Now showing items 117-136 of 174

    • A Neural Schema Architecture for Autonomous Robots 

      Arkin, Ronald C.; Cervantes-Pérez, Francisco; Corbacho, Fernando; Olivares, Roberto; Weitzenfeld, Alfredo (Georgia Institute of Technology, 1998)
      As autonomous robots become more complex in their behavior, more sophisticated software architectures are required to support the ever more sophisticated robotics software. These software architectures must support complex ...
    • Neuronal Networks Working at Multiple Temporal Scales as a Basis for Amphibia’s Prey-Catching Behavior 

      Arkin, Ronald C.; Flores-Castillo, Luis R.; Cervantes-Pérez, Francisco; Weitzenfeld, Alfredo (Georgia Institute of Technology, 2000)
      We analyze a model of neuronal mechanisms underlying amphibia’s prey-catching behavior, integrating hypotheses generated within different areas of Neuroscience and studying how the efficacy of visual prey-like dummies to ...
    • A New Heuristic Approach for Dual Control 

      Ram, Ashwin; Santamaria, Juan Carlos (Georgia Institute of Technology, 1997)
      Autonomous agents engaged in a continuous interaction with an incompletely known environment face the problem of dual control [Fel’dbaum 1965]. Simply stated, actions are necessary not only for studying the environment, ...
    • Niche Selection for Foraging Tasks in Multi-Robot Teams Using Reinforcement Learning 

      Balch, Tucker; Ulam, Patrick D. (Georgia Institute of Technology, 2003)
      We present a means in which individual members of a multi-robot team may allocate themselves into specialist and generalist niches in a multi-foraging task where there may exist a cost for generalist strategies. Through ...
    • Noise Maps for Acoustically Sensitive Navigation 

      Martinson, Eric; Arkin, Ronald C. (Georgia Institute of Technology, 2004)
      More and more robotic applications are equipping robots with microphones to improve the sensory information available to them. However, in most applications the auditory task is very low-level, only processing data and ...
    • On TAMEing Robots 

      Arkin, Ronald C.; Moshkina, Lilia (Georgia Institute of Technology, 2003)
      This paper presents a framework for affective robotic behavior (TAME) and describes an exploratory experimental study to identify relevant affective phenomena to include into the framework in order to increase ease and ...
    • On the Ethical Quandaries of a Practicing Roboticist: A First-Hand Look 

      Arkin, Ronald C. (Georgia Institute of Technology, 2007)
      Robotics has progressed substantially over the last 20 years, moving from simple proof-of-concept experimental research to developing market and military technologies that have significant ethical consequences. This ...
    • Other-Oriented Robot Deception: A Computational Approach for Deceptive Action Generation to Benefit the Mark 

      Shim, Jaeeun; Arkin, Ronald C. (Georgia Institute of Technology, 2014)
      Social robots can benefit by adding deceptive capabilities. In particular, robotic deception should benefit the deceived human partners when used in the context of human-robot interaction (HRI). We define this kind of ...
    • Overriding Ethical Constraints in Lethal Autonomous Systems 

      Arkin, Ronald C.; Ulam, Patrick D. (Georgia Institute of Technology, 2012)
      This article describes the philosophy, design, and prototype implementation of an operator override system intended for use in managing unmanned robotic systems capable of lethal behavior. The ethical ramifications ...
    • Perceptual Support for Ballistic Motion in Docking for a Mobile Robot 

      MacKenzie, Douglas Christopher; Arkin, Ronald C. (Georgia Institute of Technology, 1991)
      This paper describes ongoing research into methods to allow a mobile robot to effectively function in a manufacturing environment; specifically, generation of the ballistic motion phase of the docking behavior. This overall ...
    • Performance Guarantees for C - WMD Robot Missions 

      Jiang, Shu; Arkin, Ronald C.; Lyons, Damian M.; Liu, Tsung-Ming; Harrington, Dagan (Georgia Institute of Technology, 2013)
      Robotics has been considered as one of the five key technology areas for defense against attacks with weapons of mass destruction (WMD). However, due to the mass impact nature of WMD, failures of counter-WMD (C-WMD) missions ...
    • Performance Verification for Behavior - based Robot Missions 

      Lyons, Damian M.; Arkin, Ronald C.; Jiang, Shu; Liu, Tsung-Ming; Nirmal, Paramesh; Deeb, J. (Georgia Institute of Technology, 2013)
      Certain robot missions need to perform predictably in a physical environment that may only be poorly characterized in advance. This requirement raises many issues for existing approaches to software verification. An ...
    • Planning to Behave: A Hybrid Deliberative/Reactive Robot Control Architecture for Mobile Manipulation 

      Arkin, Ronald C.; MacKenzie, Douglas Christopher (Georgia Institute of Technology, 1994)
      Hybrid architectures provide an effective means for integrating world knowledge with reactive control. This paper describes the motivation behind the architectural decision to hybridize, and presents a case study in mobile ...
    • Preserving Dignity in Patient Caregiver Relationships Using Moral Emotions and Robots 

      Arkin, Ronald C.; Scheutz, Matthias; Tickle-Degnen, Linda (Georgia Institute of Technology, 2014)
      This paper provides an overview of an ongoing NSF project that is intended to improve the long-term quality of care for patients suffering from early stage Parkinson’s disease. Due to facial masking in the patient, a ...
    • Primate - Inspired Vehicle Navigation Using Optic Flow and Mental Rotations 

      Arkin, Ronald C.; Dellaert, Frank; Srinivasa, Natesh; Kerwin, Ryan (Georgia Institute of Technology, 2013)
      Robot navigation already has many relatively efficient solutions: reactive control, simultaneous localization and mapping (SLAM), Rapidly-Exploring Random Trees (RRTs), etc. But many primates possess an additional inherent ...
    • A Primate-inspired Autonomous Navigation Algorithm Using the Cognitive Mechanism of Mental Rotation 

      Pettinati, Michael J.; Arkin, Ronald C. (Georgia Institute of Technology, 2014)
      Though significant progress on autonomous navigation has been made, the natural world offers interesting examples of navigational techniques that are worth exploring and understanding. The cognitive mechanism of mental ...
    • Probabilistic Planning for Behavior-Based Robots 

      Atrash, Amin; Koenig, Sven (Georgia Institute of Technology, 2001)
      Partially Observable Markov Decision Process models (POMDPs) have been applied to low-level robot control. We show how to use POMDPs differently, namely for sensor-planning in the context of behavior-based robot systems. ...
    • Proprioceptive Control for a Robotic Vehicle Over Geometric Obstacles 

      Abdallah, Muhammad; Arkin, Ronald C.; Bakkum, Douglas James; Merrill, Ernest; Waldron, Kenneth J. (Georgia Institute of Technology, 2003)
      In this paper we describe a software system built to coordinate an autonomous vehicle with variable configuration ability operating in rough terrain conditions. The paper describes the system architecture, with an emphasis ...
    • Reactive Control of a Mobile Manipulator Using Pseudo-Joint Damping 

      Ward, Keith Ronald; Arkin, Ronald C. (Georgia Institute of Technology, 1993)
      Reactive control for mobile manipulation involves a tight coupling of sensors to motor response. Pseudo-forces exerted on the end-effector and limbs of the mobile manipulator must be distributed over the entire structure. ...
    • A Reactive Robot Architecture With Planning on Demand 

      Koenig, Sven; Ranganathan, Ananth (Georgia Institute of Technology, 2003)
      In this paper, we describe a reactive robot architecture that uses fast re-planning methods to avoid the shortcomings of reactive navigation, such as getting stuck in box canyons or in front of small openings. Our robot ...