Now showing items 803-822 of 1574

    • Learning to Recognize Daily Actions using Gaze 

      Fathi, Alireza; Li, Yin; Rehg, James M. (Georgia Institute of Technology, 2012-10)
      We present a probabilistic generative model for simultaneously recognizing daily actions and predicting gaze locations in videos recorded from an egocentric camera. We focus on activities requiring eye-hand coordination ...
    • Learning to Recognize Objects in Egocentric Activities 

      Fathi, Alireza; Ren, Xiaofeng; Rehg, James M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      This paper addresses the problem of learning object models from egocentric video of household activities, using extremely weak supervision. For each activity sequence, we know only the names of the objects which are ...
    • Learning to Role-Switch in Multi-Robot Systems 

      Arkin, Ronald C.; Martinson, Eric (Georgia Institute of Technology, 2003)
      We present an approach that uses Q-learning on individual robotic agents, for coordinating a mission-tasked team of robots in a complex scenario. To reduce the size of the state space, actions are grouped into sets ...
    • Learning Visibility of Landmarks for Vision-Based Localization 

      Alcantarilla, Pablo F.; Oh, Sang Min; Mariottini, Gian Luca; Bergasa, Luis M.; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010)
      We aim to perform robust and fast vision-based localization using a pre-existing large map of the scene. A key step in localization is associating the features extracted from the image with the map elements at the current ...
    • Lek Behavior as a Model for Multi-Robot Systems 

      Duncan, Brittany A.; Ulam, Patrick D.; Arkin, Ronald C. (Georgia Institute of Technology, 2009-01-01)
      Lek behavior is a biological mechanism used by male birds to attract mates by forming a group. This project explores the use of a biological behavior found in many species of birds to form leks to guide the creation of ...
    • Less Is More: Mixed Initiative Model Predictive Control with Human Inputs 

      Chipalkatty, Rahul; Droge, Greg; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-06)
      This paper presents a new method for injecting human inputs into mixed-initiative interactions between humans and robots. The method is based on a model-predictive control (MPC) formulation, which inevitably involves ...
    • Lethal Autonomous Systems and the Plight of the Non-combatant 

      Arkin, Ronald C. (Georgia Institute of Technology, 2013)
    • Lethality and Autonomous Robots: An Ethical Stance 

      Arkin, Ronald C.; Moshkina, Lilia (Georgia Institute of Technology, 2007)
      This paper addresses a difficult issue confronting the designers of intelligent robotic systems: their potential use of lethality in warfare. As part of an ARO-funded study, we are currently investigating the points of ...
    • Lethality and Autonomous Systems: The Roboticist Demographic 

      Moshkina, Lilia; Arkin, Ronald C. (Georgia Institute of Technology, 2008)
      This paper reports the methods and results of an on-line survey addressing the issues surrounding lethality and autonomous systems that was conducted as part of a research project for the U.S. Army Research Office. ...
    • Leveraging Context to Support Automated Food Recognition in Restaurants 

      Bettadapura, Vinay; Thomaz, Edison; Parnam, Aman; Abowd, Gregory D.; Essa, Irfan (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-01)
      The pervasiveness of mobile cameras has resulted in a dramatic increase in food photos, which are pictures re- flecting what people eat. In this paper, we study how tak- ing pictures of what we eat in restaurants ...
    • Leveraging distribution and heterogeneity in robot systems architecture 

      O'Hara, Keith Joseph (Georgia Institute of Technology, 2011-08-03)
      Like computer architects, robot designers must address multiple, possibly competing, requirements by balancing trade-offs in terms of processing, memory, communication, and energy to satisfy design objectives. However, ...
    • Life-long mapping of objects and places in domestic environments 

      Rogers, John Gilbert (Georgia Institute of Technology, 2013-01-10)
      In the future, robots will expand from industrial and research applications to the home. Domestic service robots will work in the home to perform useful tasks such as object retrieval, cleaning, organization, and security. ...
    • Lift-off dynamics in a simple jumping robot 

      Aguilar, Jeffrey; Lesov, Alex; Wiesenfeld, Kurt; Goldman, Daniel I. (Georgia Institute of TechnologyAmerican Physical Society, 2012-10-26)
      We study vertical jumping in a simple robot comprising an actuated mass-spring arrangement. The actuator frequency and phase are systematically varied to find optimal performance. Optimal jumps occur above and below (but ...
    • Line-Based Structure From Motion for Urban Environments 

      Schindler, Grant; Krishnamurthy, Panchapagesan; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-06)
      We present a novel method for recovering the 3D-line structure of a scene from multiple widely separated views. Traditional optimization-based approaches to line-based structure from motion minimize the error between ...
    • Line-of-Sight Constrained Exploration for Reactive Multiagent Robotic Teams 

      Arkin, Ronald C.; Diaz, Jonathan (Georgia Institute of Technology, 2001)
      In this paper we investigate how a team of robotic agents can self-organize for the exploration of a building subject to the constraint of maintaining line-of-sight communications. Three different behavioral strategies ...
    • Linear 2D Localization and Mapping for Single and Multiple Robot Scenarios 

      Dellaert, Frank; Stroupe, Ashley W. (Georgia Institute of Technology, 2002)
      We show how to recover 2D structure and motion linearly in order to initialize Simultaneous Mapping and Localization (SLAM) for bearings-only measurements and planar motion. The method supplies a good initial estimate ...
    • A linear dynamic model for flexible robotic manipulators 

      Hastings, Gordon Greene; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1987-02)
      The design of lightweight links for robotic manipulators results in flexible links. Accurate control of lightweight manipulators during the large changes in configuration common to robotic tasks requires dynamic models ...
    • Linear-Time Estimation with Tree Assumed Density Filtering and Low-Rank Approximation 

      Ta, Duy-Nguyen; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-09)
      We present two fast and memory-efficient approximate estimation methods, targeting obstacle avoidance applications on small robot platforms. Our methods avoid a main bottleneck of traditional ...
    • Linguistic Composition of Semantic Maps and Hybrid Controllers 

      Dantam, Neil; Nieto-Granda, Carlos; Christensen, Henrik I.; Stilman, Mike (Georgia Institute of Technology, 2012-06)
      This work combines semantic maps with hybrid control models, generating a direct link between action and environment models to produce a control policy for mobile manipulation in unstructured environments. First, we ...
    • Linguistic Composition of Semantic Maps and Hybrid Controllers. Experimental Robotics 

      Dantam, Neil; Nieto-Granda, Carlos; Christensen, Henrik I.; Stilman, Mike (Georgia Institute of TechnologySpringer Verlag, 2012-06)
      This work combines semantic maps with hybrid control models, generating a direct link between action and environment models to produce a control policy for mobile manipulation in unstructured environments. First, we generate ...