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An Architecture for Online Affordance-based Perception and Whole-body Planning
(2014-03-16)
The DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a remote human operator using only data from the robot's sensor ...
Consensus using Asynchronous Failure Detectors
(2015-03-02)
The FLP result shows that crash-tolerant consensus is impossible to solve in asynchronous systems, and several solutions have been proposed for crash-tolerant consensus under alternative (stronger) models. One popular ...
Propositional and Activity Monitoring Using Qualitative Spatial Reasoning
(2016-12-14)
Communication is the key to effective teamwork regardless of whether the team members are humans or machines. Much of the communication that makes human teams so effective is non-verbal; they are able to recognize the ...
Source code and data for MWE'2011 papers
(2011-05-09)
Contains the source code and data necessary to run all computations described in the following two papers: Finlayson, Mark A. and Kulkarni, Nidhi (2011) "Detecting Multi-Word Expressions improves Word Sense Disambiguation", ...
Mechanism Design With Approximate Player Types
(2011-02-16)
We investigate mechanism design when the players do not exactly know their types, but have instead only partial information about them.
Mechanism Design with Approximate Valuations
(2011-02-16)
In mechanism design, we replace the strong assumption that each player knows his own payoff type EXACTLY with the more realistic assumption that he knows it only APPROXIMATELY. Specifically, we study the classical problem ...
The Interval Programming Model Solution Algorithm Experimentation Tools and Results
(2017-09-01)
Interval programming (IvP) is model for representing multi-objective optimization problems along with a set of solution algorithms. This paper describes a set of IvP solution experiments run over randomly generated problem ...
Temporally Scalable Visual SLAM using a Reduced Pose Graph
(2012-05-25)
In this paper, we demonstrate a system for temporally scalable visual SLAM using a reduced pose graph representation. Unlike previous visual SLAM approaches that use keyframes, our approach continually uses new measurements ...
An Analysis of Patch Plausibility and Correctness for Generate-And-Validate Patch Generation Systems
(2015-02-10)
We analyze reported patches for three prior generate-and-validate patch generation systems (GenProg, RSRepair, and AE). Because of experimental error, the majority of the reported patches violate the basic principle behind ...
Monitoring the Execution of Temporal Plans for Robotic Systems
(2012-10-04)
To achieve robustness in dynamic and uncertain environments, robotic systems must monitor the progress of their plans during execution. This thesis develops a plan executive called Pike that is capable of executing and ...