Papers, pre/post-prints, and presentations by faculty and students in the Georgia Tech Mobile Robot Laboratory.

Recent Submissions

  • Robotic Nudges: The Ethics of Engineering a More Socially Just Human Being 

    Borenstein, Jason; Arkin, Ron (Georgia Institute of Technology, 2015-03)
    The time is nearing when robots are going to become a pervasive feature of our personal lives. They are already continuously operating in industrial, domestic, and military sectors. But a facet of their operation ...
  • Preserving Dignity in Patient Caregiver Relationships Using Moral Emotions and Robots 

    Arkin, Ronald C.; Scheutz, Matthias; Tickle-Degnen, Linda (Georgia Institute of Technology, 2014)
    This paper provides an overview of an ongoing NSF project that is intended to improve the long-term quality of care for patients suffering from early stage Parkinson’s disease. Due to facial masking in the patient, a ...
  • Collaborative Robots in Rehabilitation for Social Self-Management of Health 

    Tickle-Degnen, Linda; Scheutz, Matthias; Arkin, Ronald C. (Georgia Institute of Technology, 2014)
    This paper reports the design plan of a social rehabilitation robot for optimizing social self-management of health. Managing health with physically and stigmatizing disabling conditions involves managing both physical ...
  • Affect in Human-Robot Interaction 

    Arkin, Ronald C.; Moshkina, Lilia (Georgia Institute of Technology, 2014)
    More and more, robots are expected to interact with humans in a social, easily understandable manner, which presupposes effective use of robot affect. This chapter provides a brief overview of research advances into this ...
  • Verifying and Validating Multirobot Missions 

    Lyons, Damian M.; Arkin, Ronald C.; Jiang, Shu; Harrington, Dagan; Liu, Tsung-Ming (Georgia Institute of Technology, 2014)
    We have developed an approach that can be used by mission designers to determine whether or not a performance guarantee for their mission software, when carried out under the uncertain conditions of a real-world environment, ...
  • Moral Emotions, Robots, and their Role in Managing Stigma in Early Stage Parkinson’s Disease Caregiving 

    Arkin, Ronald C.; Pettinati, Michael J. (Georgia Institute of Technology, 2014)
    Early stage Parkinson’s disease is characterized by facial masking that reduces the ability for a caregiver to effectively comprehend the emotional state of a patient. We are studying the introduction of a robotic ...
  • A Primate-inspired Autonomous Navigation Algorithm Using the Cognitive Mechanism of Mental Rotation 

    Pettinati, Michael J.; Arkin, Ronald C. (Georgia Institute of Technology, 2014)
    Though significant progress on autonomous navigation has been made, the natural world offers interesting examples of navigational techniques that are worth exploring and understanding. The cognitive mechanism of mental ...
  • Robot Deception and Squirrel Behavior: A Case Study in Bio-inspired Robotics 

    Shim, Jaeeun; Arkin, Ronald C. (Georgia Institute of Technology, 2014)
    A common behavior in animals and human beings is deception. Deceptive behavior in robotics is potentially beneficial in several domains ranging from the military to a more everyday context. In our research, novel ...
  • Other-Oriented Robot Deception: A Computational Approach for Deceptive Action Generation to Benefit the Mark 

    Shim, Jaeeun; Arkin, Ronald C. (Georgia Institute of Technology, 2014)
    Social robots can benefit by adding deceptive capabilities. In particular, robotic deception should benefit the deceived human partners when used in the context of human-robot interaction (HRI). We define this kind of ...
  • Automatic Verification of Autonomous Robot Missions 

    O'Brien, Matthew; Arkin, Ronald C.; Harrington, Dagan; Lyons, Damian M.; Jiang, Shu (Georgia Institute of Technology, 2014)
    Before autonomous robotics can be used for dangerous or critical missions, performance guarantees should be made available. This paper overviews a software system for the verification of behavior-based controllers in ...
  • Ameliorating Patient-Caregiver Stigma in Early-Stage Parkinson's Disease using Robot co-Mediators 

    Arkin, Ronald C. (Georgia Institute of Technology, 2014)
    Facial masking in early stage Parkinson’s disease leads to a well-documented deterioration (stigmatization) in the patient-caregiver relationship. This research described in this paper is concerned with preserving dignity ...
  • Getting it Right the First Time: Verification of Behavior-based Multirobot Missions 

    Lyons, Damian M.; Arkin, Ronald C.; Jiang, Shu; Harrington, Dagan; O'Brien, Matthew (Georgia Institute of Technology, 2014)
    In research being conducted for the Defense Threat Reduction Agency (DTRA), we are concerned with robot missions that may only have a single opportunity for successful completion, with serious consequences if the mission ...
  • Performance Verification for Behavior - based Robot Missions 

    Lyons, Damian M.; Arkin, Ronald C.; Jiang, Shu; Liu, Tsung-Ming; Nirmal, Paramesh; Deeb, J. (Georgia Institute of Technology, 2013)
    Certain robot missions need to perform predictably in a physical environment that may only be poorly characterized in advance. This requirement raises many issues for existing approaches to software verification. An ...
  • Lethal Autonomous Systems and the Plight of the Non-combatant 

    Arkin, Ronald C. (Georgia Institute of Technology, 2013)
  • A Taxonomy of Robot Deception and its Benefits in HRI 

    Shim, Jaeeun; Arkin, Ronald C. (Georgia Institute of Technology, 2013)
    Deception is a common and essential behavior in humans. Since human beings gain many advantages from deceptive capabilities, we can also assume that robotic deception can provide benefits in several ways. Particularly, ...
  • Primate - Inspired Vehicle Navigation Using Optic Flow and Mental Rotations 

    Arkin, Ronald C.; Dellaert, Frank; Srinivasa, Natesh; Kerwin, Ryan (Georgia Institute of Technology, 2013)
    Robot navigation already has many relatively efficient solutions: reactive control, simultaneous localization and mapping (SLAM), Rapidly-Exploring Random Trees (RRTs), etc. But many primates possess an additional inherent ...
  • Getting it Right the First time: Robot Mission Guarantees in the Presence of Uncertainty 

    Lyons, Damian M.; Arkin, Ronald C.; Nirmal, P.; Jiang, Shu; Liu, Tsung-Ming; Deeb, J. (Georgia Institute of Technology, 2013)
    Certain robot missions need to perform predictably in a physical environment that may only be poorly characterized in advance. We have previously developed an approach to establishing performance guarantees for ...
  • Performance Guarantees for C - WMD Robot Missions 

    Jiang, Shu; Arkin, Ronald C.; Lyons, Damian M.; Liu, Tsung-Ming; Harrington, Dagan (Georgia Institute of Technology, 2013)
    Robotics has been considered as one of the five key technology areas for defense against attacks with weapons of mass destruction (WMD). However, due to the mass impact nature of WMD, failures of counter-WMD (C-WMD) missions ...
  • Robots that Need to Mislead: Biologically-inspired Machine Deception 

    Arkin, Ronald C. (Georgia Institute of Technology, 2012)
  • Verifying Performance for Autonomous Robot Missions with Uncertainty 

    Lyons, Damian M.; Arkin, Ronald C.; Liu, Tsung-Ming; Jiang, Shu; Nirmal, Paramesh (Georgia Institute of Technology, 2012)
    Establishing performance guarantees for robot missions is especially important for C-WMD applications. Software verification techniques, such as model checking (Clark 1999, Jhala & Majumdar 2009), can be applied to ...

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