Now showing items 33-52 of 99

    • Generation and use of a discrete robotic controls alphabet for high-level tasks 

      Gargas , Eugene Frank, III (Georgia Institute of Technology, 2012-04-06)
      The objective of this thesis is to generate a discrete alphabet of low-level robotic controllers rich enough to mimic the actions of high-level users using the robot for a specific task. This alphabet will be built through ...
    • Graceful connections in dynamical systems – an approach to gait transitions in robotics 

      Memon, Abdul Basit (Georgia Institute of Technology, 2014-12-12)
      Gaits have become an integral part of the design method of robots heading to complex terrains. But research into optimal ways to transition between different gaits is still lacking, and is the primary motivation behind ...
    • Graph-based Path Planning for Mobile Robots 

      Wooden, David T. (Georgia Institute of Technology, 2006-11-16)
      In this thesis, questions of navigation, planning and control of real-world mobile robotic systems are addressed. Chapter II contains the first contribution in this thesis, which is a modification of ...
    • Graphs, Simplicial Complexes and Beyond: Topological Tools for Multi-agent Coordination 

      Muhammad, Abubakr (Georgia Institute of Technology, 2005-12-16)
      In this work, connectivity graphs have been studied as models of local interactions in multi-agent robotic systems. A systematic study of the space of connectivity graphs has been done from a geometric and topological point ...
    • Guided teaching interactions with robots: embodied queries and teaching heuristics 

      Cakmak, Maya (Georgia Institute of Technology, 2012-05-17)
      The vision of personal robot assistants continues to become more realistic with technological advances in robotics. The increase in the capabilities of robots, presents boundless opportunities for them to perform useful ...
    • Haptic interaction between naive participants and mobile manipulators in the context of healthcare 

      Chen, Tiffany L. (Georgia Institute of Technology, 2014-04-08)
      Human-scale mobile robots that manipulate objects (mobile manipulators) have the potential to perform a variety of useful roles in healthcare. Many promising roles for robots require physical contact with patients and ...
    • Hierarchical motion planning for autonomous aerial and terrestrial vehicles 

      Cowlagi, Raghvendra V. (Georgia Institute of Technology, 2011-05-03)
      Autonomous mobile robots - both aerial and terrestrial vehicles - have gained immense importance due to the broad spectrum of their potential military and civilian applications. One of the indispensable requirements for ...
    • Human-in-the-loop control for cooperative human-robot tasks 

      Chipalkatty, Rahul (Georgia Institute of Technology, 2012-03-29)
      Even with the advance of autonomous robotics and automation, many automated tasks still require human intervention or guidance to mediate uncertainties in the environment or to execute the complexities of a task that ...
    • Hybrid control of multiple autonomous mobile robots 

      Axelsson, Henrik (Georgia Institute of Technology, 2003-05)
    • Incremental smoothing and mapping 

      Kaess, Michael (Georgia Institute of Technology, 2008-11-17)
      Incremental smoothing and mapping (iSAM) is presented, a novel approach to the simultaneous localization and mapping (SLAM) problem. SLAM is the problem of estimating an observer's position from local measurements only, ...
    • An integrative framework of time-varying affective robotic behavior 

      Moshkina, Lilia V. (Georgia Institute of Technology, 2011-04-04)
      As robots become more and more prevalent in our everyday life, making sure that our interactions with them are natural and satisfactory is of paramount importance. Given the propensity of humans to treat machines as social ...
    • Joint attention in human-robot interaction 

      Huang, Chien-Ming (Georgia Institute of Technology, 2010-07-07)
      Joint attention, a crucial component in interaction and an important milestone in human development, has drawn a lot of attention from the robotics community recently. Robotics researchers have studied and implemented joint ...
    • Knowledge transfer in robot manipulation tasks 

      Huckaby, Jacob O. (Georgia Institute of Technology, 2014-04-08)
      Technology today has progressed to the point that the true potential of robotics is beginning to be realized. However, programming robots to be robust across varied environments and objectives, in a way that is accessible ...
    • Learning descriptive models of objects and activities from egocentric video 

      Fathi, Alireza (Georgia Institute of Technology, 2013-06-13)
      Recent advances in camera technology have made it possible to build a comfortable, wearable system which can capture the scene in front of the user throughout the day. Products based on this technology, such as GoPro and ...
    • Leveraging distribution and heterogeneity in robot systems architecture 

      O'Hara, Keith Joseph (Georgia Institute of Technology, 2011-08-03)
      Like computer architects, robot designers must address multiple, possibly competing, requirements by balancing trade-offs in terms of processing, memory, communication, and energy to satisfy design objectives. However, ...
    • Life-long mapping of objects and places in domestic environments 

      Rogers, John Gilbert (Georgia Institute of Technology, 2013-01-10)
      In the future, robots will expand from industrial and research applications to the home. Domestic service robots will work in the home to perform useful tasks such as object retrieval, cleaning, organization, and security. ...
    • Machine learning and dynamic programming algorithms for motion planning and control 

      Arslan, Oktay (Georgia Institute of Technology, 2015-11-16)
      Robot motion planning is one of the central problems in robotics, and has received considerable amount of attention not only from roboticists but also from the control and artificial intelligence (AI) communities. Despite ...
    • Matching feedback with operator intent for efficient human-machine interface 

      Elton, Mark David (Georgia Institute of Technology, 2012-11-09)
      Various roles for operators in human-machine systems have been proposed. This thesis shows that all of these views have in common the fact that operators perform best when given feedback that matches their intent. Past ...
    • Mobile manipulation in unstructured environments with haptic sensing and compliant joints 

      Jain, Advait (Georgia Institute of Technology, 2012-08-22)
      We make two main contributions in this thesis. First, we present our approach to robot manipulation, which emphasizes the benefits of making contact with the world across all the surfaces of a manipulator with whole-arm ...
    • Model predictive control with haptic feedback for robot manipulation in cluttered scenarios 

      Killpack, Marc Daniel (Georgia Institute of Technology, 2013-11-18)
      Current robot manipulation and control paradigms have largely been developed for static or highly structured environments such as those common in factories. For most techniques in robot trajectory generation, such as ...