Anya Petrovskaya

Ph. D. candidate, Computer Science Department

Projects

Tactile perception

Humans are capable of performing many tasks relying just on the sense of touch.  To enable robots to do the same, we explore robotic perception via contact.  [more] 

 

STAIR

STAIR stands for STanford AI Robot project.  Its goal is to build a single robot that combines techniques from all areas of AI to carry out a wide range of day-to-day tasks.  My work focuses on teaching the robot to navigate hallways and open doors. [more] 

 

Urban driving

This project aims to develop autonomous vehicles able to drive in urban environments.  For more information see my project page and the Stanford Racing Team website.

 

Knowledge Base of Tactile Sensors

In this ongoing project, our goal is to build a complete knowledge base of tactile sensing technologies.  [more]

 

Other interests

In my spare time I also help out at Grayboxx, where I apply Bayesian techniques to yellow pages.

 

Links to groups I work with:

· Robotic Manipulation Group

· Stanford Racing Team

· STAIR

 

 

 

Contact

Gates Building 1A, Room 112, Stanford, CA 94305

Email

anya at cs.stanford.edu

Publications

Model Based Vehicle Detection and Tracking for Autonomous Urban Driving. Anna Petrovskaya and Sebastian Thrun. Autonomous Robots Journal,  vol. 26(2-3), pp. 123--139, April 2009. [pdf] [Springer] [more]

Model Based Vehicle Tracking in Urban Environments. Anna Petrovskaya and Sebastian Thrun. ICRA 2009, Workshop on Safe Navigation. [pdf] [slides] [more]

Tactile Sensors.  Sherri Billimoria, Nandini Mukherjee, Anna Petrovskaya and Oussama Khatib.  Project report.  Stanford University, 2008. [pdf]

Junior: The Stanford Entry in the Urban Challenge.  M. Montemerlo, J. Becker, S. Bhat, H. Dahlkamp, D. Dolgov, S. Ettinger, D. Haehnel, T. Hilden, G. Hoffmann, B. Huhnke, D. Johnston, S. Klumpp, D. Langer, A. Levandowski, J. Levinson, J. Marcil, , D. Orenstein, J. Paefgen, I. Penny, A. Petrovskaya, M. Pflueger, G. Stanek, D. Stavens, A. Vogt, and S. Thrun.   Field and Service Robot Journal 2008.  [pdf] [more]

Model Based Vehicle Tracking for Autonomous Driving in Urban Environments. Anna Petrovskaya and Sebastian Thrun. RSS 2008, Zurich, Switzerland. (Paper invited to AuRo.) [pdf] [poster] [more]

Efficient Techniques for Dynamic Vehicle Detection.  Anna Petrovskaya and Sebastian Thrun. ISER 2008, Athens, Greece. [pdf] [more]

Identifying Physical Properties of Deformable Objects by Using Particle Filters.   Steve Burion, Francois Conti, Anna Petrovskaya and Oussama Khatib. International Conference in Robotics and Automation (ICRA), Pasadena, USA, May 2008.

Touch Based Perception for Object Manipulation.  Anna Petrovskaya, Oussama Khatib, Sebastian Thrun, and Andrew Y. Ng.   Robotics Science and Systems Conference (RSS), Robot Manipulation Workshop, Atlanta, GA, 2007. [pdf]

Probabilistic Estimation of Whole Body Contacts for Multi-Contact Robot Control.  Anna Petrovskaya, Jaeheung Park, Oussama Khatib.  IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, 2007. [pdf]

Probabilistic Mobile Manipulation in Dynamic Environments, with Application to Opening Doors.  Anna Petrovskaya and Andrew Y. Ng.  International Joint Conference on Artificial Intelligence (IJCAI), Hyderabad, India, 2007. [pdf]

Bayesian Estimation for Autonomous Object Manipulation Based on Tactile Sensors.  Anna Petrovskaya, Oussama Khatib, Sebastian Thrun, and Andrew Y. Ng. IEEE International Conference on Robotics and Automation (ICRA), Orlando, Florida, 2006. [pdf] Also poster version from WiML06 [ppt]

At ICRA 2006, Orlando, Florida