Publications

GraphEQA: Using 3D Semantic Scene Graphs for Real-time Embodied Question Answering. Saumya Saxena, Blake Buchanan, Chris Paxton, Bingqing Chen, Narunas Vaskevicius, Luigi Palmieri, Jonathan Francis, and Oliver Kroemer, (2024) arXiv Preprint. [arXiv] [website]

The Geometric Structure of Externally Actuated Planar Locomoting Systems in Ambient Media. Blake Buchanan, Tony Dear, Scott D. Kelly, Matthew Travers, and Howie Choset, (2021) arXiv Preprint. [arXiv]

Stability and Control of Chaplygin Beanies Coupled to a Platform Through Nonholonomic Constraints. Blake Buchanan, Matthew Travers, Howie Choset, and Scott D. Kelly, (2020) ASME 2020 Dynamic Systems and Control Conference [paper]

Locomotion of a multi-link non-holonomic snake robot with passive joints. Tony Dear, Blake Buchanan, Rodrigo Abrajan-Guerrero, Scott D. Kelly, Matthew Travers, & Howie Choset (2020) International Journal of Robotics Research, 39(5), 598–616.[paper]

Mechanics and Control of Coupled Interactions in Ambient Media. Blake Buchanan (2020) Master’s Thesis, Carnegie Mellon University, Pittsburgh, PA [paper]

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Conference Presentations

Blake Buchanan (2019, May). Modeling and Dynamics of Planar Swimmers Coupled through Wake Vorticity. Presentation given at the 2019 SIAM Conference on Applications of Dynamical Systems (DS19)

Blake Buchanan, Matthew Travers. Howie Choset, Kelly S. (2020, October). Stability and Control of Chaplygin Beanies Coupled to a Platform Through Nonholonomic Constraints. Presentation given at the ASME 2020 Dynamic Systems and Control Conference