Now showing items 37-56 of 174

    • 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 ...
    • Ecological Robotics: A Schema-Theoretic Approach 

      Arkin, Ronald C.; Cervantes-Pérez, Francisco; Weitzenfeld, Alfredo (Georgia Institute of Technology, 1997)
      The goals of this joint U.S.-Mexico research project are threefold: to provide an understanding and means by which fielded robotic systems are not competing with other agents that are more effective at their designated ...
    • 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 ...
    • Envisioning: Mental Rotation-based Semi-reactive Robot Control 

      Arkin, Ronald C.; Dellaert, Frank; Devassy, Joan (Georgia Institute of Technology, 2012)
      This paper describes ongoing research into the role of optic-flow derived spatial representations and their relation to cognitive computational models of mental rotation in primates, with the goal of producing effective ...
    • The Ethics of Robotic Deception 

      Arkin, Ronald C. (Georgia Institute of Technology, 2011)
    • An Ethological and Emotional Basis for Human-Robot Interaction 

      Arkin, Ronald C.; Fujita, Masahiro; Hasegawa, Rika; Takagi, Tsuyoshi (Georgia Institute of Technology, 2002)
      This paper presents the role of ethological and emotional models as the basis for an architecture in support of entertainment robotic systems. Specific examples for Sony’s AIBO are presented as well as extensions related ...
    • Ethological Modeling and Architecture for an Entertainment Robot 

      Arkin, Ronald C.; Fujita, Masahiro; Hasegawa, Rika; Takagi, Tsuyoshi (Georgia Institute of Technology, 2001)
      This paper presents a novel method for creating high-fidelity models of animal behavior for use in robotic systems based on a behavioral systems approach, and describes in particular how an ethological model of a domestic ...
    • Evaluating the Usability of Robot Programming Toolsets 

      Arkin, Ronald C.; MacKenzie, Douglas Christopher (Georgia Institute of Technology, 1997-10-14)
      The days of specifying missions for mobile robots using traditional programming languages such as C++ and LISP are coming to an end. The need to support operators lacking programming skills coupled with the increasing ...
    • Experiments With Reinforcement Learning in Problems With Continuous State and Action Spaces 

      Ram, Ashwin; Santamaria, Juan Carlos; Sutton, Richard S. (Georgia Institute of Technology, 1996)
      A key element in the solution of reinforcement learning problems is the value function. The purpose of this function is to measure the long-term utility or value of any given state and it is important because an agent can ...
    • Exploring Unknown Structured Environments 

      Arkin, Ronald C.; Diaz, Jonathan F.; Stoytchev, Alexander (Georgia Institute of Technology, 2001)
      This paper presents perceptual algorithms for corridor navigation, door detection and entry that can be used for exploration of an unknown floor of a building. The algorithms are fairly robust to sensor noise, do not ...
    • Field Results for Tactical Mobile Robot Missions 

      Arkin, Ronald C.; Collins, Thomas Riley; Cramer, Michael J.; Endo, Yoichiro (Georgia Institute of Technology, 2000)
      In 1999, Georgia Tech conducted two field experiments to determine the performance of its mission specification system. The experiments were developed for the DARPA Tactical Mobile Robotics (TMR) Program and were conducted ...
    • A Framework for Situation-Based Social Interaction 

      Wagner, Alan R.; Arkin, Ronald C. (Georgia Institute of Technology, 2006)
      This paper presents a theoretical framework for computationally representing social situations in a robot. This work is based on interdependence theory, a social psychological theory of interaction and social situation ...
    • From Deliberative to Routine Behaviors: a Cognitively-Inspired Action Selection Mechanism for Routine Behavior Capture 

      Chernova, Sonia; Arkin, Ronald C. (Georgia Institute of Technology, 2006-11-06)
      Long-term human-robot interaction, especially in the case of humanoid robots, requires an adaptable and varied behavior base. In this work we present a method for capturing, or learning, sequential tasks by transferring ...
    • 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 ...