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The Expectation Maximization Algorithm
(Georgia Institute of Technology, 2002)
This note represents my attempt at explaining the EM algorithm. This is just a slight variation on Tom Minka's tutorial, perhaps a little easier (or perhaps not). It includes a graphical example to provide some intuition.
An MCMC-based Particle Filter for Tracking Multiple Interacting Targets
(Georgia Institute of Technology, 2003)
We describe a Markov chain Monte Carlo based particle filter that effectively deals with interacting targets, i.e., targets that are influenced by the proximity and/or behavior of other targets. Such interactions cause ...
A Partially Fixed Linearization Approach for Submap-Parametrized Smoothing and Mapping
(Georgia Institute of Technology, 2005)
We present an extension of a smoothing approach to Simultaneous Localization and Mapping (SLAM). We have previously introduced Square-Root SAM, a Smoothing and Mapping approach to SLAM based on Levenberg-Marquardt (LM) ...
Lethality and Autonomous Systems: The Roboticist Demographic
(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. ...
MCMC-based Multiview Reconstruction of Piecewise Smooth Subdivision Curves with a Variable Number of Control Points
(Georgia Institute of Technology, 2004-05)
We investigate the automated reconstruction of piecewise
smooth 3D curves, using subdivision curves as a simple but flexible curve
representation. This representation allows tagging corners to model nonsmooth
features ...
Robot vibrations
(Georgia Institute of Technology, 2001)
The nature of robotic arms invites vibratory behavior while the function of robotic arms is heavily penalized by that vibration. Consequently, understanding and compensating for the tendencies of a robot to vibrate are of ...
Behavior Based Robotics Using Hybrid Automata
(Georgia Institute of Technology, 2000-03)
In this article, we show how a behavior based control system
for autonomous robots can be modeled as a hybrid automaton, where
each node corresponds to a distinct robot behavior. This type of construction
gives rise to ...
Solving Coverage Problems with Embedded Graph Grammars
(Georgia Institute of Technology, 2007-04)
We show how Embedded Graph Grammars (EGGs) are used
to specify local interaction rules between mobile robots in a natural manner. This formalism allows us to treat local network topologies, geometric
transition conditions, ...
Humanoid HRP2-DHRC for Autonomous and Interactive Behavior
(Georgia Institute of Technology, 2007)
Recently, research on humanoid-type robots has become increasingly active, and a broad array of fundamental issues are under investigation. However, in order to achieve a humanoid robot which can operate in human environments, ...
An MCMC-based Particle Filter for Tracking Multiple Interacting Targets
(Georgia Institute of Technology, 2004-05)
We describe a Markov chain Monte Carlo based particle filter
that effectively deals with interacting targets, i.e., targets that are
influenced by the proximity and/or behavior of other targets. Such interactions
cause ...