Now showing items 50-69 of 174

    • The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue 

      Alegre, Fernando; Balch, Tucker; Berhault, Marc; Dellaert, Frank; Kaess, Michael; McGuire, Robert; Merrill, Ernest; Moshkina, Lilia; Ravichandran, Ram; Walker, Daniel (Georgia Institute of Technology, 2002)
      We describe our entry in the AAAI 2002 Urban Search and Rescue (USAR) competition, a marsupial team consisting of a larger wheeled robot and several small legged robots, carried around by the larger robot. This setup ...
    • Getting it Right the First Time: Predicted Performance Guarantees from the Analysis of Emergent Behavior in Autonomous and Semi-autonomous Systems 

      Arkin, Ronald C.; Lyons, Damian M.; Jiang, Shu; Nirmal, Prem; Zafar, Munzir (Georgia Institute of Technology, 2012)
      A crucially important aspect for mission-critical robotic operations is ensuring as best as possible that an autonomous system be able to complete its task. In a project for the Defense Threat Reduction Agency (DTRA) ...
    • Getting it Right the First time: Robot Mission Guarantees in the Presence of Uncertainty 

      Lyons, Damian M.; Arkin, Ronald C.; Nirmal, P.; Jiang, Shu; Liu, Tsung-Ming; Deeb, J. (Georgia Institute of Technology, 2013)
      Certain robot missions need to perform predictably in a physical environment that may only be poorly characterized in advance. We have previously developed an approach to establishing performance guarantees for ...
    • Getting it Right the First Time: Verification of Behavior-based Multirobot Missions 

      Lyons, Damian M.; Arkin, Ronald C.; Jiang, Shu; Harrington, Dagan; O'Brien, Matthew (Georgia Institute of Technology, 2014)
      In research being conducted for the Defense Threat Reduction Agency (DTRA), we are concerned with robot missions that may only have a single opportunity for successful completion, with serious consequences if the mission ...
    • Governing Lethal Behavior: Embedding Ethics in a Hybrid Deliberative/Reactive Robot Architecture 

      Arkin, Ronald C. (Georgia Institute of Technology, 2007)
      This article provides the basis, motivation, theory, and design recommendations for the implementation of an ethical control and reasoning system potentially suitable for constraining lethal actions in an autonomous ...
    • Greedy Mapping of Terrain 

      Koenig, Sven; Halliburton, William; Tovey, Craig A. (Georgia Institute of Technology, 2001)
      We study a greedy mapping method that always moves the robot from its current location to the closest location that it has not visited (or observed) yet, until the terrain is mapped. Although one does not expect such a ...
    • Human Perspective on Affective Robotic Behavior: A Longitudinal Study 

      Arkin, Ronald C.; Moshkina, Lilia (Georgia Institute of Technology, 2004)
      Humans are inherently social creatures, and affect plays no small role in their social nature. We use our emotional expressions to communicate our internal state, our moods assist or hinder our interactions on a daily ...
    • Implementing Schema-Theoretic Models of Animal Behavior in Robotic Systems 

      Ali, Khaled Subhi; Arkin, Ronald C. (Georgia Institute of Technology, 1998)
      Formal models of animal sensorimotor behavior can provide effective methods for generating robotic intelligence. In this paper we describe how schema-theoretic models of the praying mantis are implemented on a hexapod ...
    • Implementing Tolman's Schematic Sowbug: Behavior-Based Robotics in the 1930's 

      Arkin, Ronald C.; Endo, Yoichiro (Georgia Institute of Technology, 2000)
      This paper reintroduces and evaluates the schematic sowbug proposed by Edward C. Tolman, psychologist, in 1939. The schematic sowbug is based on Tolman's purposive behaviorism, and it is believed to be the first prototype ...
    • Improved Fast Replanning for Robot Navigation in Unknown Terrain 

      Koenig, Sven; Likhachev, Maxim (Georgia Institute of Technology, 2002)
      Mobile robots often operate in domains that are only incompletely known, for example, when they have to move from given start coordinates to given goal coordinates in unknown terrain. In this case, they need to be able ...
    • Incremental Replanning for Mapping 

      Koenig, Sven; Likhachev, Maxim (Georgia Institute of Technology, 2002)
      Incremental heuristic search methods can often replan paths much faster than incremental or heuristic search methods individually, yet are simple to use. So far, they have only been used in mobile robotics to move a ...
    • Integrated Control for Mobile Manipulation for Intelligent Materials Handling 

      Arkin, Ronald C.; Arya, S.; Book, Wayne John; Cameron, Jonathan M.; Gardner, Warren F.; Lawton, Daryl T.; MacKenzie, Douglas Christopher; Ramanathan, V.; Son, C.; Vachtsevanos, George J.; Ward, Keith Ronald (Georgia Institute of Technology, 1992)
      An integrated control system architecture for mobile manipulators is presented. This architecture incorporates a hybrid reactive/hierarchical structure and partitions the task into macro- and micro-manipulation components. ...
    • Integrated Mission Specification and Task Allocation for Robot Teams - Design and Implementation 

      Arkin, Ronald C.; Endo, Yoichiro; Ulam, Patrick D.; Wagner, Alan (Georgia Institute of Technology, 2006)
      As the capabilities, range of missions, and the size of robot teams increase, the ability for a human operator to account for all the factors in these complex scenarios can become exceedingly difficult. Our previous ...
    • Integrated Mission Specification and Task Allocation for Robot Teams - Part 2: Testing and Evaluation 

      Arkin, Ronald C.; Endo, Yoichiro; Ulam, Patrick D.; Wagner, Alan (Georgia Institute of Technology, 2006)
      This work presents the evaluation of two mission specification and task allocation architectures. These architectures, described in part 1 of this paper, present novel means with which to integrate a case-based reasoning ...
    • Integrating RL and Behavior-Based Control for Soccer 

      Balch, Tucker (Georgia Institute of Technology, 1997)
    • Integration of Reactive and Telerobotic Control in Multi-Agent Robotic Systems 

      Ali, Khaled Subhi; Arkin, Ronald C. (Georgia Institute of Technology, 1994)
      Multi-agent schema-based reactive robotic systems are complemented with the addition of a new behavior controlled by a teleoperator. This enables the whole society to be affected as a group rather than forcing the operator ...
    • Integration of Reactive Navigation with a Flexible Parallel Hardware Architecture 

      Arkin, Ronald C.; Collins, Thomas Riley; Henshaw, Andrew M. (Georgia Institute of Technology, 1994)
      To demonstrate the flexibility and portability of both a schema-based software architecture and a message-passing hardware architecture, the two were integrated within a very short period to be used in a mobile robot ...
    • An Integrative Framework for Time-Varying Affective Agent Behavior 

      Moshkina, Lilia (Georgia Institute of Technology, 2006)
      Recent findings suggest that humans treat computers in a social way. Affect lies at the core of our social behavior; therefore, to capture this social nature of human interaction with computers and to provide a ...
    • Intelligent Mobile Robots in the Workplace: Leaving the Guide Behind 

      Arkin, Ronald C. (Georgia Institute of Technology, 1988)
      Flexible manufacturing systems (FMS) that incorporate transport robots are currently dominated by the use of automatic guided vehicles. These AGVs generally require significant restructuring of the workplace in order for ...
    • Intelligent Robotic Systems - Editorial Introduction 

      Arkin, Ronald C. (Georgia Institute of Technology, 1995)