Institute for Robotics and Intelligent Machines (IRIM)
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.
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IRIM Articles and Papers [1374]
Recent Submissions
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Challenges and Opportunities within Maritime Autonomy and the Naval Surface Warfare Center, Panama City Division
(2016-09-08)Interest in unmanned systems has increased considerably within the maritime domain and specifically the U.S. Navy over the last several decades. However, the littoral (shallow water) and undersea environments offer unique ... -
Robot-assisted Surgery: A Platform for New Technologies and Algorithms
(2016-09-07)Intuitive Surgical is the global leader in the rapidly emerging field of robotic-assisted minimally invasive surgery. To date, skilled surgeons using da Vinci Systems have performed more than 3 million minimally invasive ... -
Controllability of Prosumer-Based Networks in the Presence of Communication Failures
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-12)Typically, interconnected dynamical systems rely on communication in order to coordinate and compute appropriate control actions. Loss of communication links can exclude key decision makers from providing input and ... -
A Game-theoretic Formulation of the Homogeneous Self-Reconfiguration Problem
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-12)In this paper we formulate the homogeneous two- and three-dimensional self-reconfiguration problem over discrete grids as a constrained potential game. We develop a game-theoretic learning algorithm based on the ... -
Analyzing Human-Swarm Interactions Using Control Lyapunov Functions and Optimal Control.
(Georgia Institute of TechnologyAmerican Institute of Mathematical Sciences, 2015-09)A number of different interaction modalities have been proposed for human engagement with networked systems. In this paper, we establish formal guarantees for whether or not a given such human-swarm interaction (HSI) ... -
Multi-Robot Control Using Time-Varying Density Functions
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-04)An approach is presented for influencing teams of robots by means of time-varying density functions, representing rough references for where the robots should be located. A continuous-time coverage algorithm is proposed ... -
Multimodal Execution Monitoring for Anomaly Detection During Robot Manipulation
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-05)Online detection of anomalous execution can be valuable for robot manipulation, enabling robots to operate more safely, determine when a behavior is inappropriate, and otherwise exhibit more common sense. By using ... -
Towards Assistive Feeding with a General-Purpose Mobile Manipulator
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-05)General-purpose mobile manipulators have the potential to serve as a versatile form of assistive technology. However, their complexity creates challenges, including the risk of being too difficult to use. We present a ... -
From Global, Finite-Time, Linear Computations to Local, Edge-Based Interaction Rules
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-08)A network of locally interacting agents can be thought of as performing a distributed computation. But not all computations can be faithfully distributed. This paper investigates which global, linear transformations can ... -
Overcoming Communication Delays in Distributed Frequency Regulation
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-07)This paper proposes a general framework for determining the effect of communication delays on the convergence of certain distributed frequency regulation (DFR) protocols for prosumer-based energy systems, where prosumers ... -
Spatio-Temporal Multi-Robot Routing
(Georgia Institute of Technology, 2015-10)In this paper, we consider the problem of routing multiple robots to service spatially distributed requests at specified time instants. We show that such a routing problem can be formulated as a pure assignment problem. ... -
Optimal Control of Autonomous Switched-Mode Systems: Gradient-Descent Algorithms with Armijo Step Sizes
(Georgia Institute of Technology, 2015-12)This paper concerns optimal mode-scheduling in autonomous switched-mode hybrid dynamical systems, where the objective is to minimize a cost-performance functional defined on the state trajectory as a function of the schedule ... -
Safety Barrier Certificates for Heterogeneous Multi-Robot Systems
(Georgia Institute of Technology, 2016-07)paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We build this framework through the use of ... -
Multi-Contact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-03)Lower-limb prostheses provide a prime example of cyber-physical systems (CPSs) requiring the synergistic development of sensing, algorithms and controllers. With a view towards better understanding CPSs of this form, this ... -
Correct-By-Construction Adaptive Cruise Control: Two Approaches
(Georgia Institute of Technology, 2016-07)Motivated by the challenge of developing control software provably meeting specifications for real world problems, this paper applies formal methods to adaptive cruise control (ACC). Starting from a Linear Temporal Logic ... -
Multi-Contact Bipedal Robotic Locomotion
(Georgia Institute of TechnologyCambridge University Press, 2015)This paper presents a formal framework for achieving multi-contact bipedal robotic walking, and realizes this methodology experimentally on two robotic platforms: AMBER2 and ATRIAS. Inspired by ... -
Towards Real-Time Parameter Optimization for Feasible Nonlinear Control with Applications to Robot Locomotion
(Georgia Institute of Technology, 2016-07)This paper considers the application of classical control methods, designed for unconstrained nonlinear systems, to systems with nontrivial input constraints. As shown throughout the literature, unconstrained classical ... -
Unification of Locomotion Pattern Generation and Control Lyapunov Function-Based Quadratic Programs
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-07)This paper presents a novel method of combining real-time walking pattern generation and constrained nonlinear control to achieve robotic walking under Zero-Moment Point (ZMP) and torque constraints. The proposed method ... -
Time Dependent Control Lyapunov Functions and Hybrid Zero Dynamics for Stable Robotic Locomotion
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-07)Implementing state-based parameterized periodic trajectories on complex robotic systems, e.g., humanoid robots, can lead to instability due to sensor noise exacerbated by dynamic movements. As a means of understanding ... -
First Steps Toward Translating Robotic Walking To Prostheses: A Nonlinear Optimization Based Control Approach
(Georgia Institute of TechnologySpringer, 2016)This paper presents the first steps toward successfully translating nonlinear real-time optimization based controllers from bipedal walking robots to a self-contained powered transfemoral prosthesis: AMPRO, with the ...
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