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Institute for Robotics and Intelligent Machines (IRIM)
Institute for Robotics and Intelligent Machines (IRIM)
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ItemPreparing for the Coming Machine Revolution( 2017-11-08) D'Andrea, RaffaelloSpanning academics, business, and the arts, Raffaello D’Andrea’s career is built on his ability to bridge theory and practice. At the Swiss Federal Institute of Technology (ETH) in Zurich, his research redefines the capabilities of autonomous systems. D’Andrea is a co-founder of Kiva Systems (acquired by Amazon in 2012, and now operating as Amazon Robotics), a robotics and logistics company that develops and deploys intelligent automated warehouse systems, with over 100,000 autonomous mobile robots deployed in Amazon warehouses alone. D’Andrea was the faculty advisor and system architect of the Cornell Robot Soccer Team, four-time world champions at the international RoboCup competition. With his startup, Verity Studios, he recently created the flying machine design and choreography for Cirque du Soleil’s Paramour on Broadway, Zhang Yimou’s 2047 Apologue, and Metallica’s WorldWired tour. Additionally, D’Andrea is a new media artist with exhibitions at various international venues, including the Venice Biennale, the FRAC Centre and the National Gallery of Canada. Other creations and projects include the Flying Machine Arena, the Distributed Flight Array, the Balancing Cube, Cubli, Flight Assembled Architecture, the Blind Juggler, the Robotic Chair, and RoboEarth. D’Andrea’s TED talks, viewed more than 10 million times, have inspired a generation to pursue engineering, robotics, and computer science.
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ItemAnalysis of Antagonist Stiffness for Nested Compliant Mechanisms in Agonist-Antagonist Arrangements(Georgia Institute of Technology, 2011-09) Schultz, Joshua ; Ueda, Jun
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ItemVisualize Your Robot with Your Eyes Closed: A Multi-modal Interactive Approach Using Environmental Feedback(Georgia Institute of Technology, 2011-05) Park, Chung Hyuk ; Howard, Ayanna M.
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ItemAn Integrated Sensing Approach for Entry, Descent, and Landing of a Robotic Spacecraft(Georgia Institute of Technology, 2011-01) Howard, Ayanna M. ; Jones, Brandon M. ; Serrano, NavidWe present an integrated sensing approach for enabling autonomous landing of a robotic spacecraft on a hazardous terrain surface; this approach is active during the spacecraft descent profile. The methodology incorporates an image transformation algorithm to interpret temporal imagery land data, perform real-time detection and avoidance of terrain hazards that may impede safe landing, and increase the accuracy of landing at a desired site of interest using landmark localization techniques. By integrating a linguistic rule-based engine with linear algebra and computer vision techniques, the approach suitably addresses inherent uncertainty in the hazard assessment process while ensuring computational simplicity for real-time implementation during spacecraft descent. The proposed approach is able to identify new hazards as they emerge and also remember the locations of past hazards that might impede spacecraft landing. We provide details of the methodology in this paper and present simulation results of the approach applied to a representative Mars landing descent profile.
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ItemCooperative Exploration of Level Surfaces of Three Dimensional Scalar Fields(Georgia Institute of Technology, 2011) Wu, W. ; Zhang, Fumin
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ItemiSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering(Georgia Institute of Technology, 2011) Kaess, Michael ; Johannsson, Hordur ; Roberts, Richard ; Ila, Viorela ; Leonard, John ; Dellaert, FrankWe present iSAM2, a fully incremental, graphbased version of incremental smoothing and mapping (iSAM). iSAM2 is based on a novel graphical model-based interpretation of incremental sparse matrix factorization methods, afforded by the recently introduced Bayes tree data structure. The original iSAM algorithm incrementally maintains the square root information matrix by applying matrix factorization updates. We analyze the matrix updates as simple editing operations on the Bayes tree and the conditional densities represented by its cliques. Based on that insight, we present a new method to incrementally change the variable ordering which has a large effect on efficiency. The efficiency and accuracy of the new method is based on fluid relinearization, the concept of selectively relinearizing variables as needed. This allows us to obtain a fully incremental algorithm without any need for periodic batch steps. We analyze the properties of the resulting algorithm in detail, and show on various real and simulated datasets that the iSAM2 algorithm compares favorably with other recent mapping algorithms in both quality and efficiency.
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ItemVisibility Learning in Large-Scale Urban Environment(Georgia Institute of Technology, 2011) Alcantarilla, Pablo F. ; Ni, Kai ; Bergasa, Luis M. ; Dellaert, Frank
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ItemRobust Control of Horizontal Formation Dynamics for Autonomous Underwater Vehicles(Georgia Institute of Technology, 2011) Yang, H. ; Zhang, FuminThis paper presents a novel robust controller design for formation control of autonomous underwater vehicles (AUVs). We consider a nonlinear three-degree-of-freedom dynamic model for the horizontal motion of each AUV. By using the Jacobi transform, the horizontal dynamics of AUVs are explicitly expressed as dynamics for formation shape and formation center, and are further decoupled by feedback control. We treat the coupling terms as perturbations to the decoupled system. An H_inf state feedback controller is designed to achieve robust stability of the closed loop formation and translation dynamics. By incorporating an orientation controller, the formation shape under control converges and the formation center tracks a desired trajectory simultaneously. Simulation results demonstrate the effectiveness of the controllers.
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ItemPinpointed Muscle Force Control Taking Into Account the Control DOF of Power-assisting Device(Georgia Institute of Technology, 2010-09) Ding, Ming ; Kurita, Yuichi ; Ueda, Jun ; Ogasawara, Tsukasa
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ItemIntersample Discretization of Control Inputs for Flexible Systems with Quantized Cellular Actuation(Georgia Institute of Technology, 2010-09) Schultz, Joshua ; Ueda, Jun