Now showing items 616-635 of 1540

    • 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, ...
    • Human-Robot Interaction Studies for Autonomous Mobile Manipulation for the Motor Impaired 

      Choi, Young Sang; Anderson, Cressel D.; Deyle, Travis; Kemp, Charles C. (Georgia Institute of TechnologyAAAI Press, 2009-03)
      We are developing an autonomous mobile assistive robot named El-E to help individuals with severe motor impairments by performing various object manipulation tasks such as fetching, transporting, placing, and delivering. ...
    • A Human-Robot Mentor-Protégé Relationship to Learn Off-Road Navigation Behavior 

      Howard, Ayanna M.; Werger, Barry; Seraji, Homayoun (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2005-10)
      In this paper, we present an approach to transfer human expertise for learning off-road navigation behavior to an autonomous mobile robot. The methodology uses the concept of humanized intelligence to combine principal ...
    • Humanoid HRP2-DHRC for Autonomous and Interactive Behavior 

      Kagami, Satoshi; Nishiwaki, K.; Kuffner, James; Thompson, S.; Chestnutt, J.; Stilman, Mike; Michel, P. (Georgia Institute of TechnologySpringer Berlin / Heidelberg, 2007)
      Recently, research on humanoid-type robots has become increasingly active, and a broad array of fundamental issues are under investigation. However, in order to achieve a humanoid robot which can operate in human environments, ...
    • Humanoid Robot Teleoperation for Tasks with Power Tools 

      O’Flaherty, Rowland; Vieira, Peter; Grey, M. X.; Oh, Paul; Bobick, Aaron; Egerstedt, Magnus B.; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-04)
      This paper presents the implementation of inverse kinematics to achieve teleoperation of a physical humanoid robot platform. The humanoid platform will be used to compete in the DARPA Robot Challenge, which requires ...
    • Humanoid Robot Teleoperation for Tasks with Power Tools 

      O'Flaherty, Rowland; Viera, Peter; Grey, M. X.; Oh, Paul; Bobick, Aaron F.; Egerstedt, Magnus B.; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-04)
      This paper presents the implementation of inverse kinematics to achieve teleoperation of a physical humanoid robot platform. The humanoid platform will be used to compete in the DARPA Robot Challenge, which requires ...
    • Humanoid Teleoperation for Whole Body Manipulation 

      Stilman, Mike; Nishiwaki, Koichi; Kagami, Satoshi (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-05)
      We present results of successful telemanipulation of large, heavy objects by a humanoid robot. Using a single joystick the operator controls walking and whole body manipulation along arbitrary paths for up to ten minutes ...
    • Humanoids of the Future 

      Sentis, Luis (2015-03-25)
      As the world’s population lives longer, human-centered robotics emerges as a solution for the assistance, augmentation, and representation of humans to their comfort, productivity, and health. In this context, the Human ...
    • A Hybrid Control Approach to Action Coordination for Mobile Robots 

      Egerstedt, Magnus B.; Hu, Xiaoming; Stotsky, A. (Georgia Institute of Technology, 1999-07)
      In this paper, the problem of how to integrate different robotic actions, within a behavior-based framework, is investigated. The case we study is the obstacle negotiation problem, and our approach is based on planned on ...
    • A Hybrid Control Approach to Action Coordination for Mobile Robots 

      Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyElsevier, 2002-01)
      In this paper, the problem concerning how to coordinate the contributions from concurrent controllers, when controlling mobile robots, is investigated. It is shown how a behavior based control system for autonomous robots ...
    • A Hybrid Control Architecture for Mobile Manipulation 

      Petersson, L.; Egerstedt, Magnus B.; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1999-10)
      We present a scheme for mobile manipulation by introducing a mobile manipulation control architecture (MMCA). This architecture is motivated by a need for a systematic control structure for robotic manipulation within a ...
    • Hybrid Control of Flexible Manipulators with Multiple Contacts 

      Lew, Jae Young; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1993-05)
      A hybrid position/force controller is proposed for flexible link manipulators that make contact with the environment at more than one point. The dynamic equations of the motion with multiple contact constraints are derived. ...
    • Hybrid control of multiple autonomous mobile robots 

      Axelsson, Henrik (Georgia Institute of Technology, 2003-05)
    • A Hybrid Systems and Optimization-Based Control Approach to Realizing Multi-Contact Locomotion on Transfemoral Prostheses 

      Zhao, Huihua; Horn, Jonathan; Reher, Jacob; Paredes, Victor; Ames, Aaron D. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015)
      This paper presents a systematic methodology utilizing multi-domain hybrid system models and optimization based controllers to achieve human-like multi-contact prosthetic walking experimentally on a custom-built prosthesis: ...
    • Hybrid Systems Tools for Compiling Controllers for Cyber-Physical Systems 

      Martin, Patrick; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer, 2011-09-15)
      In this paper, we consider the problem of going from high-level specifications of complex control tasks for cyber-physical systems to their actual implementation and execution on physical devices. This transition between ...
    • A Hybrid, Multi-Agent Model of Foraging Bottlenose Dolphins 

      Haque, Musad A.; Rahmani, Amir R.; Egerstedt, Magnus B. (Georgia Institute of TechnologyElsevierThe International Federation of Automatic Control, 2009-09)
      Social behavior of animals can offer solution models for missions involving a large number of heterogeneous vehicles, such as light combat ships, unmanned aerial vehicles, and unmanned underwater vehicles. We draw ...
    • HyperSfM 

      Ni, Kai; Dellaert, Frank (Georgia Institute of Technology, 2012-10)
      We propose a novel algorithm that solves the Structure from Motion problem in a divide and conquer manner by exploiting its bipartite graph structure. Recursive partitioning has a rich history, stemming from sparse ...
    • The iceberg observation problem: using multiple agents to monitor and observe ablating target sources 

      Coogle, Richard A.; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-10)
      Ships that operate in polar regions continue to face the threat of floating ice sheets and icebergs generated from an ice ablation process. Systems have been implemented to track these threats, with varying degrees of ...
    • An ILS Inspired Approach and Departure System Utilizing Monocular Vision 

      Christmann, Hans Claus; Johnson, Eric N. (Georgia Institute of Technology, 2009-07)
      This paper introduces a simple system to provide relative position between a base unit and an active unit. The proposed system is directional and allows the active unit to approach or depart from the base unit along a ...