Now showing items 1-20 of 75

    • Acquiring a shared environment representation 

      Topp, Elin A.; Christensen, Henrik I.; Eklundh, Kerstin Severinson (Georgia Institute of TechnologyAssociation of Computing Machinery, 2006)
      Interacting with a domestic service robot implies the existence for a joint environment model for a user and a robot. We present a pilot study that investigates, how humans present a familiar environment to a mobile robot. ...
    • Adaptive CPG based coordinated control of healthy and robotics lower limb movement 

      Ryu, Jae-Kwan; Chong, Nak Young; You, Bum Jae; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-09)
      This paper proposes an adaptive CPG based controller for a lower limb prosthesis consisting of online trajectory generation and interlimb coordination. The adaptive CPG can produce multidimensional rhythmic patterns ...
    • Adaptive triangular mesh generation of self-configuring robot swarms 

      Lee, Geunho; Chong, Nak Young; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-05)
      We address the problem of dispersing a large number of autonomous mobile robots toward building wireless ad hoc sensor networks performing environmental monitoring and control. For the purpose, we propose the adaptive ...
    • Adding diagnostics to intelligent service robots 

      Chandrababu, S.; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-10)
      Robot systems are increasing in complexity. Trying to diagnose a robot that is non-functional or exhibiting suboptimal performance can be a major challenge. A framework for plug-n-play addition of diagnostics to modules ...
    • Agent Negotiation of Target Distribution Enhancing System Survivability 

      Xiong, Ning; Christensen, Henrik; Svensson, Per (Georgia Institute of TechnologyWiley-Blackwell, 2007-12)
      This article proposes an agent negotiation model for target distribution across a set of geographically dispersed sensors. The key idea is to consider sensors as autonomous agents that negotiate over the division of tasks ...
    • Applying domain knowledge to slam using virtual measurements 

      Trevor, Alexander J. B.; Rogers, John G.; Nieto-Granda, Carlos; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-05)
      Simultaneous Localization and Mapping (SLAM) aims to estimate the maximum likelihood map and robot pose based on a robot’s control and sensor measurements. In structured environments, such as human environments, we might ...
    • Assessment of Man-portable Robots for Law Enforcement Agencies 

      Lundberg, Carl; Christensen, Henrik I. (Georgia Institute of TechnologyAssociation for Computing Machinery, 2007-08)
      This project has involved testing a Packbot Scout within a SWAT-unit for five months. This was done to explore the tactical benefits of the system and to test the robot's technical performance with end users. Another ...
    • Attentional Landmark Selection for Visual SLAM 

      Frintrop, Simone; Jensfelt, Patric; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-10)
      In this paper, we introduce a new method to automatically detect useful landmarks for visual SLAM. A biologically motivated attention system detects regions of interest which “pop-out” automatically due to strong contrasts ...
    • Bringing Together Human and Robotic Environment Representations – A Pilot Study 

      Topp, Elin A.; Hüttenrauch, Helge; Christensen, Henrik I.; Eklundh, Kerstin Severinson (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-10)
      Human interaction with a service robot requires a shared representation of the environment for spoken dialogue and task specification where names used for particular locations are depending on personal preferences. A ...
    • Clarification dialogues in human-augmented mapping 

      Kruijff, Geert-Jan M.; Zender, Hendrik; Jensfelt, Patric; Christensen, Henrik (Georgia Institute of TechnologyAssociation for Computing Machinery, 2006-03)
      An approach to dialogue based interaction for resolution of ambiguities encountered as part of Human-Augmented Mapping (HAM) is presented. The paper focuses on issues related to spatial organisation and localisation. The ...
    • Closing the Loop with Graphical SLAM 

      Folkesson, John; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-08)
      The problem of simultaneous localization and mapping (SLAM) is addressed using a graphical method. The main contributions are a computational complexity that scales well with the size of the environment, the elimination ...
    • Co-evolution of shaping rewards and meta-parameters in reinforcement learning 

      Elfwing, Stefan; Uchibe, Eiji; Doya, Kenji; Christensen, Henrik I. (Georgia Institute of TechnologySageInternational Society for Adaptive Behavior, 2008-12)
      In this article, we explore an evolutionary approach to the optimization of potential-based shaping rewards and meta-parameters in reinforcement learning. Shaping rewards is a frequently used approach to increase the ...
    • Cognitive Systems 

      Christensen, Henrik I.; Kruijff, Geert-Jan M.; Wyatt, J.; Georgia Institute of Technology. College of Computing; Georgia Institute of Technology. Center for Robotics and Intelligent Machines (Georgia Institute of Technology, 2009-01-13)
      The present volume is a report on the research results generated by the project "Cognitive Systems for Cognitive Assistants" (CoSy), which was sponsored by the European Commission during the period 2004-2008.
    • Cognitive Vision - Sampling the Spectrum 

      Christensen, Henrik I.; Nagel, H. - H.; Georgia Institute of Technology. College of Computing; Georgia Institute of Technology. Center for Robotics and Intelligent Machines (Georgia Institute of TechnologySpringer Verlag, 2006-04)
    • Cognitive vision for efficient scene processign and object categorization in highly cluttered environments 

      Choi, Changhyun; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-10)
      One of the key competencies required in modern robots is finding objects in complex environments. For the last decade, significant progress in computer vision and machine learning literatures has increased the recognition ...
    • Computational visual attention systems and their cognitive foundation: A survey 

      Frintrop, Simone; Rome, Erich; Christensen, Henrik I. (Georgia Institute of TechnologyAssociation for Computing Machinery, 2010)
      Based on concepts of the human visual system, computational visual attention systems aim to detect regions of interest in images. Psychologists, neurobiologists, and computer scientists have investigated visual attention ...
    • Constructing a high-performance robot from commercially available parts 

      Smith, Christian; Christensen, Henrik I. (Georgia Institute of Technology, 2009-12)
      Robot manipulators were the topic of this article. A large number of robot manipulators have been designed over the last half century, and several of these have become standard platforms for R&D efforts. The most widely ...
    • Control of mobile manipulator using the dynamical systems approach 

      Ellekilde, Lars-Peter; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-05)
      The combination of a mobile platform and a manipulator, known as a mobile manipulator, provides a highly flexible system, which can be used in a wide range of applications, especially within the field of service robotics. ...
    • Cooperation based Dynamic Team Formation in Multi-Agent Auctions 

      Pippin, Charles, E.; Christensen, Henrik I. (Georgia Institute of TechnologySociety of Photo-Optical Instrumentation Engineers (SPIE), 2012-05)
      Auction based methods are often used to perform distributed task allocation on multi-agent teams. Many existing approaches to auctions assume fully cooperative team members. On in-situ and dynamically formed teams, reciprocal ...
    • Darwinian embodied evolution of the learning ability for survival 

      Elfwing, Stefan; Uchibe, Eiji; Doya, Kenji; Christensen, Henrik (Georgia Institute of TechnologySageInternational Society for Adaptive Behavior, 2007)
      In this article we propose a framework for performing embodied evolution with a limited number of robots, by utilizing time-sharing in subpopulations of virtual agents hosted in each robot. Within this framework, we explore ...