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Howard,
Ayanna M.
Howard,
Ayanna M.
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ItemVR-in-a-box: Surgical simulator - supplementing surgical training for medical students using a low-cost virtual reality simulator with real-time haptic feedback(Georgia Institute of Technology, 2012-12-16) Howard, Ayanna M.
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ItemMeasuring the effectiveness of robotics activities in underserved K-12 communities outside the classroom(Georgia Institute of Technology, 2010-12) Howard, Ayanna M. ; Dorsey, RayshunEvery day, at least eight million children and youth are left alone and unsupervised once the school bell rings. After-school hours are a critical time for youth. That time can represent either an opportunity to learn and grow, through quality after-school programs, or a time of risk to youth's health and safety. Students from underserved communities need exposure to real world situation and should be given such opportunities early in their education, to stay competitive in the world area of science, technology, engineering and math (STEM). Underserved students need more informal education opportunities based on science and technology that challenge young adults in STEM fields and connect them with the scientific and technology community.
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ItemAutomatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraints(Georgia Institute of Technology, 2009-06) Smith, Brian Stephen ; Egerstedt, Magnus B. ; Howard, Ayanna M.In this paper we present a collection of graph-based methods for determining if a team of mobile robots, subjected to sensor and communication range constraints, can persistently achieve a specified formation. What we mean by this is that the formation, once achieved, will be preserved by the direct maintenance of the smallest subset of all possible pairwise inter-agent distances. In this context, formations are defined by sets of points separated by distances corresponding to desired inter-agent distances. Further, we provide graph operations to describe agent interactions that implement a given formation, as well as an algorithm that, given a persistent formation, automatically generates a sequence of such operations. Experimental results are presented that illustrate the operation of the proposed methods on real robot platforms.
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ItemAutomatic Formation Deployment of Decentralized Heterogeneous Multiple-Robot Networks with Limited Sensing Capabilities(Georgia Institute of Technology, 2009-05) Smith, Brian Stephen ; Wang, Jiuguang ; Egerstedt, Magnus B. ; Howard, Ayanna M.Heterogeneous multi-robot networks require novel tools for applications that require achieving and maintaining formations. This is the case for distributing sensing devices with heterogeneous mobile sensor networks. Here, we consider a heterogeneous multi-robot network of mobile robots. The robots have a limited range in which they can estimate the relative position of other network members. The network is also heterogeneous in that only a subset of robots have localization ability. We develop a method for automatically configuring the heterogeneous network to deploy a desired formation at a desired location. This method guarantees that network members without localization are deployed to the correct location in the environment for the sensor placement.
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ItemMulti-Robot Deployment and Coordination with Embedded Graph Grammars(Georgia Institute of Technology, 2009-01) Smith, Brian Stephen ; Howard, Ayanna M. ; McNew, John-Michael ; Egerstedt, Magnus B.This paper presents a framework for going from specifications to implementations of decentralized control strategies for multi-robot systems. In particular, we show how the use of Embedded Graph Grammars (EGGs) provides a tool for characterizing local interaction and control laws. This paper highlights some key implementation aspects of the EGG formalism, and develops and discusses experimental results for a hexapod-based multi-robot system, as well as a multi-robot system of wheeled robots.
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ItemAutomatic Deployment and Formation Control of Decentralized Multi-Agent Networks(Georgia Institute of Technology, 2008-05) Smith, Brian Stephen ; Egerstedt, Magnus B. ; Howard, Ayanna M.Novel tools are needed to deploy multi-agent networks in applications that require a high degree of accuracy in the achievement and maintenance of geometric formations. This is the case when deploying distributed sensing devices across large spatial domains. Through so-called Embedded Graph Grammars (EGGs), this paper develops a method for automatically generating control programs that ensure that a multi-robot network is deployed according to the desired configuration. This paper presents a communication protocol needed for implementing and executing the control programs in an accurate and deadlock-free manner.
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ItemAutomatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraints(Georgia Institute of Technology, 2007-10) Smith, Brian Stephen ; Egerstedt, Magnus B. ; Howard, Ayanna M.We present graph-based methods for determining if a mobile robot network with a defined sensor and communication range can persistently achieve a specified formation, which implies that the formation, once achieved, will be preserved by the direct maintenance of a subset of inter-agent distances. Here, formations are defined by a set of points whose inter-point distances correspond to desired inter-agent distances. Further, we provide graph operations to describe agent interactions that implement a given formation, as well as an algorithm that, given a persistent formation, automatically generates a sequence of such operations.
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ItemRealization of the Sensor Web Concept for Earth Science Using Mobile Robotic Platforms(Georgia Institute of Technology, 2007-03) Howard, Ayanna M. ; Smith, Brian Stephen ; Egerstedt, Magnus B.In this paper, we discuss the realization of a robotic mobile sensor network that allows for controlled reconfiguration of sensor assets in a decentralized manner. The motivation is to allow the construction of a new system of in-situ science observations that requires higher spatial and temporal resolution models that are needed for expanding our understanding of Earth system change. These observations could enable recording of spatial and temporal variations in environmental parameters required for such activities as monitoring of seismic activity, monitoring of civil and engineering infrastructures, and detection of toxic agents throughout a region of interest. The difficulty in establishing these science observations are that global formation properties must be achieved based on the local interactions between individual sensors. As such, we present a novel approach that allows for the sensor network to function in a decentralized manner and is thus able to achieve global formations despite individual sensor failure, limitations in communication range, and changing scientific objectives. Details on the sensing and control algorithms for controlled reconfiguration will be discussed and results of field deployment will be presented.
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ItemA Synergistic Approach for Maximizing Human-Automation System Performance(Georgia Institute of Technology, 2005-07-01) Howard, Ayanna M.