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Experiments with Tractable Feedback in Robotic Planning under Uncertainty: Insights over a wide range of noise regimes (Extended Report) [article]

Mohamed Naveed Gul Mohamed, Suman Chakravorty, Dylan A. Shell
2020 arXiv   pre-print
We consider the problem of robotic planning under uncertainty.  ...  We examine a much wider range of noise levels than have been previously reported and empirical evidence suggests that the decoupling method allows for tractable planning over a wide range of uncertainty  ...  there is a highly significant increase in planning efficiency over a wide range of noise levels.  ... 
arXiv:2002.10505v3 fatcat:aplkgkq2ejddbgksi5ichaakti

Decoupling stochastic optimal control problems for efficient solution: insights from experiments across a wide range of noise regimes [article]

Mohamed Naveed Gul Mohamed, Suman Chakravorty, Dylan A. Shell
2019 arXiv   pre-print
We consider the problem of robotic planning under uncertainty in this paper.  ...  Our empirical evidence suggests that this allows for tractable planning over a wide range of uncertainty conditions without unduly sacrificing performance.  ...  there is a highly significant increase in planning efficiency over a wide range of noise levels.  ... 
arXiv:1909.08585v1 fatcat:3teb2wgtyzhmbkzapzsnvrlnoi

Probabilistically valid stochastic extensions of deterministic models for systems with uncertainty

Konstantinos Karydis, Ioannis Poulakakis, Jianxin Sun, Herbert G. Tanner
2015 The international journal of robotics research  
Models capable of capturing and reproducing the variability observed in experimental trials can be valuable for planning and control in the presence of uncertainty.  ...  of miniature legged robots and aerial vehicles.  ...  range of the behaviors observed in experiments.  ... 
doi:10.1177/0278364915576336 fatcat:motijrfnonaejhaa4qvyhtmegi

Resolving the measurement uncertainty paradox in ecological management [article]

Milad Memarzadeh, Carl Boettiger
2018 arXiv   pre-print
We find that simplistic optimal control approaches have repeatedly concluded that a manager should increase catch quotas when faced with greater uncertainty about the fish biomass.  ...  Using partially observed Markov decision process (POMDP) methods, we demonstrate how this paradox arises from flaws in the standard theory, which contributes to over-exploitation of fisheries and increased  ...  Essington for his insight into fisheries management, and the constructive feedback of the editor and anonymous reviewers.  ... 
arXiv:1812.11184v1 fatcat:xiftr76fgvffbevt5yh7anfgsm

Active learning in robotics: A review of control principles

Annalisa T. Taylor, Thomas A. Berrueta, Todd D. Murphey
2021 Mechatronics (Oxford)  
This is a review of active learning in robotics, focusing on methods amenable to the demands of embodied learning systems.  ...  We discuss classes of learning tasks that robots typically encounter, measures with which they gauge the information content of observations, and algorithms for generating action plans.  ...  Acknowledgments We would like to thank Muchen Sun, Ana Pervan, Kyra Rudy, Frank Park, and the anonymous reviewers of the first draft for their many helpful comments on this manuscript.  ... 
doi:10.1016/j.mechatronics.2021.102576 fatcat:qt47bncznzdtdc7ntpmis5dqw4

Hybrid Systems in Robotics

Jerry Ding, Jeremy Gillula, Haomiao Huang, Michael Vitus, Wei Zhang, Claire Tomlin
2011 IEEE robotics & automation magazine  
planning under uncertainty, and a game of capture the flag in which reachability is used as a tool to aid human controllers.  ...  methods in robotic control [7] , there is a wide range of planning and control algorithms and methodologies that can be traced back to a perceived need or anticipated benefit in autonomous or semiautonomous  ...  of Super-Density Multi-Airport Terminal Area Systems in the Presence of Uncertainty" project administered by NASA under grant 5710002106, in part by the "Frameworks and Tools for High Confidence Design  ... 
doi:10.1109/mra.2011.942113 fatcat:mtv5z4daz5bgpn5xxsshtq76za

Mechanical aspects of legged locomotion control

Daniel E. Koditschek, Robert J. Full, Martin Buehler
2004 Arthropod structure & development  
With this foundation, we list a set of hypotheses for the control of movement, outline their mathematical underpinning and show how they have inspired the design of the hexapedal robot, RHex. q  ...  We review the mechanical components of an approach to motion science that enlists recent progress in neurophysiology, biomechanics, control systems engineering, and non-linear dynamical systems to explore  ...  We are indebted to Hal Komsuoglu for sharing with us his many insights into the origins and consequences of bandwidth limitations in the emerging RHex sensory suite.  ... 
doi:10.1016/j.asd.2004.06.003 pmid:18089038 fatcat:h2ioe76y5rewpetsshhfoozrfi

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge [article]

Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi (+60 others)
2021 arXiv   pre-print
over the robot and world states).  ...  We discuss the performance of NeBula on several robot types (e.g. wheeled, legged, flying), in various environments.  ...  Acknowledgments The work is partially supported by the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration (80NM0018D0004  ... 
arXiv:2103.11470v4 fatcat:rq2wgczzl5clphzgujjdbd3ywm

Conference Digest

2020 2020 IEEE Aerospace Conference  
The Auxiliary Payload Sensor Suite (APSS), a collection of environmental sensors carried by the Interior exploration using Seismic Investigations, Geodesy, and Heat Transport (InSight) lander, is capable  ...  of measuring Martian air temperature, wind speed, atmospheric pressure, and local magnetic fields.  ...  This plan builds on, uses the capabilities of, and applies the lessons learned from over a decade of work and experience with commercial companies.  ... 
doi:10.1109/aero47225.2020.9172613 fatcat:ioqf5ijrx5gvffu3ls34aa2nsq

RANGE-Robust autonomous navigation in GPS-denied environments

Abraham Bachrach, Samuel Prentice, Ruijie He, Nicholas Roy
2011 Journal of Field Robotics  
These experiments illustrate the quadrotor helicopter's ability to accurately and autonomously navigate in a number of large-scale unknown environments, both indoors and in the urban canyon.  ...  This paper addresses the problem of autonomous navigation of a Micro Air Vehicle (MAV) in GPSdenied environments.  ...  ; Michael Kaess provided the iSAM optimization engine; Edwin Olson provided a reference implementation of his scan-matcher; Garrett Hemann assisted with the development and maintenance of the hardware;  ... 
doi:10.1002/rob.20400 fatcat:b56nzwledfa33g4gzh57tz2fb4

Defense Advanced Research Projects Agency (Darpa) Fiscal Year 2015 Budget Estimates

Department Of Defense Comptroller's Office
2014 Zenodo  
Included in this category is the National Center for Advancing Translational Sciences (NCATS) efforts to reengineer drug discovery and development in collaboration with industry, academia, the Food and  ...  warriors with post-traumatic brain injury, stress, or loss of memory (i.e. the Restoring Active Memory (RAM) funding opportunity), as well as new neurotechnology-based capabilities (e.g. the Systems-Based  ...  -Established models that incorporate uncertainty, and develop ways to chain models together, with uncertainty embedded in each stage, to predict and guarantee that the range of performance lies within  ... 
doi:10.5281/zenodo.1215345 fatcat:fjzhmynqjbaafk67q2ckcblj2m

The Shapeshifter: a Morphing, Multi-Agent,Multi-Modal Robotic Platform for the Exploration of Titan (preprint version) [article]

Ali-akbar Agha-mohammadi, Stephanie Schneider , Issa A.D. Nesnas, Alessandra Babuscia Jet Propulsion Lab., California Institute of Technology and Sanford University and
2020 arXiv   pre-print
By attaching and detaching with each other, multiple Cobots can shape-shift into novel structures, capable of (a) rolling on the surface, to increase the traverse range, (b) flying in a flight array formation  ...  Our Phase I study had the objective of providing an initial assessment of the feasibility of the proposed robotic platform architecture, and in particular (a) to characterize the expected science return  ...  Acknowledgement: The research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.  ... 
arXiv:2003.08293v1 fatcat:4u55de7yxvdfvd7lsep5k5wkti

Data-driven Planning via Imitation Learning [article]

Sanjiban Choudhury, Mohak Bhardwaj, Sankalp Arora, Ashish Kapoor, Gireeja Ranade, Sebastian Scherer, Debadeepta Dey
2017 arXiv   pre-print
We formulate this as a problem of sequential decision making under uncertainty where at a given iteration a planning policy must map the state of the search to a planning action.  ...  Robot planning is the process of selecting a sequence of actions that optimize for a task specific objective.  ...  We would like to thank Shushman Choudhury for insightful discussions and feedback on the paper. We would like to acknowledge the support from ONR grant N000141310821 and NASA contract NNX17CS56C.  ... 
arXiv:1711.06391v1 fatcat:2nltaus5bfhdldnuequtw3c4fe

Table of contents

2009 2009 17th Mediterranean Conference on Control and Automation  
This paper deals with sufficient conditions of asymptotic stability for non linear discrete-time 2D systems represented by a Takagi-Sugenofuzzy model of Roesser type with state feedback control.  ...  The results are presented in LMI's form. The problem of state-feedback control design for discrete-time Takagi-Sugeno fuzzy systems is investigated in this paper.  ...  Since the sensors are installed on robotic platforms and have limited range, the geometry of the mobile sensors' field-of-view plays a critical role in motion planning and obstacle avoidance.  ... 
doi:10.1109/med.2009.5164498 fatcat:bi37lbkbhfaihj7lbc64vvplo4

Defense Advanced Research Projects Agency (Darpa) Fiscal Year 2016 Budget Estimates

Department Of Defense Comptroller's Office
2015 Zenodo  
The Defense Advanced Research Projects Agency (DARPA) FY2016 amounted to $2.868 billion in the President's request to support high-risk, high-reward research.  ...  a wide range of DoD applications.  ...  -Created a collection of research-based technologies that align with national educational standards. 11.815 -- -ENGAGE robotics games were used in over 16K classrooms by over 276K students.  ... 
doi:10.5281/zenodo.1215366 fatcat:cqn5tyfixjanzp5x3tgfkpedri
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