Now showing items 21-40 of 75

    • Feedback Navigation in an Uncertain Flow Field and Connections with Pursuit Strategies 

      Bakolas, Efstathios; Tsiotras, Panagiotis (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2012)
      This paper presents several classes of control laws for steering an agent, that is, an aerial or marine vehicle, in the presence of a both temporally and spatially varying drift field induced by local winds/currents. The ...
    • A fingerprint method for variability and robustness analysis of stochastically controlled cellular actuator arrays 

      MacNair, David L.; Ueda, Jun (Georgia Institute of TechnologySAGE Publications, 2011)
      This paper presents a “Fingerprint Method” for modeling and subsequently characterizing stochastically controlled actuator arrays. The actuator arrays are built from small actuator cells with structural elasticity. These ...
    • A Formal Approach to the Automatic Generation of Ballet Motions 

      LaViers, Amy; Chen, Yushan; Belta, Calin; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-04)
      As cyber-physical systems become more prevalent, specifications for these systems must be formulated in a more nuanced manner. This paper presents a particular instantiation of such specification by proposing a framework ...
    • A Formal Approach to the Automatic Generation of Ballet Phrases 

      LaViers, Amy; Chen, Yushan; Belta, Calin; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-09)
      This paper presents a novel example where formal methods can be used to generate a type of human behavior. Drawing inspiration from classical ballet, poses are cast as discrete states and movements as the transitions between ...
    • A generalized approach to real-time pattern recognition in sensed data 

      Howard, Ayanna M.; Padgett, Curtis (Georgia Institute of TechnologyElsevier, 1999-12)
      Many applications that focus on target detection in an image scene develop algorithms specific to the task at hand. These algorithms tend to be dependent on the type of input data used in the application and thus generally ...
    • Graph Process Specifications for Hybrid Networked Systems 

      Twu, Philip Y.; Martin, Patrick; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer, 2012-12)
      Many large-scale multi-agent missions consist of a sequence of subtasks, each of which can be accomplished separately by having agents execute appropriate decentralized controllers. However, many decentralized controllers ...
    • Hybrid Systems Tools for Compiling Controllers for Cyber-Physical Systems 

      Martin, Patrick; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer, 2011-09-15)
      In this paper, we consider the problem of going from high-level specifications of complex control tasks for cyber-physical systems to their actual implementation and execution on physical devices. This transition between ...
    • Inertial Vibration Damping Control of a Flexible Base Manipulator 

      George, Lynnane E.; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2002-11)
      A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) manipulator is often used to increase reach capability, but flexibility in the macromanipulator can interfere with positioning accuracy. A rigid ...
    • Inferring Meal Eating Activities in Real World Settings from Ambient Sounds: A Feasibility Study 

      Thomaz, Edison; Zhang, Cheng; Essa, Irfan; Abowd, Gregory D. (Georgia Institute of TechnologyAssociation for Computing Machinery, 2015)
      Dietary self-monitoring has been shown to be an effective method for weight-loss, but it remains an onerous task despite recent advances in food journaling systems. Semi-automated food journaling can reduce the effort of ...
    • Inferring Object Properties from Incidental Contact with a Tactile-Sensing Forearm 

      Bhattacharjee, Tapomayukh; Rehg, James M.; Kemp, Charles C. (Georgia Institute of Technology, 2014-09)
      Whole-arm tactile sensing enables a robot to sense properties of contact across its entire arm. By using this large sensing area, a robot has the potential to acquire useful information from incidental contact that ...
    • Integrated Modeling, Simulation, and Animation of Rigid Arms and Vehicles through Object-Oriented Programming 

      Schmitt, Paul Richard; Hogan, John E.; Cameron, Jonathan M.; Book, Wayne John (Georgia Institute of Technology, 1994-02)
      This paper describes an object-oriented system, "MBSIM" (MultiBody SIMulator), that models, simulates, and animates the kinematics and dynamics of robotic arms and vehicles. This system creates a three dimensional graphical ...
    • Keyframe-based Learning from Demonstration Method and Evaluation 

      Akgun, Baris; Cakmak, Maya; Jiang, Karl; Thomaz, Andrea L. (Georgia Institute of TechnologySpringer, 2012-06)
      We present a framework for learning skills from novel types of demonstrations that have been shown to be desirable from a human-robot interaction perspective. Our approach –Keyframe-based Learning from Demonstration (KLfD)– ...
    • Learning about Objects with Human Teachers 

      Thomaz, Andrea L.; Cakmak, Maya (Georgia Institute of TechnologyAssociation for Computing Machinery, 2009)
      A general learning task for a robot in a new environment is to learn about objects and what actions/effects they afford. To approach this, we look at ways that a human partner can intuitively help the robot learn, ...
    • Learning from Examples in Unstructured, Outdoor Environments 

      Sun, J.; Mehta, Tejas R.; Wooden, David; Powers, Matthew; Rehg, J.; Balch, Tucker; Egerstedt, Magnus B. (Georgia Institute of TechnologyWiley Periodicals, Inc., 2006)
      In this paper, we present a multi-pronged approach to the "Learning from Example" problem. In particular, we present a framework for integrating learning into a standard, hybrid navigation strategy, composed of both ...
    • Low cost automation with lighter, versatile machines 

      Book, Wayne John (Georgia Institute of TechnologyPublished for the International Federation of Automatic Control by Pergamon Press, 1986-11)
      This paper describes the opportunities for improving the cost/performance ratio for industrial robots and other industrial equipment through reduction in their weight. Also described are four approaches to taking advantage ...
    • Manipulability of Leader-Follower Networks with the Rigid-Link Approximation 

      Kawashima, Hiroaki; Egerstedt, Magnus (Georgia Institute of TechnologyElsevier, 2014-03)
      This paper introduces the notion of manipulability to mobile, multi-agent networks as a tool to analyze the instantaneous effectiveness of injecting control inputs at certain, so-called leader nodes in the network. ...
    • A Measure of Heterogeneity in Multi-Agent Systems 

      Twu, Philip; Mostofi, Yasamin; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-06)
      Heterogeneous multi-agent systems have previously been studied and deployed to solve a number of different tasks. Despite this, we still lack a basic understanding of just what “heterogeneity” really is. For example, what ...
    • Measurement Errors in Visual Servoing 

      Kryki, V.; Kragic, Danica; Christensen, Henrik I. (Georgia Institute of TechnologyElsevier, 2006-10)
      This paper addresses the issue of measurement errors in visual servoing. The error characteristics of the vision based state estimation and the associated uncertainty of the control are investigated. The major contribution ...
    • Modeling Mechanisms with Nonholonomic Joints Using the Boltzmann-Hamel Equations 

      Obergfell, Klaus; Book, Wayne John (Georgia Institute of TechnologySAGE Publications, 1997-02)
      This article describes a new technique for deriving dynamic equations of motion for serial chain and tree topology mech anisms with common nonholonomic constraints. For each type of nonholonomic constraint, the Boltzmann-Hamel ...
    • Modelling for Two-Time Scale Force/Position Control of Flexible Robots 

      Rocco, Paolo; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1996-04)
      Distributed flexibility of the links is a severe obstacle for the endpoint position control of lightweight manipulators. In order to accomplish with satisfactory performance certain tasks involving a controlled interaction ...