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Every Action Based Sensor [article]

Grace McFassel, Dylan A. Shell
2020 arXiv   pre-print
That approach uses a plan to derive a type of virtual sensor which prescribes actions that make progress toward a goal.  ...  In studying robots and planning problems, a basic question is what is the minimal information a robot must obtain to guarantee task completion.  ...  Acknowledgement This work was supported, in part, by the National Science Foundation through awards IIS-1453652 and IIS-1849249, and from a graduate fellowship provided to Texas A&M University by the 3M  ... 
arXiv:2006.04003v1 fatcat:4qvpydxyrbamzm6ktghj6dvggm

Planning to Chronicle [article]

Hazhar Rahmani, Dylan A. Shell, Jason M. O'Kane
2020 arXiv   pre-print
We study this class of problems by modeling a stochastic process via a variant of a hidden Markov model, and specify the event sequences of interest as a regular language, developing a vocabulary of 'mutators  ...  The core underlying idea is the construction of a product between the event model and a specification automaton.  ...  It is computed as follows: b a z (x) = P r(x|z, a, b) = O(a, x, z) x ∈X T(x , a, x)b(x ) P r(z|a, b) , (3) + z∈Z P r(z|a, b)V * (b a z ) , (5) π * (b) = arg min aA c (b, a) + z∈Z P r(z|a, b)V * (b a z  ... 
arXiv:2011.02135v1 fatcat:nmhe7aqmb5fynov67ojhtosn6m

On nondeterminism in combinatorial filters [article]

Yulin Zhang, Dylan A. Shell
2021 arXiv   pre-print
This paper contributes a new definition of filter minimization that is broader than its antecedents, allowing filters (input, output, or both) to be nondeterministic.  ...  Shell are with Department of Computer Science & Engineering, Texas A&M University, College Station TX 77843, USA yulinzhang, then add a trap state v with a self loop bearing all labels  ...  requires all outputs of all states reached by the string be constrained, whereas NFA min − − →NFA can choose to accept the states or not, as long as at least one of them is accepted (DOF III), Zhang and Dylan  ... 
arXiv:2107.07111v1 fatcat:z6p2cidvivfitmj3cvn5fpfkue

Complete characterization of a class of privacy-preserving tracking problems [article]

Yulin Zhang, Dylan A. Shell
2018 arXiv   pre-print
This paper begins with a one-dimensional setting and, putting the trivially infeasible problems aside, analyzes the strategy space as a function of problem parameters.  ...  between tracking dimensionality and the sensing power of a one-dimensional robot.  ...  The pirate image in Figure 1 is adapted from the work of J.J. and Gustavb under a Creative Commons license.  ... 
arXiv:1806.00114v1 fatcat:lttjovgq3zgkrllocvwzglhzim

Accelerating combinatorial filter reduction through constraints [article]

Yulin Zhang, Hazhar Rahmani, Dylan A. Shell, Jason M. O'Kane
2020 arXiv   pre-print
This paper proposes a new formalization needing only a polynomial number of constraints, and characterizes these constraints in three different forms: nonlinear, linear, and conjunctive normal form.  ...  Further examination indicates that a substantial proportion of constraints remain inactive during iterative filter reduction.  ...  Future work might consider non-deterministic input, as well as searching for non-deterministic minimizers. 1Fig. 1 : 1 Yulin Zhang and Dylan A.  ... 
arXiv:2011.03471v1 fatcat:mevttxoxq5dz5nmids2il6rtke

Insights toward robot-assisted evacuation

Dylan A. Shell, Maja J. Matarić
2005 Advanced Robotics  
We use a pedestrian simulation and a simple model of audio-evacuee interaction in order to show the effects of beacon deployment; this indicates that even a very few beacons can result in a large decrease  ...  A review of evacuation dynamics methods is presented and particular methods are used within the deployment algorithm in an on-line sense.  ...  In Shell and Matarić [41] , we attempted to experimentally compare space syntax measures and a representative microscopic fluid-like simulation, based on a subset of forces from Helbing et al.  ... 
doi:10.1163/1568553055011483 fatcat:w7kk3lynu5dpvkw3p3egi6wqxi

Toward a language-theoretic foundation for planning and filtering [article]

Fatemeh Zahra Saberifar, Shervin Ghasemlou, Dylan A. Shell, Jason M. O'Kane
2018 arXiv   pre-print
We introduce a new formal structure that generalizes and consolidates a variety of well-known structures including many forms of plans, planning problems, and filters, into a single data structure called  ...  We describe a collection of operations on procrustean graphs (both semantics-preserving and semantics-mutating), and show how a family of questions about the destructiveness of a change to the robot hardware  ...  O'Kane and Dylan A. Shell  ... 
arXiv:1807.08856v1 fatcat:n3hverw3ubfnjdo6oe6t7bnzre

Decentralized State Estimation via a Hybrid of Consensus and Covariance intersection [article]

Amirhossein Tamjidi, Suman Chakravorty, Dylan Shell
2016 arXiv   pre-print
This paper presents a new recursive information consensus filter for decentralized dynamic-state estimation.  ...  Consensus over priors which might become correlated is performed through Covariance Intersection (CI) and consensus over new information is handled using weights based on a Metropolis Hastings Markov Chains  ...  Each agent has a processor and a sensory package on-board.  ... 
arXiv:1603.00955v1 fatcat:marlvidq6jhufp4uiagje5h7ra

What does my knowing your plans tell me? [article]

Yulin Zhang and Dylan A. Shell and Jason M. O'Kane
2018 arXiv   pre-print
We imagine a case in which the robot's plan is divulged beforehand, so that the observer can use this a priori information along with the disclosed executions.  ...  Future work will consider how the divulged plan might be sought as the output of a planning procedure.  ...  PROBLEM DESCRIPTION In this problem, there are three entities: a world, a robot, and an observer.  ... 
arXiv:1810.03873v1 fatcat:qxy2ko6fzbalpadr2hcvaal5ba

Abstractions for computing all robotic sensors that suffice to solve a planning problem [article]

Yulin Zhang, Dylan A. Shell
2020 arXiv   pre-print
But doing so enlarges a problem currently on the outer limits of being considered tractable.  ...  Whether a robot can perform some specific task depends on several aspects, including the robot's sensors and the plans it possesses.  ...  Unlike many papers entirely focused on finding plans, this paper examines ways in which sensors affect whether a planning Yulin Zhang and Dylan A.  ... 
arXiv:2005.10994v1 fatcat:2hsyudgvjzhq3as5vrg7rab4ou

Reality as a simulation of reality: robot illusions, fundamental limits, and a physical demonstration [article]

Dylan A. Shell, Jason M. O'Kane
2019 arXiv   pre-print
This difference gives a way of relating the simulating and the simulated systems in a form that is relative.  ...  Finally, we present data from a simple multi-robot experiment based on this theory, with a robot navigating amid an unbounded field of obstacles.  ...  Dylan A. Shell and Jason M. O'Kane * Abstract-We consider problems in which robots conspire to present a view of the world that differs from reality.  ... 
arXiv:1909.03584v1 fatcat:nnuyidv2pzcadkmrpyzrcscmui

From selfish auctioning to incentivized marketing

Lantao Liu, Dylan A. Shell, Nathan Michael
2014 Autonomous Robots  
. * The main algorithm was first presented in the 2013 Robotics: Science and Systems conference (Liu and Shell, 2013) . is possible to employ a market-based method suited to decentralized implementation  ...  Rather than adopting a buyer's "selfish" bidding perspective as in previous auction/market-based approaches, the proposed method approaches auctioning from a merchant's point of view, producing a pricing  ...  to pursue a set of moving tasks (the scenario is analogous to the pursuit-evasion simulation presented in Liu and Shell (2012b) ).  ... 
doi:10.1007/s10514-014-9403-2 fatcat:j4habwwqavhbbmbot462hwnibm

Robot Design: Formalisms, Representations, and the Role of the Designer [article]

Alexandra Q. Nilles, Dylan A. Shell, Jason M. O'Kane
2018 arXiv   pre-print
The second ingredient of this paper forms a roadmap.  ...  It emphasizes two aspects: (1) the role of models in robot design, a reprise of the old chestnut about representation in robotics (namely, that "the world is its own best model"); (2) a consideration of  ...  INTRODUCTION Robotics is a-changin'. In the very recent past, if a robot worked at all, one had cause to be happy.  ... 
arXiv:1806.05157v1 fatcat:pmkv2uqfwbf6nkmpamfjr32dq4

Multi-Robot Formation Morphing through a Graph Matching Problem [chapter]

Lantao Liu, Dylan A. Shell
2014 Springer Tracts in Advanced Robotics  
The algorithm presented in this paper addresses scenarios in which gradual and seamless formation transitions are needed, a problem which we term formation morphing.  ...  We show that this can be achieved by routing agents on a Euclidean graph that corresponds to paths computed onand projected from-an underlying three-dimensional matching graph.  ...  Fig. 8 (a) Initial and goal formations; (b)-(h) Processes of formation morphing. Liu, Dylan A.  ... 
doi:10.1007/978-3-642-55146-8_21 fatcat:56txsbxtj5f3jeldcpty5as2bu

Sensor selection for detecting deviations from a planned itinerary [article]

Hazhar Rahmani, Dylan A. Shell, Jason M. O'Kane
2021 arXiv   pre-print
a single choice.  ...  Both are intimately tied together, permitting construction of a product automaton because the same physical sensors (i.e., the same choice) can appear multiple times.  ...  Shell is with the Dept. of Computer Science and Engineering, Texas A&M University, College Station, TX, USA.,, This material is based upon work supported  ... 
arXiv:2103.07029v2 fatcat:hcnnj53vpres7dhvd6yvbcsvsa
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