@article {Fallon15,
	title = {An Architecture for Online Affordance-based Perception and Whole-body Planning},
	journal = {Journal of Field Robotics},
	volume = {32},
	number = {2},
	year = {2015},
	note = {[[{"fid":"3193166","view_mode":"default","type":"media","attributes":{"height":"360","width":"480","alt":"Summary Video - Team MIT in the DRC Trials on YouTube","title":"Summary Video - Team MIT in the DRC Trials","class":"media-element file-default"}}]]},
	pages = {229{\textendash}254},
	abstract = {The DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a remote human operator using only data from the robot{\textquoteright}s sensor suite transmitted over a constrained, field-realistic communications link. We describe the design considerations, architecture, implementation, and performance of the software that Team MIT developed to command and control an Atlas humanoid robot. Our design emphasized human interaction with an efficient motion planner, where operators expressed desired robot actions in terms of affordances fit using perception and manipulated in a custom user interface. We highlight several important lessons we learned while developing our system on a highly compressed schedule.},
	doi = {10.1002/rob.21546},
	author = {Fallon, Maurice and Scott Kuindersma and Karumanchi, Sisir and Antone, Matthew and Schneider, Toby and Dai, Hongkai and P{\'e}rez D{\textquoteright}Arpino, Claudia and Deits, Robin and DiCicco, Matt and Fourie, Dehann and Koolen, Twan and Marion, Pat and Posa, Michael and Valenzuela, Andr{\'e}s and Yu, Kuan-Ting and Shah, Julie and Iagnemma, Karl and Russ Tedrake and Teller, Seth}
}
