Christopher Clark, Ph.D.

805.756.6482 (phone)
805.756.2956 (fax)
email: cmclark@calpoly.edu
Curriculum Vitae
Website

Research Interests:

• Coordination and Control of Multi-Robot Systems
• Intelligent Vehicles
• Autonomous Outdoor Navigation
• Autonomous Underwater Robots
• Modular and Reconfigurable Robots

Education:

Ph.D., Aeronautics & Astronautics, Computer Science Minor	Stanford University, Stanford, California	2004
MASc, Mechanical & Industrial Engineering	University of Toronto, Toronto, Canada	1998
BASc, Engineering Physics, Mechanical Option	Queen's University, Kingston, Ontario, Canada	1995

Professional Appointments:

Assistant Professor, Computer Science Department, California Polytechnic University, San Luis Obispo	2007-Present
Adjunct Professor, University of Waterloo, Waterloo, Ontario, Canada	2007-Present
Assistant Professor, University of Waterloo, Waterloo, Ontario, Canada	2004-2007
Software Architect, Kiva Systems, Woburn, Massachusetts	2003-2004
Control Systems Designer, Sterner Automation Ltd - Toronto, Ontario, Canada	1995-1996

Research Experience:

• 1999-2002 Research Assistant, Stanford University
• 1997 Research Assistant Bloorview Macmillan Rehabilitation Center - Toronto, Ontario, Canada
• 1992-1994 Research Assistant, SLOWPOKE-II Nuclear Reactor Research Facility, Royal Military College - Kingston, ON, Canada

Honors & Awards:

• 1999 Post-Grad. Scholarship B - Natural Sciences & Engineering Research Council of Canada
• 1996,1997 University of Toronto Open Fellowship - University of Toronto
• 1993,1994 COSEP research grant
• 1993 Most Marketable Product Award - Queen's Eng. Competition
• 1991 Katherine Doyle Scholarship - Queen's University
• 1991 Monseigneur J. Hanley Scholarship - Regiopolis N.D. High School

Teaching Experience:

• 2006 Autonomous Vehicles - Instructor, University of Waterloo
• 2005,2006 Experimental Measurement and Statistical Analysis - Instructor, University of Waterloo
• 2004,2005 Autonomous Mobile Robots - Instructor, University of Waterloo
• 2000 Dynamic Behaviour - TA, Stanford University
• 1996-1998 Linear Algebra - TA, University of Toronto
• 1996-1998 Control Systems - TA, University of Toronto
• 1993 Physics of Vibrations - TA, Queen’s University

Journal Publicatons:

Markov-Based Lane-Positioning Using Inter-Vehicle Communication.. Dao, T.S., Leung, K., Clark, C., Huissoon, J., Submitted to the Tranactions on Intelligent Transportation Systems.

Decentralized Robust Control of Modular and Reconfigurable Robots with Harmonic Drive Transmission Systems. Z. Li, W. Melek, C, Clark, Submitted to the IEEE Transactions on System, Man & Cybernetics - Part B.

Scalable and Complete Multi-Robot Motion Planning. Peasgood, M., Clark, C., McPhee, J., Submitted to the IEEE Transactions on Robotics.

Probabilistic Road Map Sampling Strategies for Multi-Robot Motion Planning. Clark, C., Journal of Robotics and Autonomous Systems, Vol 53, (3-4), 244-264, Dec, 2005.

Motion Planning for Formations of Mobile Robots. Barfoot, T., Clark, C., Journal of Robotics and Autonomous Systems, Vol. 46, Issue 2, Feb, 2004.

Robotic System Sensitivity to Neural Network Learning Rate: Theory, Simulation and Experiments. Clark, C., and Mills, J.K., International Journal of Robotics Research, Vol. 19, No. 10, pp. 955-968, October 2000.

Conference Publications:

Optimized Lane Assignment Using Inter-Vehicle Communication ,T.S., Dao, C.M., Clark, and J.P., Huissoon.. 2007 IEEE Intelligent Vehicles Symposium, IV'07 [submitted].

Cooperative Lane Assignment Optimization on an Automated Highway, T.S., Dao, C.M., Clark, and J.P., Huissoon.. ITS Canada Annual Conference and General Meeting, ACGM 2007 [abstract submitted].

Development and characterization of modular and reconfigurable robot joints with harmonic drive transmission systems, Z. Li, W. Melek, C. Clark, International Conference on Changeable, Agile, Reconfigurable and Virtual Production (CARV), Toronto, 2007

A genetic algorithm approach to solve for multiple solutions of inverse kinematics using adaptive niching and clustering. Tabandeh S, Clark C, Melek , W, Proceedings of 2006 IEEE World Congress on Computational Intelligence, Vancouver, BC, Canada

A Distributed Sensing System for Vehicles State Estimation. Bolandhemmat, H.R., Clark, C., Golnaraghi, M.F., Proceedings of The 2006 ASME International Mechanical Engineering Congress and Exposition , Chicago, Illinois, USA, November 2006.

Complete and Scalable Multi-Robot Planning in Tunnel Environments. Mike Peasgood, John McPhee, and Christopher Clark, Proc. of the 1st IFAC Workshop on Multivehicle Systems (MVS'06), October 2006.

A Decentralized Reinforcement Learning Controller for Collaborative Driving. Ng L., Clark C., Huissoon J.P.,In Proceedings of 1st IFAC Workshop on Multi-Vehicle Systems 2006 MVS ’06. Oct 2-3, Salvador, Bahia, Brazil, 2006.

Cooperative Lane-Level Positioning Using Markov Localization. Dao, T.S., Leung, K., Clark, C., Huissoon, J., Proceedings of The International IEEE Conference on Intelligent Transportation Systems, Toronto, Ontario, Canada, September 2006.

Development of a Microscopic Traffic Simulator for Inter-Vehicle Communication Application Research. Leung, K., Dao, T.S., Clark, C., Huissoon, J., Proceedings of The International IEEE Conference on Intelligent Transportation Systems (In publication), Toronto, Ontario, Canada, September 2006.

Geographic Information System Estimation Using Inter-Vehicle Communication. Leung, K., Dao, T.S., Clark, C., Huissoon, J., Proceedings of The Mechatronics Forum Biennial International Conference, Malvern, Pennsylvania, June 2006.

Software and Control Architecture Development of an Autonomous Vehicle. Leung, K., Clark, C., Huissoon, J., Proceedings of ASME International Student Conference 2006, Istanbul, Turkey, May 2006.

Modeling and Simulation of the VideoRay Pro III Underwater Vehicle, W. Wang, and C. M. Clark, OCEANS'06 Asia Pacific IEEE – Singapore, May 2006

Autonomous fish tracking by ROV using Monocular Camera, J. Zhou, C. M. Clark, Proceedings of the the 3rd Canadian Conference on Computer and Robot Vision (CRV'06) - Volume 00, 2006

Localization of Multiple Robots Equipped with Simple Sensors. Peasgood, M., Clark, C., and McPhee, J., Proc. of the IEEE Conference on Mechatronics and Automation, 2005.

Towards Gaussian Multi-Robot SLAM as Applied to Underwater Robotics. Kroetsch, D. and Clark, C., Proc. of the 2005 International Symposium on Unmanned Untethered Submersible Technology (UUST), 2005.

Dynamic Robot Networks: A Coordination Platform for Multi-Robot Systems. Clark, C., Ph.D. Thesis, June, 2004.

Motion Planning for Multi-Robot Systems using Dynamic Robot Networks. Clark, C., Rock, S. and Latombe, J.C., Proceedings of the 2003 International Conference on Robotics and Automation, Taipei, Taiwan, May, 2003.

Using Dynamic Robot Networks for Motion Planning in Multi-Robot Space Systems. Clark, C., Rock, S.and Latombe, J.C., Proceedings of the 7th International Symposium on Artificial Intelligence, Robotics and Automation in Space, Kobe, Japan, May, 2003.

An Integrated System for Command and Control of Cooperative Robotic Systems. Clark, C., Frew, E. W., Jones, H.L., and Rock, S. M., Proceedings of the 11th International Conference on Advanced Robotics, Portugal, June, 2003.

Applying Kinodynamic Randomized Motion Planning with a Dynamic Priority System to Multi-Robot Space Systems. Clark, C., Bretl, T., and Rock, S., Proceedings of the 2002 IEEE Aerospace Conference, Big Sky, MT, March, 2002.

Kinematic Path-planning for Formations of Mobile Robots with a Nonholonomic Constraint. Barfoot, T., Clark, C., Rock, S., and D'Eleuterio, G., Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September, 2002.

Randomized Motion Planning for Groups of Nonholonomic Robots. Clark, C., and Rock, S., Proceedings of the 6th International Symposium on Artificial Intelligence, Robotics, and Automation in Space, Montreal Canada, June 2001.

Robotic System Sensitivity to Neural Network Learning Rate. Clark, C., Chen, P.C.Y. and Mills, J.K., Proceedings IEEE Hong Kong Symposium on Robotics and Control, Hong Kong, July, 1999.

Comparison of Performance of Neural Network Controller Architectures: Error Back Propagation, Mixture of Expert, and 'Move' Neural Network Architectures on Industrial Robot Trajectory Following Tasks. Clark, C. and Mills, J.K., Proceedings of International Conference on Advanced Manufacturing Technology, Xi'an, P.R.C., June, 1999.

Increasing Production of Robot Manipulators with Neural Networks. Clark, C. and Mills, J.K., Proceedings CSME FORUM, Toronto, Ontario, May 19-22, 1998.

Development of a Neural Network Module for Improving the Performance of a Commercial Robot. Chen, P.C.Y., Ogilvie, A., Clark, C., Zhou, K., Mills, J.K., Proceeding of World Automation Congress, Anchorage, Alaska, May, 1998.