Now showing items 46-65 of 99

    • 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 ...
    • Modeling cellular actuator arrays 

      MacNair, David Luke (Georgia Institute of Technology, 2013-08-20)
      This work explores the representations and mathematical modeling of biologically-inspired robotic muscles called Cellular Actuator Arrays. These actuator arrays are made of many small interconnected actuation units which ...
    • Modeling of operator action for intelligent control of haptic human-robot interfaces 

      Gallagher, William John (Georgia Institute of Technology, 2013-08-20)
      Control of systems requiring direct physical human-robot interaction (pHRI) requires special consideration of the motion, dynamics, and control of both the human and the robot. Humans actively change their dynamic ...
    • Multi-agent coordination: fluid-inspired and optimal control approaches 

      Kingston, Peter (Georgia Institute of Technology, 2012-04-03)
      Multiagent coordination problems arise in a variety of applications, from satellite constellations and formation flight, to air traffic control and unmanned vehicle teams. We investigate the coordination of mobile agents ...
    • Multi-camera uncalibrated visual servoing 

      Marshall, Matthew Q. (Georgia Institute of Technology, 2013-07-02)
      Uncalibrated visual servoing (VS) can improve robot performance without needing camera and robot parameters. Multiple cameras improve uncalibrated VS precision, but no works exist simultaneously using more than two cameras. ...
    • Multi-robot assignment and formation control 

      Macdonald, Edward A. (Georgia Institute of Technology, 2011-07-08)
      Our research focuses on one of the more fundamental issues in multi-agent, mobile robotics: the formation control problem. The idea is to create controllers that cause robots to move into a predefined formation shape. ...
    • Multi-robot platooning in hostile environments 

      Shively, Jeremy (Georgia Institute of Technology, 2012-04-09)
      The purpose of this thesis is to develop a testing environment for mobile robot experiments, to examine methods for multi-robot platooning through hostile environments, and test these algorithms on mobile robots. Such a ...
    • Musical swarm robot simulation strategies 

      Albin, Aaron Thomas (Georgia Institute of Technology, 2011-11-16)
      Swarm robotics for music is a relatively new way to explore algorithmic composition as well as new modes of human robot interaction. This work outlines a strategy for making music with a robotic swarm constrained by acoustic ...
    • Navigation among movable obstacles in unknown environments 

      Levihn, Martin (Georgia Institute of Technology, 2011-04-05)
      This work presents a new class of algorithms that extend the domain of Navigation Among Movable Obstacles (NAMO) to unknown environments. Efficient real-time algorithms for solving NAMO problems even when no initial ...
    • Object categorization for affordance prediction 

      Sun, Jie (Georgia Institute of Technology, 2008-07-01)
      A fundamental requirement of any autonomous robot system is the ability to predict the affordances of its environment, which define how the robot can interact with various objects. In this dissertation, we demonstrate that ...
    • Optical flow templates for mobile robot environment understanding 

      Roberts, Richard Joseph William (Georgia Institute of Technology, 2014-10-01)
      In this work we develop optical flow templates. In doing so, we introduce a practical tool for inferring robot egomotion and semantic superpixel labeling using optical flow in imaging systems with arbitrary optics. In order ...
    • Optimal Control of Switched Autonomous Systems: Theory, Algorithms, and Robotic Applications 

      Axelsson, Henrik (Georgia Institute of Technology, 2006-04-05)
      As control systems are becoming more and more complex, system complexity is rapidly becoming a limiting factor in the efficacy of established techniques for control systems design. To cope with the growing complexity, ...
    • Optimal, Multi-Modal Control with Applications in Robotics 

      Mehta, Tejas R. (Georgia Institute of Technology, 2007-04-04)
      The objective of this dissertation is to incorporate the concept of optimality to multi-modal control and apply the theoretical results to obtain successful navigation strategies for autonomous mobile robots. The main idea ...
    • Physics-based reinforcement learning for autonomous manipulation 

      Scholz, Jonathan (Georgia Institute of Technology, 2015-08-21)
      With recent research advances, the dream of bringing domestic robots into our everyday lives has become more plausible than ever. Domestic robotics has grown dramatically in the past decade, with applications ranging from ...