Now showing items 228-247 of 1552

    • Computational Modeling and Enhancement of Human Skill 

      Hager, Gregory D. (2014-10-22)
      With the rapidly growing popularity of the Intuitive Surgical da Vinci system, robotic minimally invasive surgery (RMIS) has crossed the threshold from the laboratory to the real world. There are now hundreds of thousands ...
    • Computational video: post-processing methods for stabilization, retargeting and segmentation 

      Grundmann, Matthias (Georgia Institute of Technology, 2013-04-05)
      In this thesis, we address a variety of challenges for analysis and enhancement of Computational Video. We present novel post-processing methods to bridge the difference between professional and casually shot videos mostly ...
    • Computational visual attention systems and their cognitive foundation: A survey 

      Frintrop, Simone; Rome, Erich; Christensen, Henrik I. (Georgia Institute of TechnologyAssociation for Computing Machinery, 2010)
      Based on concepts of the human visual system, computational visual attention systems aim to detect regions of interest in images. Psychologists, neurobiologists, and computer scientists have investigated visual attention ...
    • Computerized Macular Pathology Diagnosis in Spectral Domain Optical Coherence Tomography Scans Based on Multiscale Texture and Shape Features 

      Liu, Yu-Ying; Ishikawa, Hiroshi; Chen, Mei; Wollstein, Gadi; Duker, Jay S.; Fujimoto, James G.; Schuman, Joel S.; Rehg, James M. (Georgia Institute of TechnologyAssociation for Research in Vision and Ophthalmology, 2011-10)
      To develop an automated method to identify the normal macula and three macular pathologies (macular hole [MH], macular edema [ME], and age-related macular degeneration [AMD]) from the fovea-centered cross sections in ...
    • The Concept and Implementation of a Passive Trajectory Enhancing Robot 

      Book, Wayne John; Charles, Robert; Davis, Hurley T.; Gomes, Mario Waldorff (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1996-11)
      A novel controlled passive device is described which allows its end effector to be pushed only along a specified but arbitrary path. The force to move the end effector must be provided by an external source such as a human, ...
    • A Conceptual Space Architecture for Widely Heterogeneous Robotic Systems 

      Jung, HyunRyong; Menon, Arjun; Arkin, Ronald C. (Georgia Institute of Technology, 2011)
      This paper describes the value of the conceptual space approach for use in teams of robots that have radically different sensory capabilities. The formal underpinnings and perceptual processes are described in the context ...
    • Concurrent Filtering and Smoothing 

      Kaess, Michael; Williams, Stephen; Indelman, Vadim; Roberts, Richard; Leonard, John J.; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-07)
      This paper presents a novel algorithm for integrating real-time filtering of navigation data with full map/trajectory smoothing. Unlike conventional mapping strategies, the result of loop closures within the smoother ...
    • Concurrent Filtering and Smoothing: A Parallel Architecture for Real-Time Navigation and Full Smoothing 

      Williams, Stephen; Indelman, Vadim; Kaess, Michael; Roberts, Richard; Leonard, John J.; Dellaert, Frank (Georgia Institute of TechnologySAGE, 2014)
      We present a parallelized navigation architecture that is capable of running in real-time and incorporating long-term loop closure constraints while producing the optimal Bayesian solution. This architecture splits the ...
    • Conflict Resolution for Autonomous Vehicles: A Case Study in Hierarchical Control Design 

      Egerstedt, Magnus B.; Martin, Clyde F. (Georgia Institute of TechnologyNonpareil Publishers, 2002-09)
      In this paper we consider the problem of conflict avoidance for autonomous systems using a hierarchical control strategy that we establish using the notion of predicate consistent abstractions. We apply our proposed ...
    • The Confluence of Robotics and Automation for Next Generation Manufacturing 

      Christensen, Henrik (2014-09-24)
      In this presentation we will discuss how hard automation in many cases is getting replaced by flexible automation. The ideal factory is no longer a sequence of fixed processing stations, but a swarm of heterogenous stationary ...
    • Connectedness Preserving Distributed Coordination Control Over Dynamic Graphs 

      Ji, Meng; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2005-06)
      This paper presents a solution to the limited information rendezvous problem over dynamic interaction graphs. In particular, we show how we, by adding appropriate weights to the edges in the graphs, can guarantee that ...
    • Considerations in Selection of DC Motors for Lightweight Arms 

      Sangveraphunsiri, Viboon; Book, Wayne John; Dickerson, Stephen L. (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1984-06)
      This paper addresses the relationship between the weight of DC moving-coil permanent-magnet motors and the requirements for the driven motion. The requirements for motion are assumed to be made in terms of a maximum absolute ...
    • Consistent Decentralized Graphical SLAM with Anti-Factor Down-Dating 

      Cunningham, Alexander; Indelman, Vadim; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-11)
      This report presents our recent and ongoing work developing a consistent decentralized data fusion approach for robust multi-robot SLAM in dangerous, unknown environments. The DDF-SAM 2.0 approach extends our previous ...
    • Constrained Agreement Protocols for Tree Graph Topologies 

      Chipalkatty, Rahul; Egerstedt, Magnus B. (Georgia Institute of TechnologyTaylor & Francis, 2011-02)
      This paper presents a novel way of manipulating the initial conditions in the consensus equation such that a constrained agreement problem is solved across a distributed network of agents, particularly for a network ...
    • Constrained Invariant Motions for Networked Multi-Agent Systems 

      Franceschelli, Mauro; Egerstedt, Magnus B.; Giua, Alessandro; Mahulea, Cristian (Georgia Institute of TechnologyAmerican Automatic Control Council, 2009-06)
      In this paper we propose a methodology to solve the constrained consensus problem, i.e., the consensus problem for multi-agent systems with constrained dynamics. We propose a decentralized one-step horizon optimization ...
    • Constrained Optimal Selection for Multi-Sensor Robot Navigation Using Plug-and-Play Factor Graphs 

      Chiu, Han-Pang; Zhou, Xun S.; Carlone, Luca; Dellaert, Frank; Samarasekera, Supun; Kumar, Rakesh (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014)
      This paper proposes a real-time navigation approach that is able to integrate many sensor types while fulfilling performance needs and system constraints. Our approach uses a plug-and-play factor graph ...
    • Constructing a high-performance robot from commercially available parts 

      Smith, Christian; Christensen, Henrik I. (Georgia Institute of Technology, 2009-12)
      Robot manipulators were the topic of this article. A large number of robot manipulators have been designed over the last half century, and several of these have become standard platforms for R&D efforts. The most widely ...
    • Constructing and Implementing Motion Programs for Robotic Marionettes 

      Martin, Patrick; Johnson, Elliot; Murphey, Todd D.; Egerstedt, Magnus (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-04)
      This technical note investigates how to produce control programs for complex systems in a systematic manner. In particular, we present an abstraction-based approach to the specification and optimization of motion programs ...
    • Constructing mobile manipulation behaviors using expert interfaces and autonomous robot learning 

      Nguyen, Hai Dai (Georgia Institute of Technology, 2013-11-19)
      With current state-of-the-art approaches, development of a single mobile manipulation capability can be a labor-intensive process that presents an impediment to the creation of general purpose household robots. At the ...
    • Contact Control for Advanced Applications of Light Weight Arms 

      Book, Wayne John; Kwon, Dong-Soo (Georgia Institute of TechnologyKluwer Academic Publishers, 1992)
      Many applications of robotic and teleoperated manipulator arms require operation in contact and noncontact regimes. This paper deals with both regimes and the transition between them with special attention given to problems ...