• Design and Development of a Dynamically-Balancing Holonomic Robot 

      Reynolds-Haertle, Saul; Stilman, Mike (Georgia Institute of Technology, 2011)
      This paper describes the design, control, and construction of Golem Wing, the first vehicle which both balances dynamically and has entirely holonomic ground movement. A nonstandard linear arrangement of mecanum wheels ...
    • The Motion Grammar: Linguistic Perception, Planning, and Control 

      Dantam, Neil; Stilman, Mike (Georgia Institute of Technology, 2010)
      We present the Motion Grammar: a novel unified representation for task decomposition, perception, planning, and hybrid control that provides a computationally tractable way to control robots in uncertain environments ...