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Dynamic Behavior Sequencing for Hybrid Robot Architectures

Gilbert L. Peterson, Jeffrey P. Duffy, Daylond J. Hooper
2011 Journal of Intelligent and Robotic Systems  
The generation of the behavior hierarchy occurs without knowledge of the low-level implementation or the high-level goals the behaviors achieve.  ...  The algorithm's ability to automate the behavior hierarchy generation is demonstrated on a robot task of target search, identification, and extraction.  ...  These systems receive a high-level tasking and attempt to complete the task autonomously using a combination of deliberative planning and reactive execution.  ... 
doi:10.1007/s10846-010-9535-3 fatcat:tv4bvldnt5dsxo4njub4lbxlqe

An Architecture for Autonomy

R. Alami, R. Chatila, S. Fleury, M. Ghallab, F. Ingrand
1998 The international journal of robotics research  
The general architecture is composed of three levels: a decision level, an execution level and a functional level.  ...  reactive control of the functional level, and G en oM for the speci cation and integration of modules at that level.  ...  Decision Level The Decision level is in charge of all the processes that require anticipation and some global knowledge of the task and the execution context.  ... 
doi:10.1177/027836499801700402 fatcat:kjsyayrk3fgdxpkyohgev4wkxi

Healthy individuals are more maneuverable when walking slower while navigating a virtual obstacle course

Katherine L. Hsieh, Riley C. Sheehan, Jason M. Wilken, Jonathan B. Dingwell
2018 Gait & Posture  
Results-Participants exhibited high levels of variability in their stepping patterns.  ...  This study investigated how walking at different speeds influenced how individuals modulate both stability and maneuverability in a virtual obstacle course.  ...  The authors thank Michael Vernon for his help designing and operating the virtual obstacle course, Jonathan Rylander for help with study design and implementation, and Mitchell Ruble, Audrey Westbrook,  ... 
doi:10.1016/j.gaitpost.2018.02.015 pmid:29494819 pmcid:PMC5866787 fatcat:wojnukl2u5bj7cvonu7mpkxyzq

Towards Computational Awareness in Autonomous Robots: An Empirical Study of Computational Kernels [article]

Ashrarul H. Sifat, Burhanuddin Bharmal, Haibo Zeng, Jia-Bin Huang, Changhee Jung, Ryan K. Williams
2021 arXiv   pre-print
Specifically, we conduct a data-driven study of the timing, power, and memory performance of kernels for localization and mapping, path planning, task allocation, depth estimation, and optical flow, across  ...  However, such applications necessitate operation in unknown and unstructured environments with a broad and sophisticated set of objectives, all under strict computation and power limitations.  ...  Task Allocation Single robots and multi-robot teams often have multiple high-level tasks to complete over a mission, with the tasks potentially streaming in or changing in nature over time (see the left  ... 
arXiv:2112.10303v1 fatcat:zz3rfw5wjnfcvgq7alblj2rpn4

Design and validation of an intelligent wheelchair towards a clinically-functional outcome

Patrice Boucher, Amin Atrash, Sousso Kelouwani, Wormser Honoré, Hai Nguyen, Julien Villemure, François Routhier, Paul Cohen, Louise Demers, Robert Forget, Joelle Pineau
2013 Journal of NeuroEngineering and Rehabilitation  
This analysis was performed with regular users that had over 6 years of wheelchair driving experience, compared to approximately one half-hour of training with the autonomous mode.  ...  On the tasks of the RWST, we measured an average decrease of 4% in performance score and 3% in safety score (not statistically significant), compared to the scores obtained with conventional driving model  ...  functionalities; -Complex tasks in restrained environments are executed though collaboration between high-level task-oriented modules and a motion assistance module [34] .  ... 
doi:10.1186/1743-0003-10-58 pmid:23773851 pmcid:PMC3691756 fatcat:4bya6a744nedjagtburm75oxqq

Embedded Computation Architectures for Autonomy in Unmanned Aircraft Systems (UAS)

Luis Mejias, Jean-Philippe Diguet, Catherine Dezan, Duncan Campbell, Jonathan Kok, Gilles Coppin
2021 Sensors  
Based on an analysis of the required onboard functions that will lead to higher levels of autonomy, we look at most common UAS tasks to first propose a classification of UAS tasks considering categories  ...  We then analyse how a given combination of tasks can lead to higher levels of autonomy by defining an autonomy level.  ...  This work was also supported in part by an Australian Endeavour Executive Fellowship and the Queensland University of Technology professional development program (PDL).  ... 
doi:10.3390/s21041115 pmid:33562676 pmcid:PMC7915191 fatcat:dievpabqdfg27ehx2plafaugpu

Multi-Task Active-Vision in Robotics [chapter]

J. Cabrera, D. Hernandez, A. Dominguez, E. Fernandez
2010 Robot Vision  
Finally, this programming complexity makes highly desirable the use of good software engineering practices to promote reusability and facilitate upgrading and maintenance.  ...  On the other hand, multitasking (see Fig. 2 ) is also present as it is frequently used in robotics to reduce the inherent complexity of the programming of these systems.  ...  The chapter ends with the analysis of the main conclusions obtained and the references.  ... 
doi:10.5772/9308 fatcat:drwi4wee4nf6dhc3dreuhgbtcq

Team Coordination and Shared Situation Awareness in Combat Identification [chapter]

Cheryl A. Bolstad, Mica R. Endsley, Haydee M. Cuevas
2017 Human Factors Issues in Combat Identification  
Level 3 SA (projection) is achieved through knowledge of the status and dynamics of the elements and comprehension of the situation (Levels 1 and 2 SA), and then extrapolating this information forward  ...  These critical SA requirements can by identified utilizing a Goal Directed Task Analysis (GDTA), a unique form of cognitive task analysis developed by SA Technologies that involves conducting extensive  ... 
doi:10.1201/9781315587387-12 fatcat:uluivvsjr5gvbichgpoxfo43gu

Space–Time Separation During Obstacle-Avoidance Learning in Monkeys

Elizabeth Torres, Richard Andersen
2006 Journal of Neurophysiology  
We propose that the obstacleavoidance spatial paths were resolved before motion execution and used as reference in the computation of the new dynamics.  ...  No explicit instructions could be given to the subjects on how to execute the task, so the acquisition of the new motor skill occurred naturally.  ...  In the context of task switching the spontaneous repositioning of the initial posture in anticipation of different dynamics is a new result that also agrees with the theoretical prediction that the joint-angle  ... 
doi:10.1152/jn.00188.2006 pmid:16855113 fatcat:pkn6qq47xjgozn2jiqjq7zipfa

Planning 3-D Collision-Free Dynamic Robotic Motion Through Iterative Reshaping

E. Yoshida, C. Esteves, I. Belousov, J.-P. Laumond, T. Sakaguchi, K. Yokoi
2008 IEEE Transactions on robotics  
We demonstrate the effectiveness of the proposed method through examples of a space manipulator with highly nonlinear dynamics and a humanoid robot executing dynamic manipulation and locomotion at the  ...  In the second stage, the path is transformed into dynamically executable robot trajectories by dedicated dynamic motion generators.  ...  Himmelstein of LAAS-CNRS for his help.  ... 
doi:10.1109/tro.2008.2002312 fatcat:zyybzqutqnd7zlky2uvxb5chli

Enabling autonomous rover science through dynamic planning and scheduling

T. Estlin, D. Gaines, C. Chouinard, F. Fisher, R. Castano, M. Judd, R.C. Anderson, I. Nesnas
2005 2005 IEEE Aerospace Conference  
This distance increase allows not only the collection of more science data, but enables a number of new and different science collection opportunities.  ...  With each new rover mission to Mars, rovers are traveling significantly longer distances.  ...  ACKNOWLEDGEMENTS The research described in this paper was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration  ... 
doi:10.1109/aero.2005.1559331 fatcat:r7sphivpsjfipcsz6bfzqqdafq

Demonstration-Guided Motion Planning [chapter]

Gu Ye, Ron Alterovitz
2016 Springer Tracts in Advanced Robotics  
Instead, we use a set of expert demonstrations and automatically extract time-dependent task constraints by learning low variance aspects of the demonstrations, which are correlated with the task constraints  ...  DGMP combines the strengths of sampling-based motion planning and robot learning from demonstrations to generate plans that (1) avoid novel obstacles in cluttered environments, and (2) learn and maintain  ...  The authors thank Jenny Womack from the Dept. of Allied Health Sciences for her input and John Thomas and Herman Towles from the Dept. of Computer Science for their help with the experiment setup.  ... 
doi:10.1007/978-3-319-29363-9_17 fatcat:kmubmsvy7fgo5iencqhn4vsayy

A Workaround Design System for Anticipating, Designing, and/or Preventing Workarounds [chapter]

Steven Alter
2015 Lecture Notes in Business Information Processing  
Designers should have methods for identifying likely obstacles and anticipating and evaluating a non-trivial percentage of plausible workarounds.  ...  This paper summarizes the conceptual background and explains the form, use, and implications of the proposed WDS and WDT. The idea of WDS addresses significant gaps in practice and research.  ...  At an operational level, various forms of risk analysis and crisis management planning have been used (e. g., failure modes and effects analysis (FMEA) in Six Sigma and Monte Carlo simulation).  ... 
doi:10.1007/978-3-319-19237-6_31 fatcat:x6xog4u2qfctnadw26zjzfjiuy

Increased Mars Rover Autonomy using AI Planning, Scheduling and Execution

Tara Estlin, Daniel Gaines, Caroline Chouinard, Rebecca Castano, Benjamin Bornstein, Michele Judd, Issa Nesnas, Robert Anderson
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
, the handling of opportunistic science, including new science targets identified by onboard data analysis software, other dynamic decision-making such as modifying the rover activity plan in response  ...  Through the use of AI planning, scheduling and execution techniques, the OASIS autonomous science system provides capabilities for the automated generation of a rover activity plan based on science priorities  ...  ACKNOWLEDGMENT This work was performed by the Jet Propulsion Laboratory, California Institute of Technology, under contract with the National Aeronautics and Space Administration.  ... 
doi:10.1109/robot.2007.364236 dblp:conf/icra/EstlinGCCBJNA07 fatcat:j25ca7dhozd4pfysxb6r3473gq

Case Analysis for USV Integrated Mission Planning System

Jinyeong Heo, Yongjun You, Yongjin Kwon
2017 Journal of Computer and Communications  
The main purpose of this paper is the analysis of the MPS onboard the USVs, in terms of the categories, functions, and technological details.  ...  The MPS not only has the functions for the navigation, but also has the capabilities, such as obstacle avoidance, malfunction corrections, dealing with unexpected events, return home functions, and many  ...  tion requires a very high level of domain knowledge as well as investment.  ... 
doi:10.4236/jcc.2017.57009 fatcat:imjup4hblfgj3ok6tvrjq7yfba
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