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Information for

Steven Waslander

Associate Professor

Contact InformationSteven Waslander

Phone: 519-888-4567 x32205
Location: E3 4118

Website

Biography Summary

Steven Waslander is an Associate Professor in the Mechanical and Mechatronics Engineering department, and the Director of the Waterloo Autonomous Vehicles Laboratory (WAVELab).

His research interests lie in the areas of autonomous aerial and ground vehicles, simultaneous localization and mapping, nonlinear estimation and control, and multi-vehicle systems.

Professor Waslander currently collaborates with Aeryon Labs, Clearpath Robotics, and Renesas Electronics America, and is a member of the NSERC Canadian Field Robotics Network. He also acts as the academic advisor to the University of Waterloo Robotics Team, which both compete in a large number of competitions such as the NASA Sample Return Robot Challenge, the Intelligent Ground Vehicle Competition, and the International Autonomous Robot Racing competition.

Research Interests

  • Quadrotors
  • Autonomous Driving
  • Multi-sensor Localization And Mapping
  • Motion Planning
  • Object Detection And Tracking
  • Convolutional Neural Networks
  • Recurrent Neural Networks

Education

  • 2007, Doctorate, Aeronautics and Astronautics, Stanford University
  • 2002, Master's, Aeronautics and Astronautics, Stanford University
  • 1998, Bachelor's, Applied Mathematics and Mechanical Engineering, Queen's University

Courses

  • ME 780 - Special Topics in Mechatronics
  • ME 597 - Special Topics in Mechanical Engineering

Selected/Recent Publications

  • Tribou, Michael J and Wang, David WL and Waslander, Steven L, Degenerate motions in multicamera cluster SLAM with non-overlapping fields of view, Image and Vision Computing, 50, 2016, 27 - 41
  • Gharibi, Mirmojtaba and Boutaba, Raouf and Waslander, Steven L, Internet of drones, IEEE Access, 4, 2016, 1148 - 1162
  • Ahuja, Siddhant and Iles, Peter and Waslander, Steven L, Three-dimensional Scan Registration using Curvelet Features in Planetary Environments, Journal of Field Robotics, 33(2), 2016, 243 - 259
  • Mathew, Neil and Smith, Stephen L and Waslander, Steven L, Multirobot rendezvous planning for recharging in persistent tasks, IEEE Transactions on Robotics, 31(1), 2015, 128 - 142
  • Akhtar, Adeel and Nielsen, Christopher and Waslander, Steven L, Path following using dynamic transverse feedback linearization for car-like robots, IEEE Transactions on Robotics, 31(2), 2015, 269 - 279
  • Daly, John M and Ma, Yan and Waslander, Steven L, Coordinated landing of a quadrotor on a skid-steered ground vehicle in the presence of time delays, Autonomous Robots, 38(2), 2015, 179 - 191
  • Tribou, Michael J and Harmat, Adam and Wang, David WL and Sharf, Inna and Waslander, Steven L, Multi-camera parallel tracking and mapping with non-overlapping fields of view, The International Journal of Robotics Research, 2015
  • Mathew, Neil and Smith, Stephen L and Waslander, Steven L, Planning paths for package delivery in heterogeneous multirobot teams, IEEE Transactions on Automation Science and Engineering, 12(4), 2015, 1298 - 1308
  • Tribou, Michael J and Waslander, Steven L and Wang, David WL, Scale recovery in multicamera cluster SLAM with non-overlapping fields of view, Computer Vision and Image Understanding, 126, 2014, 53 - 66
  • Servos, James and Waslander, Steven L, Using RGB Information to Improve NDT Distribution Generation and Registration Convergence, Proceedings of International Conference on Intelligent Unmanned Systems, 10, 2014
  • Twynstra, Matthew G and Daun, Kyle J and Waslander, Steven L, Line-of-sight-attenuation chemical species tomography through the level set method, Journal of Quantitative Spectroscopy and Radiative Transfer, 143, 2014, 25 - 34
  • Ahuja, Siddhant and Waslander, Steven L, Scan registration using the normal distributions transform with region growing clustering for point-sampled 3d surfaces, AIAA Guidance, Navigation, and Control Conference, 2014
  • Das, Arun and Diu, Michael and Mathew, Neil and Scharfenberger, Christian and Servos, James and Wong, Andy and Zelek, John S and Clausi, David A and Waslander, Steven L, Mapping, planning, and sample detection strategies for autonomous exploration, Journal of Field Robotics, 31(1), 2014, 75 - 106
  • Das, Arun and Waslander, Steven L, Scan registration using segmented region growing NDT, The International Journal of Robotics Research, 33(13), 2014, 1645 - 1663
  • Waslander, Steven and Das, Arun and Haley, Mark, 3D Mapping in Tunnel Environments: Maximizing Mission Range, Progress and Communication in Sciences, 1(2), 2014, 46 - 51
  • Kasaiezadeh, Alireza and Khajepour, Amir and Waslander, Steven L, Spiral bacterial foraging optimization method: algorithm, evaluation and convergence analysis, Engineering Optimization, 46(4), 2014, 439 - 464
  • Yuan, Xiaochen and Histon, Jonathan M and Waslander, Steven, Survey of Operators’ Information Requirements on Individually Operated Unmanned Aircraft Systems, Proceedings of the Human Factors and Ergonomics Society Annual Meeting, 58(1), 2014, 36 - 40
  • Yuan, Xiaochen and Histon, Jonathan M and Waslander, Steven, Survey of Operators’ Unmanned Aircraft Systems Experience, Proceedings of the Human Factors and Ergonomics Society Annual Meeting, 58(1), 2014, 31 - 35
  • Yuan, Xiaochen and Histon, Jonathan and Burns, Catherine and Waslander, Steven and Dizaji, Reza, Controller--Pilot Communications in the presence of Asynchronous UAS Radar Surveillance Data, Proceedings of the 17th International Symposium on Aviation Psychology, 2013
  • Bristow, Michele and Erkorkmaz, Kaan and Huissoon, Jan Paul and Jeon, Soo and Owen, William S and Waslander, Steven L and Stubley, Gordon D, A control systems concept inventory test design and assessment, IEEE Transactions on Education, 55(2), 2012, 203 - 212
  • Tribou, Michael J and Akhtar, Adeel and Waslander, Steven L, Relative position-based visual servoing control for quadrotors, AIAA Guidance, Navigation and Control Conference (Minneapolis, Minnesota), AIAA Paper, 5049, 2012, 13 - 16
  • Mukherjee, Prasenjit and Waslander, Steven L, Direct adaptive feedback linearization for quadrotor control, Proceedings of the AIAA Guidance, Navigation, and Control Conference, 2012, 2012 - 4917
  • Mathew, Neil and Waslander, Steven and Smith, Stephen, Graph-Based Approaches to Rendezvous in Multi-agent Systems, About SAIS 2012 4 Program Committee 5 Sponsors 7 SAIS 2012 Program 8 Invited Talks 10, 2012
  • Das, Arun and Waslander, Steven L, Entropy based keyframe selection for Multi-Camera Visual SLAM, Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, January 2015, 3676 - 3681
  • Smart, Michael and Waslander, Steven L, Stereo Augmented Detection of Lane Marking Boundaries, 2015 IEEE 18th International Conference on Intelligent Transportation Systems, January 2015, 2491 - 2496
  • Song, Sirui and Wong, Andy and Huissoon, Jan and Waslander, Steven L, Autonomous Vehicle Control Near the Limit of Friction, 2015 IEEE 18th International Conference on Intelligent Transportation Systems, January 2015, 1008 - 1013
  • Mohajerin, Nima and Waslander, Steven L, Modelling a Quadrotor Vehicle Using a Modular Deep Recurrent Neural Network, Systems, Man, and Cybernetics (SMC), 2015 IEEE International Conference on, January 2015, 376 - 381
  • Ahuja, Siddhant and Waslander, Steven L, 3D Scan Registration Using Curvelet Features, Computer and Robot Vision (CRV), 2014 Canadian Conference on, January 2014, 77 - 83
  • Sancar, Feyyaz Emre and Fidan, Baris and Huissoon, Jan P and Waslander, Steven L, MPC based collaborative adaptive cruise control with rear end collision avoidance, 2014 IEEE Intelligent Vehicles Symposium Proceedings, January 2014, 516 - 521
  • Abeywardena, Dinuka and Wang, Zhan and Dissanayake, Gamini and Waslander, Steven L and Kodagoda, Sarath, Model-aided state estimation for quadrotor micro air vehicles amidst wind disturbances, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, January 2014, 4813 - 4818
  • Mohajerin, Nima and Waslander, Steven L, Modular deep Recurrent Neural Network: Application to quadrotors, 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC), January 2014, 1374 - 1379
  • Song, Sirui and Chun, Michael Chi Kam and Huissoon, Jan and Waslander, Steven L, Pneumatic trail based slip angle observer with Dugoff tire model, 2014 IEEE Intelligent Vehicles Symposium Proceedings, January 2014, 1127 - 1132
  • Mohajerin, Nima and Histon, Jonathan and Dizaji, Reza and Waslander, Steven L, Feature extraction and radar track classification for detecting UAVs in civillian airspace, 2014 IEEE Radar Conference, January 2014, 0674 - 0679
  • Das, Arun and Waslander, Steven L, Outlier rejection for visual odometry using parity space methods, 2014 IEEE International Conference on Robotics and Automation (ICRA), January 2014, 3613 - 3618
  • Servos, James and Waslander, Steven L, Multi channel generalized-ICP, 2014 IEEE International Conference on Robotics and Automation (ICRA), January 2014, 3644 - 3649
  • Ling, Kevin and Chow, Derek and Das, Arun and Waslander, Steven L, Autonomous maritime landings for low-cost vtol aerial vehicles, Computer and Robot Vision (CRV), 2014 Canadian Conference on, January 2014, 32 - 39
  • Chen, Peiyi and Fischmeister, Sebastian and Reidemeister, Thomas and Rizwan, Yassir and Waslander, Steven, Demo abstract—Hexacopters for everyone: Online access to advanced robotics platforms for your research, Cyber-Physical Systems (ICCPS), 2013 ACM/IEEE International Conference on, January 2013, 247 - 247
  • Scharfenberger, Christian and Waslander, Steven L and Zelek, John S and Clausi, David A, Existence detection of objects in images for robot vision using saliency histogram features, Computer and Robot Vision (CRV), 2013 International Conference on, January 2013, 75 - 82
  • Mathew, Neil and Smith, Stephen L and Waslander, Steven L, A graph-based approach to multi-robot rendezvous for recharging in persistent tasks, Robotics and Automation (ICRA), 2013 IEEE International Conference on, January 2013, 3497 - 3502
  • Akhtar, Adeel and Waslander, Steven L and Nielsen, Christopher, Fault tolerant path following for a quadrotor, 52nd IEEE Conference on Decision and Control, January 2013, 847 - 852
  • Das, Arun and Servos, James and Waslander, Steven L, 3D scan registration using the normal distributions transform with ground segmentation and point cloud clustering, Robotics and Automation (ICRA), 2013 IEEE International Conference on, January 2013, 2207 - 2212
  • Servos, James and Smart, Michael and Waslander, Steven L, Underwater stereo SLAM with refraction correction, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, January 2013, 3350 - 3355
  • Twynstra, Matthew G and Daun, Kyle J and Waslander, Steven L, Laser Absorption Tomography Reconstruction through the Level Set Method, ICHMT DIGITAL LIBRARY ONLINE, January 2013
  • Daly, John M and Tribou, Michael J and Waslander, Steven L, A nonlinear path following controller for an underactuated unmanned surface vessel, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, January 2012, 82 - 87
  • Chen, Peiyi and Das, Arun and Mukherjee, Prasenjit and Waslander, Steven, Way-point navigation for a skid-steer vehicle in unknown environments, IS&T/SPIE Electronic Imaging, January 2012
  • He, Liang and Phillips, Sean and Waslander, Steven and Melek, William, Task Based Pose Optimization of Modular Mobile Manipulators, ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, January 2012, 325 - 334
  • Das, Arun and Waslander, Steven L, Scan registration with multi-scale K-means normal distributions transform, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, January 2012, 2705 - 2710
  • Akhtar, Adeel and Waslander, Steven L and Nielsen, Christopher, Path following for a quadrotor using dynamic extension and transverse feedback linearization, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC), January 2012, 3551 - 3556
  • Das, Arun and Kumar, Devinder and El Bably, Abdelhamid and Waslander, Steven L, Taming the north: Multi-camera parallel tracking and mapping in snow-laden environments, Field and Service Robotics, , 359 manuscript pages
  • Mathew, Neil and Smith, Stephen L and Waslander, Steven L, Optimal path planning in cooperative heterogeneous multi-robot delivery systems, Algorithmic Foundations of Robotics XI, , 423 manuscript pages
  • Waslander, Steven L, Unmanned aerial and ground vehicle teams: Recent work and open problems, Autonomous control systems and vehicles, , 36 manuscript pages