Now showing items 660-679 of 1364

    • Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions 

      Carlone, Luca; Rosen, David M.; Calafiore, Giuseppe; Leonard, John J.; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015)
      State-of-the-art techniques for simultaneous localization and mapping (SLAM) employ iterative nonlinear optimization methods to compute an estimate for robot poses. While these techniques often work well in practice, ...
    • A Language for Describing Agent Behavior as Hybrid Models 

      Kannan, Suresh K.; Christmann, Hans Claus; Lee, Seungman; Johnson, Eric N.; Kim, So Y. K (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2009-08)
      Air Traffic conflict detection and resolution (CDR) involves multiple domains, the modeling of physical systems such as aircraft, encoding conflict detection algorithms as well as the procedures(tasks) for conflict ...
    • Laplacian Sheep: A Hybrid, Stop-Go Policy for Leader-Based Containment Control 

      Ferrari-Trecate, G.; Egerstedt, Magnus B.; Buffa, A.; Ji, Meng (Georgia Institute of TechnologyInstitute of Electrical and Electronics EngineersSpringer Verlag, 2006-03)
      The problem of driving a collection of mobile robots to a given target location is studied in the context of partial difference equations. In particular, we are interested in achieving this transfer while ensuring that ...
    • Large Effective-Strain Piezoelectric Actuators Using Nested Cellular Architecture with Exponential Strain Amplification Mechanisms 

      Ueda, Jun; Secord, Thomas W.; Asada, H. Harry (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)
      Design and analysis of piezoelectric actuators having over 20% effective strain using an exponential strain amplification mechanism are presented in this paper. Piezoelectric ceramic material, such as lead zirconate titanate ...
    • Large Effective-Strain Piezoelectric Actuators Using Nested Cellular Architecture with Exponential Strain Amplification Mechanisms 

      Ueda, Jun; Secord, Thomas; Asada, H. Harry (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)
      Design and analysis of piezoelectric actuators having over 20% effective strain using an exponential strain amplification mechanism are presented in this paper. Piezoelectric ceramic material, such as lead zirconate titanate ...
    • Large Scale Experimental Design for Decentralized SLAM 

      Cunningham, Alexander; Dellaert, Frank (Georgia Institute of TechnologySPIE, 2012-05-01)
      This paper presents an analysis of large scale decentralized SLAM under a variety of experimental conditions to illustrate design trade-o s relevant to multi-robot mapping in challenging environments. As a part of ...
    • Large-Scale Dense 3D Reconstruction from Stereo Imagery 

      Alcantarilla, Pablo F.; Beall, Chris; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-11)
      In this paper we propose a novel method for large-scale dense 3D reconstruction from stereo imagery. Assuming that stereo camera calibration and camera motion are known, our method is able to reconstruct accurately dense ...
    • Large-Scale Image Annotation using Visual Synset 

      Tsai, David; Jing, Yushi; Liu, Yi; Rowley, Henry A.; Ioffe, Sergey; Rehg, James M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-11)
      We address the problem of large-scale annotation of web images. Our approach is based on the concept of visual synset, which is an organization of images which are visually-similar and semantically-related. Each ...
    • Laser Pointers and a Touch Screen: Intuitive Interfaces for Autonomous Mobile Manipulation for the Motor Impaired 

      Choi, Young Sang; Anderson, Cressel D.; Glass, Jonathan D.; Kemp, Charles C. (Georgia Institute of TechnologyAssociation for Computing Machinery (ACM), 2008-10)
      El-E (“Ellie”) is a prototype assistive robot designed to help people with severe motor impairments manipulate everyday objects. When given a 3D location, El-E can autonomously approach the location and pick up a nearby ...
    • Lattice dynamics and melting of a nonequilibrium pattern 

      Goldman, Daniel I.; Shattuck, M. D.; Moon, Sung Joon; Swift, J. B.; Swinney, Harry L. (Georgia Institute of TechnologyAmerican Physical Society, 2003-03-14)
      We present a new description of nonequilibrium square patterns as a harmonically coupled crystal lattice. In a vertically oscillating granular layer, different transverse normal modes of the granular square-lattice pattern ...
    • Lead Me by the Hand: Evaluation of a Direct Physical Interface for Nursing Assistant Robots 

      Chen, Tiffany L.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-03)
      When a user is in close proximity to a robot, physical contact becomes a potentially valuable channel for communication. People often use direct physical contact to guide a person to a desired location (e.g., leading a ...
    • Leader Selection via the Manipulability of Leader-Follower Networks 

      Kawashima, Hiroaki; Egerstedt, Magnus B. (Georgia Institute of Technology, 2012-06)
      In this paper, we address the problem of selecting leaders in a network by investigating how much instantaneous impact the leaders have on the remaining agents. As a measurement of the influence of leaders’ inputs, we ...
    • A Leader-based Containment Control Strategy for Multiple Unicycles 

      Dimarogonas, Dimos V.; Egerstedt, Magnus B.; Kyriakopoulos, Kostas J. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-12)
      In this paper, a leader based containment control strategy for multiple unicycle agents is introduced. Similar results for the single integrator case examined in [7] are derived based on the theory of Partial Difference ...
    • Leader-Based Multi-Agent Coordination Through Hybrid Optimal Control 

      Björkenstam, Staffan; Ji, Meng; Egerstedt, Magnus B.; Martin, Clyde F. (Georgia Institute of TechnologyUniversity of Illinois at Urbana-Champaign, 2006-09)
      The problem of optimally transferring a linear dynamical system between affine varieties arises in a number of applications such as path planning and robot coordination. In this paper, this problem, as well as generalizations ...
    • Learnability for Dynamical Systems 

      O’Flaherty, Rowland; Egerstedt, Magnus (Georgia Institute of Technology, 2014-07)
      This paper takes a step towards defining what it means for a dynamical system, such as a robot, to be able to learn through the notion of learnability. It takes a system-theoretic view to define what learning is and ...
    • Learning about Objects with Human Teachers 

      Thomaz, Andrea L.; Cakmak, Maya (Georgia Institute of TechnologyAssociation for Computing Machinery, 2009)
      A general learning task for a robot in a new environment is to learn about objects and what actions/effects they afford. To approach this, we look at ways that a human partner can intuitively help the robot learn, ...
    • Learning and Inference in Parametric Switching Linear Dynamic Systems 

      Oh, Sang Min; Rehg, James M.; Balch, Tucker; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2005-10)
      We introduce parametric switching linear dynamic systems (P-SLDS) for learning and interpretation of parametrized motion, i.e., motion that exhibits systematic temporal and spatial variations. Our motivating example is ...
    • Learning and Inferring Motion Patterns using Parametric Segmental Switching Linear Dynamic Systems 

      Oh, Sang Min; Rehg, James M.; Balch, Tucker; Dellaert, Frank (Georgia Institute of Technology, 2006)
      Switching Linear Dynamic System (SLDS) models are a popular technique for modeling complex nonlinear dynamic systems. An SLDS has significantly more descriptive power than an HMM by using continuous hidden states. However, ...
    • Learning and Inferring Motion Patterns Using Parametric Segmental Switching Linear Dynamic Systems 

      Oh, Sang Min; Rehg, James M.; Balch, Tucker; Dellaert, Frank (Georgia Institute of TechnologySpringer Berlin / Heidelberg, 2008)
      Switching Linear Dynamic System (SLDS) models are a popular technique for modeling complex nonlinear dynamic systems. An SLDS provides the possibility to describe complex temporal patterns more concisely and accurately ...
    • A Learning Approach to Enable Locomotion of Multiple Robotic Agents Operating in Natural Terrain Environments 

      Howard, Ayanna; Parker, Lonnie T.; Smith, Brian Stephen (Georgia Institute of TechnologyTSI press, 2008)
      This paper presents a methodology that utilizes soft computing approaches to enable locomotion of multiple legged robotic agents operating in natural terrain environments. For individual robotic control, the locomotion ...