Daniel M. Lofaro Ph.D


Assistant Professor, George Mason University
Electrical and Computer Engineering Dept.
4400 University Drive, MSN 1G5
Fairfax, VA 22030, USA
o: +1-703-993-5459

Affiliate Faculty and Research Scientis
U.S. Naval Research Laboratory (NRL)
Navy Center for Applied Research in Artificial Intelligence (NCARAI)
Laboratory for Autonomous Systems Research (LASR)

c: +1-202-378-8964
dlofaro@gmu.edu
dan@danlofaro.com

Daniel M. Lofaro

Publications

Total number of publications, 44. Total number of publications while at Mason, 31. This includes four (4) journals, one (1) book chapter, and 25 refereed conferences/workshops while at Mason. Google Scholar H-Index 9, 221 citations. 50 invited talks/live demonstrations (35 while at GMU) Five (5) robotics related museum installations/exhibition while at GMU. Four (4) international robotics competitions (3 while at GMU). A technical tutorial website with over 2.1M hits while at GMU. Additionally Lofaro has been featured in five (5) external news reports (print and TV) while at GMU. Note: all statistics listed below are given by Google Scholar, the conference website, of Wikipedia.


Refereed Journal Papers (While at GMU)


[1] T. Haus, M. Orsag, A. P. Nunez, S. Bogdan, and D. Lofaro, “Centroid vectoring for attitude control of floating base robots: From maritime to aerial applications,” IEEE Access, vol. 7, pp. 16 021–16 031, 2019 - Impact Factor: 4.098


[2] J. Gibson, T. Schuler, D. Sofge, and D. Lofaro, “Swarm and multi-agent time-based path planning for lta3 systems,” in World Scientific: Unmanned Systems, 2019, pp. 1–8 – Impact Factor: 0.760 (actual page numbers TBD)


[3] D. Lofaro, M. Bugajska, and D. Sofge, “Extending the Life of Legacy Robots : MDS-Ach via x-Ach,” Advances in Science, Technology and Engineering Systems Journal, vol. 4, no. 1, pp. 50–72, 2019 - Impact Factor: 1.76


[4] C. Phillips-Grafflin, H. B. Suay, J. Mainprice, N. Alunni, D. Lofaro, D. Berenson, S. Chernova, R. W. Linde- man, and P. Oh, “From autonomy to cooperative traded control of humanoid manipulation tasks with unreliable communication,” Journal of Intelligent & Robotic Systems, vol. 82, no. 3, pp. 341–361, 2016 - Impact Factor: 2.020


[5] N. Dantam, D. Lofaro, A. Hereid, P. Oh, A. Ames, and M. Stilman, “The ach library: A new framework for real-time communication,” Robotics Automation Magazine, IEEE, vol. 22, no. 1, pp. 76–85, (Citations: 23), 2015 - Impact Factor: 4.816


Book Chapters (While at GMU)


[1] E. Dessalene and D. Lofaro, “Complete robotic systems for the iros grasping and manipulation challenge,” in

Robotic Grasping and Manipulation. Springer, 2018, pp. 172–179


Refereed Conference/Workshop Proceedings (While at GMU)


[1] J. Gibson, T. Schuler, D. Sofge, and D. Lofaro, “Multi-agent time-based a* path planning on lighter-than-air autonomous agents,” in IEEE International Conference on Cybernetics and Intelligent Systems, and Robotics, Automation and Mechatronics (CIS-RAM), 2019, pp. 1–6 (actual page numbers TBD)


[2] C. Taylor, C. Ward, D. Sofge, and D. Lofaro, “Lps: A local positioning system for homogeneous and hetero- geneous robot-robot teams, robot-human teams, and swarms,” in 2019 16th IEEE International Conference on Ubiquitous Robots (UR), 2019, pp. 200–207


[3] D. Lofaro, D. Wallace, and D. Sofge, “Shibboleth-based trust enhancement between humans and humanoid robots using gesture and contact focused dialog,” in Workshop on Symbiotic Human Robot Interaction at the Intelligent Robots and Systems (IROS 2018), 2018 IEEE/RSJ International Conference on, 2018, pp. 56–60, (Acceptance Rate: 30%–40%)(#5 Robotics Conference rated by Google Scholar)


[4] D. Lofaro and D. Sofge, “Multimodal control of lighter-than-air agents,” in Proceedings of the 20th ACM International Conference on Multimodal Interaction, ser. ACM-ICMI, 2018, pp. 555–565


[5] K. Nishimura, M. Bugajska, D. Sofge, P. Oh, and D. Lofaro, “On humanoid co-robot locomotion when mechanically coupled to a human partner,” in 2018 15th IEEE International Conference on Ubiquitous Robots (UR), 2018, pp. 412–419


[6] A. Perez, M. Orsag, and D. Lofaro, “Design, implementation, and control of the underwater legged robot aquashoko for low-signature underwater exploration,” in 2018 15th IEEE International Conference on Ubiqui- tous Robots (UR), 2018, pp. 228–234, (Citations: 1)

[7] E. Wiese, P. Weis, and D. Lofaro, “Embodied social robots trigger gaze following in real-time hri,” in 2018 15th IEEE International Conference on Ubiquitous Robots (UR), 2018, pp. 477–482, (Citations: 2)


[8] A. Perez, G. Hernandez, N. Folta, R. Regalado, S. McElwain, and D. Lofaro, “Designing an autonomous vehicle lean recovery system for motorcycles,” in 2018 15th IEEE International Conference on Ubiquitous Robots (UR), 2018, pp. 693–698


[9] E. Dessalene, C. Korpela, and D. Lofaro, “Push grasping with anthropomorphic hands,” in 2018 15th IEEE International Conference on Ubiquitous Robots (UR), 2018, pp. 737–742


[10] D. Lofaro, C. Ward, M. Bugajska, and D. Sofge, “Extending the life of legacy robots: Mds-ach, a real-time, process based, networked, secure middleware based on the x-ach methodology,” in 15th International Workshop on Advanced Motion Control (IEEE-AMC), 2018, pp. 72–77


[11] D. Lofaro, F. Lee, E. Endress, and C. Park, “Augmented musical reality via smart connected pianos,” in Workshop on Robotics in Virtual Reality at the Robotics and Automation (ICRA), 2018 IEEE International Conference on, 2018, pp. 1–5, (Acceptance Rate: 30%–40%)(#1 Robotics Conference rated by Google Scholar)


[12] E. Dessalene, G. Georgakis, M. Reza, Y. Li, Y. Ovcharik, A. Shapiro, J. Kosecka, and D. Lofaro, “A contact exploitative approach to the amazon robotics challenge,” in 2017 IEEE International Conference on Robotics and Automation (ICRA) - Warehouse Picking Automation Workshop, 2017, pp. 108–111, (Acceptance Rate: 30%–40%)(#1 Robotics Conference rated by Google Scholar)


[13] D. Lofaro, C. Taylor, R. Tse, and D. Sofge, “Wearable interactive display for the local positioning system (lps),” in 19th ACM International Conference on Multimodal Interaction, 2017, pp. 522–523, (Citations: 2)


[14] D. Lofaro, K. Nishimura, M. Bugajska, P. Oh, and D. Sofge, “Experimental setup and approach for co- robot locomotion when mechanically coupled to a human partner,” in 2017 IEEE-RAS 17th International Conference on Humanoid Robots (Humanoids), 2017, pp. 1–5, (#1 for Humanoid Robotics and #19 for all Robotics Conference rated by Google Scholar)


[15] E. Wiese, T. Shaw, D. Lofaro, and C. Baldwin, “Designing artificial agents as social companions,” in Pro- ceedings of the Human Factors and Ergonomics Society Annual Meeting, vol. 61, no. 1, 2017, pp. 1604–1608, (Citations: 3)


[16] D. Lofaro, “The honey bee initiative - smart hive,” in 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2017, pp. 446–447, (Citations: 2)


[17] D. Lofaro, “Utilizing the android robot controller for robots, wearable apps, and the hotel room of the future,” in 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2017, pp. 570– 575, (Citations: 2)


[18] D. Lofaro, P. Weis, and E. Wiese, “Experiments confirming gaze triggered effects in embodied social robots,” in 2017 IEEE-RAS 17th International Conference on Humanoid Robots (Humanoids), 2017, pp. 1–6, (#1 for Humanoid Robotics and #19 for all Robotics Conference rated by Google Scholar)


[19] D. Lofaro and A. Asokan, “Low latency bounty hunting and geographically adjacent server configuration for real-time cloud control,” in 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 5277–5282, (Citations: 5)(Acceptance Rate: 30%–40%)(#1 Robotics Conference rated by Google Scholar)


[20] D. Lofaro, “Secure robotics,” in 2016 13th International Conference on Ubiquitous Robots and Ambient In- telligence (URAI), 2016, pp. 311–313, (Citations: 2)


[21] D. Lofaro, M. Bula, P. Early, E. Eide, and M. Javid, “Archr - apparatus for remote control of humanoid robots,” in 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015, pp. 229– 236, (Citations: 2)(#1 for Humanoid Robotics and #19 for all Robotics Conference rated by Google Scholar)


[22] D. Lofaro, A. Asokan, and E. Roderik, “Feasibility of cloud enabled humanoid robots: Development of low latency geographically adjacent real-time cloud control,” in Humanoid Robots (Humanoids), 2015 15th IEEE- RAS International Conference on, 2015, pp. 519–526, (Citations: 8)(#1 for Humanoid Robotics and #19 for all Robotics Conference rated by Google Scholar)

[23] W. Hilton, D. Lofaro, and Y. Kim, “A lightweight, cross-platform, multiuser robot visualization using the cloud,” in Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, 2014, pp. 1570–1575, (Citations: 3)(Acceptance Rate: 30%–40%)(#5 Robotics Conference rated by Google Scholar)


[24] J. Mainprice, C. Phillips-Grafflin, H. Suay, N. Alunni, D. Lofaro, D. Berenson, S. Chernova, R. Lindeman, and P. Oh, “From autonomy to cooperative traded control of humanoid manipulation tasks with unreliable communication: System design and lessons learned,” in Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, 2014, pp. 3767–3774, (Citations: 6)(Acceptance Rate: 30%–40%)(#5 Robotics Conference rated by Google Scholar)


[25] N. Alunni, H. Bener Suay, C. Phillips-Grafflin, J. Mainprice, D. Berenson, S. Chernova, R. Lindeman, D. Lofaro, and P. Oh, “Darpa robotics challenge: Towards a user-guided manipulation framework for high-dof robots,” in Robotics and Automation (ICRA), 2014 IEEE International Conference on, 2014, pp. 2088–2088, (Citations: 6)(Acceptance Rate: 30%–40%)(#1 Robotics Conference rated by Google Scholar)


[26] N. Alunni, C. Phillips-Grafftin, H. Suay, D. Lofaro, D. Berenson, S. Chernova, R. Lindeman, and P. Oh, “To- ward a user-guided manipulation framework for high-dof robots with limited communication,” in Technologies for Practical Robot Applications (TePRA), 2013 IEEE International Conference on, 2013, pp. 1–6, (Citations: 22)


[27] M. Grey, N. Dantam, D. Lofaro, A. Bobick, M. Egerstedt, P. Oh, and M. Stilman, “Multi-process control software for hubo2 plus robot,” in Technologies for Practical Robot Applications (TePRA), 2013 IEEE Inter- national Conference on, 2013, pp. 1–6, (Citations: 15)


[28] D. Lofaro, “Unified algorithmic framework for high degree of freedom complex systems and humanoid robots,” in Ph.D. dissertation, Drexel University, College of Engineering, Electrical and Computer Engineering Depart- ment, 2013, pp. 1–207, (Citations: 16)


[29] D. Lofaro and P. Oh, “Humanoid throws inaugural pitch at major league baseball game: Challenges, ap- proach, implementation and lessons learned,” in Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on, 2012, pp. 153–157, (Citations: 6)


[30] D. Lofaro, R. Ellenberg, P. Oh, and J. Oh, “Humanoid throwing: Design of collision-free trajectories with sparse reachable maps,” in Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, 2012, pp. 1519–1524, (Citations: 12)(Acceptance Rate: 30%–40%)(#5 Robotics Conference rated by Google Scholar)


[31] K. Lynch, D. Lofaro, and P. Oh, “A n-dimensional convex hull approach for fault detection and mitigation for high degree of freedom robots humanoid robots,” in Control, Automation and Systems (ICCAS), 2012 12th International Conference on, 2012, pp. 790–797, (Citations: 5)


[32] D. Lofaro, C. Sun, and P. Oh, “Humanoid pitching at a major league baseball game: Challenges, approach, implementation and lessons learned,” in Humanoid Robots (Humanoids), 2012 12th IEEE-RAS International Conference on, 2012, pp. 423–428, (Citations: 12)(#1 for Humanoid Robotics and #19 for all Robotics Con- ference rated by Google Scholar)


[33] D. Grunberg, D. Lofaro, P. Oh, and Y. Kim, “Robot audition and beat identification in noisy environments,” in Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, 2011, pp. 2916–2921, (Citations: 11)(Acceptance Rate: 30%–40%)(#5 Robotics Conference rated by Google Scholar)


[34] Y. Kim, D. Grunberg, A. Batula, D. Lofaro, J. Oh, and P. Oh, “Enabling humanoid musical interaction and performance,” in Collaboration Technologies and Systems (CTS), 2011 International Conference on, 2011, pp. 212–215, (Citations: 12)


[35] D. Lofaro, R. Ellenberg, and P. Oh, “Interactive games with humanoids: Playing with jaemi hubo,” Humanoid Robots (Humanoids), pp. 1–6, (Citations: 1)(#1 for Humanoid Robotics and #19 for all Robotics Conference rated by Google Scholar), 2010


[36] D. Lofaro, P. Oh, J. Oh, and Y. Kim, “Interactive musical participation with humanoid robots through the use of novel musical tempo and beat tracking techniques in the absence of auditory cues,” in Humanoid Robots (Humanoids), 2010 10th IEEE-RAS International Conference on, 2010, pp. 436–441, (Citations: 3)(#1 for Humanoid Robotics and #19 for all Robotics Conference rated by Google Scholar)

[37] D. Lofaro, T. Le, and P. Oh, “Mechatronics education: From paper design to product prototype using lego nxt parts,” in Progress in Robotics: FIRA RoboWorld Congress 2009, Incheon, Korea, August 16-20, 2009. Proceedings. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009, pp. 232–239, (Citations: 5)


[38] D. Lofaro, “Control design to reduce the effects of torsional resonance in coupled systems,” in Masters Thesis, Drexel University, College of Engineering, Electrical and Computer Engineering Department, 2008, pp. 1–84, (Citations: 5)



 
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