A Framework for Situation-based Social Interaction (2008)
Alan R. Wagner, Ronald C. Arkin
Abstract – This paper presents a theoretical framework for computationally representing social situations in a robot. This work is based on interdependence theory, a social psychological theory of...
Buzz: An instantiation of a schema-based reactive (2008)
Ronald C. Arkin, Tucker Balch, Thomas R. Collins, Andrew M. Henshaw, Douglas C. Mackenzie
robotic system
reactive control parameters (2008)
Ashwin Ram, Ronald C. Arkin, Kenneth Moorman, Russell J. Clark
Case-based reactive navigation:
Tactical Mobile Robot Mission Speci cation and Execution (2008)
Ronald C. Arkin, Thomas R. Collins, Yoichiro Endo
Georgia Tech, as part of DARPA's Tactical Mobile Robotics (TMR) Program, is developing a wide range of mission speci cation capabilities for the urban war ghter. These include the development...
Applying Heuristic Evaluation to Human-Robot Interaction Systems (2008)
Edward Clarkson, Ronald C. Arkin
Though attention to evaluating human-robot interfaces has increased in recent years, there are relatively few reports of using evaluation tools during the development of human-robot interaction (HRI)...
Towards Performance Guarantees For Emergent Behavior (2008)
Damian M. Lyons, Ronald C. Arkin
Abstract – It is important to be able to guarantee the safety and effectiveness of robot behavior in applications where robots must operate alongside people or in hazardous situations. A modeling...
interfaces. General Terms (2008)
Lilia Moshkina, Yoichiro Endo, Ronald C. Arkin, Human Factors
This paper describes a usability study designed to assess ease of use, user satisfaction, and performance of a mobile robot mission specification system. The software under consideration, MissionLab,...
Yoichiro Endo, Patrick D. Ulam, Ronald C. Arkin, Tucker R. Balch, Matthew D. Powers
Abstract – When a mobile robot is executing a navigational task in an urban outdoor environment, accurate localization information is often essential. The difficulty of this task is compounded by...
Part I Motivation, Ronald C. Arkin
This paper provides the motivation and philosophy underlying the design of an ethical control and reasoning system potentially suitable for constraining lethal actions in an autonomous robotic...
Yoichiro Endo, Patrick D. Ulam, Ronald C. Arkin, Tucker R. Balch, Matthew D. Powers
Abstract – When a mobile robot is executing a navigational task in an urban outdoor environment, accurate localization information is often essential. The difficulty of this task is compounded by...
SHORT TITLE: MOTIVATION AND EMOTION IN BEHAVIOR-BASED ROBOTS (2008)
This article investigates the commonalities between motivations and emotions as evidenced in a broad range of animal models, including humans. In particular, a focus is placed on how these models can...
Header for SPIE use Robotic Comfort Zones (2008)
Maxim Likhachev, Ronald C. Arkin
This paper investigates how the psychological notion of comfort can be useful in the design of robotic systems. A review of the existing study of human comfort, especially regarding its presence in...
Embedding Ethics in a Hybrid Deliberative/Reactive Robot Architecture * (2008)
[N.B.] State a moral case to a ploughman and a professor. The former will decide it as well, and often better than the latter, because he has not been led astray by artificial rules. 1 Thomas...
Towards Performance Guarantees For Emergent Behavior (2008)
Damian M. Lyons, Ronald C. Arkin
Abstract – It is important to be able to guarantee the safety and effectiveness of robot behavior in applications where robots must operate alongside people or in hazardous situations. A modeling...
Embedding Ethics in a Hybrid Deliberative/Reactive Robot Architecture * (2008)
[N.B.] State a moral case to a ploughman and a professor. The former will decide it as well, and often better than the latter, because he has not been led astray by artificial rules. 1 Thomas...
interfaces. General Terms (2008)
Lilia Moshkina, Yoichiro Endo, Ronald C. Arkin, Human Factors
This paper describes a usability study designed to assess ease of use, user satisfaction, and performance of a mobile robot mission specification system. The software under consideration, MissionLab,...
Alan R. Wagner, Ronald C. Arkin
Abstract – This paper presents an algorithm for analyzing social situations within a robot. We contribute a method that allows the robot to use information about the situation to select interactive...
Alan R. Wagner, Ronald C. Arkin
Abstract – This paper presents an algorithm for analyzing social situations within a robot. We contribute a method that allows the robot to use information about the situation to select interactive...
A Framework for Situation-based Social Interaction (2008)
Alan R. Wagner, Ronald C. Arkin
Abstract – This paper presents a theoretical framework for computationally representing social situations in a robot. This work is based on interdependence theory, a social psychological theory of...
A Framework for Situation-based Social Interaction (2008)
Alan R. Wagner, Ronald C. Arkin
Abstract – This paper presents a theoretical framework for computationally representing social situations in a robot. This work is based on interdependence theory, a social psychological theory of...
SHORT TITLE: MOTIVATION AND EMOTION IN BEHAVIOR-BASED ROBOTS (2008)
This article investigates the commonalities between motivations and emotions as evidenced in a broad range of animal models, including humans. In particular, a focus is placed on how these models can...
Mobile robots at your fingertip: Bezier (2008)
Jung-hoon Hwang, Ronald C. Arkin, Dong-soo Kwon
curve on-line trajectory generation for supervisory control
Header for SPIE use Robotic Comfort Zones (2008)
Maxim Likhachev, Ronald C. Arkin
This paper investigates how the psychological notion of comfort can be useful in the design of robotic systems. A review of the existing study of human comfort, especially regarding its presence in...
Lethality and Autonomous Systems: The Roboticist Demographic (2008)
Moshkina, Lilia V., Arkin, Ronald C.
This paper reports the methods and results of an on-line survey addressing the issues surrounding lethality and autonomous systems that was conducted as part of a research project for the U.S. Army...
Autonomous Robots, [Volumn Number], 1--25 ([Volumn Year]) (2007)
Douglas C. Mackenzie, Ronald C. Arkin, Jonathan M. Cameron
Specifying a reactive behavioral configuration for use by a multiagent team requires both a careful choice of the behavior set and the creation of a temporal chain of behaviors which executes the...
Development of Visual Tracking Algorithms for an Autonomous Helicopter (2007)
David E. Cardoze, Ronald C. Arkin
A visual target designation and tracking system is being developed within the context of the Autonomous Scout Rotorcraft Testbed Project at Georgia Tech. This paper describes both the algorithms
Ronald C. Arkin, Khaled Ali, Alfredo Weitzenfeld, Francisco Cervantes-perez
Formal models of animal sensorimotor behavior can provide effective methods for generating robotic intelligence. In this article we describe how schema-theoretic models of the praying mantis derived...
Alfredo Weitzenfeld, Ronald C, Ronald C. Arkin, Francisco Cervantes-Pérez, Francisco Cervantes-prez
We analyze a model of neuronal mechanisms underlying amphibia's prey-catching behavior, integrating hypotheses generated within different areas of Neuroscience and studying how the efficacy of...
Maxim Likhachev, Ronald C. Arkin
This paper investigates how the psychological notion of comfort can be useful in the design of robotic systems. A review of the existing study of human comfort, especially regarding its presence in...
Khaled Subhi Ali, Ronald C. Arkin, Albert N. Badre, Jessica K. Hodgins, Alexander C. Kirlik, Sven Koenig
A multiagent telerobotic system (MTS) is a system that allows a human to control a group of robots. Multiagent robotics has certain desirable properties when compared to single-agent robotics, and...
antonio.sgorbissaunige.it (2007)
Antonio Sgorbissa, Ronald C. Arkin
arkincc.gatech.edu Abstract--Whenever a mobile robot has to deal with an environment that is totally or partially unknown or dynamically changing, local navigation strategies are very important for...
Learning Behavioral Parameterization Using Spario-Temporal Case-Based Reasoning (2007)
Maxim Likhachev, Michael Kaess, Ronald C. Arkin
This paper presents an approach to learning an optimal behavioral parameterization in the framework of a Case-Based Reasoning methodology for autonomous navigation tasks. It is based on our previous...
Compact Encoding of Robot-Generated 3D Maps for E#cient Wireless Transmission (2007)
Michael Kaess, Ronald C. Arkin, Jarek Rossignac
This work focuses on real-time compression of laser data on board a mobile robot platform. Data is transmitted from the robot over low-bandwidth channels or incrementally in short bursts to a host,...
Douglas C. Mackenzie, Ronald C. Arkin
The days of specifying missions for mobile robots using traditional programming languages such as C++ and LISP are coming to an end. The need to support operators lacking programming skills coupled...
Structured Light Systems for Dent Recognition: Lessons Learned (2007)
Juan C. Santamar'ia, Ronald C. Arkin
This paper describes the results from a feasibility analysis performed on two different structured light system designs and the image processing algorithms they require for dent detection and...
The Multiple Dimensions of Action-Oriented Robotic Perception: Fission, Fusion, and Fashion (2007)
Action-oriented perception provides an alternative to traditional high-level image understanding for the roboticist. By channeling sensory perception directly to motor behaviors (sensor fission)...
Research Horizons [Volume 24, Number 2, Winter/Spring 2007] (2007)
Sanders, Jane M., Meek, Gary, Robinson, Rick, Arkin, Ronald C., Toon, John, Skolnick, Jeffrey, ...
ABSTRACT: This paper, the third in a series, provides representational and design recommendations for the implementation of an ethical control and reasoning system potentially suitable for...
Sonia Chernova, Ronald C. Arkin, Sonia Chernova, Ronald C. Arkin
On behalf of:
Integrated Mission Specification and Task Allocation for Robot Teams - Testing and Evaluation (2007)
Ulam, Patrick D., Endo, Yoichiro, Wagner, Alan, Arkin, Ronald C.
This work presents the evaluation of two mission specification and task allocation architectures. These architectures, described in part 1 of this paper, present novel means with which to integrate a...
Lethality and Autonomous Systems: Survey Design and Results (2007)
Moshkina, Lilia, Arkin, Ronald C.
This article reports the methods and results of an on-line survey addressing the issues surrounding lethality and autonomous systems that was conducted as part of a research project for the U.S. Army...
Multi-Method Learning and Assimilation (2007)
Takamuku, Shinya, Arkin, Ronald C.
Considering the wide range of possible behaviors to be acquired for domestic robots, applying a single learning method is clearly insufficient. In this paper, we propose a new strategy for behavior...
Analyzing Social Situations for Human-Robot Interaction (2007)
Wagner, Alan R., Arkin, Ronald C.
This paper presents an algorithm for analyzing social situations within a robot. We contribute a method that allows the robot to use information about the situation to select interactive behaviors....
Lethality and Autonomous Robots: An Ethical Stance (2007)
Arkin, Ronald C., Moshkina, Lilia
This paper addresses a difficult issue confronting the designers of intelligent robotic systems: their potential use of lethality in warfare. As part of an ARO-funded study, we are currently...
On the Ethical Quandaries of a Practicing Roboticist: A First-Hand Look (2007)
Robotics has progressed substantially over the last 20 years, moving from simple proof-of-concept experimental research to developing market and military technologies that have significant ethical...
This article provides the basis, motivation, theory, and design recommendations for the implementation of an ethical control and reasoning system potentially suitable for constraining lethal actions...
Adaptive Teams of Autonomous Aerial and Ground Robots for Situational Awareness (2007)
Arkin, Ronald C., Endo, Yoichiro, Chaimowicz, Luiz, Cowley, Anthony, Grocholsky, Ben, Hsieh, Mong-ying A., ...
This is a preprint of an article accepted for publication in the Journal of Field Robotics, copyright 2007. Journal of Field Robotics 24(11), 991–1014 (2007) © 2007 Wiley Periodicals, Inc....
Chernova, Sonia, Arkin, Ronald C.
Long-term human-robot interaction, especially in the case of humanoid robots, requires an adaptable and varied behavior base. In this work we present a method for capturing, or learning, sequential...
Behavioral Overlays for Non-Verbal Communication Expression on a Humanoid Robot (2006)
Brooks, Andrew G., Arkin, Ronald C.
This research details the application of non-verbal communication display behaviors to an autonomous humanoid robot, including the use of proxemics, which to date has been seldom explored in the...
Lee, J. Brian, Likhachev, Maxim, Arkin, Ronald C.
This paper studies the effects of the integration of two learning algorithms. Case-Based Reasoning (CBR) and Learning Momentum (LM), for the selection of behavioral parameters in real-time for...
Multi-robot user interface modeling (2006)
Alan R. Wagner, Yoichiro Endo, Patrick Ulam, Ronald C. Arkin
Abstract. This paper investigates the problem of user interface design and evaluation for autonomous teams of heterogeneous mobile robots. We explore an operator modeling approach to multi-robot user...
Multi-robot user interface modeling (2006)
Alan R. Wagner, Yoichiro Endo, Patrick Ulam, Ronald C. Arkin
Abstract. This paper investigates the problem of user interface design and evaluation for autonomous teams of heterogeneous mobile robots. We explore an operator modeling approach to multi-robot user...
Anthony Cowley, James F. Keller, Luiz Chaimowicz, Ben Grocholsky, Vijay Kumar, ...
In this paper, we report on the integration challenges of the various component technologies developed towards the establishment of a framework for deploying an adaptive system of heterogeneous...
Anthony Cowley, James F. Keller, Luiz Chaimowicz, Ben Grocholsky, Vijay Kumar, ...
In this paper, we report on the integration challenges of the various component technologies developed towards the establishment of a framework for deploying an adaptive system of heterogeneous...
Multi-robot user interface modeling (2006)
Alan R. Wagner, Yoichiro Endo, Patrick Ulam, Ronald C. Arkin
Abstract. This paper investigates the problem of user interface design and evaluation for autonomous teams of heterogeneous mobile robots. We explore an operator modeling approach to multi-robot user...
Sonia Chernova, Sonia Chernova, Ronald C. Arkin
Long-term human-robot interaction, especially in the case of humanoid robots, requires an adaptable and varied behavior base. In this work we present a method for capturing, or learning, sequential...
Applying Heuristic Evaluation to Human-Robot Interaction Systems (2006)
Clarkson, Edward C., Arkin, Ronald C.
Though attention to evaluating human-robot interfaces has increased in recent years, there are relatively few reports of using evaluation tools during the development of human-robot interaction (HRI)...
Biasing Behavioral Activation with Intent (2006)
Ulam, Patrick D., Arkin, Ronald C.
Deliberate control of an entertainment robot presents a special problem in balancing the requirement for intentional behavior with the existing mechanisms for autonomous action selection. We propose...
A Framework for Situation-Based Social Interaction (2006)
Wagner, Alan R., Arkin, Ronald C.
This paper presents a theoretical framework for computationally representing social situations in a robot. This work is based on interdependence theory, a social psychological theory of interaction...
Multi-Robot User Interface Modeling (2006)
Wagner, Alan R., Endo, Yoichiro, Ulam, Patrick D., Arkin, Ronald C.
This paper investigates the problem of user interface design and evaluation for autonomous teams of heterogeneous mobile robots. We explore an operator modeling approach to multi-robot user interface...
Arkin, Ronald C., Endo, Yoichiro, Ulam, Patrick D., Wagner, Alan
As the capabilities, range of missions, and the size of robot teams increase, the ability for a human operator to account for all the factors in these complex scenarios can become exceedingly...
Arkin, Ronald C., Endo, Yoichiro, Ulam, Patrick D., Wagner, Alan
This work presents the evaluation of two mission specification and task allocation architectures. These architectures, described in part 1 of this paper, present novel means with which to integrate a...
An Empirical Evaluation of Context-Sensitive Pose Estimators in an Urban Outdoor Environment (2005)
Endo, Yoichiro, Ulam, Patrick D., Arkin, Ronald C., Balch, Tucker R., Powers, Matthew D.
When a mobile robot is executing a navigational task in an urban outdoor environment, accurate localization information is often essential. The difficulty of this task is compounded by sensor...
Spatio-temporal case-based reasoning for efficient reactive robot navigation (2005)
Maxim Likhachev, Michael Kaess, Zsolt Kira, Ronald C. Arkin
This paper presents an approach to automatic selection and modification of behavioral assemblage parameters for autonomous navigation tasks. The goal of this research is to make obsolete the task of...
Spatio-temporal case-based reasoning for efficient reactive robot navigation (2005)
Maxim Likhachev, Michael Kaess, Zsolt Kira, Ronald C. Arkin
This paper presents an approach to automatic selection and modification of behavioral assemblage parameters for autonomous navigation tasks. The goal of this research is to make obsolete the task of...
An Empirical Evaluation of Context-Sensitive Pose Estimators in an Urban Outdoor Environment (2005)
Endo, Yoichiro, Ulam, Patrick D., Arkin, Ronald C., Balch, Tucker, Powers, Matthew D.
When a mobile robot is executing a navigational task in an urban outdoor environment, accurate localization information is often essential. The difficulty of this task is compounded by sensor...
Moshkina, Lilia, Endo, Yoichiro, Arkin, Ronald C.
This paper describes a usability study designed to assess ease of use, user satisfaction, and performance of a mobile robot mission specification system. The software under consideration, MissionLab,...
Spatio-Temporal Case-Based Reasoning for Efficient Reactive Robot Navigation (2005)
Likhachev, Maxim, Kaess, Michael, Kira, Zsolt, Arkin, Ronald C.
This paper presents an approach to automatic selection and modification of behavioral assemblage parameters for autonomous navigation tasks. The goal of this research is to make obsolete the task of...
Forgetting Bad Behavior: Memory Management for Case-Based Navigation (2004)
In this paper, we present successful strategies for forgetting cases in a Case-Based Reasoning (CBR) system applied to autonomous robot navigation. This extends previous work that involved a CBR...
Forgetting Bad Behavior: Memory Management for Case-Based Navigation (2004)
Abstract — In this paper, we present successful strategies for forgetting cases in a Case-Based Reasoning (CBR) system applied to autonomous robot navigation. This extends previous work that...
Usability evaluation of high-level user assistance for robot mission specification (2004)
Yoichiro Endo, Douglas C. Mackenzie, Ronald C. Arkin
Abstract--MissionLab is a mission specification system that implements a hybrid deliberative and reactive control architecture for autonomous mobile robots. The user creates and executes the robot...
Usability evaluation of high-level user assistance for robot mission specification (2004)
Yoichiro Endo, Douglas C. Mackenzie, Ronald C. Arkin
Abstract—MissionLab is a mission specification system that implements a hybrid deliberative and reactive control architecture for autonomous mobile robots. The user creates and executes the robot...
Forgetting Bad Behavior: Memory Management for Case-Based Navigation (2004)
Abstract — In this paper, we present successful strategies for forgetting cases in a Case-Based Reasoning (CBR) system applied to autonomous robot navigation. This extends previous work that...
Forgetting Bad Behavior: Memory Management for Case-Based Navigation (2004)
Abstract — In this paper, we present successful strategies for forgetting cases in a Case-Based Reasoning (CBR) system applied to autonomous robot navigation. This extends previous work that...
Forgetting Bad Behavior: Memory Management for Case-Based Navigation (2004)
In this paper, we present successful strategies for forgetting cases in a Case-Based Reasoning (CBR) system applied to autonomous robot navigation. This extends previous work that involved a CBR...
Noise Maps for Acoustically Sensitive Navigation (2004)
Martinson, Eric, Arkin, Ronald C.
More and more robotic applications are equipping robots with microphones to improve the sensory information available to them. However, in most applications the auditory task is very low-level, only...
Human Perspective on Affective Robotic Behavior: A Longitudinal Study (2004)
Arkin, Ronald C., Moshkina, Lilia
Humans are inherently social creatures, and affect plays no small role in their social nature. We use our emotional expressions to communicate our internal state, our moods assist or hinder our...
Reactive Speed Control System Based on Terrain Roughness Detection (2004)
Arkin, Ronald C., Castelnovi, Mattia, Collins, Thomas Riley
Autonomous outdoor navigation requires the ability to discriminate among different types of terrain. A non-trivial problem is to manage the robot's speed based on terrain roughness. This paper...
Metaphor of Politics: A Mechanism of Coalition Formation (2004)
Arkin, Ronald C., Chella, A., Sorbello, R.
Hybrid Multi-Agent Architectures support mobile robots colonies moving in dynamic, unpredictable and time varying environments to achieve collective team-oriented behaviors for solving complicate and...
Compact Encoding of Robot-generated 3D Maps for Efficient Wireless Transmission (2003)
Kaess, Michael, Arkin, Ronald C., Rossignac, Jaroslaw R.
This work focuses on real-time compression of laser data on board a mobile robot platform. Data is transmitted from the robot over low-bandwidth channels or incrementally in short bursts to a host,...
Internalized Plans for CommunicationSensitive Robot Team Behaviors (2003)
Alan R. Wagner, Ronald C. Arkin
Autonomous teams of robots operating in a dynamic, adversarial environment stand to benefit from using all available resources. But how can knowledge be used to construct a plan that does not...
Anticipatory Robot Navigation by Simultaneously Localizing and Building a Cognitive Map (2003)
Yoichiro Endo, Ronald C. Arkin
This paper presents a method for a mobile robot to construct and localize relative to a "cognitive map ", where the cognitive map is assumed to be a representational structure that...
Compact Encoding of Robot-Generated 3D Maps for Efficient Wireless Transmission (2003)
Michael Kaess, Ronald C. Arkin, Jarek Rossignac
This work focuses on real-time compression of laser data on board a mobile robot platform. Data is transmitted from the robot over low-bandwidth channels or incrementally in short bursts to a host,...
Internalized Plans for CommunicationSensitive Robot Team Behaviors (2003)
Alan R. Wagner, Ronald C. Arkin
Autonomous teams of robots operating in a dynamic, adversarial environment stand to benefit from using all available resources. But how can knowledge be used to construct a plan that does not...
An ethological and emotional basis for human-robot interaction (2003)
Ronald C. Arkin, Masahiro Fujita, Tsuyoshi Takagi, Rika Hasegawa
This paper presents the role of ethological and emotional models as the basis for an architecture in support of entertainment robotic systems. Specific examples for Sony’s AIBO are presented as...
An ethological and emotional basis for human-robot interaction (2003)
Ronald C. Arkin, Masahiro Fujita, Tsuyoshi Takagi, Rika Hasegawa
This paper presents the role of ethological and emotional models as the basis for an architecture in support of entertainment robotic systems. Specific examples for Sony’s AIBO are presented as...
Proprioceptive control for a robotic vehicle over geometric obstacles (2003)
Kenneth J. Waldron, Ronald C. Arkin, Douglas Bakkum, Ernest Merrill, Muhammad Abdallah
In this paper we describe a software system built to coordinate an autonomous vehicle with variable configuration ability operating in rough terrain conditions. The paper describes the system...
CONTENTS PLENARY SPEAKERS (2003)
Carl Anderson, Tucker Balch, Ronald C. Arkin
PROCEEDINGS of the 2 nd International Workshop on the
Compact Encoding of Robot-generated 3D Maps for Efficient Wireless Transmission (2003)
Kaess, Michael, Arkin, Ronald C., Rossignac, Jaroslaw R.
This work focuses on real-time compression of laser data on board a mobile robot platform. Data is transmitted from the robot over low-bandwidth channels or incrementally in short bursts to a host,...
Multi-Robot Communication-Sensitive Reconnaissance (2003)
Arkin, Ronald C., Wagner, Alan
This paper presents a method for multi-robot communication-sensitive reconnaissance. This approach utilizes collections of precompiled vector fields in parallel to coordinate a team of robots in a...
When Good Comms Go Bad: Communications Recovery for Multi-Robot Teams (2003)
Arkin, Ronald C., Ulam, Patrick D.
Ad-hoc networks among groups of autonomous mobile robots are becoming a common occurrence as teams of robots take on increasingly complicated missions over wider areas. Research has often focused on...
Towards Performance Guarantees for Emergent Behavior (2003)
Arkin, Ronald C., Lyons, Damian M.
It is important to be able to guarantee the safety and effectiveness of robot behavior in applications where robots must operate alongside people or in hazardous situations. A modeling framework...
Moving Up the Food Chain: Motivation and Emotion in Behavior-Based Robots (2003)
This article investigates the commonalities between motivations and emotions as evidenced in a broad range of animal models, including humans. In particular, a focus is placed on how these models can...
Arkin, Ronald C., Hwang, Jung-Hoon, Kwon, Dong-Soo
A new interfacing method is presented to control mobile robot(s) in a supervised manner. Mobile robots often provide global position information to an operator. This research describes a method...
Arkin, Ronald C., Moshkina, Lilia
This paper presents a framework for affective robotic behavior (TAME) and describes an exploratory experimental study to identify relevant affective phenomena to include into the framework in order...
Adaptive Multi-Robot Behavior via Learning Momentum (2003)
Arkin, Ronald C., Lee, J. Brian
In this paper, the effects of adaptive robotic behavior via Learning Momentum in the context of a robotic team are studied. Learning momentum is a variation on parametric adjustment methods that has...
Anticipatory Robot Navigation by Simultaneously Localizing and Building a Cognitive Map (2003)
Arkin, Ronald C., Endo, Yoichiro
This paper presents a method for a mobile robot to construct and localize relative to a “cognitive map”, where the cognitive map is assumed to be a representational structure that encodes both...
Internalized Plans for Communication-Sensitive Robot Team Behaviors (2003)
Arkin, Ronald C., Wagner, Alan R.
Autonomous teams of robots operating in a dynamic, adversarial environment stand to benefit from using all available resources. But how can knowledge be used to construct a plan that does not...
Proprioceptive Control for a Robotic Vehicle Over Geometric Obstacles (2003)
Abdallah, Muhammad, Arkin, Ronald C., Bakkum, Douglas James, Merrill, Ernest, Waldron, Kenneth J.
In this paper we describe a software system built to coordinate an autonomous vehicle with variable configuration ability operating in rough terrain conditions. The paper describes the system...
Multistrategy Learning Methods for Multirobot Systems (2003)
Arkin, Ronald C., Endo, Yoichiro, Lee, Brian, MacKenzie, Douglas Christopher, Martinson, Eric
This article describes three different methods for introducing machine learning into a hybrid deliberative/reactive architecture for multirobot systems: learning momentum, Q-learning, and CBR...
Learning to Role-Switch in Multi-Robot Systems (2003)
Arkin, Ronald C., Martinson, Eric
We present an approach that uses Q-learning on individual robotic agents, for coordinating a mission-tasked team of robots in a complex scenario. To reduce the size of the state space, actions are...
Skills Impact Study for Tactical Mobile Robot Operational Units (2002)
Arkin, Ronald C., Collins, Thomas Riley
As part of the DARPA Tactical Mobile Robotics (TMR) program, Georgia Tech investigated the human interface issues associated with controlling robot "units," multiple robotic agents working as a team....
Line-of-sight constrained exploration for reactive multiagent robotic teams (2002)
Ronald C. Arkin, Jonathan Diaz
In this paper we investigate how a team of robotic agents can selforganize for the exploration of a building subject to the constraint of maintaining line-of-sight communications. Three diftrent...
J. Brian Lee, Maxim Likhachev, Ronald C. Arkin
This paper studies the effects of the integration of two learning algorithms, Case-Based Reasoning (CBR) and Learning Momentum (LM), for the selection of behavioral parameters in real-time for...
Learning behavioral parameterization using spatio-temporal case-based reasoning (2002)
Maxim Likhachev, Michael Kaess, Ronald C. Arkin
This paper presents an approach to learning an optimal behavioral parameterization in the framework of a Case-Based Reasoning methodology for autonomous navigation tasks. It is based on our previous...
J. Brian Lee, Maxim Likhachev, Ronald C. Arkin
This paper studies the effects of the integration of two learning algorithms, Case-Based Reasoning (CBR) and Learning Momentum (LM), for the selection of behavioral parameters in real-time for...
Line-of-sight constrained exploration for reactive multiagent robotic teams (2002)
In this paper we investigate how a team of robotic agents can selforganize for the exploration of a building subject to the constraint of maintaining line-of-sight communications. Three different...
J. Brian Lee, Maxim Likhachev, Ronald C. Arkin
This paper studies the effects of the integration of two learning algorithms, Case-Based Reasoning (CBR) and Learning Momentum (LM), for the selection of behavioral parameters in real-time for...
Learning behavioral parameterization using spatio-temporal case-based reasoning (2002)
Maxim Likhachev, Michael Kaess, Ronald C. Arkin
This paper presents an approach to learning an optimal behavioral parameterization in the framework of a Case-Based Reasoning methodology for autonomous navigation tasks. It is based on our previous...
Skills Impact Study for Tactical Mobile Robot Operational Units (2002)
Arkin, Ronald C., Collins, Thomas Riley
As part of the DARPA Tactical Mobile Robotics (TMR) program, Georgia Tech investigated the human interface issues associated with controlling robot "units," multiple robotic agents working as a team....
An Ethological and Emotional Basis for Human-Robot Interaction (2002)
Arkin, Ronald C., Fujita, Masahiro, Hasegawa, Rika, Takagi, Tsuyoshi
This paper presents the role of ethological and emotional models as the basis for an architecture in support of entertainment robotic systems. Specific examples for Sony’s AIBO are presented as...
Usability Evaluation of High-Level User Assistance for Robot Mission Specification (2002)
Arkin, Ronald C., Endo, Yoichiro, MacKenzie, Douglas Christopher
MissionLab is a mission specification system that implements a hybrid deliberative and reactive control architecture for autonomous mobile robots. The user creates and executes the robot mission...
Robot Behavioral Selection Using Q-learning (2001)
Martinson, Eric, Stoytchev, Alexander, Arkin, Ronald C.
Q-learning has often been used to learn primitive behaviors, or to coordinate a limited set of motor skills. However, the complexity of the algorithm increases exponentially with the number of states...
Spatio-Temporal Case-Based Reasoning for Behavioral Selection (2001)
Maxim Likhachev, Ronald C. Arkin
This paper presents the application of a Case-Based Reasoning approach to the selection and modification of behavioral assemblage parameters. The goal of this research is to achieve an optimal...
Implementing Tolman's Schematic Sowbug: Behavior-based Robotics (2001)
Yoichiro Endo, Ronald C. Arkin
This paper reintroduces and evaluates the schematic sowbug proposed by Edward C. Tolman, psychologist, in 1939. The schematic sowbug is based on Tolman's purposive behaviorism, and it is...
Exploring Unknown Structured Environments (2001)
Jonathan F. Diaz, Er Stoytchev, Ronald C. Arkin
This paper presents perceptual algorithms for corridor navigation, door detection and entry that can be used for exploration of an unknown floor of a building. The algorithms are fairly robust to...
Local navigation strategies for a team of robots (2001)
Antonio Sgorbissa, Ronald C. Arkin
Abstract--Whenever a mobile robot has to deal with an environment that is totally or partially unknown or dynamically changing, local navigation strategies are very important for the robot to...
Exploring Unknown Structured Environments (2001)
Jonathan F. Diaz, Er Stoytchev, Ronald C. Arkin
This paper presents perceptual algorithms for corridor navigation, door detection and entry that can be used for exploration of an unknown floor of a building. The algorithms are fairly robust to...
Ethological modeling and architecture for an entertainment robot (2001)
Ronald C. Arkin, Masahiro Fujita, Tsuyoshi Takagi, Rika Hasegawa
This paper presents a novel method for creating high-fidelity models of animal behavior for use in robotic systems based on a behavioral systems approach, and describes in particular how an...
Robot Behavioral Selection Using Q-learning (2001)
Martinson, Eric, Stoytchev, Alexander, Arkin, Ronald C.
Q-learning has often been used to learn primitive behaviors, or to coordinate a limited set of motor skills. However, the complexity of the algorithm increases exponentially with the number of states...
Arkin, Ronald C., Lee, J. Brian, Likhachev, Maxim
This paper studies the effects of the integration of two learning algorithms, Case-Based Reasoning (CBR) and Learning Momentum (LM), for the selection of behavioral parameters in real-time for...
Learning Behavioral Parameterization Using Spatio-Temporal Case-Based Reasoning (2001)
Arkin, Ronald C., Kaess, Michael, Likhachev, Maxim
This paper presents an approach to learning an optimal behavioral parameterization in the framework of a Case-Based Reasoning methodology for autonomous navigation tasks. It is based on our previous...
Line-of-Sight Constrained Exploration for Reactive Multiagent Robotic Teams (2001)
Arkin, Ronald C., Diaz, Jonathan
In this paper we investigate how a team of robotic agents can self-organize for the exploration of a building subject to the constraint of maintaining line-of-sight communications. Three different...
Local Navigation Strategies for a Team of Robots (2001)
Arkin, Ronald C., Sgorbissa, Antonio
Whenever a mobile robot has to deal with an environment that is totally or partially unknown or dynamically changing, local navigation strategies are very important for the robot to successfully...
Exploring Unknown Structured Environments (2001)
Arkin, Ronald C., Diaz, Jonathan F., Stoytchev, Alexander
This paper presents perceptual algorithms for corridor navigation, door detection and entry that can be used for exploration of an unknown floor of a building. The algorithms are fairly robust to...
Ethological Modeling and Architecture for an Entertainment Robot (2001)
Arkin, Ronald C., Fujita, Masahiro, Hasegawa, Rika, Takagi, Tsuyoshi
This paper presents a novel method for creating high-fidelity models of animal behavior for use in robotic systems based on a behavioral systems approach, and describes in particular how an...
Alexander Stoytchev, Ronald C. Arkin
This paper describes a mobile robot architecture that addresses three main challenges for robots hving in humaninhabited environments. Specifically how to operate in dynamic and unpredictable...
Multiagent teleautonomous behavioral control (2000)
Khaled S. Ali, Ronald C. Arkin
Multiagent schema-based reactive robotic systems are complemented with the addition of a new behavior controlled by a human operator. This enables the whole society to be affected as a group rather...
Alexander Stoytchev, Ronald C. Arkin
This paper describes a mobile robot architecture that addresses three main challenges for robots living in humaninhabited environments. Specically how to operate in dynamic and unpredictable...
Field Results for Tactical Mobile Robot Missions (2000)
Thomas R. Collins, Ronald C. Arkin, Michael J. Cramer, Yoichiro Endo
In 1999, Georgia Tech conducted two field experiments to determine the performance of its mission specification system. The experiments were developed for the DARPA Tactical Mobile Robotics (TMR)...
Implementing Tolman's Schematic Sowbug: Behavior-Based Robotics in the 1930's (2000)
Arkin, Ronald C., Endo, Yoichiro
This paper reintroduces and evaluates the schematic sowbug proposed by Edward C. Tolman, psychologist, in 1939. The schematic sowbug is based on Tolman's purposive behaviorism, and it is believed to...
Spatio-Temporal Case-Based Reasoning for Behavioral Selection (2000)
Arkin, Ronald C., Likhachev, Maxim
This paper presents the application of a Case-Based Reasoning approach to the selection and modification of behavioral assemblage parameters. The goal of this research is to achieve an optimal...
Learning Momentum: Integration and Experimentation (2000)
Arkin, Ronald C., Lee, J. Brian
We further study the effects of learning momentum as defined by Clark, Arkin, and Ram[1] on robots, both simulated and real, attempting to traverse obstacle fields in order to reach a goal....
Arkin, Ronald C., Stoytchev, Alexander
This paper describes a hybrid mobile robot architecture that addresses three main challenges for robots living in human-inhabited environments: how to operate in dynamic and unpredictable...
Arkin, Ronald C., Likhachev, Maxim
This paper investigates how the psychological notion of comfort can be useful in the design of robotic systems. A review of the existing study of human comfort, especially regarding its presence in...
Field Results for Tactical Mobile Robot Missions (2000)
Arkin, Ronald C., Collins, Thomas Riley, Cramer, Michael J., Endo, Yoichiro
In 1999, Georgia Tech conducted two field experiments to determine the performance of its mission specification system. The experiments were developed for the DARPA Tactical Mobile Robotics (TMR)...
Arkin, Ronald C., Flores-Castillo, Luis R., Cervantes-Pérez, Francisco, Weitzenfeld, Alfredo
We analyze a model of neuronal mechanisms underlying amphibia’s prey-catching behavior, integrating hypotheses generated within different areas of Neuroscience and studying how the efficacy of...
Tactical Mobile Robot Mission Specification and Execution (2000)
Arkin, Ronald C., Collins, Thomas Riley, Endo, Yoichiro
Georgia Tech, as part of DARPA's Tactical Mobile Robotics (TMR) Program, is developing a wide range of mission specification capabilities for the urban warfighter. These include the development of a...
Tactical Mobile Robot Mission Specification and Execution (1999)
Ronald C. Arkin, Thomas R. Collins, Yoichiro Endo
Georgia Tech, as part of DARPA's Tactical Mobile Robotics (TMR) Program, is developing a wide range of mission specification capabilities for the urban warfighter. These include the development...
Behavior-based Formation Control for Multi-robot Teams (1999)
Tucker Balch, Ronald C. Arkin, Senior Member
New reactive behaviors that implement formations in multi-robot teams are presented and evaluated. The formation behaviors are integrated with other navigational behaviors to enable a robotic team to...
Matching Systems to Tasks Approved: (1999)
Subhi Ali, Ronald C. Arkin, Albert N. Badre, Jessica K. Hodgins, Alexander C. Kirlik, Sven Koenig
Amultiagent telerobotic system (MTS) is a system that allowsahuman to control a group of robots. Multiagent robotics has certain desirable properties when compared to single-agent robotics, and...
Behavioral Models of the Praying Mantis as a Basis for Robotic Behavior (1999)
Ali, Khaled Subhi, Arkin, Ronald C., Cervantes-Pérez, Francisco, Weitzenfeld, Alfredo
Formal models of animal sensorimotor behavior can provide effective methods for generating robotic intelligence. In this article we describe how schema-theoretic models of the praying mantis derived...
Behavior-based Formation Control for Multi-robot Teams (1999)
Arkin, Ronald C., Balch, Tucker
New reactive behaviors that implement formations in multi-robot teams are presented and evaluated. The formation behaviors are integrated with other navigational behaviors to enable a robotic team to...
Proprioceptive Control for a Robotic Vehicle over Geometric Obstacles (1998)
Waldron, Kenneth J., Arkin, Ronald C., Bakkum, Douglas, Merrill, Ernest, Abdallah, Muhammad
In this paper, the authors describe a software system built to coordinate an autonomous vehicle with variable configuration ability operating in rough terrain conditions. The paper describes the...
Internalized Plans for Communication-Sensitive Robot Team Behaviors (1998)
Wagner, Alan R., Arkin, Ronald C.
Autonomous teams of robots operating in a dynamic, adversarial environment stand to benefit from using all available resources. But how can knowledge be used to construct a plan that does not...
Forgetting Bad Behavior: Memory Management for Case-Based Navigation (1998)
In this paper, the authors present successful strategies for forgetting cases in a Case-Based Reasoning (CBR) system applied to autonomous robot navigation. This extends previous work that involved a...
Spatio-Temporal Case-Based Reasoning for Efficient Reactive Robot Navigation (1998)
Likhachev, Maxim, Kaess, Michael, Kira, Zsolt, Arkin, Ronald C.
This paper presents an approach to automatic selection and modification of behavioral assemblage parameters for autonomous navigation tasks. The goal of this research is to make obsolete the task of...
Moshkina, Lilia, Endo, Yoichiro, Arkin, Ronald C.
This paper describes a usability study designed to assess ease of use, user satisfaction, and performance of a mobile robot mission specification system. The software under consideration, MissionLab,...
Learning to Role-Switch in Multi-Robot Systems (1998)
Martinson, Eric, Arkin, Ronald C.
The authors present an approach that uses Q-learning on individual robotic agents for coordinating a mission-tasked team of robots in a complex scenario. To reduce the size of the state space,...
Multistrategy Learning Methods for Multirobot Systems (1998)
Arkin, Ronald C., Endo, Y., Lee, B., MacKenzie, D., Martinson, Eric
Incorporation of a range of disparate learning algorithms is both feasible and desirable within a hybrid deliberative/reactive architecture. In particular, the authors present three different methods...
Likhachev, Maxim, Arkin, Ronald C.
This paper investigates how the psychological notion of comfort can be useful in the design of robotic systems. A review of the existing study of human comfort, especially regarding its presence in...
Spatio-Temporal Case-Based Reasoning for Behavioral Selection (1998)
Likhachev, Maxim, Arkin, Ronald C.
This paper presents the application of a Case-Based Reasoning (CBR) approach to the selection and modification of behavioral assemblage parameters. The goal of this research is to achieve an optimal...
Field Results for Tactical Mobile Robot Missions (1998)
Collins, Thomas R., Arkin, Ronald C., Cramer, Michael J., Endo, Yoichiro
In 1999, Georgia Tech conducted two field experiments to determine the performance of its mission specification system. The experiments were developed for the DARPA Tactical Mobile Robotics (TMR)...
When Good Comms Go Bad: Communications Recovery for Multi-Robot Teams (1998)
Ulam, Patrick, Arkin, Ronald C.
Ad-hoc networks among groups of autonomous mobile robots are becoming a common occurrence as teams of robots take on increasingly complicated missions over wider areas. Research has often focused on...
Adaptive Multi-Robot Behavior via Learning Momentum (1998)
In this paper the effects of adaptive robotic behavior via Learning Momentum in the context of a robotic team are studied. Learning momentum is a variation on parametric adjustment methods that has...
Compact Encoding of Robot-Generated 3D Maps for Efficient Wireless Transmission (1998)
Kaess, Michael, Arkin, Ronald C., Rossignac, Jarek
This work focuses on real-time compression of laser data on board a mobile robot platform. Data is transmitted from the robot over low-bandwidth channels or incrementally in short bursts to a host,...
Exploring Unknown Structured Environments (1998)
Diaz, Jonathan F., Stoytchev, Alexander, Arkin, Ronald C.
This paper presents perceptual algorithms for corridor navigation, door detection and entry that can be used for exploration of an unknown floor of a building. The algorithms are fairly robust to...
An Empirical Evaluation of Context-Sensitive Pose Estimators in an Urban Outdoor Environment (1998)
Endo, Yoichiro, Ulam, Patrick D., Arkin, Ronald C., Balch, Tucker R., Powers, Matthew D.
When a mobile robot is executing a navigational task in an urban outdoor environment, accurate localization information is often essential. The difficulty of this task is compounded by sensor...
Learning Behavioral Parameterization Using Spatio-Temporal Case-Based Reasoning (1998)
Likhachev, Maxim, Kaess, Michael, Arkin, Ronald C.
This paper presents an approach to learning an optimal behavioral parameterization in the framework of a Case-Based Reasoning methodology for autonomous navigation tasks. It is based on our previous...
Design and implementation of a teleautonomous hummer (1998)
Darrin C. Bentivegna, Khaled S. Ali, Ronald C. Arkin, Tucker Balch
Autonomous and semi-autonomous full-sized ground vehicles are becoming increasingly important, particularly in military applications. Here we describe the instrumentation of one such vehicle, a...
Evaluating the Usability of Robot Programming Toolsets (1998)
Douglas C. Mackenzie, Ronald C. Arkin
The days of specifying missions for mobile robots using traditional programming languages such as C++ and LISP are coming to an end. The need to support operators lacking programming skills coupled...
Implementing schema-theoretic models of animal behavior in robotic systems (1998)
Khaled S. Ali, Ronald C. Arkin
Formal models of animal sensorimotor behavior can provide effective methods for generating robotic intelligence. In this paper we describe how schema-theoretic models of the praying mantis are...
Cooperative Multiagent Robotic Systems (1998)
Introduction Teams of robotic systems at first glance might appear to be more trouble than they are worth. Why not simply build one robot that is capable of doing everything we need? There are...
Ecological Robotics: A Schema-theoretic Approach (1998)
Ronald Arkin College, Ronald C. Arkin, Alfredo Weitzenfeld
Schema Language (ASL) MissionLab (Mlab) Perceptual-Motor Weitzenfeld Arkin Cervantes Predictions Results Common Language Simulations Robot Experiments Biological Data Neural Simulation Language (NSL)...
Ecological Robotics: A Schema-theoretic Approach (1998)
Ronald C. Arkin, Francisco Cervantes-Pérez, Alfredo Weitzenfeld
Schema Language) [34] follows a hierarchical model, enabling top-down and bottom-up designs, supported by a concurrent language permitting a distributed implementation, while integrating neural...
Design and implementation of a teleautonomous hummer (1998)
Darrin C. Bentivegna, Khaled S. Ali, Ronald C. Arkin, Tucker Balch
Autonomous and semi-autonomous full-sized ground vehicles are becoming increasingly important, particularly in military applications. Here we describe the instrumentation of one such vehicle, a...
Implementing Schema-Theoretic Models of Animal Behavior in Robotic Systems (1998)
Ali, Khaled Subhi, Arkin, Ronald C.
Formal models of animal sensorimotor behavior can provide effective methods for generating robotic intelligence. In this paper we describe how schema-theoretic models of the praying mantis are...
Visualization of Multi-Level Neural-Based Robotic Systems (1998)
Arkin, Ronald C., Cervantes-Pérez, Francisco, Peniche, José Francisco, Weitzenfeld, Alfredo
Autonomous biological systems are very complex in their nature. Their study, through both experimentation and computation, provides a means to understand the underlying mechanisms in living systems...
A Neural Schema Architecture for Autonomous Robots (1998)
Arkin, Ronald C., Cervantes-Pérez, Francisco, Corbacho, Fernando, Olivares, Roberto, Weitzenfeld, Alfredo
As autonomous robots become more complex in their behavior, more sophisticated software architectures are required to support the ever more sophisticated robotics software. These software...
Evaluating the Usability of Robot Programming Toolsets (1997)
Arkin, Ronald C., MacKenzie, Douglas Christopher
The days of specifying missions for mobile robots using traditional programming languages such as C++ and LISP are coming to an end. The need to support operators lacking programming skills coupled...
Flexible Reactive Control for Multi-Agent Robotic Systems in Hostile Environments. (1997)
Arkin, Ronald C., Cameron, Jonathan, MacKenzie, Doug, Balch, Tucker, Ali, Khaled
The goals of this research are to produce intelligent, flexible, reactive behaviors and methods for specifying and communicating information between multiagent teams. In particular we have been...
Ecological robotics: A schema-theoretic approach (1997)
Ronald C. Arkin, Alfredo Weitzenfeld
The goals of this joint U.S.-Mexico research project are threefold: to provide an understanding and means by which fielded robotic systems are not competingwith other agents that are more effective...
AuRA: Principles and Practice in Review (1997)
This paper reviews key concepts of the Autonomous Robot Architecture (AuRA). Its structure, strengths, and roots in biology are presented. AuRA is a hybrid deliberative/reactive robotic architecture...
Behavior-based Formation Control for Multi-robot Teams (1997)
Tucker Balch Member, Tucker Balch, Ronald C. Arkin, Senior Member
New reactive behaviors that implement formations in multi-robot teams are presented and evaluated. The formation behaviors are integrated with other navigational behaviors to enable a robotic team to...
Learning Adaptive Reactive Agents (1997)
Juan Carlos Santamaria, Christopher G. Atkeson, Ronald C. Arkin, Alex Kirlik, Janet L. Kolodner
this document, we will use the term learning to denote the knowledge-level learning and the term adaptation to denote symbol-level learning. Intuitively, learning involves the acquisition of new...
Design and Implementation of a Teleautonomous Hummer (1997)
Ali, Khaled Subhi, Arkin, Ronald C., Balch, Tucker, Bentivegna, Darrin Charles
Autonomous and semi-autonomous full-sized ground vehicles are becoming increasingly important, particularly in military applications. Here we describe the instrumentation of one such vehicle, a...
Ecological Robotics: A Schema-Theoretic Approach (1997)
Arkin, Ronald C., Cervantes-Pérez, Francisco, Weitzenfeld, Alfredo
The goals of this joint U.S.-Mexico research project are threefold: to provide an understanding and means by which fielded robotic systems are not competing with other agents that are more effective...
Multiagent Teleautonomous Behavioral Control (1997)
Ali, Khaled Subhi, Arkin, Ronald C.
Multiagent schema-based reactive robotic systems are complemented with the addition of a new behavior controlled by a human operator. This enables the whole society to be affected as a group rather...
Multiagent Mission Specification and Execution (1997)
Arkin, Ronald C., Cameron, Jonathan M., MacKenzie, Douglas Christopher
Specifying a reactive behavioral configuration for use by a multiagent team requires both a careful choice of the behavior set and the creation of a temporal chain of behaviors which executes the...
AuRA: Principles and Practice in Review (1997)
Arkin, Ronald C., Balch, Tucker
This paper reviews key concepts of the Autonomous Robot Architecture {AuRA}. Its structure, strengths, and roots in biology are presented. AuRA is a hybrid deliberative/reactive robotic architecture...
Behavior-based mobile manipulation for drum sampling (1996)
Douglas C. Mackenzie, Ronald C. Arkin
This paper describes an implementation of a behaviorbased mobile manipulator capable of autonomously transferring a sample from one drum to a second in unstructured environments. A major contribution...
Behavior-Based Mobile Manipulation for Drum Sampling (1996)
Arkin, Ronald C., MacKenzie, Douglas Christopher
This paper describes an implementation of a behavior-based mobile manipulator capable of autonomously transferring a sample from one drum to a second in unstructured environments. A major...
Specification and execution of multiagent missions (1995)
Jonathan M. Cameron, Ronald C. Arkin, Douglas C. Mackenzie, Douglas C. Mackenzie
Specifying a purely reactive behavioral configuration for use by a multiagent team executing a mission requires both a careful choice of the behavior set and the creation of a temporal chain of...
Over the years, there has been seemingly endless debate on how robot software architectures differ from each other and how they resemble each other. Often points are made that
Reactive Robotic Systems (1995)
representational knowledge is avoided. Creating and maintaining accurate representations of the world is a time-consuming error-prone process. Purely reactive systems do not maintain world models,...
Motor Schema-based Formation Control for Multiagent Robot Teams (1995)
New reactive behaviors that implement formations in multi-robot teams are presented and evaluated. These motor schemas, or primitive behaviors, for relative positional maintenance are integrated with...
Development of Visual Tracking Algorithms for an Autonomous Helicopter (1995)
Arkin, Ronald C., Cardoze, David Enrique Fabrega
A visual target designation and tracking system is being developed within the context of the Autonomous Scout Rotorcraft Testbed Project at Georgia Tech. This paper describes both the algorithms and...
Model-Based Echolocation of Environmental Objects (1995)
Arkin, Ronald C., Santamaria, Juan Carlos
This paper presents an algorithm that can recognize and localize objects given a model of their contours using only ultrasonic range data. The algorithm exploits a physical model of the ultrasonic...
Specification and Execution of Multiagent Missions (1995)
MacKenzie, Douglas Christopher, Arkin, Ronald C., Cameron, Jonathan M.
Specifying a purely reactive behavioral configuration for use by a multiagent team executing a mission requires both a careful choice of the behavior set and the creation of a temporal chain of...
Structured Light Systems for Dent Recognition: Lessons Learned (1995)
Arkin, Ronald C., Santamaria, Juan Carlos
This paper describes the results from a feasibility analysis performed on two different structured light system designs and the image processing algorithms they require for dent detection and...
Motor Schema-based Formation Control for Multiagent Robot Teams (1994)
Balch, Tucker, Arkin, Ronald C.
New reactive behaviors that implement formations in multi-robot teams are presented and evaluated. These motor schemas, or primitive behaviors, for relative positional maintenance are integrated with...
Ronald C. Arkin, Douglas C. Mackenzie
Hybrid architectures provide an effective means for integrating world knowledge with reactive control. This paper describes the motivation behind the architectural decision to hybridize, and presents...
Model-based Echolocation of Environmental Objects (1994)
Juan Carlos Santamar'ia, Ronald C. Arkin
This paper presents an algorithm that can recognize and localize objects given a model of their contours using only ultrasonic range data. The algorithm exploits a physical model of the ultrasonic...
Communication in Reactive Multiagent Robotic Systems (1994)
Multiple cooperating robots are able to complete many tasks more quickly and reliably than one robot alone. Communication between the robots can multiply their capabilities and effectiveness, but to...
Integration of Reactive and Telerobotic Control in Multi-agent Robotic Systems (1994)
Ronald C. Arkin, Khaled S. Ali
Multi-agent schema-based reactive robotic systems are complemented with the addition of a new behavior controlled by a teleoperator. This enables the whole society to be affected as a group rather...
Ronald C. Arkin, Douglas C. Mackenzie
Hybrid architectures provide an e ective means for integrating world knowledge with reactive control. This paper describes the motivation behind the architectural decision to hybridize, and presents...
Motor Schema-based Formation Control for Multiagent Robot Teams (1994)
Balch, Tucker, Arkin, Ronald C.
New reactive behaviors that implement formations in multi-robot teams are presented and evaluated. These motor schemas, or primitive behaviors, for relative positional maintenance are integrated with...
Arkin, Ronald C., MacKenzie, Douglas Christopher
Hybrid architectures provide an effective means for integrating world knowledge with reactive control. This paper describes the motivation behind the architectural decision to hybridize, and presents...
Communication in Reactive Multiagent Robotic Systems (1994)
Balch, Tucker, Arkin, Ronald C.
Multiple cooperating robots are able to complete many tasks more quickly and reliably than one robot alone. Communication between the robots can multiply their capabilities and effectiveness, but to...
Ram, Ashwin, Arkin, Ronald C., Boone, Gary Noel, Pearce, Michael
This paper explores the application of genetic algorithms to the learning of local robot navigation behaviors for reactive control systems. Our approach evolves reactive control systems in various...
Integration of Reactive and Telerobotic Control in Multi-Agent Robotic Systems (1994)
Ali, Khaled Subhi, Arkin, Ronald C.
Multi-agent schema-based reactive robotic systems are complemented with the addition of a new behavior controlled by a teleoperator. This enables the whole society to be affected as a group rather...
Integration of Reactive Navigation with a Flexible Parallel Hardware Architecture (1994)
Arkin, Ronald C., Collins, Thomas Riley, Henshaw, Andrew M.
To demonstrate the flexibility and portability of both a schema-based software architecture and a message-passing hardware architecture, the two were integrated within a very short period to be used...
Integration of Reactive Navigation with a Flexible Parallel Hardware Architecture (1993)
Thomas R. Collins, Ronald C. Arkin, Andrew M. Henshaw
To demonstrate the flexibility and portability of both a schema-based software architecture and a message-passing hardware architecture, the two were integrated within a very short period to be used...
Buzz: An instantiation of a schema-based reactive robotic system (1993)
Ronald C. Arkin, Tucker Balch, Thomas R. Collins, Andrew M. Henshaw, Douglas C. Mackenzie, Elizabeth Nitz, ...
The Georgia Tech entry to the AAAI Mobile Robot Competition, a schema-based reactive robotic system, is described. New developments are presented including the introduction of two novel behaviors...
Integration of Reactive Navigation with a Flexible Parallel Hardware Architecture (1993)
Thomas R. Collins, Ronald C. Arkin, Andrew M. Henshaw
To demonstrate the flexibility and portability of both a schema-based software architecture and a message-passing hardware architecture, the two were integrated within a very short period to be used...
Buzz, An Instantiation of a Schema-Based Reactive Robotic System (1993)
Arkin, Ronald C., Balch, Tucker, Collins, Thomas Riley, Henshaw, Andrew M., MacKenzie, Douglas Christopher, Nitz, Elizabeth, ...
The Georgia Tech entry to the AAAI Mobile Robot Competition, a schema-based reactive robotic system, is described. New developments are presented including the introduction of two novel behaviors...
Reactive Control of a Mobile Manipulator Using Pseudo-Joint Damping (1993)
Ward, Keith Ronald, Arkin, Ronald C.
Reactive control for mobile manipulation involves a tight coupling of sensors to motor response. Pseudo-forces exerted on the end-effector and limbs of the mobile manipulator must be distributed over...
Learning Momentum: On-line Performance Enhancement for Reactive Systems (1992)
Russell Clark, Ronald C. Arkin, Ashwin Ram
We describe a reactive robotic control system which incorporates aspects of machine learning to improve the system's ability to successfully navigate in unfamiliar environments. This system...
Learning Momentum: On-line Performance Enhancement for Reactive Systems (1992)
Russell J. Clark, Ronald C. Arkin, Ashwin Ram
We describe a reactive robotic control system which incorporates aspects of machine learning to improve the system's ability to successfully navigate in unfamiliar environments. This system...
Ram, Ashwin, Arkin, Ronald C., Clark, Russell J., Moorman, Kenneth
This article presents a new line of research investigating on-line learning mechanisms for autonomous intelligent agents. We discuss a case-based method for dynamic selection and modification of...
Learning Momentum: On-Line Performance Enhancement for Reactive Systems (1992)
Arkin, Ronald C., Clark, Russell J., Ram, Ashwin
We describe a reactive robotic control system which incorporates aspects of machine learning to improve the system's ability to successfully navigate in unfamiliar environments. This system overcomes...
The Learning of Reactive Control Parameters Through Genetic Algorithms (1992)
Arkin, Ronald C., Pearce, Michael, Ram, Ashwin
This paper explores the application of genetic algorithms to the learning of local robot navigation behaviors for reactive control systems. Our approach is to train a reactive control system in...
Integrated Control for Mobile Manipulation for Intelligent Materials Handling (1992)
Arkin, Ronald C., Arya, S., Book, Wayne J., Cameron, Jonathan M., Gardner, Warren F., Lawton, Daryl T., ...
An integrated control system architecture for mobile manipulators is presented. This architecture incorporates a hybrid reactive/hierarchical structure and partitions the task into macro- and...
The Multiple Dimensions of Action-Oriented Robotic Perception: Fission, Fusion, and Fashion (1991)
Action-oriented perception provides an alternative to traditional high-level image understanding for the roboticist. By channeling sensory perception directly to motor behaviors (sensor fission)...
Perceptual Support for Ballistic Motion in Docking for a Mobile Robot (1991)
MacKenzie, Douglas Christopher, Arkin, Ronald C.
This paper describes ongoing research into methods to allow a mobile robot to effectively function in a manufacturing environment; specifically, generation of the ballistic motion phase of the...
Towards the unification of navigational planning and reactive control (1989)
The illusion that reactive and hierarchical planning methods are at odds with each other needs to be dropped. By exploiting each method's strengths, a synthesis of hierarchical and reactive...
Towards the Unification of Navigational Planning and Reactive Control (1989)
The illusion that reactive and hierarchical planning methods are at odds with each other needs to be dropped. By exploiting each method's strengths, a synthesis of hierarchical and reactive paradigms...
Arkin, Ronald C., Vaughn, David L.
Landmark recognition is a task required of many robotic systems. In this work, we examine the use of a constrained Hough transform used by a mobile robot to locate a docking workstation. This...
Intelligent Mobile Robots in the Workplace: Leaving the Guide Behind (1988)
Flexible manufacturing systems (FMS) that incorporate transport robots are currently dominated by the use of automatic guided vehicles. These AGVs generally require significant restructuring of the...
Towards Cosmopolitan Robots: Intelligent Navigation in Extended Man-Made Environments (1987)
In the past, mobile robots have been constrained to operate in either an indoor or an outdoor environment, not both. Special purpose representations and ad hoc sensor techniques geared towards tasks...
Ashwin Ram, Ronald C. Arkin, Kenneth Moorman, Russell J. Clark
This article presents a new line of research investigating on-line learning mechanisms for autonomous intelligent agents. We discuss a case-based method for dynamic selection and modification of...