Now showing items 1-20 of 75

    • Approximate Reasoning for Safety and Survivability of Planetary Rovers 

      Tunstel, Edward; Howard, Ayanna M. (Georgia Institute of TechnologyElsevier, 2003-02)
      Operational safety and health monitoring are critical matters for autonomous planetary rovers operating on remote and challenging terrain. This paper describes rover safety issues and presents an approximate reasoning ...
    • Automated Macular Pathology Diagnosis in Retinal OCT Images Using Multi-Scale Spatial Pyramid and Local Binary Patterns in Texture and Shape Encoding 

      Liu, Yu-Ying; Chen, Mei; Ishikawa, Hiroshi; Wollstein, Gadi; Schuman, Joel S.; Rehg, James M. (Georgia Institute of TechnologyElsevier, 2011-10)
      We address a novel problem domain in the analysis of optical coherence tomography (OCT) images: the diagnosis of multiple macular pathologies in retinal OCT images. The goal is to identify the presence of normal macula and ...
    • Autonomous Environment Manipulation to Assist Humanoid Locomotion 

      Levihn, Martin; Nishiwaki, Koichi; Kagami, Satoshi; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014)
      Legged robots have unique capabilities to traverse complex environments by stepping over and onto objects. Many footstep planners have been developed to take advantage of these capabilities. However, legged robots also ...
    • Biodynamic Feedthrough Compensation and Experimental Results Using a Backhoe 

      Heather C. Humphreys; Book, Wayne John; Huggins, James D. (Georgia Institute of Technology, 2011-03)
      In some operator-controlled machines, motion of the controlled machine excites motion of the human operator, which is fed back into the control device, causing unwanted input and sometimes instability; this phenomenon is ...
    • The Bracing Strategy for Robot Operation 

      Book, Wayne John; Sangveraphunsiri, Viboon; Le, Sanh (Georgia Institute of TechnologyMIT Press, 1984-06)
      A new strategy of robot operation, the bracing strategy, is presented. Under this strategy an arm is moved into position then rigidized by bracing against either the work piece or an auxiliary, static structure. Subsequent ...
    • Comparative studies reveal principles of movement on and within granular media 

      Ding, Yang; Gravish, Nick; Li, Chen; Maladen, Ryan D.; Mazouchova, Nicole; Sharpe, Sarah S.; Umbanhowar, Paul B.; Goldman, Daniel I. (Georgia Institute of TechnologySpringer Verlag, 2010-06)
      Terrestrial locomotion can take place on complex substrates such as leaf litter, debris, and soil that flow or solidify in response to stress. While principles of movement in air and water are revealed through study of the ...
    • Constrained Agreement Protocols for Tree Graph Topologies 

      Chipalkatty, Rahul; Egerstedt, Magnus B. (Georgia Institute of TechnologyTaylor & Francis, 2011-02)
      This paper presents a novel way of manipulating the initial conditions in the consensus equation such that a constrained agreement problem is solved across a distributed network of agents, particularly for a network ...
    • Containment in Leader-Follower Networks with Switching Communication Topologies 

      Notarstefano, Giuseppe; Egerstedt, Magnus B.; Haque, Musad A. (Georgia Institute of TechnologyElsevier, 2011)
      We study bipartite, first-order networks where the nodes take on leader or follower roles. Specifically, we let the leaders' positions be static and assume that leaders and followers communicate via an undirected switching ...
    • Control and Control Theory for Flexible Robots 

      Magee, David P.; Book, Wayne John (Georgia Institute of Technology, 1993-04)
      As the requirements for robot performance increase, the dynamics of the manipulator become more dominated by flexibility. These flexible effects generate model uncertainty which reduces the end-point positioning accuracy ...
    • Control of a Robotic Exercise Machine 

      Book, Wayne John; Ruis, David A. (Georgia Institute of TechnologyAmerican Automatic Control Council, 1981-06)
      Exercise devices provide a means of resisting user applied forces for purposes of improving physical performance. The characteristics of the device include its path of motion and the functional relationship between applied ...
    • Control of coordinated patterns for ocean sampling 

      Zhang, Fumin; Fratantoni, David M.; Paley, Derek A.; Lund, John M.; Leonard, Naomi Ehrich (Georgia Institute of TechnologyTaylor & Francis, 2007)
      A class of underwater vehicles are modelled as Newtonian particles for navigation and control. We show a general method that controls cooperative Newtonian particles to generate patterns on closed smooth curves. These ...
    • Controlled Coverage Using Time-Varying Density Functions 

      Lee, Sung G.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInternational Federation of Automatic Control (IFAC), 2013-09)
      A new approach for controlling a system of multiple agents by choosing a time-varying density function is presented, employing optimal coverage ideas. In this approach, we specify a time- varying density function that ...
    • Covariance Recovery from a Square Root Information Matrix for Data Association 

      Kaess, Michael; Dellaert, Frank (Georgia Institute of TechnologyElsevier, 2009)
      Data association is one of the core problems of simultaneous localization and mapping (SLAM), and it requires knowledge about the uncertainties of the estimation problem in the form of marginal covariances. However, it ...
    • Curve Tracking Control for Autonomous Vehicles with Rigidly Mounted Range Sensors 

      Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer Verlag, 2009)
      In this paper, we present feedback control laws for an autonomous vehicle with rigidly mounted range sensors to track a desired curve. In particular, we consider a vehicle that has a group of rays around two center ...
    • Decentralized Degree Regularization for Multi-Agent Networks 

      Yazıcıoğlu, A. Yasin; Egerstedt, Magnus B.; Shamma, Jeff S. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-12)
      Networked multi-agent systems are widely modeled as graphs where the agents are represented as nodes and edges exist between the agents that interact directly. In this setting, the degree of a node is the number of edges ...
    • Deformable-Medium Affordances for Interacting with Multi-Robot Systems 

      Diana, Matteo; de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-11)
      This paper addresses the issue of human-swarm interactions by proposing a new set of affordances that make a multi-robot system amenable to human control. In particular, we propose to use clay – a deformable medium – as ...
    • Design studies on a robotic device for ultrasonic inspection 

      Sangveraphunsiri, Viboon; Book, Wayne John (Georgia Institute of TechnologyElsevier, 1981-09)
      Design studies in progress on a special purpose robot are described. The robot is to be used for ultrasonic inspection of extruded and forged parts immersed in water in a large tank. The studies focus on establishing the ...
    • Dynamic Chess: Strategic Planning for Robot Motion 

      Kunz, Tobias; Kingston, Peter; Stilman, Mike; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-05)
      We introduce and experimentally validate a novel algorithmic model for physical human-robot interaction with hybrid dynamics. Our computational solutions are complementary to passive and compliant hardware. We focus on ...
    • Energy-Efficient Data Collection in Heterogeneous Wireless Sensor and Actor Networks 

      Abbas, Waseem; Jaleel, Hassan; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-12)
      In this paper, we address the issue of activity scheduling of sensors in heterogeneous wireless sensor and actor networks (WSANs), thereby proposing an energy-efficient data collection scheme in such networks. In order ...
    • Experimental Validation of Source Seeking with a Switching Strategy 

      Wu, Wencen; Zhang, Fumin (Georgia Institute of Technology, 2011)
      We design a switching strategy for a group of robots to search for a local minimum of an unknown noisy scalar field. Starting with individual exploration, the robots switch to cooperative exploration only when they are ...