Sequential Task Execution in a Minimalist Distributed Robotic System (2009)
The collective execution of a single task, such as foraging or clustering, has received considerable research attention in the minimalist distributed robotic systems (MDRS) community. In contrast,...
Human-Centered Socially Assistive Robotics for Rehabilitation: is it Time for a Robot Coach? (2009)
UMAN-Robot Interaction (HRI) for socially assistive applications is a growing research area at the intersection of robotics, health science, psychology, social and cognitive science. Assistive...
The Power of Suggestion: Teaching Sequences Through Assistive Robot Motions (2009)
We present a preliminary implementation of a robot within the context of social skills intervention. The robot engages a human user in an interactive and adaptive game-playing session that emphasizes...
Primitive-Based Movement Classification for Humanoid Imitation (2009)
Odest Chadwicke Jenkins, Maja J Matarić, Stefan Weber
Abstract. Motor control is a complex problem and imitation is a powerful mechanism for acquiring new motor skills. In this paper, we describe perceptuo-motor primitives, a biologically-inspired...
Monica N. Nicolescu, Maja J Matarić
1.1 Abstract 2
This paper presents a hypothesis-testing preliminary study that aims to develop affordable customized socially assistive robotics (SAR) tools that can help to provide cognitive care to users...
Speech Analysis and Interpretation Laboratory, (2009)
Emily Mower, Sungbok Lee, Maja J Matarić, Shrikanth Narayanan
Audio-visual emotion expression by synthetic agents is widely employed in research, industrial, and commercial applications. However, the mechanism through which people judge the multimodal emotional...
David Feil-seifer, Maja J Matarić
Abstract — This paper describes a novel control architecture, B 3 IA, designed to address the challenges of developing autonomous robot systems for use as behavior intervention tools for children...
Agent interaction Agents (2009)
Chris Jones, Maja J Matarić, Barry Werger
From agent interaction to cognition and behavior
Emily Mower, Maja J Matarić, Shrikanth Narayanan
Abstract—Computer simulated avatars and humanoid robots have an increasingly prominent place in today’s world. Acceptance of these synthetic characters depends on their ability to properly and...
Intelligent Service Robotics manuscript No. (will be inserted by the editor) (2009)
Adriana Tapus, Cristian Tapus, Maja J Mataric, Maja J Matarić
Abstract: This paper describes a hands-off socially assistive therapist robot that monitors, assists, encourages, and socially interacts with post-stroke users engaged in rehabilitation exercises. We...
ERGODIC DYNAMICS BY DESIGN: A ROUTE TO PREDICTABLE MULTI- ROBOT SYSTEMS (2009)
Dylan A. Shell, Chris V. Jones, Maja J. Matarić
Abstract We define and discuss a class of multi-robot systems possessing ergodic dynamics and show that they are realizable on physical hardware and useful for a variety of tasks while being amenable...
ABSTRACT Automated Derivation of Behavior Vocabularies for Autonomous Humanoid Motion (2009)
Odest Chadwicke Jenkins, Maja J Matarić
In this paper we address the problem of automatically deriving vocabularies of motion modules from human motion data, taking advantage of the underlying spatio-temporal structure in motion. We...
Chris Jones, Dylan Shell, Maja J Matarić, Brian Gerkey
Coordinated multi-robot systems (MRS) have been successfully demonstrated in a variety of task domains. However, the design of these systems is typically ad hoc and centered around resource-intensive...
Adriana Tapus, Juan Fasola, Maja J Matarić
Abstract—The world population is growing older, introducing a wide array of societal challenges. Most elderly individuals require physical and cognitive assistance of some kind. This paper presents...
Index Terms — Socially Assistive Robotics, Social Robotics, Human-Robot Interaction (2008)
Adriana Tapus, Maja J Matarić, Senior Member, Brian Scassellati, Senior Member, I. Socially, ...
Abstract — Socially Assistive Robotics focuses on helping human users through social rather than physical interaction [1]. This paper describes the broad scope of socially assistive robotics,...
Brian P. Gerkey, Maja J Matarić, Gaurav S. Sukhatme
physical dynamics for concurrent control of a mobile robot
Adriana T Ăpus, Cristian T Ăpus, Maja J Matarić, Senior Member
Abstract — This paper describes a hands-off therapist robot that monitors, assists, encourages, and socially interacts with post-stroke users in the process of rehabilitation exercises. We...
Kristina Lerman, Chris Jones, Aram Galstyan, Maja J Mataric, Kristina Lerman, Chris Jones, ...
Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes...
Adriana Tapus, Cristian Tapus, Maja J. Matarić, Senior Member
Abstract — This paper describes a hands-off therapist robot that monitors, assists, encourages, and socially interacts with post-stroke users in the process of rehabilitation exercises. We...
Brian P. Gerkey, Maja J. Mataric, Brian P. Gerkey, Maja J. Matarić
Despite more than a decade of experimental work in multi-robot systems, important theoretical aspects of multi-robot coordination mechanisms have, to date, been largely untreated. To address this...
Benchmarks for evaluating socially assistive robotics (2008)
David Feil-seifer, Kristine Skinner, Maja J. Matarić
Socially assistive robotics (SAR) is a growing area of research. Evaluating SAR systems presents novel challenges. Using a robot for a socially assistive task can have various benefits and ethical...
Huey, Dewey, Louie, and GUI — Commanding Robot Formations (2008)
Jakob Fredslund, Maja J Matarić
We present a graphical user interface (GUI) for easy, intuitive control of a group of mobile robots moving in formation, and we give a short description of the general, local, distributed formation...
Richard T. Vaughan, Kasper Støy, Gaurav S. Sukhatme, Maja J. Matarić
enables a team of robots to navigate between places of interest in an initially unknown environment using a trail of landmarks. The landmarks are not physical; they are waypoint coordinates generated...
INVITED PAPER Multirobot Simultaneous Localization and Mapping Using Manifold Representations (2008)
Andrew Howard, Member Ieee, Gaurav S. Sukhatme, Senior Member Ieee, Maja J. Matarić, Senior Member Ieee
Data from exploring robots can be used to map individual robot paths separately; where robots meet, the paths may be merged to form a larger map.
Societies of agents Summary (2008)
Chris Jones, Maja J Matarić, Barry Werger
Agents From agent interaction to cognition and behavior
Relaxation on a Mesh: a Formalism for Generalized Localization Abstract (2008)
Andrew Howard, Maja J Matarić, Gaurav Sukhatme
This paper considers two problems which at first sight appear to be quite distinct: localizing a robot in an unknown environment and calibrating an embedded sensor network. We show that both of these...
Nonlinear Spherical Shells for Approximate Principal Curves Skeletonization (2008)
Odest Chadwicke Jenkins, Chi-wei Chu, Maja J Matarić
We present Nonlinear Spherical Shells (NSS) as a non-iterative model-free method for constructing approximate principal curves skeletons in volumes of d dimensional data points. NSS leverages...
Emergent Robot Differentiation for Distributed Multi-Robot Task Allocation (2008)
Torbjørn S. Dahl, Maja J Matarić, Gaurav S. Sukhatme
Summary. We present a distributed mechanism for automatically allocating tasks to robots in a manner sensitive to each robot’s performance level without handcoding these levels in advance. This...
ERGODIC DYNAMICS BY DESIGN: A ROUTE TO PREDICTABLE MULTI- ROBOT SYSTEMS (2008)
Dylan A. Shell, Chris V. Jones, Maja J. Matarić
Abstract We define and discuss a class of multi-robot systems possessing ergodic dynamics and show that they are realizable on physical hardware and useful for a variety of tasks while being amenable...
Joshua Wainer, Dylan A. Shell, Maja J. Matarić
role of physical embodiment in human-robot interaction
Abstract Toward a Multi-Robot Coordination Formalism (2008)
Coordination is an essential characteristic of any system, either natural or artificial, that is composed of multiple interacting agents. The mechanism by which the coordination is achieved...
Insights Toward Robot-Assisted Evacuation (2008)
Dylan A. Shell, Maja J Matarić
This paper discusses the application of robotic technologies to an evacuation assistance task. We describe how this kind of task differs from the more prevalent search and rescue efforts, and how...
ABSTRACT Automated Derivation of Behavior Vocabularies for Autonomous Humanoid Motion (2008)
Odest Chadwicke Jenkins, Maja J Matarić
In this paper we address the problem of automatically deriving vocabularies of motion modules from human motion data, taking advantage of the underlying spatio-temporal structure in motion. We...
Behavior-Based Coordination in Multi-Robot Systems (2008)
Sam S. Ge, Frank L. Lewis, Marcel Dekker, Chris Jones, Maja J Matarić
The successful deployment of a multi-robot system (MRS) requires an effective method of coordination to mediate the interactions among the robots and between the robots and the task environment in...
David Feil-seifer, Maja J Matarić
Summary. Children with Autism Spectrum Disorders (ASD) have communication deficits and difficulties with social interaction. A lack of social behavior can hamper therapeutic interventions and can...
Andrew Howard, Maja J Matarić, Gaurav S Sukhatme
Abstract. This paper describes an incremental deployment algorithm for mobile sensor networks. A mobile sensor network is a distributed collection of nodes, each of which has sensing, computation,...
Andrew Howard, Maja J Matarić, Gaurav S Sukhatme
This paper describes an incremental deployment algorithm for mobile sensor networks. A mobile sensor network is a distributed collection of nodes, each of which has sensing, computation,...
Andrew Howard, Maja J Matarić, Gaurav S Sukhatme
Abstract. This paper describes an incremental deployment algorithm for mobile sensor networks. A mobile sensor network is a distributed collection of nodes, each of which has sensing, computation,...
Utilizing Internal State in Multi-Robot Coordination Tasks (2007)
Chris Jones And, Chris Jones, Maja J Matarić
this paper, we address this issue by presenting a principled framework suitable for describing and reasoning about the intertwined entities involved in any task-achieving MRS -- the task environment,...
Socially assistive robotics for post-stroke rehabilitation (2007)
Matarić, Maja J, Eriksson, Jon, Feil-Seifer, David J, Winstein, Carolee J
Abstract Background Although there is a great deal of success in rehabilitative robotics applied to patient recovery post stroke, most of the research to date has dealt with providing physical...
Journal of NeuroEngineering (2007)
Maja J Mataric, Jon Eriksson, Carolee J Winstein, Maja J Matarić, Jon Eriksson, ...
This Provisional PDF corresponds to the article as it appeared upon acceptance. Copyedited and fully formatted PDF and full text (HTML) versions will be made available soon. Socially assistive...
Embodiment and human-robot interaction: A taskbased perspective (2007)
Joshua Wainer, Dylan A. Shell, Maja J. Matarić
Abstract — In this work, we further test the hypothesis that physical embodiment has a measurable effect on performance and impression of social interactions. Support for this hypothesis would...
The grand challenges in socially assistive robotics (2007)
Human-Robot Interaction (HRI) for socially assistive applications is a growing and increasingly popular research area at the intersection of robotics, health science, psychology, social science, and...
Socially assistive robotics for post-stroke rehabilitation (2007)
Maja J Matarić, Jon Eriksson, Carolee J Winstein, Carolee J Winstein
Background: Although there is a great deal of success in rehabilitative robotics applied to patient recovery post stroke, most of the research to date has dealt with providing physical assistance....
Materials for enabling hands-on robotics and stem education (2007)
Maja J Matarić, Nathan Koenig, David Feil-seifer
We describe our approach to enabling hands-on experiential robotics for all ages through the introduction of a robot programming workbook and robot test-bed. We describe the vision and motivation for...
Principled synthesis for large-scale systems: task sequencing (2006)
Dylan A. Shell, Maja J Matarić
Summary. This paper describes ongoing work toward a principled controller synthesis methodology for large-scale, minimalist multi-robot systems. The work’s key objectives is to establish a set of...
AMERICAN JOURNAL OF UNDERGRADUATE RESEARCH VOL. 4, NO. 4 Evaluating Arm Movement Imitation (2006)
Alexandra Constantin, Baxter Hall, Maja J. Matarić
In this paper, we present a metric for assessing the quality of arm movement imitation. We develop a joint-rotational-angle-based segmentation and comparison algorithm that rates pairwise similarity...
Where am i? scene recognition for mobile robots using audio features (2006)
Selina Chu, Shrikanth Narayanan, Maja J. Matarić
Automatic recognition of unstructured environments is an important problem for mobile robots. We focus on using audio features to recognize different auditory environments, where they are...
User personality matching with hands-off robot for post-stroke rehabilitation therapy (2006)
Abstract. This paper describes a hands-off therapist robot that assists, encourages, socially interacts, monitors and reminds post-stroke users to use the weaker, stroke-affected limb. We investigate...
User personality matching with hands-off robot for post-stroke rehabilitation therapy (2006)
Abstract. This paper describes a hands-off therapist robot that monitors, assists, encourages, and socially interacts with post-stroke users engaged in rehabilitation exercises. We investigate the...
Cooperative target tracking using mobile robots (2005)
Boyoon Jung, Maja J. Matarić, Milind Tambe, Isaac Cohen
We study the problem of multiple target tracking using multiple mobile robots. Our approach is to divide the cooperative multi-target tracking problem into two sub-problems: target tracking using a...
Defining socially assistive robotics (2005)
David Feil-seifer, Maja J Matarić
Abstract — This paper defines the research area of socially assistive robotics, focused on assisting people through social interaction. While much attention has been paid to robots that provide...
Evaluating Arm Movement Imitation (2005)
Alexandra Constantin, Maja J Matarić
In this paper, we present a metric for assessing the quality of arm movement imitation. We develop a joint-rotational-angle-based segmentation and comparison algorithm that rates pairwise similarity...
A hands-off physical therapy assistance robot for cardiac patients (2005)
Kyong Il Kang, Sanford Freedman, Maja J Matarić
Abstract — This paper presents a feasibility study of using socially-aware autonomous robots to assist hospitals in reducing the effects of nursing shortages. A hands-off assistive robot is...
Hands-Off Assistive Robotics for Post-Stroke Arm Rehabilitation (2005)
Jon Eriksson, Maja J. Matarić, Carolee J. Winstein
Abstract — This paper describes an autonomous assistive mobile robot that aids stroke patient rehabilitation by providing monitoring, encouragement, and reminders. The robot navigates autonomously,...
A hands-off physical therapy assistance robot for cardiac patients (2005)
Kyong Il Kang, Sanford Freedman, Maja J Matarić
Abstract — This paper presents a feasibility study of using a socially-aware, autonomous robot to assist hospitals in reducing the effects of nursing shortages. A hands-off assistive robot is...
A spatio-temporal extension to isomap nonlinear dimension reduction (2004)
Odest Chadwicke Jenkins, Maja J Matarić
We present an extension of Isomap nonlinear dimension reduction (Tenenbaum et al., 2000) for data with both spatial and temporal relationships. Our method, ST-Isomap, augments the existing Isomap...
Synthesis and analysis of non-reactive controllers for multi-robot sequential task domains (2004)
Abstract. In this paper we present a macroscopic model for the analysis of homogeneous task-directed multi-robot systems (MRS). The model is used to compute the probability that a given MRS will...
Behavior-Based Methods for Modeling and Structuring Control of Social Robots (2004)
Dylan A. Shell, Maja J Matarić
People and robots are embodied within and act on the physical world. This chapter discusses an actioncentered methodology for designing and understanding control, perception, representation,...
Exemplar-Based Primitives for Humanoid Movement Classification and Control (2004)
Evan Drumwright, Odest Chadwicke Jenkins, Maja J Matarić
Abstract — We present a unified methodology for humanoid robot control and activity classification using motor primitives [1], computationally efficient behaviors capable of perception and control....
A spatio-temporal extension to isomap nonlinear dimension reduction (2004)
Odest Chadwicke Jenkins, Maja J Matarić
We present an extension of Isomap nonlinear dimension reduction (Tenenbaum et al., 2000) for data with both spatial and temporal relationships. Our method, ST-Isomap, augments the existing Isomap...
Directional audio beacon deployment: an assistive multi-robot application (2004)
Dylan A. Shell, Maja J Matarić
Abstract — This paper addresses the problem of directional audio beacon deployment. We describe how these beacons can be used on mobile robots to produce a system that can self-deploy and aid in...
Inferring User Intent for Learning by Observation (2004)
Kevin R. Dixon, Pradeep K. Khosla, Bruce H. Krogh, Maja J. Matarić, Sebastian B. Thrun
To my parents. iv Despite the numerous advances in human-robot interaction, most development systems still require that users have substantial knowledge of procedural-programming techniques as well...
A spatio-temporal extension to isomap nonlinear dimension reduction (2004)
Odest Chadwicke Jenkins, Maja J Matarić
We present an extension of Isomap nonlinear dimension reduction (Tenenbaum et al., 2000) for data with both spatial and temporal relationships. Our method, ST-Isomap, augments the existing Isomap...
On role allocation in RoboCup (2004)
Brian P. Gerkey, Maja J Matarić
Abstract. A common problem in RoboCup is role allocation: given a team of players and a set of roles, how should be roles be allocated to players? Drawing on our previous work in multi-robot task...
Principled approaches to the design of multi-robot systems (2004)
Chris Jones, Dylan Shell, Maja J Matarić, Brian Gerkey
Coordinated multi-robot systems (MRS) have been successfully demonstrated in a variety of task domains. However, the design of these systems is typically ad hoc and centered around resource-intensive...
Are (explicit) multi-robot coordination and multi-agent coordination really so different (2004)
Brian P. Gerkey, Maja J Matarić
Largely because of significant qualitative differences between the respective systems under study, the multi-agent and multi-robot research communities have each developed their own methods for...
The use of internal state in multirobot coordination (2004)
Abstract — Coordination is an essential characteristic of any task-achieving multi-robot system (MRS), whether it is accomplished through an explicit or implicit coordination mechanism. There is...
Automatic synthesis of communication-based coordinated multi-robot systems (2004)
Abstract — To enable the successful deployment of taskachieving multi-robot systems (MRS), coordination mechanisms must be utilized in order to effectively mediate the interactions between the...
Human motion-based environment complexity measures for robotics (2003)
Dylan A. Shell, Maja J Matarić
This paper describes how environmental complexity measures can be employed in the process of validating experimental robotics work. We advocate the use of metrics that attempt to quantify the...
Cooperative relative localization for mobile robot teams: An ego-centric approach (2003)
Andrew Howard, Maja J Matarić, Gaurav S. Sukhatme
Abstract This paper describes a cooperative relative localization method for mobile robot teams. That is, it describes a method whereby each robot may determine the pose of every other robot in the...
Monica N. Nicolescu, Maja J. Matarić
Among humans, teaching various tasks is a complex process which relies on multiple means for interaction and learning, both on the part of the teacher and of the learner. Used together, these...
Multi-robot task-allocation through vacancy chains (2003)
Torbjørn S. Dahl, Maja J. Matarić, Gaurav S. Sukhatme
This paper presents an algorithm for task allocation in groups of homogeneous robots. The algorithm is based on vacancy chains, a resource distribution strategy common in human and animal societies....
Monica N. Nicolescu, Maja J. Matarić
Among humans, teaching various tasks is a complex process which relies on multiple means for interaction and learning, both on the part of the teacher and of the learner. Used together, these...
Markerless kinematic model and motion capture from volume sequences (2003)
Chi-wei Chu, Odest Chadwicke Jenkins, Maja J Matarić
We present an approach for model-free markerless motion capture of articulated kinematic structures. This approach is centered on our method for generating underlying nonlinear axes (or a skeleton...
Towards Model-free Markerless Motion Capture (2003)
Chi-wei Chu, Odest Chadwicke Jenkins, Maja J Matarić
An approach for model-free markerless motion capture of humans is presented. This approach is centered on generating underlying nonlinear axes (or a skeleton curve) from a volume of a human subject....
Putting the ‘I’ in ‘Team’: An Ego-Centric Approach to Cooperative Localization (2003)
Andrew Howard, Maja J Matarić, Gaurav S. Sukhatme
This paper describes a method for localizing the members of a mobile robot team relative to each other; that is, we describe a method whereby each robot may determine the pose of every other robot in...
Cooperative relative localization for mobile robot teams: An ego-centric approach (2003)
Andrew Howard, Maja J Matarić, Gaurav S. Sukhatme
Abstract This paper describes a cooperative relative localization method for mobile robot teams. That is, it describes a method whereby each robot may determine the pose of every other robot in the...
Multi-robot task-allocation through vacancy chains (2003)
Torbjørn S. Dahl, Maja J. Matarić, Gaurav S. Sukhatme
This paper presents an algorithm for task allocation in groups of homogeneous robots. The algorithm is based on vacancy chains, a resource distribution strategy common in human and animal societies....
Multi-robot task-allocation through vacancy chains (2003)
Torbjørn S. Dahl, Maja J. Matarić, Gaurav S. Sukhatme
Existing multi-robot task allocation algorithms (MRTA) generally do not consider the effects of interaction, such as interference, but instead assume that tasks are independent. That assumption,...
Markerless kinematic model and motion capture from volume sequences (2003)
Chi-wei Chu, Odest Chadwicke Jenkins, Maja J Matarić
We present an approach for model-free markerless motion capture of articulated kinematic structures. This approach is centered on our method for generating underlying nonlinear axes (or a skeleton...
Human motion-based environment complexity measures for robotics (2003)
Dylan A. Shell, Maja J Matarić
Abstract — This paper describes how environmental complexity measures can be employed in the process of validating experimental robotics work. We advocate the use of metrics that attempt to...
Monica N. Nicolescu, Maja J. Matarić
Among humans, teaching various tasks is a complex process which relies on multiple means for interaction and learning, both on the part of the teacher and of the learner. Used together, these...
Multi-robot task allocation in the light of uncertainty (2002)
Esben H. Østergaard, Maja J Matarić, Gaurav S. Sukhatme
We describe an empirical study that sought general guidelines for task allocation strategies in multi-robot systems. We identify four distinct task allocation strategies, and demonstrate them in two...
Lost: Localization-space trails for robot teams (2002)
Richard T. Vaughan, Kasper Støy, Gaurav S. Sukhatme, Maja J. Matarić
enables a team of robots to navigate between places of interest in an initially unknown environment using a trail of landmarks. The landmarks are not physical; they are waypoint coordinates generated...
Andrew Howard, Maja J Matarić, Gaurav S Sukhatme
Abstract. This paper considers the problem of deploying a mobile sensor network in an unknown environment. A mobile sensor network is composed of a distributed collection of nodes, each of which has...
Adaptive spatio-temporal organization in groups of robots (2002)
Torbjørn S. Dahl, Maja J. Matarić, Gaurav S. Sukhatme
This paper presents experiments, in simulation, with a group of robots that improve their performance on a straightforward transportation task by using reinforcement learning to associate input...
Converting sequences of human volumes into kinematic motion (2002)
Chi-wei Chu, Odest Chadwicke Jenkins, Maja J Matarić
We present an approach for producing articulated motion for human from a sequence of 3D points forming the volume of a human. In our approach, we use an existing voxel carving technique for...
Laser-based people tracking (2002)
Ajo Fod, Andrew Howard, Maja J Matarić
In this paper, we describe a method for real-time tracking of objects with multiple laser range-finders covering a workspace in a parallel and distributed fashion. Tracking people is a popular...
An incremental self-deployment algorithm for mobile sensor networks (2002)
Andrew Howard, Maja J Matarić, Gaurav S Sukhatme
This paper describes an incremental deployment algorithm for mobile sensor networks. A mobile sensor network is a distributed collection of nodes, each of which has sensing, computation,...
Localization for mobile robot teams using maximum likelihood estimation (2002)
Andrew Howard, Maja J Matarić, Gaurav S Sukhatme
This paper describes a method for localizing the members of a mobile robot team, using only the robots themselves as landmarks. That is, we describe a method whereby each robot can determine the...
An incremental deployment algorithm for mobile robot teams (2002)
Andrew Howard, Maja J Matarić, Gaurav S Sukhatme
This paper describes an algorithm for deploying the members of a mobile robot team into an unknown environment. The algorithm deploys robots one-at-a-time, with each robot making use of information...
Team localization: A maximum likelihood approach (2002)
Andrew Howard, Maja J Matarić, Gaurav S Sukhatme
Abstract — This paper describes a method for localizing the members of a mobile robot team by using only the robots themselves as landmarks. That is, we describe a method whereby each robot can...
Localization for mobile robot teams: A distributed MLE approach (2002)
Andrew Howard, Maja J Matarić, Gaurav S Sukhatme
Abstract. This paper describes a method for localizing the members of a mobile robot team, using only the robots themselves as landmarks. We assume that robots are equipped with sensors that allow...
Andrew Howard, Maja J Matarić, Gaurav S Sukhatme
Abstract. This paper considers the problem of deploying a mobile sensor network in an unknown environment using distributed sensing and computation. A mobile sensor network is composed of a...
Team localization: A maximum likelihood approach (2002)
Andrew Howard, Maja J Matarić, Gaurav S Sukhatme
Abstract — This paper describes a method for localizing the members of a mobile robot team using only the robots themselves as landmarks. That is, we describe a method whereby each robot can...
Localization for mobile robot teams: A distributed MLE approach (2002)
Andrew Howard, Maja J Matarić, Gaurav S Sukhatme
Abstract. This paper describes a method for localizing the members of a mobile robot team, using only the robots themselves as landmarks. We assume that robots are equipped with sensors that allow...
Robotics Research Laboratory, Andrew Howard, Maja J Matarić, Gaurav S Sukhatme
of a mobile robot team, using only the robots themselves as landmarks. That is, we describe a method whereby each robot can determine the relative range, bearing and orientation of every other robot...
An Incremental Deployment Algorithm for Mobile Robot Teams (2002)
Andrew Howard Maja, Andrew Howard, Maja J Matarić, Gaurav S Sukhatme
members of a mobile robot team into an unknown environment. The algorithm deploys robots one-at-a-time, with each robot making use of information gathered by the previous robots to determine the next...
Deriving action and behavior primitives from human motion data (2002)
Odest Chadwicke Jenkins, Maja J Matarić
We address the problem of creating basis behaviors for modularizing humanoid robot control and representing human activity. These behaviors, called perceptual-motor primitives, serve as a substrate...
Laser-based people tracking (2002)
Ajo Fod, Andrew Howard, Maja J Matarić
In this paper, we describe a method for real-time tracking of objects with multiple laser range-finders covering a workspace in a parallel and distributed fashion. Tracking people is a popular...
Localization for mobile robot teams: A distributed MLE approach (2002)
This paper describes a method for localizing the members of a mobile robot team, using only the robots themselves as landmarks. That is, we describe a method whereby each robot can determine the...
In this paper, we present a method of quantifying ideas from proxemics into a set of spatial features that can be used for recognizing, classifying, and modeling multi-robot and human activities. We...
Automated derivation of primitives for movement classification (2002)
Ajo Fod, Maja J Matarić, Odest Chadwicke Jenkins
Abstract. We present a new method for representing human movement compactly, in terms of a linear superimposition of simpler movements termed primitives. This method is a part of a larger research...
Torbjørn S. Dahl, Maja J. Matarić, Gaurav S. Sukhatme
Existing task allocation and scheduling algorithms, including taskallocation algorithms for multi-robot systems, generally assume that tasks are independent. This assumption is often violated in...
Torbjørn S. Dahl, Maja J. Matarić, Gaurav S. Sukhatme
Existing task allocation and scheduling algorithms, including taskallocation algorithms for multi-robot systems, generally assume that tasks are independent. This assumption is often violated in...
Localization for mobile robot teams: A distributed MLE approach (2002)
Andrew Howard, Maja J Matarić, Gaurav S Sukhatme
Abstract. This paper describes a method for localizing the members of a mobile robot team, using only the robots themselves as landmarks. We assume that robots are equipped with sensors that allow...
Collective construction with multiple robots (2002)
Jens Wawerla, Gaurav S. Sukhatme, Maja J. Matarić
We study the problem of construction by autonomous mobile robots focusing on the coordination strategy employed by the robots to solve a simple construction problem efficiently. In particular, we...
Localization for mobile robot teams: A maximum likelihood approach (2001)
Andrew Howard, Maja J Matarić, Gaurav S Sukhatme
This paper describes a method for localizing the members of a mobile robot team, using only the robots themselves as landmarks. We assume that robots are equipped with sensors that allow them to...
Emergent bucket brigading (2001)
Esben H. Østergaard, Gaurav S. Sukhatme, Maja J. Matarić
A simple mechanism for improving performance in multi-robot constrained-space foraging tasks
Emergent bucket brigading (2001)
Esben H. Østergaard, Gaurav S. Sukhatme, Maja J. Matarić
A simple mechanism for improving performance in multi-robot constrained-space
Most valuable player: A robot device server for distributed control (2001)
Brian P. Gerkey, Richard T. Vaughan, Kasper Støy, Andrew Howard, Gaurav S. Sukhatme, Maja J Matarić
Successful distributed sensing and control require data to flow effectively between sensors, processors and actuators on single robots, in groups and across the Internet. We propose a mechanism for...
Most valuable player: A robot device server for distributed control (2001)
Brian P. Gerkey, Richard T. Vaughan, Kasper Støy, Andrew Howard, Gaurav S. Sukhatme, Maja J Matarić
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Brian P. Gerkey, Maja J. Matarić, Herbert Dawid, Deborah Estrin, Gaurav S. Sukhatme, Milind Tambe, ...
This dissertation is concerned with the problem of intelligently coordinating large-scale synthetic systems, focusing on the domain of sensor-actuator networks. As the fields of robotics and embedded...
Publish/subscribe task allocation for heterogeneous agents (2000)
Brian P. Gerkey, Maja J Matarić
Introduction In this paper, we describe a novel approach to the problem of dynamic task allocation among groups of heterogeneous agents. Specifically, we advocate the use of publish/subscribe...
Whistling in the dark: Cooperative trail following in uncertain localization space (2000)
Richard T. Vaughan, Kasper Støy, Gaurav S. Sukhatme, Maja J. Matarić
Whistling in the dark: Cooperative trail following in uncertain localization space (2000)
Richard T. Vaughan, Kasper Støy, Gaurav S. Sukhatme, Maja J. Matarić
Whistling in the dark: Cooperative trail following in uncertain localization space (2000)
Richard T. Vaughan, Kasper Støy, Gaurav S. Sukhatme, Maja J. Matarić
Deriving and using abstract representation in behaviorbased systems (2000)
Monica N. Nicolescu, Maja J. Matarić
We present a representation that addresses two current limitations of the behavior-based systems (BBS) (Matarić 1992), (Arkin 1998): the lack of abstract representation within behaviors (which makes...
Automated derivation of primitives for movement classification (2000)
Ajo Fod, Maja J Matarić, Odest Chadwicke Jenkins
Abstract. We present a new method for representing human movement compactly, in terms of a linear superimposition of simpler movements termed primitives. This method is a part of a larger research...