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Teaching robots about human environments: Leveraging human interaction to efficiently learn and use multisensory object affordances
(Georgia Institute of Technology, 2018-01-09)
The real world is complex, unstructured, and contains high levels of uncertainty. Although past work shows that robots can successfully operate in situations where a single skill is needed, they will need a framework that ...
Robots learning actions and goals from everyday people
(Georgia Institute of Technology, 2015-11-16)
Robots are destined to move beyond the caged factory floors towards domains where they will be interacting closely with humans. They will encounter highly varied environments, scenarios and user demands. As a result, ...
Efficient and principled robot learning: Theory and algorithms
(Georgia Institute of Technology, 2020-01-07)
Roboticists have long envisioned fully-automated robots that can operate reliably in unstructured environments. This is an exciting but extremely difficult problem; in order to succeed, robots must reason about sequential ...
Search-based collision-free motion planning for robotic sculpting
(Georgia Institute of Technology, 2020-07-28)
In this work, I explore the task of robot sculpting. I propose a search-based planning algorithm to solve the problem of sculpting by material removal with a multi-axis manipulator. I generate collision free trajectories ...
Time-optimal sampling-based motion planning for manipulators with acceleration limits
(Georgia Institute of Technology, 2015-04-07)
Robot actuators have physical limitations in how fast they can change their velocity. The more accurately planning algorithms consider these limitations, the better the robot is able to perform.
Sampling-based algorithms ...
A linguistic method for robot verification programming and control
(Georgia Institute of Technology, 2014-10-29)
There are many competing techniques for specifying robot policies, each having advantages in different circumstances. To unify these techniques in a single framework, we use formal language as an intermediate representation ...
Leveraging distribution and heterogeneity in robot systems architecture
(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, ...
An integrative framework of time-varying affective robotic behavior
(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 ...
Buzzwear: supporting multitasking with wearable tactile displays on the wrist
(Georgia Institute of Technology, 2010-08-27)
On-the-go users' interaction with mobile devices often requires high visual attention that can overtax limited human resources. For example, while attending information displayed on a mobile device, on-the-go users who are ...
Vision-based place categorization
(Georgia Institute of Technology, 2010-11-18)
In this thesis we investigate visual place categorization by combining successful global image descriptors with a method of visual attention in order to automatically detect meaningful objects for places. The idea behind ...