• Linear 2D Localization and Mapping for Single and Multiple Robot Scenarios 

      Dellaert, Frank; Stroupe, Ashley W. (Georgia Institute of Technology, 2002)
      We show how to recover 2D structure and motion linearly in order to initialize Simultaneous Mapping and Localization (SLAM) for bearings-only measurements and planar motion. The method supplies a good initial estimate ...
    • Model-Based Reconfiguration of Schema-Based Reactive Control Architectures 

      Chen, Zhong; Goel, Ashok K.; Rowland, Paul; Stroulia, Eleni (Georgia Institute of Technology, 1997)
      Reactive methods of control get caught in local minima. Fortunately schema-based reactive control systems have built-in redundancy that enables multiple configurations with different modes. We describe a model-based method ...