Now showing items 576-595 of 1574

    • The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue 

      Dellaert, Frank; Balch, Tucker; Kaess, Michael; Ravichandran, Ram; Alegre, Fernando; Berhault, Marc; McGuire, Robert; Merrill, Ernest; Moshkina, Lilia; Walker, Daniel (Georgia Institute of TechnologyAAAI Press, 2002)
      We describe our entry in the AAAI 2002 Urban Search and Rescue (USAR) competition, a marsupial team consisting of a larger wheeled robot and several small legged robots, carried around by the larger robot. This setup ...
    • Gestural Behavioral Implementation on a Humanoid Robotic Platform for Effective Social Interaction 

      Brown, LaVonda; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-08)
      The role of emotions in social scenarios is to provide an inherent mode of communication between two parties. When emotions are properly employed and understood, people are able to respond appropriately, which further enhances ...
    • Getting it Right the First Time: Predicted Performance Guarantees from the Analysis of Emergent Behavior in Autonomous and Semi-autonomous Systems 

      Arkin, Ronald C.; Lyons, Damian M.; Jiang, Shu; Nirmal, Prem; Zafar, Munzir (Georgia Institute of Technology, 2012)
      A crucially important aspect for mission-critical robotic operations is ensuring as best as possible that an autonomous system be able to complete its task. In a project for the Defense Threat Reduction Agency (DTRA) ...
    • Getting it Right the First time: Robot Mission Guarantees in the Presence of Uncertainty 

      Lyons, Damian M.; Arkin, Ronald C.; Nirmal, P.; Jiang, Shu; Liu, Tsung-Ming; Deeb, J. (Georgia Institute of Technology, 2013)
      Certain robot missions need to perform predictably in a physical environment that may only be poorly characterized in advance. We have previously developed an approach to establishing performance guarantees for ...
    • Getting it Right the First Time: Verification of Behavior-based Multirobot Missions 

      Lyons, Damian M.; Arkin, Ronald C.; Jiang, Shu; Harrington, Dagan; O'Brien, Matthew (Georgia Institute of Technology, 2014)
      In research being conducted for the Defense Threat Reduction Agency (DTRA), we are concerned with robot missions that may only have a single opportunity for successful completion, with serious consequences if the mission ...
    • Global and Regional Path Planners for Integrated Planning and Navigation 

      Howard, Ayanna; Seraji, Homayoun; Werger, Barry (Georgia Institute of TechnologyWiley-Blackwell, 2005-12)
      This paper presents a hierarchical strategy for field mobile robots that incorporates path planning at different ranges. At the top layer is a global path planner that utilizes gross terrain characteristics, such as hills ...
    • Global Manipulation Planning in Robot Joint Space With Task Constraints 

      Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-06)
      We explore global randomized joint space path planning for articulated robots that are subject to task space constraints. This paper describes a representation of constrained motion for joint space planners and develops ...
    • Goal Reasoning: Papers from the ACS Workshop 

      Aha, David W.; Anderson, Tory S.; Bengfort, Benjamin; Burstein, Mark; Cerys, Dan; Coman, Alexandra; Cox, Michael T.; Dannenhauer, Dustin; Floyd, Michael W.; Gillespie, Kellen; Goel, Ashok K.; Goldman, Robert P.; Jhala, Arnav; Kuter, Ugur; Leece, Michael; Maher, Mary Lou; Martie, Lee; Merrick, Kathryn; Molineaux, Matthew; Muñoz-Avila, Héctor; Roberts, Mark; Robertson, Paul; Rugaber, Spencer; Samsonovich, Alexei; Vattam, Swaroop S.; Wang, Bing; Wilson, Mark (Georgia Institute of Technology, 2015-05-28)
      This technical report contains the 14 accepted papers presented at the Workshop on Goal Reasoning, which was held as part of the 2015 Conference on Advances in Cognitive Systems (ACS-15) in Atlanta, Georgia on 28 May ...
    • Golem Krang: Dynamically Stable Humanoid Robot for Mobile Manipulation 

      Stilman, Mike; Olson, Jon; Gloss, William (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-05)
      What would humans be like if nature had invented the wheel? Golem Krang is a novel humanoid torso designed at Georgia Tech. The robot dynamically transforms from a .5 m static to a 1.5 m dynamic configuration. Our robot ...
    • Governing Lethal Behavior: Embedding Ethics in a Hybrid Deliberative/Reactive Robot Architecture 

      Arkin, Ronald C. (Georgia Institute of Technology, 2007)
      This article provides the basis, motivation, theory, and design recommendations for the implementation of an ethical control and reasoning system potentially suitable for constraining lethal actions in an autonomous ...
    • GPS-denied Indoor and Outdoor Monocular Vision Aided Navigation and Control of Unmanned Aircraft 

      Chowdhary, Girish; Johnson, Eric N.; Magree, Daniel; Wu, Allen; Shein, Andy (Georgia Institute of Technology, 2013-05)
      GPS-denied closed-loop autonomous control of unstable Unmanned Aerial Vehicles (UAVs) such as rotorcraft using information from a monocular camera has been an open problem. Most proposed Vision aided Inertial Navigation ...
    • Graceful connections in dynamical systems – an approach to gait transitions in robotics 

      Memon, Abdul Basit (Georgia Institute of Technology, 2014-12-12)
      Gaits have become an integral part of the design method of robots heading to complex terrains. But research into optimal ways to transition between different gaits is still lacking, and is the primary motivation behind ...
    • Grammatical Methods in Computer Vision: An Overview 

      Chanda, Gaurav; Dellaert, Frank (Georgia Institute of Technology, 2004)
      We review various methods and applications that have used grammars for solving inference problems in computer vision and pattern recognition. Grammars have been useful because they are intuitively simple to understand, and ...
    • A granular approach to the automation of bioregenerative life support systems that enhances situation awareness 

      Drayer, Gregorio E.; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-03)
      Bioregenerative life support systems introduce novel challenges for the development of model-based approaches to their control given the varying characteristic of the biological processes that constitute them. Switching ...
    • Granular impact and the critical packing state 

      Umbanhowar, Paul B.; Goldman, Daniel I. (Georgia Institute of TechnologyAmerican Physical Society, 2010-07-15)
      Impact dynamics during collisions of spheres with granular media reveal a pronounced and nontrivial dependence on volume fraction ϕ. Postimpact crater morphology identifies the critical packing state ϕcps, where sheared ...
    • A Granular Multi-Sensor Data Fusion Method for Life Support Systems that Enhances Situation Awareness 

      Drayer, Gregorio E.; Howard, Ayanna M. (Georgia Institute of Technology, 2012-05)
      Slow-changing characteristics of controlled environmental systems and the increasing availability of data from sensors and measurements o er opportunities for the development of computational methods that enhance situation ...
    • A Granular Multi-Sensor Data Fusion Method for Situation Observability in Life Support Systems 

      Drayer, Gregorio E.; Howard, Ayanna M. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2012-07)
      Slow-changing characteristics of controlled environmental systems and the increasing availability of data from sensors and measurements offer opportunities for the development of computational methods to enhance situation ...
    • 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 ...