Affiliations
Education
- Postdoc, Computer Science, Stanford University (2005-2006)
- PhD, Aeronautics and Astronautics, Stanford University (2005)
- MS, Aeronautics and Astronautics, Stanford University (2000)
- BS, Mathematics, Swarthmore College (1999)
- BS, Engineering, Swarthmore College (1999)
Teaching
- AE 583/ECE550: Advanced Robotic Planning (2009), (2011)
- AE 483: Aerospace Decision Algorithms (2011)
- AE 482/ECE470: Introduction to Robotics (2009)
- AE 403: Spacecraft Attitude Control (2008), (2010)
- AE 252: Introduction to Aerospace Dynamics (2007), (2009)
- AE 100SD: Introduction to Aerospace Engineering - Spacecraft Design (2010)
- AE 498 MPA (2006), (2007), (2008)
Book Chapters and Journal Publications
- [15] A. Becker and T. Bretl, "Approximate Steering of a Unicycle Under Bounded Model Perturbation Using Ensemble Control," accepted for publication in IEEE Transactions on Robotics, 2012. [pdf]
- [14] T. Bretl, "Minimum-Time Optimal Control of Many Robots that Move in the Same Direction at Different Speeds," IEEE Transactions on Robotics, 28(2):351-363, 2012. [pdf] [mp4]
- [13] J. A. Jarzebowski, R. Ma, N. Aghasadeghi, T. Bretl, and T. P. Coleman, "A Stochastic Control Approach to Optimally Designing Variable-Sized Menus in P300 Communication Prostheses," IEEE Transactions on Neural Systems and Rehabilitation Engineering, 20(1):102-112, 2012. [pdf]
- [12] Y. Li, A. Becker, K. A. Shorter, T. Bretl, and E. T. Hsiao-Wecksler, "Estimating System State During Human Walking with a Powered Ankle-Foot Orthosis," IEEE/ASME Transactions on Mechatronics, vol. 16, no. 5, October 2011 [pdf]
- [11] C. Omar, A. Akce, M. Johnson, T. Bretl, R. Ma, E. Maclin, M. McCormick, and T. P. Coleman, "A Feedback Information-Theoretic Approach to the Design of Brain-Computer Interfaces," International Journal of Human-Computer Interaction, vol. 27, iss. 1, pp. 5-23, 2011. [pdf]
- [10] T. Bretl, G. Arechavaleta, A. Akce, and J. P. Laumond, "Comments on “An Optimality Principle Governing Human Walking”," Robotics, IEEE Transactions on, vol. 26, iss. 6, pp. 1105-1106, 2010. [pdf]
- [9] T. Bretl. “Control of Many Agents by Moving Their Targets: Maintaining Separation,” Recent Progress in Robotics: Viable Robotic Service to Human, Lecture Notes in Control and Information Sciences (LNCIS), vol 370, pp. 145-156, 2008. [pdf]
- [8] K. Hauser, T. Bretl, J. Latombe, K. Harada, and B. Wilcox, "Motion Planning for Legged Robots on Varied Terrain," The International Journal of Robotics Research, vol. 27, iss. 11-12, pp. 1325-1349, 2008. [pdf]
- [7] T. Bretl and S. Lall, "Testing Static Equilibrium for Legged Robots," IEEE Transactions on Robotics, vol. 24, iss. 4, pp. 794-807, 2008. [pdf]
- [6] K. Hauser, T. Bretl, K. Harada, and J. Latombe, "Using motion primitives in probabilistic sample-based planning for humanoid robots," Algorithmic Foundations of Robotics VII, Springer Tracts in Advanced Robotics (STAR), Springer Berlin / Heidelberg, vol 47, p507-522, 2008. [pdf]
- [5] K. Hauser, T. Bretl, J. Latombe, and B. Wilcox, "Motion planning for a six-legged lunar robot," Algorithmic Foundations of Robotics VII, Springer Tracts in Advanced Robotics (STAR), Springer Berlin / Heidelberg, vol 47, p301-316, 2008. [pdf]
- [4] T. Bretl, "Motion Planning of Multi-Limbed Robots Subject to Equilibrium Constraints: The Free-Climbing Robot Problem," International Journal of Robotics Research, vol. 25, iss. 4, pp. 317-342, 2006. [pdf]
- [3] T. Bretl, S. Rock, J.C. Latombe, B. Kennedy, and H. Aghazarian. “Free-Climbing with a Multi-Use Robot,” Experimental Robotics IX, Springer Tracts in Advanced Robotics (STAR), Springer Berlin / Heidelberg, vol. 21, p449-458, 2008. [pdf]
- [2] T. Bretl, S. Lall, J.C. Latombe, and S. Rock. “Multi-Step Motion Planning for Free-Climbing Robots,” Algorithmic Foundations of Robotics VI, Springer Tracts in Advanced Robotics (STAR), Springer Berlin / Heidelberg, vol 17, p59-74, 2008. [pdf]
- [1] T. Bretl, J.C. Latombe, and S. Rock. “Toward Autonomous Free-Climbing Robots,” Robotics Research, Springer Tracts in Advanced Robotics (STAR), Springer Berlin / Heidelberg, vol 15, p6-15, 2005. [pdf]
Peer-Reviewed Conference Publications
- [42] T. Bretl and Z. McCarthy, "Equilibrium Configurations of a Kirchhoff Elastic Rod Under Quasi-Static Manipulation," to appear in Workshop on Algorithmic Foundations of Robotics (WAFR), June 2012. [pdf]
- [41] A.-S. Puydupin-Jamin, M. Johnson, and T. Bretl, "A convex approach to inverse optimal control and its application to modeling human locomotion," in IEEE International Conference on Robotics and Automation (ICRA), May 2012. [pdf]
- [40] Z. McCarthy and T. Bretl, "Proving path non-existence using sampling and alpha shapes," in IEEE International Conference on Robotics and Automation (ICRA), May 2012. [pdf]
- [39] N. Aghasadeghi, A. Long, and T. Bretl, "Inverse optimal control for a hybrid dynamical system with impacts," in IEEE International Conference on Robotics and Automation (ICRA), May 2012. [pdf]
- [38] S. Hutchinson and T. Bretl, "Robust optimal deployment of mobile sensor networks," in IEEE International Conference on Robotics and Automation (ICRA), May 2012. [pdf]
- [37] Z. McCarthy and T. Bretl, "Mechanics and manipulation of planar elastic kinematic chains," in IEEE International Conference on Robotics and Automation (ICRA), May 2012. Winner of Best Manipulation Paper Award. [pdf] [mp4]
- [36] D. Bonnie, S. Candido, T. Bretl, and S. Hutchinson, "Modelling search with a binary sensor utilizing self-conjugacy of the exponential family," in IEEE International Conference on Robotics and Automation (ICRA), May 2012. [pdf]
- [35] Y. Li, K. A. Shorter, E. T. Hsiao-Wecksler, and T. Bretl, "Simulation and Experimental Analysis of a Portable Powered Ankle-Foot Orthosis Control," in ASME Dynamic Systems and Control Conference, Arlington, VA, 2011.
- [34] E. A. Morris, K. A. Shorter, Y. Li, E. T. Hsiao-Wecksler, T. Bretl, G. F. Kogler, and W. K. Durfee, "Actuation Timing Strategies for a Portable Powered Ankle Foot Orthosis," in ASME Dynamic Systems and Control Conference, Arlington, VA, 2011.
- [33] C. Das, A. Becker, and T. Bretl, "Probably Approximately Correct Coverage for Robots With Uncertainty," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. [pdf]
- [32] N. Aghasadeghi and T. Bretl, "Maximum Entropy Inverse Reinforcement Learning in Continuous State Spaces with Path Integrals," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. [pdf]
- [31] A. Akce and T. Bretl, "A Compact Representation of Locally-Shortest Paths and its Application to a Human-Robot Interface," in IEEE International Conference on Robotics and Automation (ICRA), 2011. [pdf]
- [30] D. Steines, T. Bretl, E. Maclin, and T. Coleman, "Application of Feedback-Related Negativity to Brain-Computer Interface," Society for Neuroscience, San Diego, CA, 2010.
- [29] A. Akce and T. Bretl, "A Probabilistic Language Model for Hand Drawings," in Pattern Recognition (ICPR), 2010 20th International Conference on, 2010, pp. 109-112. [pdf]
- [28] R. Gregg, T. Bretl, and M. Spong, "A Control Theoretic Approach to Robot-Assisted Locomotor Therapy," IEEE Conference on Decision and Control (CDC), Atlanta, GA, 2010. [pdf]
- [27] A. Becker and T. Bretl, "Motion planning under bounded uncertainty using ensemble control," in Robotics: Science and Systems (RSS), 2010. [pdf]
- [26] R. D. Gregg, T. Bretl, and M. W. Spong, "Asymptotically stable gait primitives for planning dynamic bipedal locomotion in three dimensions," in IEEE International Conference on Robotics and Automation (ICRA), 2010, pp. 1695-1702. [pdf]
- [25] A. Akce, M. Johnson, and T. Bretl, "Remote teleoperation of an unmanned aircraft with a brain-machine interface: Theory and preliminary results," in IEEE International Conference on Robotics and Automation (ICRA), 2010, pp. 5322-5327.[pdf]
- [24] I. R. De Pablo, A. Becker, and T. Bretl, "An optimal solution to the linear search problem for a robot with dynamics," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010, pp. 652-657. [pdf]
- [23] A. Becker, R. Sandheinrich, and T. Bretl, "Automated manipulation of spherical objects in three dimensions using a gimbaled air jet," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009, pp. 781-786. [pdf]
- [22] D. DeVon and T. Bretl, "Control of many agents moving in the same direction with different speeds: a decoupling approach," in American Control Conference (ACC), 2009. [pdf]
- [21] C. Omar, M. Johnson, T. Bretl, and T. P. Coleman, "Policies for neural prosthetic control: initial experiments with a text interface," in American Control Conference (ACC), Seattle, WA, 2008. [pdf]
- [20] C. Omar, M. Johnson, T. Bretl, and T. Coleman, "Querying the user properly for high-performance brain-machine interfaces: recursive estimation, control, and feedback information-theoretic perspectives," in IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), Las Vegas, NV, 2008. [pdf]
- [19] T. Bretl, "Control of Many Agents by Moving their Targets: Maintaining Separation," in International Conference on Advanced Robotics (ICAR), Jeju, Korea, 2007. [pdf]
- [18] T. Bretl, "Control of many agents using few instructions," in Robotics: Science and Systems (RSS), Atlanta, GA, 2007. [pdf]
- [17] D. DeVon and T. Bretl, "Kinematic and Dynamic Control of a Wheeled Mobile Robot," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007. [pdf]
- [16] T. Bretl and S. Lall, "A Fast and Adaptive Test of Static Equilibrium for Legged Robots," in IEEE International Conference on Robotics and Automation (ICRA), 2006. [pdf]
- [15] K. Harada, K. Hauser, T. Bretl, and J. Latombe, "Natural motion generation for humanoid robots," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, China, 2006. [pdf]
- [14] T. Miller, T. Bretl, and S. Rock, "Control of a climbing robot using real-time convex optimization," in IFAC Symposium on Mechatronic Systems, Heidelberg, Germany, 2006. [pdf]
- [13] K. Hauser, T. Bretl, K. Harada, and J. Latombe, "Using motion primitives in probabilistic sample-based planning for humanoid robots," in Workshop on the Algorithmic Foundations of Robotics (WAFR), New York, NY, 2006. [pdf]
- [12] K. Hauser, T. Bretl, J. Latombe, and B. Wilcox, "Motion planning for a six-legged lunar robot," in Workshop on the Algorithmic Foundations of Robotics (WAFR), New York, NY, 2006. [pdf]
- [11] K. Hauser, T. Bretl, and J. Latombe, "Learning-Assisted Multi-Step Planning," in IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, 2005. [pdf]
- [10] K. Hauser, T. Bretl, and J. Latombe, "Non-Gaited Humanoid Locomotion Planning," in Humanoids, Tsukuba, Japan, 2005. [pdf]
- [9] T. Bretl, S. Rock, J. Latombe, B. Kennedy, and H. Aghazarian, "Free-Climbing with a Multi-Use Robot," in International Symposium on Experimental Robotics (ISER), Singapore, 2004. [pdf]
- [8] T. Bretl, S. Lall, J. Latombe, and S. Rock, "Multi-Step Motion Planning for Free-Climbing Robots," in Workshop on the Algorithmic Foundations of Robotics (WAFR), Zeist, Netherlands, 2004. [pdf]
- [7] T. Bretl, S. Rock, and J. Latombe, "Motion Planning for a Three-Limbed Climbing Robot in Vertical Natural Terrain," in IEEE International Conference on Robotics and Automation (ICRA), Taipei, Taiwan, 2003. [pdf]
- [6] T. Bretl, T. Miller, S. Rock, and J. Latombe, "Climbing Robots in Natural Terrain," in i-SAIRAS, Nara, Japan, 2003.[pdf]
- [5] T. Bretl, J. Latombe, and S. Rock, "Toward Autonomous Free-Climbing Robots," in International Symposium on Robotics Research (ISRR), Siena, Italy, 2003. [pdf]
- [4] T. Bretl and S. Rock, "Planning Robust Dynamic Transitions for Enhanced Mobility of Planetary Rovers," in IFAC Conference on Mechatronic Systems, Berkeley, CA, 2002, pp. 109-114. [pdf]
- [3] T. Bretl and S. Rock, "Robust Execution of Aggressive Maneuvers for Planetary Robotics," in AIAA Guidance, Navigation, and Control Conference and Exhibit (AIAA-GNC), Monterey, CA, 2002. [pdf]
- [2] C. M. Clark, T. Bretl, and S. Rock, "Applying kinodynamic randomized motion planning with a dynamic priority system to multi-robot space systems." 2002, pp. 7-3621. [pdf]
- [1] K. Stein, R. Benney, T. Tezduyar, V. Kalro, J. Potvin, and T. Bretl, "Fluid-Structure Interaction Simulation of a Cross Parachute: Comparison of Numerical Predictions with Wind Tunnel Data," in CEAS/AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar, Toulouse, France, 1999. [pdf]
Thesis
- T. Bretl, "Multi-Step Motion Planning: Application to Free-Climbing Robots," PhD Thesis , 2005. [pdf]
