification by Kernel PCA Based Appearance Learning. In Canadian Conference on Computer and Robot Vision, Pages 227-233, 2011. (more) download pdf

- O. Arif, W. Daley, P.A. Vela, J. Teizer, J. Stewart. Visual Tracking and Segmentation Using Time-of-Flight Sensor. In Proceedings of the IEEE International Conference on Image Processing, Pages 2241-2244, Hong Kong, 2010. (more) doi
- O. Arif, P.A. Vela, W. Daley. Pre-Image Problem in Manifold Learning and Dimensional Reduction Methods. In International Conference on Machine Learning Applications, Pages 921-924, 2010. (more) doi pdf
- P. Karasev, M.M. Serrano, P.A. Vela, A. Tannenbaum. Visual Closed-Loop Tracking with Area Stabilization. In Proceedings of the American Control Conference, Pages 6955-6961, 2010. (more) pdf
- P.A. Karasev, P.A. Vela, A. Tannenbaum. Delay estimation for wireless LAN control of nonlinear systems. In Proceedings of IEEE Conference on Decision and Control, Pages 1010-1016, Atlanta, GA, 2010. (more)
- A. Makhmalbaf, M.W. Park, J. Yang, I. Brilakis, P.A. Vela. 2D Vision Tracking Methods' Performance Comparison for 3D Tracking of Construction Resources. In Construction Research Congress, Pages 459-469, 2010. (more) doi pdf
- I.J. Ndiour, O. Arif, J. Teizer, P.A. Vela. A Probabilistic Observer for Visual Tracking. In Proceedings of the American Control Conference, Pages 4558-4563, 2010. (more) pdf
- I.J. Ndiour, P.A. Vela. Optimal Estimation Applied to Visual Contour Tracking. In Proceedings of the American Control Conference, Pages 4564-4569, 2010. (more) pdf
- I.J. Ndiour, P.A. Vela. A Local Sub-Optimal Second-Order Filter for Visual Tracking. In CDC, Pages 2498-2504, Atlanta, GA, 2010. (more)
- P.A. Vela, A.E. Vela, G. Ogunmakin. Topologically based decision support tools for aircraft routing. In Digital Avionics Systems Conference, Pages 1-0, 2010. (more)
- Z. Zhu, I.J. Ndiour, I. Brilakis, P.A. Vela. Improvements to Concrete Column Detection in Live Video. In ISARC, Pages 108-117, Bratislava, Slovakia, 2010. (more) pdf

- O. Arif, J. Yang, J. Teizer, P.A. Vela. Visual Monitoring of Airport Ground Operations. In Proceedings of the Digital Avionics Systems Conference, Orlando, FL, 2009. (more) doi pdf
- O. Arif, P.A. Vela. Robust Density Comparison for Visual Tracking. In British Machine Vision Conference, Pages 1-6, London, UK, 2009. (more) pdf
- O. Arif, P.A. Vela. Kernel Covariance Image Region Description for Object Tracking. In Proceedings of the IEEE International Conference on Image Processing, Cairo, Egypt, 2009. (more)
- O. Arif, P.A. Vela. Non-Rigid Object Localization and Segmentation Using Eigenspace Representation. In IEEE International Conference on Computer Vision, 2009. (more) pdf
- O. Arif, P.A. Vela. Kernel Map Compression Using Generalized Radial Basis Functions. In IEEE International Conference on Computer Vision, 2009. (more) doi pdf
- O. Arif, P.A. Vela. Robust Target Localization and Segmentation Using Graph Cut, KPCA and Mean-Shift. In International Conference on Machine Learning Applications, Pages 35-40, Miami, FL, 2009. (more) doi pdf
- I.J. Ndiour, P.A. Vela. Towards a Local Kalman Filter for Visual Tracking. In Proceedings of IEEE Conference on Decision and Control, 2009. (more) pdf
- J. Yang, P.A. Vela, Z.K. Shi, J. Teizer. Probabilistic Multiple People Tracking through Complex Situatiions. In International Workshop on Performance Evaluation of Tracking and Surveillance (PETS), Pages 86-94, 2009. (more) pdf

- J. Teizer, P. Vela. Workforce Tracking on Construction Sites Using Video Cameras. In Workshop of the European Group for Intelligent Computing in Engineering, 2008. (more)

- G. Pryor, T. ur-Rehman, S. Lankton, P.A. Vela, A. Tannenbaum. Fast Optimal Mass Transport for Dynamic Active Contour Tracking on the GPU. In Proceedings of IEEE Conference on Decision and Control, Pages 2681-2688, 2007. (more)
- G. Pryor, P.A. Vela, J. Rehg, A. Tannenbam. Layered Active Contours for Tracking. In British Machine Vision Conference, Warwick, UK, 2007. (more) pdf
- P.A. Vela. Knowledge-Based Segmentation Using Dynamic Models. In Proceedings of IEEE Conference on Decision and Control, 2007. (more)

- M. Niethammer, P.A. Vela, A. Tannenbaum. Geometric Observers for Dynamically Evolving Curves. In Proceedings of IEEE Conference on Decision and Control, Pages 6071-6077, 2005. (more)

- P. A. Vela, J. W. Burdick. A General Averaging Theory via Series Expansions. In Proceedings of the American Control Conference, Denver, CO, 2003. (more)
- P. A. Vela, J. W. Burdick. Control of Underactuated Driftless Systems Using Higher-Order Averaging. In Proceedings of the American Control Conference, Denver, CO, 2003. (more)
- P. A. Vela, J. W. Burdick. Geometric Homogeneity and Controllability of Nonlinear Systems. In Proceedings of IEEE Conference on Decision and Control, 2003. (more)
- P. A. Vela, J. W. Burdick. Control of Mechanical Systems with Drift Using Higher-Order Averaging. In Proceedings of IEEE Conference on Decision and Control, 2003. (more)
- P.A. Vela, J.W. Burdick. Control of Biomimetic Locomotion via Averaging Theory. In Proceedings of IEEE International Conference on Robotics and Automation, Pages 1482-1489, Taipei, Taiwan, 2003. (more)

- K. A. Morgansen, P. A. Vela, J. W. Burdick. Trajectory Stabilization for a Planar Carangiform Robot Fish. In Proceedings of IEEE International Conference on Robotics and Automation, Washinton D.C, 2002. (more)
- P. A. Vela, K. A. Morgansen, J. W. Burdick. Second-Order Averaging Methods for Oscillatory Control of Underactuated Mechanical Systems. In Proceedings of the American Control Conference, Anchorage, AL, 2002. (more)
- P. A. Vela, K. A. Morgansen, J. W. Burdick. Underwater Locomotion from Oscillatory Shape Deformations. In Proceedings of IEEE Conference on Decision and Control, Las Vegas, NV, 2002. (more)

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