Browsing Institute for Robotics and Intelligent Machines (IRIM) by Title
Now showing items 1385-1404 of 1706
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Safe Autonomy from Run-Time Assurance
(Georgia Institute of Technology, 2021-08-25) -
Safe Autonomy from Run-Time Assurance
(Georgia Institute of Technology, 2022-08-24)IRIM hosts each semester a symposium to feature presentations from faculty and presentations of research that has been funded by our IRIM seed grant program in the last year. The symposium is a chance for faculty to meet ... -
Safe Legged Locomotion, Navigation, and Coordination: How to Make Interactive Decisions in Dynamically-Changing Environments
(Georgia Institute of Technology, 2022-08-24)IRIM hosts each semester a symposium to feature presentations from faculty and presentations of research that has been funded by our IRIM seed grant program in the last year. The symposium is a chance for faculty to meet ... -
Safe Navigation on Hazardous Terrain
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-05)This paper presents a new strategy for autonomous navigation of field mobile robots on hazardous natural terrain using a fuzzy logic approach and a measure of terrain traversability. The navigation strategy comprises three ... -
Safe, Active, and Online Robot Learning
(Georgia Institute of Technology, 202-08-24)IRIM hosts each semester a symposium to feature presentations from faculty and presentations of research that has been funded by our IRIM seed grant program in the last year. The symposium is a chance for faculty to meet ... -
Safe, Secure, and Stable Motion Control of Telemanipulators
(Georgia Institute of Technology, 2021-08-25) -
Safety Barrier Certificates for Heterogeneous Multi-Robot Systems
(Georgia Institute of Technology, 2016-07)This paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We build this framework through the use ... -
Safety of Autonomous Systems: Challenges in Coordination, Consistency, and Integration
(Georgia Institute of Technology, 2019-04-10)Recent issues with the Boeing 737-MAX point to challenges in software engineering and the algorithms that the software must implement. However, the 737-MAX is a microcosm of several other problems that continue to arise ... -
Saliency Detection and Model-based Tracking: a Two Part Vision System for Small Robot Navigation in Forested Environments
(Georgia Institute of TechnologySPIE, 2012-05-01)Towards the goal of fast, vision-based autonomous flight, localization, and map building to support local planning and control in unstructured outdoor environments, we present a method for incrementally building a map of ... -
A Sample of Monte Carlo Methods in Robotics and Vision
(Georgia Institute of TechnologyThe Institute of Statistical Mathematics (ISM), 2003-12)Approximate inference by sampling from an appropriately constructed posterior has recently seen a dramatic increase in popularity in both the robotics and computer vision community. In this paper, I will describe a number ... -
Sampling Heuristics for Optimal Motion Planning in High Dimensions
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-09)We present a sampling-based motion planner that improves the performance of the probabilistically optimal RRT* planning algorithm. Experiments demonstrate that our planner finds a fast initial path and decreases the ... -
Scalable online decentralized smoothing and mapping
(Georgia Institute of Technology, 2014-04-04)Many applications for field robots can benefit from large numbers of robots, especially applications where the objective is for the robots to cover or explore a region. A key enabling technology for robust autonomy in these ... -
Scaling and Dynamics of Sphere and Disk Impact into Granular Media
(Georgia Institute of TechnologyAmerican Physical Society, 2008-02-29)Direct measurements of the acceleration of spheres and disks impacting granular media reveal simple power law scalings along with complex dynamics which bear the signatures of both fluid and solid behavior. The penetration ... -
Scaling the Size of a Multiagent Formation via Distributed Feedback
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-12)We consider a multiagent coordination problem where the objective is to steer a group of agents into a formation that translates along a predefined trajectory velocity. Unlike previous control strategies that require a ... -
Science-centric sampling approaches of geo-physical environments for realistic robot navigation
(Georgia Institute of Technology, 2012-06-20)The objective of this research effort is to provide a methodology for assessing the effectiveness of sampling techniques used to gather different types of geo-physical information by a robotic agent. We focus on assessing ... -
Secondary Action in Robot Motion
(Georgia Institute of TechnologyInstitute of Electrical & Electronics Engineers, 2010)Secondary action, a concept borrowed from character animation, improves the animation realism by augmenting natural, passive motion to primary action. We use dynamic simulation to induce three techniques of secondary motion ... -
The Secrets of Salient Object Segmentation
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-06)In this paper we provide an extensive evaluation of fixation prediction and salient object segmentation algorithms as well as statistics of major datasets. Our analysis identifies serious design flaws of existing salient ... -
Securing Multiagent Systems Against a Sequence of Intruder Attacks
(Georgia Institute of Technology, 2012-06)In this paper, we discuss the issue of security in multiagent systems in the context of their underlying graph structure that models the interconnections among agents. In particular, we investigate the minimum number of ... -
Security for Control in Intelligence Cyber-Physical Systems
(Georgia Institute of Technology, 2022-08-24)IRIM hosts each semester a symposium to feature presentations from faculty and presentations of research that has been funded by our IRIM seed grant program in the last year. The symposium is a chance for faculty to meet ... -
Segmental Switching Linear Dynamic Systems
(Georgia Institute of Technology, 2005)We introduce Segmental Switching Linear Dynamic Systems (S-SLDS), which improve on standard SLDSs by explicitly incorporating duration modeling capabilities. We show that S-SLDSs can adopt arbitrary finite-sized duration ...