Now showing items 21-40 of 187

    • 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 ...
    • Planning to Behave: A Hybrid Deliberative/Reactive Robot Control Architecture for Mobile Manipulation 

      Arkin, Ronald C.; MacKenzie, Douglas Christopher (Georgia Institute of Technology, 1994)
      Hybrid architectures provide an effective means for integrating world knowledge with reactive control. This paper describes the motivation behind the architectural decision to hybridize, and presents a case study in mobile ...
    • 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 ...
    • Development of Visual Tracking Algorithms for an Autonomous Helicopter 

      Arkin, Ronald C.; Cardoze, David Enrique Fabrega (Georgia Institute of Technology, 1995)
      A visual target designation and tracking system is being developed within the context of the Autonomous Scout Rotorcraft Testbed Project at Georgia Tech. This paper describes both the algorithms and the hardware being used ...
    • Specification and Execution of Multiagent Missions 

      MacKenzie, Douglas Christopher; Arkin, Ronald C.; Cameron, Jonathan M. (Georgia Institute of Technology, 1995)
      Specifying a purely reactive behavioral configuration for use by a multiagent team executing a mission requires both a careful choice of the behavior set and the creation of a temporal chain of behaviors which executes the ...
    • Reactive Robotic Systems 

      Arkin, Ronald C. (Georgia Institute of Technology, 1995)
    • Intelligent Robotic Systems - Editorial Introduction 

      Arkin, Ronald C. (Georgia Institute of Technology, 1995)
    • Model-Based Echolocation of Environmental Objects 

      Arkin, Ronald C.; Santamaria, Juan Carlos (Georgia Institute of Technology, 1995)
      This paper presents an algorithm that can recognize and localize objects given a model of their contours using only ultrasonic range data. The algorithm exploits a physical model of the ultrasonic beam and combines several ...
    • Just What is a Robot Architecture Anyway? Turing Equivalence versus Organizing Principles 

      Arkin, Ronald C. (Georgia Institute of Technology, 1995)
    • Structured Light Systems for Dent Recognition: Lessons Learned 

      Arkin, Ronald C.; Santamaria, Juan Carlos (Georgia Institute of Technology, 1995)
      This paper describes the results from a feasibility analysis performed on two different structured light system designs and the image processing algorithms they require for dent detection and localization. The impact of ...
    • 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 ...
    • Behavior-Based Mobile Manipulation for Drum Sampling 

      Arkin, Ronald C.; MacKenzie, Douglas Christopher (Georgia Institute of Technology, 1996)
      This paper describes an implementation of a behavior-based mobile manipulator capable of autonomously transferring a sample from one drum to a second in unstructured environments. A major contribution of the project was ...
    • Model-Based Reconfiguration of Schema-Based Reactive Control Architectures 

      Chen, Zhong; Goel, Ashok K.; Rowland, Paul; Stroulia, Eleni (Georgia Institute of Technology, 1997)
      Reactive methods of control get caught in local minima. Fortunately schema-based reactive control systems have built-in redundancy that enables multiple configurations with different modes. We describe a model-based method ...
    • 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 ...
    • Multiagent Teleautonomous Behavioral Control 

      Ali, Khaled Subhi; Arkin, Ronald C. (Georgia Institute of Technology, 1997)
      Multiagent schema-based reactive robotic systems are complemented with the addition of a new behavior controlled by a human operator. This enables the whole society to be affected as a group rather than forcing the operator ...
    • 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 ...
    • Cooperative Multiagent Robotic Systems 

      Arkin, Ronald C.; Balch, Tucker (Georgia Institute of Technology, 1997)
    • 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?" ...
    • Integrating RL and Behavior-Based Control for Soccer 

      Balch, Tucker (Georgia Institute of Technology, 1997)
    • Multiagent Mission Specification and Execution 

      Arkin, Ronald C.; Cameron, Jonathan M.; MacKenzie, Douglas Christopher (Georgia Institute of Technology, 1997)
      Specifying a reactive behavioral configuration for use by a multiagent team requires both a careful choice of the behavior set and the creation of a temporal chain of behaviors which executes the mission. This difficult ...