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  • Performance Verification for Behavior-Based Robot Missions 

    Lyons, Damian M.; Arkin, Ronald C.; Jiang, Shu; Liu, Tsung-Ming; Nirmal, Paramesh (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-06)
    Certain robot missions need to perform predictably in a physical environment that may have significant uncertainty. One approach is to leverage automatic software verification techniques to establish a performance guarantee. ...
  • Using Visual Information for Spatial Advice-Giving in a Primate-Inspired Autonomous Robot 

    Arkin, Ronald C.; Velayudhan, Lakshmi; Pettinati, Michael J. (Georgia Institute of TechnologySpringer, 2015)
    This paper presents an approach to apply mental rotations in the context of robot navigation in support of spatial advice-­giving. It describes the motivation in terms of cognitive processing, the underlying architecture, ...
  • Primate-inspired Autonomous Navigation Using Mental Rotation and Advice-Giving 

    Velayudhan, Lakshmi; Arkin, Ronald C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-09)
    The cognitive process that enables many primate species to efficiently traverse their environment has been a subject of numerous studies. Mental rotation is hypothesized to be one such process. The evolutionary causes ...
  • An Intervening Ethical Governor for a Robot Mediator in Patient-Caregiver Relationships 

    Shim, Jaeeun; Arkin, Ronald C. (Georgia Institute of TechnologySpringer International Publishing, 2015)
    Patients with Parkinson’s disease (PD) experience challenges when interacting with caregivers due to their declining control over their musculature. To remedy those challenges, a robot mediator can be used to assist in ...
  • Towards a Robot Computational Model to Preserve Dignity in Stigmatizing Patient-Caregiver Relationships 

    Pettinati, Michael J.; Arkin, Ronald C. (Georgia Institute of TechnologySpringer International Publishing, 2015-10)
    Parkinson’s disease (PD) patients with an expressive mask are particularly vulnerable to stigmatization during interactions with their caregivers due to their inability to express affect through nonverbal channels. Our ...
  • Mixed-Initiative Human-Robot Interaction: Definition, Taxonomy, and Survey 

    Jiang, Shu; Arkin, Ronald C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-10)
    The objectives of this article are: 1) to present a taxonomy for mixed-initiative human-robot interaction and 2) to survey its state of practice through the examination of past research along each taxonomical dimension. ...
  • The Benefits of Robot Deception in Search and Rescue: Computational Approach for Deceptive Action Selection via Case-Based Reasoning 

    Shim, Jaeeun; Arkin, Ronald C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-10)
    By increasing the use of autonomous rescue robots in search and rescue (SAR), the chance of interaction between rescue robots and human victims also grows. More specifically, when autonomous rescue robots are considered ...
  • SLAM-Based Spatial Memory for Behavior-Based Robots 

    Jiang, Shu; Arkin, Ronald C. (Georgia Institute of Technology, 2015)
    Knowledge is essential for an autonomous robot to act intelligently when tasked with a mission. With recent leaps of progress, the paradigm of SLAM (Simultaneous Localization and Mapping) has emerged as an ideal source of ...
  • An Analysis of Displays for Probabilistic Robotic Mission Verification Results 

    O‘Brien, Matthew; Arkin, Ronald C. (Georgia Institute of Technology, 2016)
    An approach for the verification of autonomous behavior-based robotic missions has been developed in a collaborative effort between Fordham University and Georgia Tech. This paper addresses the step after verification, how ...
  • Probabilistic Verification of Multi-robot Missions in Uncertain Environments 

    Lyons, Damian M.; Arkin, Ronald C.; Jiang, Shu; Harrington, Dagan; Tang, Feng; Tang, Peng (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-11)
    The effective use of autonomous robot teams in highly-critical missions depends on being able to establish performance guarantees. However, establishing a guarantee for the behavior of an autonomous robot operating in ...
  • Temporal Heterogeneity and the Value of Slowness in Robotic Systems 

    Arkin, Ronald C.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-12)
    Robot teaming is a well-studied area, but little research to date has been conducted on the fundamental benefits of heterogeneous teams and virtually none on temporal heterogeneity, where timescales of the various platforms ...
  • Formal Performance Guarantees for Behavior-Based Localization Missions 

    Lyons, Damian M.; Arkin, Ronald C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-11)
    Localization and mapping algorithms can allow a robot to navigate well in an unknown environment. However, whether such algorithms enhance any specific robot mission is currently a matter for empirical validation. In this ...
  • Material Recognition from Heat Transfer given Varying Initial Conditions and Short-Duration Contact 

    Bhattacharjee, Tapomayukh; Wade, Joshua; Kemp, Charles C. (Georgia Institute of Technology, 2015)
    When making contact with an object, a robot can use a tactile sensor consisting of a heating element and a temperature sensor to recognize the object’s material based on conductive heat transfer from the tactile sensor ...
  • From Algorithms to Architectures in Cyber-Physical Networks 

    Egerstedt, Magnus B. (Georgia Institute of TechnologyTaylor & Francis, 2015-02)
  • Distributed Dynamic Density Coverage for Human-Swarm Interactions 

    Diaz-Mercado, Yancy; Lee, Sung G.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-07)
    This paper presents two approaches to externally influence a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. ...
  • Team-Level Properties for Haptic Human-Swarm Interactions 

    Setter, Tina; Kawashima, Hiroaki; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-07)
    This paper explores how haptic interfaces should be designed to enable effective human-swarm interactions. When a single operator is interacting with a team of mobile robots, there are certain properties of the team ...
  • Effects of Insufficient Time-Scale Separation in Cascaded, Networked Systems 

    Sakurama, Kazunori; Verriest, Erik I.; Egerstedt, Magnus B. (Georgia Institute of Technology, 2015-07)
    In this paper, we investigate the effect of insufficient time-scale separation between inner and the outer loops in a cascaded, networked system under multiple clients. Inspired by the AQM (inner loop) and TCP (outer loop) ...
  • A Control Lyapunov Function Approach to Human-Swarm Interactions 

    de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-07)
    In this paper, we seek to establish formal guarantees for whether or not a given human-swarm interaction (HSI) is appropriate for achieving multi-robot tasks. Examples of such tasks include guiding a swarm of robots ...
  • Differentially Private Cloud-Based Multi-Agent Optimization with Constraints 

    Hale, M. T.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-07)
    We present an optimization framework that solves constrained multi-agent optimization problems while keeping each agent’s state differentially private. The agents in the network seek to optimize a local objective function ...
  • The GRITSBot in its Natural Habitat - A Multi-Robot Testbed 

    Pickem, Daniel; Lee, Myron; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-05)
    Current multi-agent robotic testbeds are prohibitively expensive or highly specialized and as such their use is limited to a small number of research laboratories. Given the high price tag, what is needed to scale ...

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