Human environments present special challenges for robot manipulation. They are often dynamic, difficult to predict, and beyond the control of a robot engineer. Fortunately, many characteristics of these settings can be ...

In many motion-vision scenarios, a camera (mounted on a moving vehicle) takes images of an environment to find the "motion'' and shape. We introduce a direct-method called fixation for solving this motion-vision problem ...

The industrial robot's principal advantage over traditional automation is programmability. Robots can perform arbitrary sequences of pre-stored motions or of motions computed as functions of sensory input. This paper ...

The industrial robot's principal advantage over traditional automation is programmability. Robots can perform arbitrary sequences of pre-stored motions or of motions computed as functions of sensory input. This paper ...

Most animals have significant behavioral expertise built in without having to explicitly learn it all from scratch. This expertise is a product of evolution of the organism; it can be viewed as a very long term form ...

This document describes a set of routines which have been provided at both the monitor and user level to facilitate the following operations: 1) Vidissector input; 2) Pot Box input; 3) Arm motion; and 4) Display list ...

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Techniques, suitable for parallel implementation, for robust 2D model-based object recognition in the presence of sensor error are studied. Models and scene data are represented as local geometric features and robust ...

This thesis presents methods for implementing robust hexpod locomotion on an autonomous robot with many sensors and actuators. The controller is based on the Subsumption Architecture and is fully distributed over ...

For a very large network deployed in space with only nearby nodes able to talk to each other, we want to do tasks like robust routing and data storage. One way to organize the network is via a hierarchy, but hierarchies ...

The principle of Continuous Double Auctioning (CDA) is known to provide an efficient way of matching supply and demand among distributed selfish participants with limited information. However, the literature indicates that ...

Alignment is a prevalent approach for recognizing 3D objects in 2D images. A major problem with current implementations is how to robustly handle errors that propagate from uncertainties in the locations of image ...

Effective use of robots in unstructured environments requires that they have sufficient autonomy and agility to execute task-level commands successfully. A challenging example of such a robot is a bipedal walking machine. ...

We present a new robust method for identifying three dynamically distinct regions in a stratified turbulent flow, which we characterise as quiescent flow, intermittent layers and turbulent patches. The method uses the ...

We describe a new architecture for controlling mobile robots. Layers of control system are built to let the robot operate at increasing levels of competence. Layers are made up of asynchronous modules which communicate ...

Methods for fusing two computer vision methods are discussed and several example algorithms are presented to illustrate the variational method of fusing algorithms. The example algorithms seek to determine planet ...

This paper describes extensions to the Kintinuous algorithm for spatially extended KinectFusion, incorporating the following additions: (i) the integration of multiple 6DOF camera odometry estimation methods for robust ...

There is an increasing need for robust optimal plan execution for multi-agent systems in uncertain environments, while guaranteeing an acceptable probability of success. For ex- ample, a fleet of unmanned aerial vehicles ...

As multiprocessor system size scales upward, two important aspects of multiprocessor systems will generally get worse rather than better: (1) interprocessor communication latency will increase and (2) the probability ...

Investment in the local access network represents between 50% and 70% of capital investment of a telecommunications company. This thesis investigates algorithms that can be used to design economical access networks and ...