Now showing items 43-62 of 82

    • Learning task performance in market-based task allocation 

      Pippin, Charles, E.; Christensen, Henrik I. (Georgia Institute of TechnologySpringer-Verlag, 2012-06)
      Auction based algorithms offer effective methods for de-centralized task assignment in multi-agent teams. Typically there is an implicit assumption that agents can be trusted to effectively perform assigned tasks. However, ...
    • Linguistic Composition of Semantic Maps and Hybrid Controllers. Experimental Robotics 

      Dantam, Neil; Nieto-Granda, Carlos; Christensen, Henrik I.; Stilman, Mike (Georgia Institute of TechnologySpringer Verlag, 2012-06)
      This work combines semantic maps with hybrid control models, generating a direct link between action and environment models to produce a control policy for mobile manipulation in unstructured environments. First, we generate ...
    • Long-Term Study of a Portable Field Robot in Urban Terrain 

      Lundberg, Carl; Christensen, Henrik I.; Reinhold, Roger (Georgia Institute of TechnologyJohn Wiley & Sons, 2007-09)
      The armed forces have a considerable amount of experience in using robots for bomb removal and mine clearing. Emerging technology also enables the targeting of other applications. To evaluate if real deployment of new ...
    • Long-term study of portable field robots in urban terrain 

      Lundberg, Carl; Christensen, Henrik; Reinhold, Roger (Georgia Institute of TechnologyAssociation for Computing Machinery, 2006-08)
    • The M-Space Feature Representation for SLAM 

      Folkesson, John; Jensfelt, Patric; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-10)
      In this paper, a new feature representation for simultaneous localization and mapping (SLAM) is discussed. The representation addresses feature symmetries and constraints explicitly to make the basic model numerically ...
    • Measurement Errors in Visual Servoing 

      Kryki, V.; Kragic, Danica; Christensen, Henrik I. (Georgia Institute of TechnologyElsevier, 2006-10)
      This paper addresses the issue of measurement errors in visual servoing. The error characteristics of the vision based state estimation and the associated uncertainty of the control are investigated. The major contribution ...
    • Medical and health-care robotics 

      Okamura, Allison M.; Mataric, Maja J.; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-09)
      The aim of this article is to propose some of the most important capabilities and technical achievements of medical and health-care robotics needed to improve human health and well-being. The paper describes application ...
    • A minimum jerk predictor for teleoperation with variable time delay 

      Smith, Christian; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-10)
      In this paper we describe a method for bridging internet time delays in a teleoperation scenario. In the scenario, the sizes of the time delays is not only stochastic, but it is also large compared to the task execution ...
    • Mobile manipulation in everyday environments 

      Christensen, Henrik I.; Case, Philip (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-10)
      Robots are gradually being deployed for everyday environments, that is environments with no or very limited engineering taking place before deployment of the system. As manipulators and mobile platforms come together ...
    • A Mobile Sensor Network Forming Concentric Circles Through Local Interaction and Consensus Building 

      Lee, Geunho; Yoon, Seokhoon; Chong, Nak Young; Christensen, Henrik I. (Georgia Institute of TechnologyFuji Technology Press Ltd., 2009)
      We address the problem of a swarm of autonomous mobile robotic sensors generating geometric shapes to build wireless ad hoc surveillance sensor networks. Robot swarms with limited observation are required to form ...
    • A Modular, Hybrid System Architecture for Autonomous, Urban Driving 

      Wooden, Dave; Powers, Matt; Egerstedt, Magnus B.; Christensen, Henrik I.; Balch, Tucker (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2007-12)
      Autonomous navigation in urban environments inevitably leads to having to switch between various, sometimes conflicting control tasks. Sting Racing, a collaboration between Georgia Tech and SAIC, has developed a modular ...
    • My roomba is rambo: Intimate home appliances 

      Sung, Ja-Young; Guo, Lan; Grinter, Rebecca E.; Christensen, Henrik (Georgia Institute of TechnologySpringer Verlag, 2007-09)
      Robots have entered our domestic lives, but yet, little is known about their impact on the home. This paper takes steps towards addressing this omission, by reporting results from an empirical study of iRobot’s Roomba™, a ...
    • Normalized graph-cuts for large scale visual SLAM 

      Rogers, John G.; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-10)
      Simultaneous Localization and Mapping (SLAM) suffers from a quadratic space and time complexity per update step. Recent advancements have been made in approximating the posterior by forcing the information matrix to ...
    • Pay Attention When Selecting Features 

      Frintrop, Simone; Jensfelt, Patric; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-08)
      In this paper, we propose a new, hierarchical approach to landmark selection for simultaneous robot localization and mapping based on visual sensors: a biologically motivated attention system finds salient regions of ...
    • Performance based monitoring using statistical control charts on multi-robot teams 

      Pippin, Charles, E.; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-07)
      On typical multi-robot teams, there is an implicit assumption that robots can be trusted to effectively perform assigned tasks. However, reliable performance of team members may not always be a valid assumption. For instance, ...
    • Performance based task assignment in multi- robot patrolling 

      Pippin, Charles, E.; Christensen, Henrik I.; Weiss, Lora G. (Georgia Institute of TechnologyACM, 2013)
      This article applies a performance metric to the multi-robot patrolling task to more efficiently distribute patrol areas among robot team members. The multi-robot patrolling task employs multiple robots to perform frequent ...
    • Pimp my Roomba: designing for personalization 

      Sung, Ja-Young; Grinter, Rebecca E.; Christensen, Henrik (Georgia Institute of TechnologyAssociation for Computing Machinery, 2009-04)
      We present a study of how householders personalize their domestic vacuuming robot, iRobot's Roomba". In particular, we build on Blom and Monk's [3] theory of personalization that argues that personalization does not only ...
    • Planning in logistics: a survey 

      Kolhe, Pushkar; Christensen, Henrik I. (Georgia Institute of TechnologyAssociation for Computing Machinery, 2010-09)
      Planning is an essential part of any logistics system. The paper tries to generalize the view of a logistics planner by framing it as a knapsack problem. We show how the various variants of the knapsack problem compare for ...
    • Reactive Tuning of Target Estimate Accuracy in Multi-Sensor Data Fusion 

      Xiong, Ning; Christensen, Henrik I.; Svensson, Per (Georgia Institute of TechnologyTaylor & Francis, 2007-01)
      Dealing with conflicting and target-specific requirements is an important issue in multi-sensor and multi-target tracking. This paper aims to allocate sensing resources among various targets in reaction to individual ...
    • Real-time 3d model-based tracking using edge and keypoint features for robotic manipulation 

      Choi, Changhyun; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-05)
      We propose a combined approach for 3D real-time object recognition and tracking, which is directly applicable to robotic manipulation. We use keypoints features for the initial pose estimation. This pose estimate serves ...