Trajectory Modification Using Elastic Force for Collision Avoidance of a Mobile Manipulator (2008)
Nak Yong Ko, Reid G. Simmons, Dong Jin Seo
Abstract. This paper proposes a method for collision avoidance of a mobile manipulator. The method deals with the problem of driving a mobile manipulator from a starting configuration to a goal...
Robust Execution Monitoring for Navigation Plans (2007)
Joaquín L. Fernández, Reid G. Simmons
This paper presents a general approach to robust execution monitoring. The goal is to provide coverage for many types of unexpected and unanticipated situations, while at the same time enabling the...
Representations for Reasoning About Change (2007)
ABSTRACT: This paper explores representations used to reason about objects which change over time and the processes which cause changes. Specifically, we are interested in solving a problem known as...
VHPOP: Versatile heuristic partial order planner (2003)
VHPOP is a partial order causal link (POCL) planner loosely based on UCPOP. It draws from the experience gained in the early to mid 1990’s on flaw selection strategies for POCL planning, and...
Hakan Younes Lorens, Reid G. Simmons
VHPOP is a partial order causal link (POCL) planner loosely based on UCPOP.It draws from the experience gained in the early to mid 1990's on flaw selection strategies for POCL planning, and...
A Framework for Planning in Continuous-time Stochastic Domains (2003)
Akan Younes Computer, David J. Musliner, Reid G. Simmons
We propose a framework for policy generation in continuoustime stochastic domains with concurrent actions and events of uncertain duration. We make no assumptions regarding the complexity of the...
VHPOP: Versatile Heuristic Partial Order Planner (2003)
VHPOP is a partial order causal link (POCL) planner loosely based on UCPOP. It draws from the experience gained in the early to mid 1990's on flaw selection strategies for POCL planning, and...
Probabilistic verification of discrete event systems using acceptance sampling (2002)
Abstract. We propose a model independent procedure for verifying properties of discrete event systems. The dynamics of such systems can be very complex, making them hard to analyze, so we resort to...
Stereo vision based navigation for sun-synchronous exploration (2002)
Chris P. Urmson, M. Bernardine Dias, Reid G. Simmons
This paper describes the navigation system used on a prototype sun-synchronous robot. Sun-synchrony is a concept that will enable exploration missions by solarpowered rovers that could last months or...
Probabilistic verification of discrete event systems using acceptance sampling (2002)
Abstract. We propose a model independent procedure for verifying properties of discrete event systems. The dynamics of such systems can be very complex, making them hard to analyze, so we resort to...
We study goal-directed navigation tasks in mazes, where the robots know the maze but do not know their initial pose (position and orientation). These search tasks can be modeled as planning tasks in...
Autonomous mobile robots need very reliable navigation capabilities in order to operate unattended for long periods of time. We present a technique for achieving this goal that uses partially...
Sven Koenig Reid, Reid G. Simmons
We study goal-directed navigation tasks in mazes, where the robots know the maze but do not know their initial pose (position and orientation). These search tasks can be modeled as planning tasks in...
Complexity Analysis of Real-Time Reinforcement Learning (1997)
This paper analyzes the complexity of on-line reinforcement learning algorithms, namely asynchronous realtime versions of Q-learning and value-iteration, applied to the problem of reaching a goal...
Xavier: Experience with a Layered Robot Architecture (1997)
Reid G. Simmons, Richard Goodwin, Karen Zita Haigh, Sven Koenig, Joseph O'Sullivan, Manuela M. Veloso
Office delivery robots have to perform many tasks such as picking up and delivering mail or faxes, returning library books, and getting coffee. They have to determine the order in which to visit...
This report analyzes the complexity of on-line reinforcement learning algorithms, namely asynchronous real-time versions of Q-learning and value-iteration, applied to the problems of reaching any...
Xavier: Experience with a layered robot architecture (1997)
Reid G. Simmons, Richard Goodwin, Karen Zita Haigh, Sven Koenig, Manuela M. Veloso
O ce delivery robots have to perform many tasks such aspicking up and delivering mail or faxes, returning library books, and getting co ee. They have to determine the order in which to visit...
Efficient goal-directed exploration (1996)
Yury Smirnov, Sven Koenig, Manuela M. Veloso, Reid G. Simmons
If a state space is not completely known in advance, then search algorithms have to explore it sufficiently to locate a goal state and a path leading to it, performing therefore what we call...
Passive Distance Learning for Robot Navigation (1996)
Autonomous mobile robots need good models of their environment, sensors and actuators to navigate reliably and efficiently. While this information can be supplied by humans, or learned from scratch...
Sven Koenig, Reid G. Simmons, P. Kaelbling
. We analyze the complexity of on-line reinforcement-learning algorithms applied to goal-directed exploration tasks. Previous work had concluded that, even in deterministic state spaces, initially...
Easy and Hard Testbeds for Real-Time Search Algorithms (1996)
Although researchers have studied which factors influence the behavior of traditional search algorithms, currently not much is known about how domain properties influence the performance of real-time...
Unsupervised Learning of Probabilistic Models for Robot Navigation (1996)
Navigation methods for office delivery robots need to take various sources of uncertainty into account in order to get robust performance. In previous work, we developed a reliable navigation...
The Influence of Domain Properties on. . . (1996)
this report, we reported results for one particular property: being Eulerian. Our current work concentrates on studying additional properties that occur in more realistic applications, such as...
Efficient Goal-Directed Exploration (1996)
Yury V. Smirnov, Sven Koenig, Manuela M. Veloso, Reid G. Simmons
If a state space is not completely known in advance, then search algorithms have to explore it sufficiently to locate a goal state and a path leading to it, performing therefore what we call...
Real-Time Search in Non-Deterministic Domains (1995)
Many search domains are non-deterministic. Although real-time search methods have traditionally been studied in deterministic domains, they are well suited for searching nondeterministic domains...
How to make reactive planners risk-sensitive (without altering anything (1994)
probability of goal achievement. However, if one is willing Probabilistic planners can have various planning objectives: usually they either maximize the probability of goal achievement or minimize...
Risk-Sensitive Planning with Probabilistic Decision Graphs (1994)
Probabilistic AI planning methods that minimize expected execution cost have a neutral attitude towards risk. We demonstrate how one can transform planning problems for risk-sensitive agents into...
Complexity analysis of real-time reinforcement learning (1993)
The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the o cial policies, either expressed or implied, of NASA or the U.S....