The ability to act and respond to exogenous events in dynamic environments is crucial for robust autonomy. In dynamic environments, external changes may occur that prevent an agent from reaching its goal(s). I am interested in the design of reasoning and planning components operating in environments that undergo changes in real time. My goal is to develop a framework for fully integrated planni...

For decades, dentistry has been evolving into a profession that is extremely multifaceted and varied in its approach to both smile and facial esthetics. The coordination of macro esthetics (the face), mini esthetics (the smile), and micro esthetics (the dental esthetic component) offers a complete approach to esthetic planning. This article presents an expanded vision of esthetic treatment desi...

A CAD-guided vision sensor planning system is developed in our lab. To improve the efficiency of the inspection system, the path planning problem is rendered as a Traveling Salesman Problem(TSP). A new approach is developed to solve the TSP into its suboptimality quickly. First, viewpoints are clustered into several groups. Second, clustered Traveling Salesman Problem is solved by favoring the ...

This paper describes features of the OMP problem solver that integrates planning features in a constraint based scheduling framework. The rationale for this integration is to express problems going beyond the vision of scheduling as a set of resource productions and consumptions but for also being able to express several kind of causal relations between and behind them. This work describes some...

In this report we are going to illustrate and detail our research efforts on the investigation of mechanisms implied in visual attention and on the definition of a methodology to transfer them to an artificial agent in order to attain rapid selection of meaningful points in a wide field of view. This research is integrated in a broader one aimed to the study of perception as the privileged tool...

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Abstract: The assembly of complex microsystems consisting of several single components (i.e. hybrid microsystems) is a task which has to be solved to make mass production of microsystems possible. Therefore, it is necessary to introduce flexible, highly precise and fast microassembly methods. In this paper, the control system of a microrobot-based microassembly desktop station that has been dev...

ARE is a development tool which allows cognitive robotics modelers to construct, at real-time, complex planning scenarios for robots, eliminating the need to model the dynamics of both the robot and the real environment as it would be required by whole simulation environments. The framework also builds a world model representation that serves as ground truth for training and validating algorith...

Planning for new science facilities at your institution is an exciting, challenging, and rewarding endeavor. Perhaps most significantly, it also embodies a rare opportunity to provide new infrastructure to support a programmatic vision for the future. Here, we describe St. Olaf's new Regents Hall of Natural and Mathematical Sciences, beginning with an outline of the planning/design process, the...

Both visually salient and top-down information are important in eye movement control, but their relative roles in the planning of daily saccades are unclear. We investigated the effect of peripheral vision loss on saccadic behaviors in patients with tunnel vision (visual field diameters 7 degrees-16 degrees) in visual search and real-world walking experiments. The patients made up to two saccad...