Launched on November 4, 2013, the Institute for Robotics and Intelligent Machines (IRIM) evolved into Georgia Tech’s newest Interdisciplinary Research Institute (IRI), built upon the foundational work developed in the former Robotics & Intelligent Machines Center (RIM@Georgia Tech). IRIM brings together robotics researchers from across campus—spanning colleges, departments and individual labs—to create new collaborative opportunities for faculty, strengthen partnerships with industry and government and maximize the societal impact of the transformative robotics research conducted at Georgia Tech.

Sub-communities within this community

Recent Submissions

  • Temporal Heterogeneity and the Value of Slowness in Robotic Systems 

    Arkin, Ronald C.; Egerstedt, Magnus B. (Georgia Institute of Technology, 2015-12)
    Robot teaming is a well-studied area, but little research to date has been conducted on the fundamental benefits of heterogeneous teams and virtually none on temporal heterogeneity, where timescales of the various platforms ...
  • Formal Performance Guarantees for Behavior-Based Localization Missions 

    Lyons, Damian M.; Arkin, Ronald C. (Georgia Institute of Technology, 2016-11)
    Localization and mapping algorithms can allow a robot to navigate well in an unknown environment. However, whether such algorithms enhance any specific robot mission is currently a matter for empirical validation. In this ...
  • Shared Control of Functional Electrical Stimulation and an Electric Motor in a Hybrid Neuroprosthesis 

    Sharma, Nitin (Georgia Institute of Technology, 2017-03-08)
    Functional Electrical Stimulation (FES) can be used to artificially activate paralyzed lower limb muscles to restore walking and standing function in persons with neurological disorders. Despite its potential, FES-based ...
  • Optimization of Robot Configurations for Assistive Tasks 

    Kapusta, Ariel; Kemp, Charles C. (Georgia Institute of Technology, 2016)
    Robots can provide assistance with activities of daily living (ADLs) to humans with motor impairments. Specialized robots, such as desktop robotic feeding systems, have been successful for specific assistive tasks when ...
  • Autobed: Open Hardware for Accessible Web-based Control of an Electric Bed 

    Grice, Phillip M.; Chitalia, Yash; Rich, Megan; Clever, Henry M.; Kemp, Charles C. (Georgia Institute of Technology, 2016)
    Individuals with severe motor impairments often have difficulty operating the standard controls of electric beds and so require a caregiver to adjust their position for utility, comfort, or to prevent pressure ulcers. ...
  • Enhancing Human Capability with Intelligent Machine Teammates 

    Shah, Julie (Georgia Institute of Technology, 2017-02-22)
    Every team has top performers - people who excel at working in a team to find the right solutions in complex, difficult situations. These top performers include nurses who run hospital floors, emergency response teams, ...
  • Material Recognition from Heat Transfer given Varying Initial Conditions and Short-Duration Contact 

    Bhattacharjee, Tapomayukh; Wade, Joshua; Kemp, Charles C. (Georgia Institute of Technology, 2015)
    When making contact with an object, a robot can use a tactile sensor consisting of a heating element and a temperature sensor to recognize the object’s material based on conductive heat transfer from the tactile sensor ...
  • Persistent Environmental Monitoring: Robots That Seemingly Do Nothing Most of the Time 

    Egerstedt, Magnus (Georgia Institute of Technology, 2017-02-08)
    By now, we have a fairly good understanding of how to design coordinated control strategies for making teams of mobile robots achieve geometric objectives in a distributed manner, such as assembling shapes or covering ...
  • Behind the Scenes: Decoding Intent from First Person Video 

    Park, Hyun Soo (Georgia Institute of Technology, 2017-02-01)
    A first person video records not only what is out in the environment but also what is in our head (intention and attention) at the time via social and physical interactions. It is invisible but it can be revealed by ...
  • The Future Has Arrived: Integrating Transformative Technologies in the Workplace 

    Mathiason, Garry G. (Georgia Institute of Technology, 2016-11-18)
  • Supersizing Self-Supervision: Learning Perception and Action Without Human Supervision 

    Gupta, Abhinav (Georgia Institute of Technology, 2016-11-09)
    This talk will discuss how to learn representation for perception and action without using any manual supervision. Gupta will discuss how we can learn ConvNets for vision in a completely unsupervised manner using ...
  • From Algorithms to Architectures in Cyber-Physical Networks 

    Egerstedt, Magnus B. (Georgia Institute of TechnologyTaylor & Francis, 2015-02)
  • Distributed Dynamic Density Coverage for Human-Swarm Interactions 

    Diaz-Mercado, Yancy; Lee, Sung G.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-07)
    This paper presents two approaches to externally influence a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. ...
  • Team-Level Properties for Haptic Human-Swarm Interactions 

    Setter, Tina; Kawashima, Hiroaki; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-07)
    This paper explores how haptic interfaces should be designed to enable effective human-swarm interactions. When a single operator is interacting with a team of mobile robots, there are certain properties of the team ...
  • Effects of Insufficient Time-Scale Separation in Cascaded, Networked Systems 

    Sakurama, Kazunori; Verriest, Erik I.; Egerstedt, Magnus B. (Georgia Institute of Technology, 2015-07)
    In this paper, we investigate the effect of insufficient time-scale separation between inner and the outer loops in a cascaded, networked system under multiple clients. Inspired by the AQM (inner loop) and TCP (outer loop) ...
  • A Control Lyapunov Function Approach to Human-Swarm Interactions 

    de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-07)
    In this paper, we seek to establish formal guarantees for whether or not a given human-swarm interaction (HSI) is appropriate for achieving multi-robot tasks. Examples of such tasks include guiding a swarm of robots ...
  • Differentially Private Cloud-Based Multi-Agent Optimization with Constraints 

    Hale, M. T.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-07)
    We present an optimization framework that solves constrained multi-agent optimization problems while keeping each agent’s state differentially private. The agents in the network seek to optimize a local objective function ...
  • Mixed-Integer Convex Formulations for Planning Nonlinear Dynamics in Complex Environments 

    Tedrake, Russ (Georgia Institute of Technology, 2016-10-19)
    Humanoid robots walking across intermittent terrain, robotic arms grasping multifaceted objects, or UAVs darting left or right around a tree — many of the dynamics and control problems we face today have an inherently ...
  • Robust Agility and Safety for Dynamic Aerial Manipulation and Legged Locomotion 

    Sreenath, Koushil (Georgia Institute of Technology, 2016-10)
    Biological systems are able to move with great elegance, agility, and efficiency in a wide range of environments. Endowing machines with similar capabilities requires designing controllers that can address the challenges ...
  • The GRITSBot in its Natural Habitat - A Multi-Robot Testbed 

    Pickem, Daniel; Lee, Myron; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-05)
    Current multi-agent robotic testbeds are prohibitively expensive or highly specialized and as such their use is limited to a small number of research laboratories. Given the high price tag, what is needed to scale ...

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