Now showing items 1-20 of 392

    • 3-D Simulations for Testing and Validating Robotic-Driven Applications for Exploring Lunar Pole 

      Williams, Stephen; Remy, Sekou; Howard, Ayanna (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2009-04)
    • 3D Dynamic Walking with Underactuated Humanoid Robots: A Direct Collocation Framework for Optimizing Hybrid Zero Dynamics 

      Hereid, Ayonga; Cousineau, Eric A.; Hubick, Christian M.; Ames, Aaron D. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-05)
      Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic and underactuated bipedal walking, but has significant implementation difficulties when applied to the high degrees of ...
    • A 3D Virtual Environment for Exploratory Learning in Mobile Robot Control 

      Howard, Ayanna M.; Paul, Wesley (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2005-10)
      This paper discusses a virtual environment that enables human agents to develop the skills necessary to control a mobile robot through the implementation of exploratory learning practices. The interface connects the human ...
    • Adapting Human Leadership Approaches for Role Allocation in Human-Robot Navigation Scenarios 

      Howard, Ayanna M.; Cruz, Gerardo (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-07)
      In this paper, we propose to examine the practices of leadership defined in human relationships and model their use in maximizing performance for human-robot interaction scenarios. This process involves first defining the ...
    • Adaptive Robot Navigation Protocol for Estimating Variable Terrain Elevation Data 

      Parker, Lonnie T.; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-10)
      Efficiently measuring environmental phenomena (e.g., elevation, chemical composition, and mineral density) is a task typically reserved for the geoscience community. Recent robotic systems with the potential for addressing ...
    • An Adaptive Robotic Tablet Gaming System for Post-Stroke Hand Function Rehabilitation 

      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. Stroke is a common cause of hemiparesis. Stroke survivors regularly struggle with motivation and ...
    • Adaptive Time Horizon Optimization in Model Predictive Control 

      Droge, Greg; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      Whenever the control task involves the tracking of a reference signal the performance is typically improved if one knows the future behavior of this reference. However in many applications this is typically not the case ...
    • Air Traffic Maximization for the Terminal Phase of Flight Under FAA's NextGen Framework 

      Chipalkatty, Rahul; Rahmani, Amir R.; Egerstedt, Magnus B.; Young, R.; Twu, Philip Y. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)
      The NextGen program is the FAA's response to the ever increasing air traffic, that provides tools to increase the capacity of national airspace, while ensuring the safety of aircraft. In support of this vision, this paper ...
    • Algorithm for Optimal Mode Scheduling in Switched Systems 

      Wardi, Yorai; Egerstedt, Magnus B. (Georgia Institute of Technology, 2012-06)
      This paper considers the problem of computing the schedule of modes in an autonomous switched dynamical system, that minimizes a cost functional defined on the trajectory of the system’s continuous state variable. It ...
    • Altering UAV Flight Path by Threatening Collision 

      Pierpaoli, Pietro; Egerstedt, Magnus M. B.; Rahmani, Amir (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-09)
      The ongoing transformation of air traffic control towards decentralized decision making based on ADS-B information shared by neighboring traffic will allow all aircraft and UAS in particular, to automatically detect ...
    • An Analytical Model of the CAN Bus for Online Schedulability Test 

      Shi, Zhenwu; Zhang, Fumin (Georgia Institute of Technology, 2012-12-04)
      Controller area network (CAN) is a prioritybased bus that supports real-time communication. Existing schedulability analysis for the CAN bus is peformed at the design stage, by assuming that all message information ...
    • Analyzing Human-Swarm Interactions Using Control Lyapunov Functions and Optimal Control. 

      de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of TechnologyAmerican Institute of Mathematical Sciences, 2015-09)
      A number of different interaction modalities have been proposed for human engagement with networked systems. In this paper, we establish formal guarantees for whether or not a given such human-swarm interaction (HSI) ...
    • Anticipation in Robot Motion 

      Gielniak, Michael J.; Thomaz, Andrea L. (Georgia Institute of TechnologyInstitute of Electrical & Electronics Engineers, 2011)
      Robots that display anticipatory motion provide their human partners with greater time to respond in interactive tasks because human partners are aware of robot intent earlier. We create anticipatory motion autonomously ...
    • Application of Fuzzy Logic in Sunsensor Data Interpretation 

      Mobasser, Sohrab; Liebe, Carl Christian; Howard, Ayanna (Georgia Institute of TechnologyAssumption University (Bangkok), 2001-11)
    • Applying gaming principles to virtual environments for upper extremity therapy games 

      Nixon, Mason; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-10)
      Home-based care modalities may yield many advantages in therapy and rehabilitation. Virtual systems for rehabilitation are an emerging technology that may be used to enhance the effectiveness of home-based care while ...
    • Approximate Manipulability of Leader-Follower Networks 

      Kawashima, Hiroaki; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-12)
      We introduce the notion of manipulability to leader-follower networks as a tool to analyze how effective inputs injected at a leader node are in terms of their impact on the movements of the follower nodes, as a function ...
    • Assessment of Engagement for Intelligent Educational Agents: A Pilot Study with Middle School Students 

      Brown, LaVonda; Howard, Ayanna M. (Georgia Institute of TechnologyAmerican Society for Engineering Education, 2014)
      Adaptive learning is an educational method that utilizes computers as an interactive teaching device. Intelligent tutoring systems, or educational agents, use adaptive learning techniques to adapt to each student’s ...
    • Assessment of Robot Guidance Modalities Conveying Instructions to Humans in Emergency Situations 

      Robinette, Paul; Wagner, Alan R.; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-08)
      Motivated by the desire to mitigate human casualties in emergency situations, this paper explores various guidance modalities provided by a robotic platform for instructing humans to safely evacuate during an emergency. ...
    • Assistive Formation Maintenance for Human-Led Multi-Robot Systems 

      Parker, Lonnie T.; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-10)
      In ground-based military maneuvers, group formations require flexibility when traversing from one point to the next. For a human-led team of semi-autonomous agents, a certain level of awareness demonstrated by the agents ...
    • Automatic Deployment and Formation Control of Decentralized Multi-Agent Networks 

      Smith, Brian Stephen; Egerstedt, Magnus B.; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-05)
      Novel tools are needed to deploy multi-agent networks in applications that require a high degree of accuracy in the achievement and maintenance of geometric formations. This is the case when deploying distributed sensing ...