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 [1398]
Recent Submissions
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Snakes and Spiders, Robots and Geometry
(Georgia Institute of Technology, 2017-04-12)Locomotion and perception are common threads between robotics and biology. Understanding these phenomena at a mechanical level involves nonlinear dynamics and the coordination of many degrees of freedom. In this talk, ... -
Examining the Slow, Noisy, and Complex Process of Technology Adoption
(Georgia Institute of Technology, 2017-03-31) -
Performance Verification for Behavior-Based Robot Missions
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-06)Certain robot missions need to perform predictably in a physical environment that may have significant uncertainty. One approach is to leverage automatic software verification techniques to establish a performance guarantee. ... -
Using Visual Information for Spatial Advice-Giving in a Primate-Inspired Autonomous Robot
(Georgia Institute of TechnologySpringer, 2015)This paper presents an approach to apply mental rotations in the context of robot navigation in support of spatial advice-giving. It describes the motivation in terms of cognitive processing, the underlying architecture, ... -
Primate-inspired Autonomous Navigation Using Mental Rotation and Advice-Giving
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-09)The cognitive process that enables many primate species to efficiently traverse their environment has been a subject of numerous studies. Mental rotation is hypothesized to be one such process. The evolutionary causes ... -
An Intervening Ethical Governor for a Robot Mediator in Patient-Caregiver Relationships
(Georgia Institute of TechnologySpringer International Publishing, 2015)Patients with Parkinson’s disease (PD) experience challenges when interacting with caregivers due to their declining control over their musculature. To remedy those challenges, a robot mediator can be used to assist in ... -
Towards a Robot Computational Model to Preserve Dignity in Stigmatizing Patient-Caregiver Relationships
(Georgia Institute of TechnologySpringer International Publishing, 2015-10)Parkinson’s disease (PD) patients with an expressive mask are particularly vulnerable to stigmatization during interactions with their caregivers due to their inability to express affect through nonverbal channels. Our ... -
Mixed-Initiative Human-Robot Interaction: Definition, Taxonomy, and Survey
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-10)The objectives of this article are: 1) to present a taxonomy for mixed-initiative human-robot interaction and 2) to survey its state of practice through the examination of past research along each taxonomical dimension. ... -
The Benefits of Robot Deception in Search and Rescue: Computational Approach for Deceptive Action Selection via Case-Based Reasoning
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-10)By increasing the use of autonomous rescue robots in search and rescue (SAR), the chance of interaction between rescue robots and human victims also grows. More specifically, when autonomous rescue robots are considered ... -
SLAM-Based Spatial Memory for Behavior-Based Robots
(Georgia Institute of Technology, 2015)Knowledge is essential for an autonomous robot to act intelligently when tasked with a mission. With recent leaps of progress, the paradigm of SLAM (Simultaneous Localization and Mapping) has emerged as an ideal source of ... -
An Analysis of Displays for Probabilistic Robotic Mission Verification Results
(Georgia Institute of Technology, 2016)An approach for the verification of autonomous behavior-based robotic missions has been developed in a collaborative effort between Fordham University and Georgia Tech. This paper addresses the step after verification, how ... -
Probabilistic Verification of Multi-robot Missions in Uncertain Environments
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-11)The effective use of autonomous robot teams in highly-critical missions depends on being able to establish performance guarantees. However, establishing a guarantee for the behavior of an autonomous robot operating in ... -
Temporal Heterogeneity and the Value of Slowness in Robotic Systems
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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
(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 ... -
Enhancing Human Capability with Intelligent Machine Teammates
(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
(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
(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
(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
(Georgia Institute of Technology, 2016-11-18)
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