Now showing items 497-516 of 1574

    • Exploiting Locality in SLAM by Nested Dissection 

      Krauthausen, Peter; Kipp, Alexander; Dellaert, Frank (Georgia Institute of TechnologyMIT Press, 2006-08)
      The computational complexity of SLAM is dominated by the cost of factorizing a matrix derived from the measurements into a square root form, which has cubic complexity in the worst case. However, the matrices associated ...
    • Exploiting social partners in robot learning 

      Cakmak, Maya; DePalma, Nick; Arriaga, Rosa; Thomaz, Andrea L. (Georgia Institute of TechnologySpringer, 2010)
      Social learning in robotics has largely focused on imitation learning. Here we take a broader view and are interested in the multifaceted ways that a social partner can in uence the learning process. We implement four ...
    • An exploration strategy by constructing Voronoi Diagrams with provable completeness 

      Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-12)
      We present novel exploration algorithms and a control law that enable the construction of Voronoi diagrams over unknown areas using a single autonomous vehicle equipped with range sensors. Our control law and exploration ...
    • Exploring lift-off dynamics in a jumping robot 

      Aguilar, Jeffrey Jose (Georgia Institute of Technology, 2012-11-14)
      We study vertical jumping in a simple robot comprising an actuated mass spring arrangement. The actuator frequency and phase are systematically varied to find optimal performance. Optimal jumps occur above and below (but ...
    • Exploring Unknown Structured Environments 

      Arkin, Ronald C.; Diaz, Jonathan F.; Stoytchev, Alexander (Georgia Institute of Technology, 2001)
      This paper presents perceptual algorithms for corridor navigation, door detection and entry that can be used for exploration of an unknown floor of a building. The algorithms are fairly robust to sensor noise, do not ...
    • Extracting Play Primitives for a Robot Playmate by Sequencing Low-Level Motion Behavior 

      Howard, Ayanna M.; Park, Hae Won; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-08)
      In this paper, we discuss a methodology to extract play primitives, defined as a sequence of low-level motion behaviors identified during a playing action, such as stacking or inserting a toy. Our premise is that if a robot ...
    • A Factor Graph Approach to Estimation and Model Predictive Control on Unmanned Aerial Vehicles 

      Ta, Duy-Nguyen; Kobilarov, Marin; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-05)
      n this paper, we present a factor graph framework to solve both estimation and deterministic optimal control problems, and apply it to an obstacle avoidance task on Unmanned Aerial Vehicles (UAVs). We show that factor ...
    • Factor Graph Based Incremental Smoothing in Inertial Navigation Systems 

      Indelman, Vadim; Williams, Stephen; Kaess, Michael; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-07)
      This paper describes a new approach for information fusion in inertial navigation systems. In contrast to the commonly used filtering techniques, the proposed approach is based on a non-linear optimization for processing ...
    • Factor Graphs and GTSAM: A Hands-on Introduction 

      Dellaert, Frank (Georgia Institute of Technology, 2012-09)
      In this document I provide a hands-on introduction to both factor graphs and GTSAM. Factor graphs are graphical models (Koller and Friedman, 2009) that are well suited to modeling complex estimation problems, such as ...
    • A FAM-based Switched Control Approach for the Automation of Bioregenerative Life Support Systems 

      Drayer, Gregorio E.; Howard, Ayanna M. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2011-07)
      The automation of bioregenerative life support systems poses challenges for the development of model-based approaches given the varying characteristic of the biological processes that constitute them. Switching control ...
    • Fast 3D Pose Estimation With Out-of-Sequence Measurements 

      Ranganathan, Ananth; Kaess, Michael; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-10)
      We present an algorithm for pose estimation using fixed-lag smoothing. We show that fixed-lag smoothing enables inclusion of measurements from multiple asynchronous measurement sources in an optimal manner. Since ...
    • Fast Incremental Square Root Information Smoothing 

      Kaess, Michael; Ranganathan, Ananth; Dellaert, Frank (Georgia Institute of TechnologyIJCAI, 2007-01)
      We propose a novel approach to the problem of simultaneous localization and mapping (SLAM) based on incremental smoothing, that is suitable for real-time applications in large-scale environments. The main advantages ...
    • Fast Reaching in Clutter While Regulating Forces Using Model Predictive Control 

      Killpack, Marc D.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-10)
      Moving a robot arm quickly in cluttered and unmodeled workspaces can be difficult because of the inherent risk of high impact forces. Additionally, compliance by itself is not enough to limit contact forces due to ...
    • Feasibility of Identifying Eating Moments from First-Person Images Leveraging Human Computation 

      Thomaz, Edison; Parnami, Aman; Essa, Irfan; Abowd, Gregory D. (Georgia Institute of TechnologyAssociation for Computing Machinery, 2013-11)
      There is widespread agreement in the medical research community that more effective mechanisms for dietary assessment and food journaling are needed to fight back against obesity and other nutrition-related diseases. ...
    • Feature-based mapping with grounded landmark and place labels 

      Trevor, Alexander J. B.; Rogers, John G.; Nieto-Granda, Carlos; Christensen, Henrik I. (Georgia Institute of Technology, 2011-06)
      Service robots can benefit from maps that support their tasks and facilitate communication with humans. For efficient interaction, it is practical to be able to reference structures and objects in the environment, e.g. ...
    • Feedback Can Reduce the Specification Complexity of Motor Programs 

      Egerstedt, Magnus B.; Brockett, Roger W. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-12)
      In this paper we show that when it is possible to use feedback in the specifications of "motor programs", the length of the descriptions of the instruction sequences for carrying out a given task can be reduced by a factor ...
    • Feedback Can Reduce the Specification Complexity of Motor Programs 

      Egerstedt, Magnus B.; Brockett, Roger W. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2003-02)
      In this paper, we show that when it is possible to use feedback in the specification of "motor programs," the length of the descriptions of the instruction sequences for carrying out a given task can be reduced by a ...
    • Feedback control of two beam, two joint systems with distributed flexibility 

      Book, Wayne John; Maizza-Neto, O.; Whitney, D. E. (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1975-12)
      The control of the flexible motion in a plane of two pinned beams is addressed with application to remote manipulators. Three types of linear feedback control schemes are considered: joint angle and velocity feedback with ...
    • 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 ...
    • Field Results for Tactical Mobile Robot Missions 

      Arkin, Ronald C.; Collins, Thomas Riley; Cramer, Michael J.; Endo, Yoichiro (Georgia Institute of Technology, 2000)
      In 1999, Georgia Tech conducted two field experiments to determine the performance of its mission specification system. The experiments were developed for the DARPA Tactical Mobile Robotics (TMR) Program and were conducted ...