Organizational Unit:
Humanoid Robotics Laboratory
Humanoid Robotics Laboratory
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ItemAlgorithms for Linguistic Robot Policy Inference from Demonstration of Assembly Tasks(Georgia Institute of Technology, 2012) Dantam, Neil ; Essa, Irfan ; Stilman, MikeWe describe several algorithms used for the inference of linguistic robot policies from human demonstration. First, tracking and match objects using the Hungarian Algorithm. Then, we convert Regular Expressions to Nondeterministic Finite Automata (NFA) using the McNaughton-Yamada-Thompson Algorithm. Next, we use Subset Construction to convert to a Deterministic Finite Automaton. Finally, we minimize finite automata using either Hopcroft's Algorithm or Brzozowski's Algorithm.
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ItemAch: IPC for Real-Time Robot Control(Georgia Institute of Technology, 2011) Dantam, Neil ; Stilman, MikeWe present a new Inter-Process Communication (IPC) mechanism and library. Ach is uniquely suited for coordinating perception, control drivers, and algorithms in real-time systems that sample data from physical processes. Ach eliminates the Head-of-Line Blocking problem for applications that always require access to the newest message. Ach is efficient, robust, and formally verified. It has been tested and demonstrated on a variety of physical robotic systems. Finally, the source code for Ach is available under an Open Source BSD-style license.