Now showing items 1-15 of 15

    • Buzz, An Instantiation of a Schema-Based Reactive Robotic System 

      Arkin, Ronald C.; Balch, Tucker; Collins, Thomas Riley; Henshaw, Andrew M.; MacKenzie, Douglas Christopher; Nitz, Elizabeth; Rodriguez, David; Ward, Keith Ronald (Georgia Institute of Technology, 1993)
      The Georgia Tech entry to the AAAI Mobile Robot Competition, a schema-based reactive robotic system, is described. New developments are presented including the introduction of two novel behaviors probe and avoid-past, ...
    • Case-Based Reactive Navigation: A Cased Based Method for On-Line Selection and Adaptation of Reactive Control Parameters in Autonomous Robotics Systems 

      Ram, Ashwin; Arkin, Ronald C.; Clark, Russell J.; Moorman, Kenneth (Georgia Institute of Technology, 1992)
      This article presents a new line of research investigating on-line learning mechanisms for autonomous intelligent agents. We discuss a case-based method for dynamic selection and modification of behavior assemblages for a ...
    • Combining Deliberation, Reactivity, and Motivation in the Context of a Behavior-Based Robot Architecture 

      Arkin, Ronald C.; Stoytchev, Alexander (Georgia Institute of Technology, 2000)
      This paper describes a hybrid mobile robot architecture that addresses three main challenges for robots living in human-inhabited environments: how to operate in dynamic and unpredictable environment, how to deal ...
    • Integrated Control for Mobile Manipulation for Intelligent Materials Handling 

      Arkin, Ronald C.; Arya, S.; Book, Wayne John; Cameron, Jonathan M.; Gardner, Warren F.; Lawton, Daryl T.; MacKenzie, Douglas Christopher; Ramanathan, V.; Son, C.; Vachtsevanos, George J.; Ward, Keith Ronald (Georgia Institute of Technology, 1992)
      An integrated control system architecture for mobile manipulators is presented. This architecture incorporates a hybrid reactive/hierarchical structure and partitions the task into macro- and micro-manipulation components. ...
    • Learning Momentum: On-Line Performance Enhancement for Reactive Systems 

      Arkin, Ronald C.; Clark, Russell J.; Ram, Ashwin (Georgia Institute of Technology, 1992)
      We describe a reactive robotic control system which incorporates aspects of machine learning to improve the system's ability to successfully navigate in unfamiliar environments. This system overcomes limitations of completely ...
    • Learning of Parameter-Adaptive Reactive Controllers for Robotic Navigation 

      Ramesh, Ashwin; Santamaria, Juan Carlos (Georgia Institute of Technology, 1997)
      Reactive controllers are widely used in mobile robots because they are able to achieve successful performance in real-time. However, the configuration of a reactive controller depends highly on the operating conditions of ...
    • The Learning of Reactive Control Parameters Through Genetic Algorithms 

      Arkin, Ronald C.; Pearce, Michael; Ram, Ashwin (Georgia Institute of Technology, 1992)
      This paper explores the application of genetic algorithms to the learning of local robot navigation behaviors for reactive control systems. Our approach is to train a reactive control system in various types of environments, ...
    • The Multiple Dimensions of Action-Oriented Robotic Perception: Fission, Fusion, and Fashion 

      Arkin, Ronald C. (Georgia Institute of Technology, 1991)
      Action-oriented perception provides an alternative to traditional high-level image understanding for the roboticist. By channeling sensory perception directly to motor behaviors (sensor fission) without mediating global ...
    • A Multistrategy Case-Based and Reinforcement Learning Approach to Self-Improving Reactive Control Systems for Autonomous Robotic Navigation 

      Ram, Ashwin; Santamaria, Juan Carlos (Georgia Institute of Technology, 1993)
      This paper presents a self-improving reactive control system for autonomous robotic navigation. The navigation module uses a schema-based reactive control system to perform the navigation task. The learning module ...
    • Multistrategy Learning in Reactive Control Systems for Autonomous Robotic Navigation 

      Ram, Ashwin; Santamaria, Juan Carlos (Georgia Institute of Technology, 1993)
      This paper presents a self-improving reactive control system for autonomous robotic navigation. The navigation module uses a schema-based reactive control system to perform the navigation task. The learning module combines ...
    • Reactive Control for Mobile Manipulation 

      Cameron, Jonathan M.; MacKenzie, Douglas C.; Ward, Keith R.; Arkin, Ronald C.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1993-05)
      Research for executing large-scale motions of mobile manipulators is described. Mobile manipulators are mobile bases with an attached arm which function in an integrated manner. Motivation is given for moving the arm while ...
    • Reactive Control of a Mobile Manipulator Using Pseudo-Joint Damping 

      Ward, Keith Ronald; Arkin, Ronald C. (Georgia Institute of Technology, 1993)
      Reactive control for mobile manipulation involves a tight coupling of sensors to motor response. Pseudo-forces exerted on the end-effector and limbs of the mobile manipulator must be distributed over the entire structure. ...
    • Reactive Speed Control System Based on Terrain Roughness Detection 

      Arkin, Ronald C.; Castelnovi, Mattia; Collins, Thomas Riley (Georgia Institute of Technology, 2004)
      Autonomous outdoor navigation requires the ability to discriminate among different types of terrain. A non-trivial problem is to manage the robot's speed based on terrain roughness. This paper presents a speed control ...
    • Towards the Unification of Navigational Planning and Reactive Control 

      Arkin, Ronald C. (Georgia Institute of Technology, 1989)
      The illusion that reactive and hierarchical planning methods are at odds with each other needs to be dropped. By exploiting each method's strengths, a synthesis of hierarchical and reactive paradigms can yield robust, ...
    • Using Genetic Algorithms to Learn Reactive Control Parameters for Autonomous Robotic Navigation 

      Ram, Ashwin; Arkin, Ronald C.; Boone, Gary Noel; Pearce, Michael (Georgia Institute of Technology, 1994)
      This paper explores the application of genetic algorithms to the learning of local robot navigation behaviors for reactive control systems. Our approach evolves reactive control systems in various environments, thus creating ...