Now showing items 662-681 of 1575

    • Improving robot manipulation with data-driven object-centric models of everyday forces 

      Jain, Advait; Kemp, Charles C. (Georgia Institute of TechnologySpringer Verlag, 2013-06)
      Based on a lifetime of experience, people anticipate the forces associated with performing a manipulation task. In contrast, most robots lack common sense about the forces involved in everyday manipulation tasks. In this ...
    • Improving the performance of ANN training with an unsupervised filtering method 

      Remy, Sekou; Park, Chung Hyuk; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-06)
      Learning control strategies from examples has been identified as an important capability for many robotic systems. In this work we show how the learning process can be aided by autonomously filtering the training set ...
    • Improving Uniform Ultimate Bounded Response of Neuroadaptive Control Approaches Using Command Governors 

      Magree, Daniel; Yucelen, Tansel; Johnson, Eric N. (Georgia Institute of Technology, 2013-08)
      In this paper, we develop a command governor-based architecture in order to improve the response of neuroadaptive control approaches. Specifically, a command governor is a linear dynamical system that modifies a given ...
    • IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation 

      Forster, Christian; Carlone, Luca; Dellaert, Frank; Scaramuzza, Davide (Georgia Institute of Technology, 2015)
      Recent results in monocular visual-inertial navigation (VIN) have shown that optimization-based approaches outperform filtering methods in terms of accuracy due to their capability to relinearize past states. However, the ...
    • An In Depth View of Saliency 

      Ciptadi, Arridhana; Hermans, Tucker; Rehg, James M. (Georgia Institute of Technology, 2013-09)
      Visual saliency is a computational process that identifies important locations and structure in the visual field. Most current methods for saliency rely on cues such as color and texture while ignoring depth information, ...
    • In situ interactive teaching of trustworthy robotic assistants 

      Remy, Sekou; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-10)
      In this paper we discuss a method for transferring human knowledge to a robotic platform via teleoperation. The method combines unsupervised clustering and classification with interactive instruction to enable behavior ...
    • In-Hand Radio Frequency Identification (RFID) for Robotic Manipulation 

      Deyle, Travis; Tralie, Christopher J.; Reynolds, Matthew S.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)
      We present a unique multi-antenna RFID reader (a sensor) embedded in a robot's manipulator that is designed to operate with ordinary UHF RFID tags in a short-range, near-field electromagnetic regime. Using specially designed ...
    • Incentive based cooperation in multi-agent auctions 

      Pippin, Charles, E.; Christensen, Henrik I. (Georgia Institute of TechnologyAssociation for the Advancement of Artificial Intelligence, 2012-03)
      Market or auction based algorithms offer effective methods for de-centralized task assignment in multi-agent teams. Typically there is an implicit assumption that agents are willing to cooperate and can be trusted to perform ...
    • Incorporating a Model of Human Panic Behavior for Robotic-Based Emergency Evacuation 

      Robinette, Paul; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-08)
      Evacuating a building in an emergency situation can be very confusing and dangerous. Exit signs are static and thus have no ability to convey information about congestion or danger between the sign and the actual exit door. ...
    • Increasing Motor Learning During Hand Rehabilitation Exercises Through the Use of Adaptive Games: A Pilot Study 

      English, Brittney A.; Howard, Ayanna M. (Georgia Institute of TechnologyAssociation for Computing Machinery, 2015-03)
      Physical therapy is a common treatment for the rehabilitation of hemiparesis, or the weakness of one side of the body [1]. Unfortunately, a recent study found that about one third of stroke patients who are prescribed ...
    • Increasing Super Pop VR™ Users' Intrinsic Motivation by Improving the Game's Aesthetics 

      García-Vergara, Sergio; Li, Hongfei; Howard, Ayanna M. (Georgia Institute of TechnologySpringer International, 2015-08)
      During physical therapy intervention protocols, it's important to consider the individual's intrinsic motivation to perform in-home recommended exercises. Physical therapy exercises can become tedious thus limiting the ...
    • Incremental Distributed Robust Inference from Arbitrary Robot Poses via EM and Model Selection 

      Indelman, Vadim; Michael, Nathan; Dellaert, Frank (Georgia Institute of Technology, 2014-07)
      We present a novel approach for multi-robot distributed and incremental inference over variables of interest, such as robot trajectories, considering the initial relative poses between the robots and multi-robot data ...
    • Incremental Light Bundle Adjustment 

      Indelman, Vadim; Roberts, Richard; Beall, Chris; Dellaert, Frank (Georgia Institute of Technology, 2012-09)
      Fast and reliable bundle adjustment is essential in many applications such as mobile vision, augmented reality, and robotics. Two recent ideas to reduce the associated computational cost are structure-less SFM (structure ...
    • Incremental Light Bundle Adjustment for Robotics Navigation 

      Indelman, Vadim; Melim, Andrew; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-11)
      This paper presents a new computationally-efficient method for vision-aided navigation (VAN) in autonomous robotic applications. While many VAN approaches are capable of processing incoming visual observations, incorporating ...
    • Incremental Light Bundle Adjustment for Structure From Motion and Robotics 

      Indelman, Vadim; Roberts, Richard; Dellaert, Frank (Georgia Institute of TechnologyElsevier B.V., 2015)
      Bundle adjustment (BA) is essential in many robotics and structure-from-motion applications. In robotics, often a bundle adjustment solution is desired to be available incrementally as new poses and 3D points are observed. ...
    • Incremental Replanning for Mapping 

      Koenig, Sven; Likhachev, Maxim (Georgia Institute of Technology, 2002)
      Incremental heuristic search methods can often replan paths much faster than incremental or heuristic search methods individually, yet are simple to use. So far, they have only been used in mobile robotics to move a ...
    • Incremental smoothing and mapping 

      Kaess, Michael (Georgia Institute of Technology, 2008-11-17)
      Incremental smoothing and mapping (iSAM) is presented, a novel approach to the simultaneous localization and mapping (SLAM) problem. SLAM is the problem of estimating an observer's position from local measurements only, ...
    • Incremental Sparse GP Regression for Continuous-time Trajectory Estimation & Mapping 

      Yan, Xinyan; Indelman, Vadim; Boots, Byron (Georgia Institute of Technology, 2015-09)
      Recent work on simultaneous trajectory estimation and mapping (STEAM) for mobile robots has found success by representing the trajectory as a Gaussian process. Gaussian processes can represent a continuous-time trajectory, ...
    • Incremental Sparse GP Regression for Continuous-time Trajectory Estimation & Mapping 

      Yan, Xinyan; Indelman, Vadim; Boots, Byron (Georgia Institute of Technology, 2015-07)
      Recent work on simultaneous trajectory estimation and mapping (STEAM) for mobile robots has found success by representing the trajectory as a Gaussian process. Gaussian processes can represent a ...
    • Incremental Sparse GP Regression for Continuous-time Trajectory Estimation & Mapping 

      Yan, Xinyan; Indelman, Vadim; Boots, Byron (Georgia Institute of Technology, 2014-12)
      Recent work has investigated the problem of continuous-time trajectory estimation and mapping for mobile robots by formulating the problem as sparse Gaussian process regression. Gaussian processes provide a continuous-time ...