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

  • Safety Barrier Certificates for Heterogeneous Multi-Robot Systems 

    Wang, Li; Ames, Aaron; Egerstedt, Magnus (Georgia Institute of Technology, 2016-07)
    paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We build this framework through the use of ...
  • Multi-Contact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control 

    Zhao, Huihua; Horn, Jonathan; Reher, Jacob; Paredes, Victor; Ames, Aaron D. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-03)
    Lower-limb prostheses provide a prime example of cyber-physical systems (CPSs) requiring the synergistic development of sensing, algorithms and controllers. With a view towards better understanding CPSs of this form, this ...
  • Correct-By-Construction Adaptive Cruise Control: Two Approaches 

    Nilsson, Petter; Hussien, Omar; Balkan, Ayca; Chen, Yuxiao; Ames, Aaron A. D.; Grizzle, Jessy; Ozay, Necmiye; Peng, Huei; Tabuada, Paulo (Georgia Institute of Technology, 2016-07)
    Motivated by the challenge of developing control software provably meeting specifications for real world problems, this paper applies formal methods to adaptive cruise control (ACC). Starting from a Linear Temporal Logic ...
  • Multi-Contact Bipedal Robotic Locomotion 

    Zhao, Huihua; Herei, Ayonga; Ma, Wen-loong; Ames, Aaron D. (Georgia Institute of TechnologyCambridge University Press, 2015)
    This paper presents a formal framework for achieving multi-contact bipedal robotic walking, and realizes this methodology experimentally on two robotic platforms: AMBER2 and ATRIAS. Inspired by ...
  • Towards Real-Time Parameter Optimization for Feasible Nonlinear Control with Applications to Robot Locomotion 

    Powell, Matthew J.; Ames, Aaron D. (Georgia Institute of Technology, 2016-07)
    This paper considers the application of classical control methods, designed for unconstrained nonlinear systems, to systems with nontrivial input constraints. As shown throughout the literature, unconstrained classical ...
  • Unification of Locomotion Pattern Generation and Control Lyapunov Function-Based Quadratic Programs 

    Chao, Kenneth Y.; Powell, Matthew J.; Ames, Aaron D.; Hur, Pilwon (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-07)
    This paper presents a novel method of combining real-time walking pattern generation and constrained nonlinear control to achieve robotic walking under Zero-Moment Point (ZMP) and torque constraints. The proposed method ...
  • Time Dependent Control Lyapunov Functions and Hybrid Zero Dynamics for Stable Robotic Locomotion 

    Kolathaya, Shishir; Hereid, Ayonga; Ames, Aaron D. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-07)
    Implementing state-based parameterized periodic trajectories on complex robotic systems, e.g., humanoid robots, can lead to instability due to sensor noise exacerbated by dynamic movements. As a means of understanding ...
  • First Steps Toward Translating Robotic Walking To Prostheses: A Nonlinear Optimization Based Control Approach 

    Zhao, Huihua; Horn, Jonathan; Reher, Jacob; Paredes, Victor; Ames, Aaron D. (Georgia Institute of TechnologySpringer, 2016)
    This paper presents the first steps toward successfully translating nonlinear real-time optimization based controllers from bipedal walking robots to a self-contained powered transfemoral prosthesis: AMPRO, with the ...
  • The Middle Child Problem: Revisiting Parametric Min-cut and Seeds for Object Proposals 

    Humayun, Ahmad; Li, Fuxin; Rehg, James M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-12)
    Object proposals have recently fueled the progress in detection performance. These proposals aim to provide category-agnostic localizations for all objects in an image. One way to generate proposals is to perform parametric ...
  • Work those Arms: Toward Dynamic and Stable Humanoid Walking that Optimizes Full-Body Motion 

    Hubicki, Christian M.; Hereid, Ayonga; Grey, Michael X.; Thomaz, Andrea L.; Ames, Aaron D. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-05)
    Humanoid robots are designed with dozens of actuated joints to suit a variety of tasks, but walking controllers rarely make the best use of all of this freedom. We present a framework for maximizing the use of the full ...
  • Realizing Dynamic and Efficient Bipedal Locomotion on the Humanoid Robot DURUS 

    Reher, Jacob; Cousineau, Eric A.; Hereid, Ayonga; Hubicki, Christian M.; Ames, Aaron D. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-05)
    This paper presents the methodology used to achieve efficient and dynamic walking behaviors on the prototype humanoid robotics platform, DURUS. As a means of providing a hardware platform capable of these behaviors, the ...
  • 3D Dynamic Walking with Underactuated Humanoid Robots: A Direct Collocation Framework for Optimizing Hybrid Zero Dynamics 

    Hereid, Ayonga; Cousineau, Eric A.; Hubick, Christian M.; Ames, Aaron D. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-05)
    Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic and underactuated bipedal walking, but has significant implementation difficulties when applied to the high degrees of ...
  • Rigid Components Identification and Rigidity Enforcement in Bearing-Only Localization using the Graph Cycle Basis 

    Tron, Roberto; Carlone, Luca; Dellaert, Frank; Daniilidis, Kostas (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015)
    Bearing-only localization can be formulated in terms of optimal graph embedding: one has to assign a 2-D or 3-D position to each node in a graph while satisfying as close as possible all the bearing-only constraints on ...
  • IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation 

    Forster, Christian; Carlone, Luca; Dellaert, Frank; Scaramuzza, Davide (Georgia Institute of Technology, 2015)
    Recent results in monocular visual-inertial navigation (VIN) have shown that optimization-based approaches outperform filtering methods in terms of accuracy due to their capability to relinearize past states. However, the ...
  • Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions 

    Carlone, Luca; Rosen, David M.; Calafiore, Giuseppe; Leonard, John J.; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015)
    State-of-the-art techniques for simultaneous localization and mapping (SLAM) employ iterative nonlinear optimization methods to compute an estimate for robot poses. While these techniques often work well in practice, ...
  • Timing multimodal turn-taking in human-robot cooperative activity 

    Chao, Crystal (Georgia Institute of Technology, 2015-04-07)
    Turn-taking is a fundamental process that governs social interaction. When humans interact, they naturally take initiative and relinquish control to each other using verbal and nonverbal behavior in a coordinated manner. ...
  • Incremental Sparse GP Regression for Continuous-time Trajectory Estimation & Mapping 

    Yan, Xinyan; Indelman, Vadim; Boots, Byron (Georgia Institute of Technology, 2014-12)
    Recent work has investigated the problem of continuous-time trajectory estimation and mapping for mobile robots by formulating the problem as sparse Gaussian process regression. Gaussian processes provide a continuous-time ...
  • Incremental Sparse GP Regression for Continuous-time Trajectory Estimation & Mapping 

    Yan, Xinyan; Indelman, Vadim; Boots, Byron (Georgia Institute of Technology, 2015-07)
    Recent work on simultaneous trajectory estimation and mapping (STEAM) for mobile robots has found success by representing the trajectory as a Gaussian process. Gaussian processes can represent a ...
  • Consistent Decentralized Graphical SLAM with Anti-Factor Down-Dating 

    Cunningham, Alexander; Indelman, Vadim; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-11)
    This report presents our recent and ongoing work developing a consistent decentralized data fusion approach for robust multi-robot SLAM in dangerous, unknown environments. The DDF-SAM 2.0 approach extends our previous ...
  • Distributed Navigation with Unknown Initial Poses and Data Association via Expectation Maximization 

    Indelman, Vadim; Michael, Nathan; Dellaert, Frank (Georgia Institute of Technology, 2015-02)
    We present a novel approach for multi-robot distributed and incremental inference over variables of interest, such as robot trajectories, considering the initial relative poses between the robots and multi-robot ...

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