Now showing items 576-595 of 1540

    • Graph Process Specifications for Hybrid Networked Systems 

      Martin, Patrick; Egerstedt, Magnus B.; Twu, Philip Y. (Georgia Institute of Technology, 2010-08)
      Research in multi-agent systems has supplied a diverse collection of decentralized controllers to accomplish specific tasks. When agents execute a sequence of these controllers, the network behaves as a hybrid system, ...
    • 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 ...
    • Graph Theoretic Connectivity Control of Mobile Robot Networks 

      Zavlanos, Michael M.; Egerstedt, Magnus B.; Pappas, George J. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011)
      In this paper we provide a theoretical framework for controlling graph connectivity in mobile robot networks. We discuss proximity-based communication models composed of disk-based or uniformly fading signal strength ...
    • Graph-based Path Planning for Mobile Robots 

      Wooden, David T. (Georgia Institute of Technology, 2006-11-16)
      In this thesis, questions of navigation, planning and control of real-world mobile robotic systems are addressed. Chapter II contains the first contribution in this thesis, which is a modification of ...
    • Graph-Theoretic Methods for Multi-Agent Coordination 

      Egerstedt, Magnus B. (Georgia Institute of Technology, 2007-09)
      By ignoring the geometric constraints that inevitably govern inter-robot interactions in decentralized robot networks, a purely combinatorial description of the network is obtained. In fact, it can be described as a ...
    • Graphical SLAM for Outdoor Applications 

      Folkesson, John; Christensen, Henrik I. (Georgia Institute of TechnologyJohn Wiley & Sons, 2007-02)
      Application of SLAM outdoors is challenged by complexity, handling of non-linearities and flexible integration of a diverse set of features. A graphical approach to SLAM is introduced that enables flexible data-association. ...
    • Graphs, Simplicial Complexes and Beyond: Topological Tools for Multi-agent Coordination 

      Muhammad, Abubakr (Georgia Institute of Technology, 2005-12-16)
      In this work, connectivity graphs have been studied as models of local interactions in multi-agent robotic systems. A systematic study of the space of connectivity graphs has been done from a geometric and topological point ...
    • Gravity and Drift in Force/Torque Measurements 

      Erdogan, Can; Zafar, Munzir; Stilman, Mike (2014)
    • Greedy Mapping of Terrain 

      Koenig, Sven; Halliburton, William; Tovey, Craig A. (Georgia Institute of Technology, 2001)
      We study a greedy mapping method that always moves the robot from its current location to the closest location that it has not visited (or observed) yet, until the terrain is mapped. Although one does not expect such a ...
    • Group-Size Selection for a Parameterized Class of Predator-Prey Models 

      de la Croix, Jean-Pierre; Egerstedt, Magnus (Georgia Institute of Technology, 2014-07)
      In this paper, we investigate whether we can qualitatively recover the appropriate group sizes for a team of predators by varying environmental and operational conditions. The result is a combination of biologically ...
    • GroupSAC: Efficient Consensus in the Presence of Groupings 

      Ni, Kai; Jin, Hailin; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-09)
      We present a novel variant of the RANSAC algorithm that is much more efficient, in particular when dealing with problems with low inlier ratios. Our algorithm assumes that there exists some grouping in the data, based ...
    • Guidance, Navigation, Control, and Operator Interfaces for Small Rapid Response Unmanned Helicopters 

      Christmann, Hans Claus; Christophersen, Henrik B.; Wu, Allen D.; Johnson, Eric N. (Georgia Institute of Technology, 2008-04)
      This paper focuses on the development of small rapid response reconnaissance unmanned helicopters (1 to 3 kg, electric), for use by the military in urban areas and by civilian first responders, in terms of system ...
    • Guided Pushing for Object Singulation 

      Hermans, Tucker; Rehg, James M.; Bobick, Aaron (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
      We propose a novel method for a robot to separate and segment objects in a cluttered tabletop environment. The method leverages the fact that external object boundaries produce visible edges within an object cluster. ...
    • Guided teaching interactions with robots: embodied queries and teaching heuristics 

      Cakmak, Maya (Georgia Institute of Technology, 2012-05-17)
      The vision of personal robot assistants continues to become more realistic with technological advances in robotics. The increase in the capabilities of robots, presents boundless opportunities for them to perform useful ...
    • Hand It Over or Set It Down: A User Study of Object Delivery with an Assistive Mobile Manipulator 

      Choi, Young Sang; Chen, Tiffany L.; Jain, Advait; Anderson, Cressel D.; Glass, Jonathan D.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009)
      Delivering an object to a user would be a generally useful capability for service robots. Within this paper, we look at this capability in the context of assistive object retrieval for motor-impaired users. We first describe ...
    • Haptic Classification and Recognition of Objects Using a Tactile Sensing Forearm 

      Bhattacharjee, Tapomayukh; Rehg, James M.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
      In this paper, we demonstrate data-driven inference of mechanical properties of objects using a tactile sensor array (skin) covering a robot's forearm. We focus on the mobility (sliding vs. fixed), compliance (soft vs. ...
    • Haptic Classification and Recognition of Objects Using a Tactile Sensing Forearm 

      Bhattacharjee, Tapomayukh; Rehg, James M.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
      In this paper, we demonstrate data-driven inference of mechanical properties of objects using a tactile sensor array (skin) covering a robot’s forearm. We focus on the mobility (sliding vs. fixed), compliance (soft vs. ...
    • Haptic interaction between naive participants and mobile manipulators in the context of healthcare 

      Chen, Tiffany L. (Georgia Institute of Technology, 2014-04-08)
      Human-scale mobile robots that manipulate objects (mobile manipulators) have the potential to perform a variety of useful roles in healthcare. Many promising roles for robots require physical contact with patients and ...
    • Haptically Guided Teleoperation for Learning Manipulation Tasks 

      Howard, Ayanna M.; Park, Chung Hyuk (Georgia Institute of Technology, 2007-06)
      In this paper, we present a methodology that uses control signals provided through guided teleoperation to assist in the learning of new manipulation tasks. The approach incorporates haptic feedback that guides human ...
    • Hardware-in-the-Loop Simulation for Control Development in EHPV Applications 

      Jung, Sooyong; Lee, Young J.; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2003-11)
      The creation of a PC-based Hardware-In-the-Loop Simulation facility for testing hydraulic and other drive components and their controllers is described. High performance electric motors are used to produce both drive and ...