Ben Tribelhorn

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This paper presents the iRobot corporation's Roomba vacuum as a low-cost resource for robotics research and education. Sensor and actuation models for unmodified Roombas are presented in the context of both special- and general-purpose spatial-reasoning algorithms, including Monte Carlo Localization and FastSLAM. Further tests probe the feasibility of(More)
This synopsis presents Harvey Mudd College's entry into the 2005 AAAI scavenger hunt competition. We are submiting a lap-controlled robot which uses commodity parts and limited sensors to localize itself and perform arrow following and object recognition. Overview Harvey Mudd College's entry into the 2005 AAAI robot scavenger hunt contest consists of a(More)
This paper reports on our experience teaching introductory programming by means of real-world data analysis. We have found that students can be motivated to learn programming and computer science concepts in order to analyze DNA, predict the outcome of elections, detect fraudulent data, suggest friends in a social network, determine the authorship of(More)
This paper details the design, creation, and deployment of two low-cost range sensing devices for mobile robot platforms. The first is a set of sonars individually mounted on servo motors. These sensors' angular coverage allows for effective obstacle avoidance, but does not provide precise surface placement due to sonar's well-understood conical response(More)
This paper investigates the suitability of iRobot's Roomba as a low-cost robotic platform for use in AI research and education. Examining the sensing and ac-tuation capabilities of the vacuum base led us to develop sensor and actuation models more accurate than those provided by the raw API. We validate these models with implementations of Monte Carlo(More)
This paper investigates the suitability of iRobot's Roomba as a low-cost robotic platform for use in both research and education. We present sensor and actua-tion models and implement algorithms that demonstrate the Roomba's viability. While the platform has both benefits and drawbacks relative to similarly-priced alternatives , we conclude that the Roomba(More)
I am currently enrolled in the PhD program at Oregon State University. My job interests are either a part time employment in the Corvallis area or a part time telecommuting position. Grader and tutor for Computer Programming and Problem Solving (three semesters), Principles of Computer Science (one semester), and Data Structures and Program Development (one(More)
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