Browsing Institute for Robotics and Intelligent Machines (IRIM) by Title

Now showing items 804-823 of 1706

    • Joint attention in human-robot interaction 

      Huang, Chien-Ming (Georgia Institute of Technology, 2010-07-07)
      Joint attention, a crucial component in interaction and an important milestone in human development, has drawn a lot of attention from the robotics community recently. Robotics researchers have studied and implemented joint ...

    • Joint Semantic Segmentation and 3D Reconstruction from Monocular Video 

      Kundu, Abhijit; Li, Yin; Dellaert, Frank; Li, Fuxin; Rehg, James M. (Georgia Institute of TechnologySpringer International, 2014-09)
      We present an approach for joint inference of 3D scene structure and semantic labeling for monocular video. Starting with monocular image stream, our framework produces a 3D volumetric semantic + occupancy map, which is ...

    • Just What is a Robot Architecture Anyway? Turing Equivalence versus Organizing Principles 

      Arkin, Ronald C. (Georgia Institute of Technology, 1995)

    • Keyframe-based Learning from Demonstration Method and Evaluation 

      Akgun, Baris; Cakmak, Maya; Jiang, Karl; Thomaz, Andrea L. (Georgia Institute of TechnologySpringer, 2012-06)
      We present a framework for learning skills from novel types of demonstrations that have been shown to be desirable from a human-robot interaction perspective. Our approach –Keyframe-based Learning from Demonstration (KLfD)– ...

    • Kinematic Feasibility Guarantees in Geometric Path Planning Using History-based Transition Costs over Cell Decompositions 

      Cowlagi, Raghvendra V.; Tsiotras, Panagiotis (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-06)
      The hierarchical decomposition of motion planning tasks into geometric path planning, followed by kinodynamic motion planning is useful for designing efficient algorithms, but it entails the possibility of inconsistency ...

    • Kinematics and Inverse Kinematics for the Humanoid Robot HUBO2+ 

      O’Flaherty, Rowland; Vieira, Peter; Grey, Michael; Oh, Paul; Bobick, Aaron F.; Egerstedt, Magnus; Stilman, Mike (Georgia Institute of Technology, 2013)
      This paper derives the forward and inverse kinematics of a humanoid robot. The specific humanoid that the derivation is for is a robot with 27 degrees of freedom but the procedure can be easily applied to other similar ...

    • Kinematics and Verification of a Deboning Device 

      Zhou, Debao; Daley, Wayne; McMurray, Gary (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-08)
      Poultry deboning process is one of the largest employers in the United States and mainly involves human workers due to the unstructured nature of the task. For the automation of this process, a cutting device with the ...

    • Kink-induced transport and segregation in oscillated granular layers 

      Moon, Sung Joon; Goldman, Daniel I.; Swift, J. B.; Swinney, Harry L. (Georgia Institute of TechnologyAmerican Physical Society, 2003-09-26)
      We use experiments and molecular dynamics simulations of vertically oscillated granular layers to study horizontal particle segregation induced by a kink (a boundary between domains oscillating out of phase). Counterrotating ...

    • Knowledge Compilation and Speedup Learning in Continuous Task Domains 

      Ram, Ashwin; Santamaria, Juan Carlos (Georgia Institute of Technology, 1993)
      Many techniques for speedup learning and knowledge compilation focus on the learning and optimization of macro-operators or control rules in task domains that can be characterized using a problem-space search paradigm. ...

    • Knowledge transfer in robot manipulation tasks 

      Huckaby, Jacob O. (Georgia Institute of Technology, 2014-04-08)
      Technology today has progressed to the point that the true potential of robotics is beginning to be realized. However, programming robots to be robust across varied environments and objectives, in a way that is accessible ...

    • Krang Kinematics: A Denavit-Hartenberg Parameterization 

      Erdogan, Can; Zafar, Munzir; Stilman, Mike (Georgia Institute of Technology, 2014)

    • Krang: Center of Mass Estimation 

      Zafar, Munzir; Erdogan, Can; Volle, Kyle; Stilman, Mike (Georgia Institute of Technology, 2014)

    • Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions 

      Carlone, Luca; Rosen, David M.; Calafiore, Giuseppe; Leonard, John J.; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015)
      State-of-the-art techniques for simultaneous localization and mapping (SLAM) employ iterative nonlinear optimization methods to compute an estimate for robot poses. While these techniques often work well in practice, ...

    • A Language for Describing Agent Behavior as Hybrid Models 

      Kannan, Suresh K.; Christmann, Hans Claus; Lee, Seungman; Johnson, Eric N.; Kim, So Y. K (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2009-08)
      Air Traffic conflict detection and resolution (CDR) involves multiple domains, the modeling of physical systems such as aircraft, encoding conflict detection algorithms as well as the procedures(tasks) for conflict ...

    • Laplacian Sheep: A Hybrid, Stop-Go Policy for Leader-Based Containment Control 

      Ferrari-Trecate, G.; Egerstedt, Magnus B.; Buffa, A.; Ji, Meng (Georgia Institute of TechnologyInstitute of Electrical and Electronics EngineersSpringer Verlag, 2006-03)
      The problem of driving a collection of mobile robots to a given target location is studied in the context of partial difference equations. In particular, we are interested in achieving this transfer while ensuring that ...

    • Large Effective-Strain Piezoelectric Actuators Using Nested Cellular Architecture with Exponential Strain Amplification Mechanisms 

      Ueda, Jun; Secord, Thomas W.; Asada, H. Harry (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)
      Design and analysis of piezoelectric actuators having over 20% effective strain using an exponential strain amplification mechanism are presented in this paper. Piezoelectric ceramic material, such as lead zirconate titanate ...

    • Large Effective-Strain Piezoelectric Actuators Using Nested Cellular Architecture with Exponential Strain Amplification Mechanisms 

      Ueda, Jun; Secord, Thomas; Asada, H. Harry (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)
      Design and analysis of piezoelectric actuators having over 20% effective strain using an exponential strain amplification mechanism are presented in this paper. Piezoelectric ceramic material, such as lead zirconate titanate ...

    • Large Scale Experimental Design for Decentralized SLAM 

      Cunningham, Alexander; Dellaert, Frank (Georgia Institute of TechnologySPIE, 2012-05-01)
      This paper presents an analysis of large scale decentralized SLAM under a variety of experimental conditions to illustrate design trade-o s relevant to multi-robot mapping in challenging environments. As a part of ...

    • Large-Scale Dense 3D Reconstruction from Stereo Imagery 

      Alcantarilla, Pablo F.; Beall, Chris; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-11)
      In this paper we propose a novel method for large-scale dense 3D reconstruction from stereo imagery. Assuming that stereo camera calibration and camera motion are known, our method is able to reconstruct accurately dense ...

    • Large-Scale Image Annotation using Visual Synset 

      Tsai, David; Jing, Yushi; Liu, Yi; Rowley, Henry A.; Ioffe, Sergey; Rehg, James M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-11)
      We address the problem of large-scale annotation of web images. Our approach is based on the concept of visual synset, which is an organization of images which are visually-similar and semantically-related. Each ...