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Learning and Inferring Motion Patterns Using Parametric Segmental Switching Linear Dynamic Systems
(Georgia Institute of Technology, 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 ...
Data-Driven MCMC for Learning and Inference in Switching Linear Dynamic Systems
(Georgia Institute of Technology, 2005-07)
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, but inference in SLDS models ...
The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue
(Georgia Institute of Technology, 2002)
We describe our entry in the AAAI 2002 Urban Search and
Rescue (USAR) competition, a marsupial team consisting of
a larger wheeled robot and several small legged robots, carried
around by the larger robot. This setup ...
Distributed Sensor Fusion for Object Position Estimation by Multi-Robot Systems
(Georgia Institute of Technology, 2001)
We present a method for representing,
communicating and fusing distributed, noisy and uncertain
observations of an object by multiple robots. The approach
relies on re-parameterization of the canonical two-dimensional
Gaussian ...
The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue
(Georgia Institute of Technology, 2002)
We describe our entry in the AAAI 2002 Urban Search and
Rescue (USAR) competition, a marsupial team consisting of
a larger wheeled robot and several small legged robots, carried
around by the larger robot. This setup ...
Efficient Particle Filter-Based Tracking of Multiple Interacting Targets Using an MRF-based Motion Model
(Georgia Institute of Technology, 2003)
We describe a multiple hypothesis particle filter
for tracking targets that will be influenced by the proximity
and/or behavior of other targets. Our contribution is to show
how a Markov random field motion prior, built ...
Value-Based Communication Preservation for Mobile Robots
(Georgia Institute of Technology, 2003)
Value-Based Communication Preservation (VBCP) is a behavior-based,
computationally efficient approach to maintaining line-of-sight RF communication
between members of robot teams in the context of other tasks. The goal ...
Io, Ganymede and Callisto - a Multiagent Robot Trash-Collecting Team
(Georgia Institute of Technology, 1995)
Georgia Tech won the Office Cleanup Event at the 1994 AAAI Mobile Robot Competition with a multi-robot cooperating team. This paper describes the design and implementation of these reactive trash-collecting robots, including ...
Buzz, An Instantiation of a Schema-Based Reactive Robotic System
(Georgia Institute of Technology, 1993)
The Georgia Tech entry to the AAAI Mobile Robot Competition, a schema-based reactive robotic system, is described. New developments are presented including the introduction of two novel behaviors probe and avoid-past, ...
What Are the Ants Doing? Vision-Based Tracking and Reconstruction of Control Programs
(Georgia Institute of Technology, 2005-04)
In this paper, we study the problem of going
from a real-world, multi-agent system to the generation of
control programs in an automatic fashion. In particular,
a computer vision system is presented, capable of ...