Now showing items 1-16 of 16

    • AuRA: Principles and Practice in Review 

      Arkin, Ronald C.; Balch, Tucker (Georgia Institute of Technology, 1997)
      This paper reviews key concepts of the Autonomous Robot Architecture {AuRA}. Its structure, strengths, and roots in biology are presented. AuRA is a hybrid deliberative/reactive robotic architecture that has been developed ...
    • Behavior-based Formation Control for Multi-robot Teams 

      Arkin, Ronald C.; Balch, Tucker (Georgia Institute of Technology, 1999)
      New reactive behaviors that implement formations in multi-robot teams are presented and evaluated. The formation behaviors are integrated with other navigational behaviors to enable a robotic team to reach navigational ...
    • Buzz, An Instantiation of a Schema-Based Reactive Robotic System 

      Arkin, Ronald C.; Balch, Tucker; Collins, Thomas Riley; Henshaw, Andrew M.; MacKenzie, Douglas Christopher; Nitz, Elizabeth; Rodriguez, David; Ward, Keith Ronald (Georgia Institute of Technology, 1993)
      The Georgia Tech entry to the AAAI Mobile Robot Competition, a schema-based reactive robotic system, is described. New developments are presented including the introduction of two novel behaviors probe and avoid-past, ...
    • Communication in Reactive Multiagent Robotic Systems 

      Balch, Tucker; Arkin, Ronald C. (Georgia Institute of Technology, 1994)
      Multiple cooperating robots are able to complete many tasks more quickly and reliably than one robot alone. Communication between the robots can multiply their capabilities and effectiveness, but to what extent? In this ...
    • Cooperative Multiagent Robotic Systems 

      Arkin, Ronald C.; Balch, Tucker (Georgia Institute of Technology, 1997)
    • Design and Implementation of a Teleautonomous Hummer 

      Ali, Khaled Subhi; Arkin, Ronald C.; Balch, Tucker; Bentivegna, Darrin Charles (Georgia Institute of Technology, 1997)
      Autonomous and semi-autonomous full-sized ground vehicles are becoming increasingly important, particularly in military applications. Here we describe the instrumentation of one such vehicle, a 4-wheel drive Hummer, for ...
    • Distributed Sensor Fusion for Object Position Estimation by Multi-Robot Systems 

      Balch, Tucker; Martin, Martin C.; Stroupe, Ashley W. (Georgia Institute of Technology, 2001)
      We present a method for representing, communicating and fusing distributed, noisy and uncertain observations of an object by multiple robots. The approach relies on re-parameterization of the canonical two-dimensional Gaussian ...
    • Efficient Particle Filter-Based Tracking of Multiple Interacting Targets Using an MRF-based Motion Model 

      Balch, Tucker; Dellaert, Frank; Khan, Zia (Georgia Institute of Technology, 2003)
      We describe a multiple hypothesis particle filter for tracking targets that will be influenced by the proximity and/or behavior of other targets. Our contribution is to show how a Markov random field motion prior, built ...
    • 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 ...
    • Integrating RL and Behavior-Based Control for Soccer 

      Balch, Tucker (Georgia Institute of Technology, 1997)
    • Io, Ganymede and Callisto - a Multiagent Robot Trash-Collecting Team 

      Balch, Tucker; Boone, Gary Noel; Collins, Tom; Forbes, Harold; MacKenzie, Douglas Christopher; Santamaria, Juan Carlos (Georgia Institute of Technology, 1995)
      Georgia Tech won the Office Cleanup Event at the 1994 AAAI Mobile Robot Competition with a multi-robot cooperating team. This paper describes the design and implementation of these reactive trash-collecting robots, including ...
    • Making a Clean Sweep: Behavior-Based Vacuuming 

      MacKenzie, Douglas Christopher; Balch, Tucker (Georgia Institute of Technology, 1993)
    • Niche Selection for Foraging Tasks in Multi-Robot Teams Using Reinforcement Learning 

      Balch, Tucker; Ulam, Patrick D. (Georgia Institute of Technology, 2003)
      We present a means in which individual members of a multi-robot team may allocate themselves into specialist and generalist niches in a multi-foraging task where there may exist a cost for generalist strategies. Through ...
    • Reward and Diversity in Multirobot Foraging 

      Balch, Tucker (Georgia Institute of Technology, 1999)
      This research seeks to quantify the impact of the choice of reward function on behavioral diversity in learning robot teams. The methodology developed for this work has been applied to multirobot foraging, soccer and ...
    • Social Entropy: a New Metric for Learning Multi-Robot Teams 

      Balch, Tucker (Georgia Institute of Technology, 1997)
      As robotics research expands into multiagent tasks and learning, investigators need new tools for evaluating the artificial robot societies they study. Is it enough, for example, just to say a team is "heterogeneous?" ...
    • Value-Based Communication Preservation for Mobile Robots 

      Balch, Tucker; Powers, Matthew (Georgia Institute of Technology, 2003)
      Value-Based Communication Preservation (VBCP) is a behavior-based, computationally efficient approach to maintaining line-of-sight RF communication between members of robot teams in the context of other tasks. The goal ...