Papers, pre/post-prints, and presentations by faculty and students in the Georgia Tech Mobile Robot Laboratory.

Recent Submissions

  • Performance Verification for Behavior-Based Robot Missions 

    Lyons, Damian M.; Arkin, Ronald C.; Jiang, Shu; Liu, Tsung-Ming; Nirmal, Paramesh (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-06)
    Certain robot missions need to perform predictably in a physical environment that may have significant uncertainty. One approach is to leverage automatic software verification techniques to establish a performance guarantee. ...
  • Using Visual Information for Spatial Advice-Giving in a Primate-Inspired Autonomous Robot 

    Arkin, Ronald C.; Velayudhan, Lakshmi; Pettinati, Michael J. (Georgia Institute of TechnologySpringer, 2015)
    This paper presents an approach to apply mental rotations in the context of robot navigation in support of spatial advice-­giving. It describes the motivation in terms of cognitive processing, the underlying architecture, ...
  • Primate-inspired Autonomous Navigation Using Mental Rotation and Advice-Giving 

    Velayudhan, Lakshmi; Arkin, Ronald C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-09)
    The cognitive process that enables many primate species to efficiently traverse their environment has been a subject of numerous studies. Mental rotation is hypothesized to be one such process. The evolutionary causes ...
  • An Intervening Ethical Governor for a Robot Mediator in Patient-Caregiver Relationships 

    Shim, Jaeeun; Arkin, Ronald C. (Georgia Institute of TechnologySpringer International Publishing, 2015)
    Patients with Parkinson’s disease (PD) experience challenges when interacting with caregivers due to their declining control over their musculature. To remedy those challenges, a robot mediator can be used to assist in ...
  • Towards a Robot Computational Model to Preserve Dignity in Stigmatizing Patient-Caregiver Relationships 

    Pettinati, Michael J.; Arkin, Ronald C. (Georgia Institute of TechnologySpringer International Publishing, 2015-10)
    Parkinson’s disease (PD) patients with an expressive mask are particularly vulnerable to stigmatization during interactions with their caregivers due to their inability to express affect through nonverbal channels. Our ...
  • Mixed-Initiative Human-Robot Interaction: Definition, Taxonomy, and Survey 

    Jiang, Shu; Arkin, Ronald C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-10)
    The objectives of this article are: 1) to present a taxonomy for mixed-initiative human-robot interaction and 2) to survey its state of practice through the examination of past research along each taxonomical dimension. ...
  • The Benefits of Robot Deception in Search and Rescue: Computational Approach for Deceptive Action Selection via Case-Based Reasoning 

    Shim, Jaeeun; Arkin, Ronald C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-10)
    By increasing the use of autonomous rescue robots in search and rescue (SAR), the chance of interaction between rescue robots and human victims also grows. More specifically, when autonomous rescue robots are considered ...
  • SLAM-Based Spatial Memory for Behavior-Based Robots 

    Jiang, Shu; Arkin, Ronald C. (Georgia Institute of Technology, 2015)
    Knowledge is essential for an autonomous robot to act intelligently when tasked with a mission. With recent leaps of progress, the paradigm of SLAM (Simultaneous Localization and Mapping) has emerged as an ideal source of ...
  • An Analysis of Displays for Probabilistic Robotic Mission Verification Results 

    O‘Brien, Matthew; Arkin, Ronald C. (Georgia Institute of Technology, 2016)
    An approach for the verification of autonomous behavior-based robotic missions has been developed in a collaborative effort between Fordham University and Georgia Tech. This paper addresses the step after verification, how ...
  • Probabilistic Verification of Multi-robot Missions in Uncertain Environments 

    Lyons, Damian M.; Arkin, Ronald C.; Jiang, Shu; Harrington, Dagan; Tang, Feng; Tang, Peng (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-11)
    The effective use of autonomous robot teams in highly-critical missions depends on being able to establish performance guarantees. However, establishing a guarantee for the behavior of an autonomous robot operating in ...
  • 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 platforms ...
  • Formal Performance Guarantees for Behavior-Based Localization Missions 

    Lyons, Damian M.; Arkin, Ronald C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-11)
    Localization and mapping algorithms can allow a robot to navigate well in an unknown environment. However, whether such algorithms enhance any specific robot mission is currently a matter for empirical validation. In this ...
  • Robotic Nudges: The Ethics of Engineering a More Socially Just Human Being 

    Borenstein, Jason; Arkin, Ron (Georgia Institute of Technology, 2015-03)
    The time is nearing when robots are going to become a pervasive feature of our personal lives. They are already continuously operating in industrial, domestic, and military sectors. But a facet of their operation ...
  • 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 ...
  • Collaborative Robots in Rehabilitation for Social Self-Management of Health 

    Tickle-Degnen, Linda; Scheutz, Matthias; Arkin, Ronald C. (Georgia Institute of Technology, 2014)
    This paper reports the design plan of a social rehabilitation robot for optimizing social self-management of health. Managing health with physically and stigmatizing disabling conditions involves managing both physical ...
  • Affect in Human-Robot Interaction 

    Arkin, Ronald C.; Moshkina, Lilia (Georgia Institute of Technology, 2014)
    More and more, robots are expected to interact with humans in a social, easily understandable manner, which presupposes effective use of robot affect. This chapter provides a brief overview of research advances into this ...
  • Verifying and Validating Multirobot Missions 

    Lyons, Damian M.; Arkin, Ronald C.; Jiang, Shu; Harrington, Dagan; Liu, Tsung-Ming (Georgia Institute of Technology, 2014)
    We have developed an approach that can be used by mission designers to determine whether or not a performance guarantee for their mission software, when carried out under the uncertain conditions of a real-world environment, ...
  • Moral Emotions, Robots, and their Role in Managing Stigma in Early Stage Parkinson’s Disease Caregiving 

    Arkin, Ronald C.; Pettinati, Michael J. (Georgia Institute of Technology, 2014)
    Early stage Parkinson’s disease is characterized by facial masking that reduces the ability for a caregiver to effectively comprehend the emotional state of a patient. We are studying the introduction of a robotic ...
  • 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 ...
  • Robot Deception and Squirrel Behavior: A Case Study in Bio-inspired Robotics 

    Shim, Jaeeun; Arkin, Ronald C. (Georgia Institute of Technology, 2014)
    A common behavior in animals and human beings is deception. Deceptive behavior in robotics is potentially beneficial in several domains ranging from the military to a more everyday context. In our research, novel ...

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