Now showing items 1-20 of 99

    • Hybrid control of multiple autonomous mobile robots 

      Axelsson, Henrik (Georgia Institute of Technology, 2003-05)
    • Control limitation analysis for dissipative passive haptic interfaces 

      Gao, Dalong (Georgia Institute of Technology, 2005-11-18)
      This research addresses the ability of dissipative passive actuators to generate control effects on a passive haptic interface. A haptic display is a human-machine interface that constructs a sensation of touch for the ...
    • Graphs, Simplicial Complexes and Beyond: Topological Tools for Multi-agent Coordination 

      Muhammad, Abubakr (Georgia Institute of Technology, 2005-12-16)
      In this work, connectivity graphs have been studied as models of local interactions in multi-agent robotic systems. A systematic study of the space of connectivity graphs has been done from a geometric and topological point ...
    • Optimal Control of Switched Autonomous Systems: Theory, Algorithms, and Robotic Applications 

      Axelsson, Henrik (Georgia Institute of Technology, 2006-04-05)
      As control systems are becoming more and more complex, system complexity is rapidly becoming a limiting factor in the efficacy of established techniques for control systems design. To cope with the growing complexity, ...
    • Graph-based Path Planning for Mobile Robots 

      Wooden, David T. (Georgia Institute of Technology, 2006-11-16)
      In this thesis, questions of navigation, planning and control of real-world mobile robotic systems are addressed. Chapter II contains the first contribution in this thesis, which is a modification of ...
    • Optimal, Multi-Modal Control with Applications in Robotics 

      Mehta, Tejas R. (Georgia Institute of Technology, 2007-04-04)
      The objective of this dissertation is to incorporate the concept of optimality to multi-modal control and apply the theoretical results to obtain successful navigation strategies for autonomous mobile robots. The main idea ...
    • Adaptive Estimation and Control with Application to Vision-based Autonomous Formation Flight 

      Sattigeri, Ramachandra Jayant (Georgia Institute of Technology, 2007-05-17)
      The role of vision as an additional sensing mechanism has received a lot of attention in recent years in the context of autonomous flight applications. Modern Unmanned Aerial Vehicles (UAVs) are equipped with vision sensors ...
    • Acoustical Awareness for Intelligent Robotic Action 

      Martinson, Eric Beowulf (Georgia Institute of Technology, 2007-11-12)
      With the growth of successes in pattern recognition and signal processing, mobile robot applications today are increasingly equipping their hardware with microphones to improve the set of available sensory information. ...
    • Dynamics of embodied dissociated cortical cultures for the control of hybrid biological robots. 

      Bakkum, Douglas James (Georgia Institute of Technology, 2007-11-14)
      The thesis presents a new paradigm for studying the importance of interactions between an organism and its environment using a combination of biology and technology: embodying cultured cortical neurons via robotics. From ...
    • Object categorization for affordance prediction 

      Sun, Jie (Georgia Institute of Technology, 2008-07-01)
      A fundamental requirement of any autonomous robot system is the ability to predict the affordances of its environment, which define how the robot can interact with various objects. In this dissertation, we demonstrate that ...
    • Control of reconfigurability and navigation of a wheel-legged robot based on active vision 

      Brooks, Douglas Antwonne (Georgia Institute of Technology, 2008-07-31)
      The ability of robotic units to navigate various terrains is critical to the advancement of robotic operation in real world environments. Next generation robots will need to adapt to their environment in order to accomplish ...
    • Incremental smoothing and mapping 

      Kaess, Michael (Georgia Institute of Technology, 2008-11-17)
      Incremental smoothing and mapping (iSAM) is presented, a novel approach to the simultaneous localization and mapping (SLAM) problem. SLAM is the problem of estimating an observer's position from local measurements only, ...
    • Automatic coordination and deployment of multi-robot systems 

      Smith, Brian Stephen (Georgia Institute of Technology, 2009-03-31)
      We present automatic tools for configuring and deploying multi-robot networks of decentralized, mobile robots. These methods are tailored to the decentralized nature of the multi-robot network and the limited information ...
    • Visual place categorization 

      Wu, Jianxin (Georgia Institute of Technology, 2009-07-06)
      Knowing the semantic category of a robot's current position not only facilitates the robot's navigation, but also greatly improves its ability to serve human needs and to interpret the scene. Visual Place Categorization ...
    • The role of trust and relationships in human-robot social interaction 

      Wagner, Alan Richard (Georgia Institute of Technology, 2009-11-10)
      Can a robot understand a human's social behavior? Moreover, how should a robot act in response to a human's behavior? If the goals of artificial intelligence are to understand, imitate, and interact with human level ...
    • Applying inter-layer conflict resolution to hybrid robot control architectures 

      Powers, Matthew D. (Georgia Institute of Technology, 2010-01-20)
      In this document, we propose and examine the novel use of a learning mechanism between the reactive and deliberative layers of a hybrid robot control architecture. Balancing the need to achieve complex goals and meet ...
    • Communication and alignment of grounded symbolic knowledge among heterogeneous robots 

      Kira, Zsolt (Georgia Institute of Technology, 2010-04-05)
      Experience forms the basis of learning. It is crucial in the development of human intelligence, and more broadly allows an agent to discover and learn about the world around it. Although experience is fundamental to ...
    • Joint attention in human-robot interaction 

      Huang, Chien-Ming (Georgia Institute of Technology, 2010-07-07)
      Joint attention, a crucial component in interaction and an important milestone in human development, has drawn a lot of attention from the robotics community recently. Robotics researchers have studied and implemented joint ...
    • Task transparency in learning by demonstration : gaze, pointing, and dialog 

      dePalma, Nicholas Brian (Georgia Institute of Technology, 2010-07-07)
      This body of work explores an emerging aspect of human-robot interaction, transparency. Socially guided machine learning has proven that highly immersive robotic behaviors have yielded better results than lesser interactive ...
    • Biological, simulation, and robotic studies to discover principles of swimming within granular media 

      Maladen, Ryan Dominic (Georgia Institute of Technology, 2010-11-08)
      The locomotion of organisms whether by running, flying, or swimming is the result of multiple degree-of-freedom nervous and musculoskeletal systems interacting with an environment that often flows and deforms in response ...