Now showing items 444-463 of 1389

    • A Factor Graph Approach to Estimation and Model Predictive Control on Unmanned Aerial Vehicles 

      Ta, Duy-Nguyen; Kobilarov, Marin; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-05)
      n this paper, we present a factor graph framework to solve both estimation and deterministic optimal control problems, and apply it to an obstacle avoidance task on Unmanned Aerial Vehicles (UAVs). We show that factor ...
    • Factor Graph Based Incremental Smoothing in Inertial Navigation Systems 

      Indelman, Vadim; Williams, Stephen; Kaess, Michael; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-07)
      This paper describes a new approach for information fusion in inertial navigation systems. In contrast to the commonly used filtering techniques, the proposed approach is based on a non-linear optimization for processing ...
    • A FAM-based Switched Control Approach for the Automation of Bioregenerative Life Support Systems 

      Drayer, Gregorio E.; Howard, Ayanna M. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2011-07)
      The automation of bioregenerative life support systems poses challenges for the development of model-based approaches given the varying characteristic of the biological processes that constitute them. Switching control ...
    • Fast 3D Pose Estimation With Out-of-Sequence Measurements 

      Ranganathan, Ananth; Kaess, Michael; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-10)
      We present an algorithm for pose estimation using fixed-lag smoothing. We show that fixed-lag smoothing enables inclusion of measurements from multiple asynchronous measurement sources in an optimal manner. Since ...
    • Fast Incremental Square Root Information Smoothing 

      Kaess, Michael; Ranganathan, Ananth; Dellaert, Frank (Georgia Institute of TechnologyIJCAI, 2007-01)
      We propose a novel approach to the problem of simultaneous localization and mapping (SLAM) based on incremental smoothing, that is suitable for real-time applications in large-scale environments. The main advantages ...
    • Fast Reaching in Clutter While Regulating Forces Using Model Predictive Control 

      Killpack, Marc D.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-10)
      Moving a robot arm quickly in cluttered and unmodeled workspaces can be difficult because of the inherent risk of high impact forces. Additionally, compliance by itself is not enough to limit contact forces due to ...
    • Feasibility of Identifying Eating Moments from First-Person Images Leveraging Human Computation 

      Thomaz, Edison; Parnami, Aman; Essa, Irfan; Abowd, Gregory D. (Georgia Institute of TechnologyAssociation for Computing Machinery, 2013-11)
      There is widespread agreement in the medical research community that more effective mechanisms for dietary assessment and food journaling are needed to fight back against obesity and other nutrition-related diseases. ...
    • Feature-based mapping with grounded landmark and place labels 

      Trevor, Alexander J. B.; Rogers, John G.; Nieto-Granda, Carlos; Christensen, Henrik I. (Georgia Institute of Technology, 2011-06)
      Service robots can benefit from maps that support their tasks and facilitate communication with humans. For efficient interaction, it is practical to be able to reference structures and objects in the environment, e.g. ...
    • Feedback Can Reduce the Specification Complexity of Motor Programs 

      Egerstedt, Magnus B.; Brockett, Roger W. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-12)
      In this paper we show that when it is possible to use feedback in the specifications of "motor programs", the length of the descriptions of the instruction sequences for carrying out a given task can be reduced by a factor ...
    • Feedback Can Reduce the Specification Complexity of Motor Programs 

      Egerstedt, Magnus B.; Brockett, Roger W. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2003-02)
      In this paper, we show that when it is possible to use feedback in the specification of "motor programs," the length of the descriptions of the instruction sequences for carrying out a given task can be reduced by a ...
    • Feedback control of two beam, two joint systems with distributed flexibility 

      Book, Wayne John; Maizza-Neto, O.; Whitney, D. E. (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1975-12)
      The control of the flexible motion in a plane of two pinned beams is addressed with application to remote manipulators. Three types of linear feedback control schemes are considered: joint angle and velocity feedback with ...
    • Feedback Navigation in an Uncertain Flow Field and Connections with Pursuit Strategies 

      Bakolas, Efstathios; Tsiotras, Panagiotis (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2012)
      This paper presents several classes of control laws for steering an agent, that is, an aerial or marine vehicle, in the presence of a both temporally and spatially varying drift field induced by local winds/currents. The ...
    • Field Results for Tactical Mobile Robot Missions 

      Arkin, Ronald C.; Collins, Thomas Riley; Cramer, Michael J.; Endo, Yoichiro (Georgia Institute of Technology, 2000)
      In 1999, Georgia Tech conducted two field experiments to determine the performance of its mission specification system. The experiments were developed for the DARPA Tactical Mobile Robotics (TMR) Program and were conducted ...
    • Filtering Micro-Manipulator Wrist Commands to Prevent Flexible Base Motion 

      Magee, David P.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1995-06)
      This paper examines control issues related to positioning a small articulating robot attached to a much larger, flexible manipulator. By shaping the joint position error with a finite impulse response filter actuation ...
    • Filtering Schilling Manipulator Commands to Prevent Flexible Structure Vibration 

      Magee, David P.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2002-06)
      The remediation and management of various nuclear sites will require inspection, removal and surveillance operations within many waste storage tanks. Due to the large dimensions, many tasks will be performed with a small ...
    • Finding and Navigating to Household Objects with UHF RFID Tags by Optimizing RF Signal Strength 

      Deyle, Travis; Reynolds, Matthew S.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-09)
      We address the challenge of finding and navigating to an object with an attached ultra-high frequency radio- frequency identification (UHF RFID) tag. With current off-the- shelf technology, one can affix ...
    • A fingerprint method for variability and robustness analysis of stochastically controlled cellular actuator arrays 

      MacNair, David L.; Ueda, Jun (Georgia Institute of TechnologySAGE Publications, 2011)
      This paper presents a “Fingerprint Method” for modeling and subsequently characterizing stochastically controlled actuator arrays. The actuator arrays are built from small actuator cells with structural elasticity. These ...
    • First Steps Toward Translating Robotic Walking To Prostheses: A Nonlinear Optimization Based Control Approach 

      Zhao, Huihua; Horn, Jonathan; Reher, Jacob; Paredes, Victor; Ames, Aaron D. (Georgia Institute of TechnologySpringer, 2016)
      This paper presents the first steps toward successfully translating nonlinear real-time optimization based controllers from bipedal walking robots to a self-contained powered transfemoral prosthesis: AMPRO, with the ...
    • First-Order, Networked Control Models of Swarming Silkworm Moths 

      Haque, Musad A.; Egerstedt, Magnus B.; Martin, Clyde F. (Georgia Institute of TechnologyInstitute of Electrical and Electronics EngineersAmerican Automatic Control Council, 2008-06)
      Social insects have long served as inspiration to the multi-agent community. In this paper, we take the opposite approach and see if tools from decentralized, networked control can be used to predict observed, biological ...
    • Flexibility Effects on the Control System Performance of Large Scale Robotic Manipulators 

      Cetinkunt, Sabri; Book, Wayne John (Georgia Institute of TechnologyAmerican Astronautical Society, 1990)
      Structural flexibility of robotic manipulators becomes significant and limits the performance of a control system when manipulators are large structures, manipulating on large payloads, and/or operating at high speeds. ...