Launched on November 4, 2013, the Institute for Robotics and Intelligent Machines (IRIM) evolved into Georgia Tech’s newest Interdisciplinary Research Institute (IRI), built upon the foundational work developed in the former Robotics & Intelligent Machines Center (RIM@Georgia Tech). IRIM brings together robotics researchers from across campus—spanning colleges, departments and individual labs—to create new collaborative opportunities for faculty, strengthen partnerships with industry and government and maximize the societal impact of the transformative robotics research conducted at Georgia Tech.

Sub-communities within this community

Recent Submissions

  • From Algorithms to Architectures in Cyber-Physical Networks 

    Egerstedt, Magnus B. (Georgia Institute of TechnologyTaylor & Francis, 2015-02)
  • Distributed Dynamic Density Coverage for Human-Swarm Interactions 

    Diaz-Mercado, Yancy; Lee, Sung G.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-07)
    This paper presents two approaches to externally influence a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. ...
  • Team-Level Properties for Haptic Human-Swarm Interactions 

    Setter, Tina; Kawashima, Hiroaki; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-07)
    This paper explores how haptic interfaces should be designed to enable effective human-swarm interactions. When a single operator is interacting with a team of mobile robots, there are certain properties of the team ...
  • Effects of Insufficient Time-Scale Separation in Cascaded, Networked Systems 

    Sakurama, Kazunori; Verriest, Erik I.; Egerstedt, Magnus B. (Georgia Institute of Technology, 2015-07)
    In this paper, we investigate the effect of insufficient time-scale separation between inner and the outer loops in a cascaded, networked system under multiple clients. Inspired by the AQM (inner loop) and TCP (outer loop) ...
  • A Control Lyapunov Function Approach to Human-Swarm Interactions 

    de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-07)
    In this paper, we seek to establish formal guarantees for whether or not a given human-swarm interaction (HSI) is appropriate for achieving multi-robot tasks. Examples of such tasks include guiding a swarm of robots ...
  • Differentially Private Cloud-Based Multi-Agent Optimization with Constraints 

    Hale, M. T.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-07)
    We present an optimization framework that solves constrained multi-agent optimization problems while keeping each agent’s state differentially private. The agents in the network seek to optimize a local objective function ...
  • Mixed-integer Convex Formulations for Planning Nonlinear Dynamics in Complex Environments 

    Tedrake, Russ (Georgia Institute of Technology, 2016-10-19)
    Humanoid robots walking across intermittent terrain, robotic arms grasping multifaceted objects, or UAVs darting left or right around a tree — many of the dynamics and control problems we face today have an inherently ...
  • Robust Agility and Safety for Dynamic Aerial Manipulation and Legged Locomotion 

    Sreenath, Koushil (Georgia Institute of Technology, 2016-10)
    Biological systems are able to move with great elegance, agility, and efficiency in a wide range of environments. Endowing machines with similar capabilities requires designing controllers that can address the challenges ...
  • The GRITSBot in its Natural Habitat - A Multi-Robot Testbed 

    Pickem, Daniel; Lee, Myron; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-05)
    Current multi-agent robotic testbeds are prohibitively expensive or highly specialized and as such their use is limited to a small number of research laboratories. Given the high price tag, what is needed to scale ...
  • Altering UAV Flight Path by Threatening Collision 

    Pierpaoli, Pietro; Egerstedt, Magnus M. B.; Rahmani, Amir (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-09)
    The ongoing transformation of air traffic control towards decentralized decision making based on ADS-B information shared by neighboring traffic will allow all aircraft and UAS in particular, to automatically detect ...
  • Optimal Exploration in Unknown Environments 

    O’Flaherty, Rowland; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015)
    This paper presents an algorithm that optimally explores an unknown environment with regions of varying degrees of importance. The algorithm, termed Ergodic Environmental Exploration (E³), is a finite ...
  • Control Barrier Certificates for Safe Swarm Behavior 

    Borrmann, Urs; Wang, Li; Ames, Aaron D.; Egerstedt, Magnus B. (Georgia Institute of Technology, 2015-10)
    Multi-agent robotics involves the coordination of large numbers of robots, which leads to significant challenges in terms of collision avoidance. This paper generates provably collision free swarm ...
  • Temporal Heterogeneity and the Value of Slowness in Robotic Systems 

    Arkin, Ronald C.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-12)
    Robot teaming is a well-studied area, but little research to date has been conducted on the fundamental benefits of heterogeneous teams and virtually none on temporal heterogeneity, where timescales of the various ...
  • Cloud-Based Centralized/Decentralized Multi-Agent Optimization with Communication Delays 

    Hale, Matthew T.; Nedić, Angelia; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-12)
    We present and analyze a hybrid computational architecture for performing multi-agent optimization. The optimization problems under consideration have convex objective and constraint functions with mild smoothness ...
  • Correct-by-Construction Control Synthesis for Multi-Robot Mixing 

    Diaz-Mercado, Yancy; Jones, Austin; Belta, Calin; Egerstedt, Magnus (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-12)
    This paper considers the problem of controlling a team of heterogeneous agents to conform to high- level interaction (coordination, sensing, and communication) missions. We consider interactions that can be specified via ...
  • Future of Autonomous Vehicles 

    Washington, Ken (2016-10-13)
  • Vision-Based Optimal Landing On a Moving Platform 

    Nakamura, Takuma; Haviland, Stephen; Bershadsky, Dmitry; Johnson, Eric N. (Georgia Institute of Technology, 2016-05)
    This paper describes a vision-based control architecture designed to enable autonomous landing on a moving platform. The landing trajectory is generated by using the receding-horizon differential dynamic programming (DDP), ...
  • Vision-Based Closed-Loop Tracking Using Micro Air Vehicles 

    Nakamura, Takuma; Haviland, Stephen; Bershadsky, Dmitry; NodeIn, Daniel Magree; Johnson, Eric N. (Georgia Institute of Technology, 2016)
    This paper describes the target detection and tracking architecture used by the Georgia Tech Aerial Robotics team for the American Helicopter Society (AHS) Micro Aerial Vehicle (MAV) challenge. The vision system described ...
  • Closing the Gap Between Machine Learning and Robotics 

    Boots, Byron (2016-10-05)
    Given a stream of multimodal sensory data, an autonomous robot must continuously refine its understanding of itself and its environment as it makes decisions on how to act to achieve a goal. These are difficult problems ...
  • Weakly Supervised Learning from Images and Video 

    Laptev, Ivan (2016-09-30)
    Recent progress in visual recognition goes hand-in-hand with the supervised learning and large-scale training data. While the amount of existing images and videos is huge, their detailed annotation is expensive and often ...

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