Now showing items 616-635 of 1574

    • Hierarchical Assembly of Leader-Asymmetric, Single-Leader Networks 

      Abbas, Waseem; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      The connection between leader-asymmetry and controllability in controlled agreement networks provides a topological, necessary condition for controllability. In this paper we investigate how to produce hierarchical networks ...
    • Hierarchical Containment Control in Heterogeneous Mobile Networks 

      Ji, Meng; Egerstedt, Magnus B.; Ferrari-Trecate, G.; Buffa, A. (Georgia Institute of TechnologyMathematical Theory of Networks and Systems, 2006-07)
      In this paper, the multi-agent containment problem is investigated. In particular, we focus our efforts on a continuation of our previous work on leader-follower networks, by imposing a hierarchical structure on the network ...
    • Hierarchical Decision Theoretic Planning for Navigation Among Movable Obstacles 

      Levihn, Martin; Scholz, Jonathan; Stilman, Mike (Georgia Institute of Technology, 2012-06)
      In this paper we present the first decision theoretic planner for the problem of Navigation Among Movable Obstacles (NAMO). While efficient planners for NAMO exist, they are challenging to implement in practice due to ...
    • Hierarchical motion planning for autonomous aerial and terrestrial vehicles 

      Cowlagi, Raghvendra V. (Georgia Institute of Technology, 2011-05-03)
      Autonomous mobile robots - both aerial and terrestrial vehicles - have gained immense importance due to the broad spectrum of their potential military and civilian applications. One of the indispensable requirements for ...
    • Hierarchical motion planning with kinodynamic feasibility guarantees: Local trajectory planning via model predictive control 

      Cowlagi, Raghvendra V.; Tsiotras, Panagiotis (Georgia Institute of Technology, 2012-05)
      Motion planners for autonomous vehicles often involve a two-level hierarchical structure consisting of a high-level, discrete planner and a low-level trajectory generation scheme. To ensure compatibility between these two ...
    • A Hierarchical On-Line Path-Planning Scheme Using Wavelets 

      Tsiotras, Panagiotis; Bakolas, Efstathios (Georgia Institute of Technology, 2007-07)
      We present an algorithm for solving the shortest (collision-free) path planning problem for an agent (e.g., wheeled vehicle, UAV) operating in a partially known environment. The agent has detailed knowledge of ...
    • A Hierarchical Strategy for Learning of Robot Walking Strategies in Natural Terrain Environments 

      Howard, Ayanna M.; Parker, Lonnie T. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-10)
      In this paper, we present a hierarchical methodology that learns new walking gaits autonomously while operating in an uncharted environment, such as on the Mars planetary surface or in the remote Antarctica environment. ...
    • A Hierarchical Wavelet Decomposition for Continuous-Time SLAM 

      Anderson, Sean; Dellaert, Frank; Barfoot, Timothy D. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014)
      This paper proposes using hierarchical wavelets as a basis in parametric continuous-time batch estimation. The need for a continuous-time robot pose in the simultaneous localization and mapping (SLAM) problem has arisen ...
    • High Performance Nap-of-the-Earth Unmanned Helicopter Flight 

      Johnson, Eric N.; Mooney, John G.; Ong, Chester; Sahasrabudhe, Vineet; Hartman, Jonathan (Georgia Institute of Technology, 2011)
      This paper describes recent results from a partnership between the Sikorsky Aircraft Corporation and the Georgia Institute of Technology to develop, improve, and flight test a sensor, guidance, navigation, control, and ...
    • Homotopic Path Planning on Manifolds for Cabled Mobile Robots 

      Igarashi, Takeo; Stilman, Mike (Georgia Institute of Technology, 2010)
      We present two path planning algorithms for mobile robots that are connected by cable to a fixed base. Our algorithms efficiently compute the shortest path and control strategy that lead the robot to the target location ...
    • Horizon Line Estimation In Glacial Environments Using Multiple Visual Cues 

      Williams, Stephen; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-05)
      While the arctic possesses significant information of scientific value, surprisingly little work has focused on developing robotic systems to collect this data. For arctic robotic data collection to be a viable solution, ...
    • Housewives or technophiles?: understanding domestic robot owners 

      Sung, Ja-Young; Grinter, Rebecca E.; Christensen, Henrik; Guo, Lan (Georgia Institute of TechnologyAssociation for Computing Machinery, 2008-03)
      Despite the growing body of Human-Robot Interaction (HRI) research focused on domestic robots, surprisingly little is known about the demographic profile of robot owners and their influence on usage patterns. In this paper, ...
    • How A.I. and multi-robot systems research will accelerate our understanding of social animal behavior 

      Balch, Tucker; Dellaert, Frank; Feldman, Adam; Guillory, Andrew; Isbell, Charles; Khan, Zia; Pratt, Stephen; Stein, Andrew; Wilde, Hank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-07)
      Our understanding of social insect behavior has significantly influenced A.I. and multi-robot systems’ research (e.g. ant algorithms and swarm robotics). In this work, however, we focus on the opposite question, namely: ...
    • How Should a Robot Perceive the World? 

      Saxena, Ashutosh (Georgia Institute of Technology, 2012-11-28)
      In order for a robot to perform tasks in the human environments, it first needs to figure out "what" to perceive. While for some robotic tasks (such as an object finding robot) this is relatively straightforward (e.g., ...
    • Human Perspective on Affective Robotic Behavior: A Longitudinal Study 

      Arkin, Ronald C.; Moshkina, Lilia (Georgia Institute of Technology, 2004)
      Humans are inherently social creatures, and affect plays no small role in their social nature. We use our emotional expressions to communicate our internal state, our moods assist or hinder our interactions on a daily ...
    • Human-Centered Principles and Methods for Designing Robotic Technologies 

      Mutlu, Bilge (2014-11-05)
      The emergence of robotic products that serve as automated tools, assistants, and collaborators promises tremendous benefits across a range of everyday settings from the home to manufacturing facilities. While these ...
    • Human-Expert Data Aggregation for Situation-Based Automation of Regenerative Life Support Systems 

      Drayer, Gregorio E.; Howard, Ayanna M. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2012-07)
      Regenerative life support systems (RLSS) introduce novel challenges for the development of automation systems given the emerging behaviors that result from incremental system closure. Switching control paradigms offer the ...
    • Human-in-the-loop control for cooperative human-robot tasks 

      Chipalkatty, Rahul (Georgia Institute of Technology, 2012-03-29)
      Even with the advance of autonomous robotics and automation, many automated tasks still require human intervention or guidance to mediate uncertainties in the environment or to execute the complexities of a task that ...
    • Human-in-the-Loop: Terminal Constraint Receding Horizon Control with Human Inputs 

      Chipalkatty, Rahul; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-05)
      This paper presents a control theoretic formulation and optimal control solution for integrating human control inputs subject to linear state constraints. The formulation utilizes a receding horizon optimal controller ...
    • Human-like Action Segmentation for Option Learning 

      Shim, Jaeeun; Thomaz, Andrea L. (Georgia Institute of TechnologyInstitute of Electrical & Electronics Engineers, 2011)
      Robots learning interactively with a human partner has several open questions, one of which is increasing the efficiency of learning. One approach to this problem in the Reinforcement Learning domain is to use options, ...