This dissertation addresses the problem of synthesizing task solution strategies for a heterogeneous robot team to accomplish multi-robot tasks by sharing sensory and computational resources. The approach I developed is called ASyMTRe, which stands for Automated Synthesis of Multi-robot Task solutions through software Reconfiguration, pronounced “Asymmetry”. When dealing with heterogeneous team...

Kinematic feasibility of a planned robot path is restrained by the kinematic constraints of the robot executing the task, such as workspace, configuration, and singularity. Since these kinematic constraints can be described utilizing the geometry of the given robot, corresponding regions within the robot workspace can be expressed in geometrical representation. Consequently, geometric informati...

We consider a multi-robot system with team of collaborative robots and multiple tasks that emerges over time. propose fully decentralized task path planning (DTPP) framework consisting allocation module localized module. Each is modeled as Markov Decision Process (MDP) or Mixed Observed (MOMDP) depending on whether full states partial are observable. The then aims at maximizing the expected pur...

The goal of this work is to create a robot interface that allows a novice user to guide, control, and/or program a mobile robot to perform some task. To illustrate our interface we have chosen the example of robot navigation. We present a way to use a PDA computer to sketch a map and a robot route on this map. Qualitative instructions are then extracted from such a map to form a list of sequent...

Geometric volumes can be used as an intermediate representation for bridging the gap between task planning, with its symbolic preconditions and effects, and motion planning, with its continuous-space geometry. In this work, we use sets of convex polyhedra to represent the boundaries of objects, robot manipulators, and swept volumes of robot motions. We apply efficient algorithms for convex deco...

In order to develop a friendly and safe interaction between humans and robots, it is essential for the robot to evaluate users’ affective states and respond accordingly. This paper investigates the use of physiological signals to estimate human affective states during a Human-Robot Interaction (HRI) task. We focus on characterizing physiological responses and understanding how affective states ...

Intelligence (AAAI-2002) Robot Challenge is part of an annual series of robot challenges and competitions. It is intended to promote the development of robot systems that interact intelligently with humans in natural environments. The Challenge task calls for a robot to attend the AAAI conference, which includes registering for the conference and giving a talk about itself. In this article, we ...