This paper describes a demonstration-based programming system in which a mobile robot observes the actions of a human performing a multi-step task. l+om these observations, the robot determines which of its pre-iearned capabilities are required to replicate the task and in what sequence they must be ordered. The focus of this paper is on the Hidden Markov Model method used to learn and classi~ ...

We propose a loosely-coupled framework for integrated task assignment, motion planning, coordination and control of heterogeneous fleets robots subject to non-cooperative tasks. The approach accounts the important real-world requirement that tasks can be posted asynchronously. exploit systematic search optimal where interference is considered as cost estimated with knowledge kinodynamic models ...

It currently requires years of education and practice before a skilled user can successfully program a sophisticated robot platform to perform a given task. We are exploring ways in which statistical machine learning techniques can enable Learning from Demonstration, an approach where users ‘reprogram’ a robot without writing code. In this scenario, a user demonstrates the desired task and the ...