• Publications
  • Influence
Multiagent Mission Specification and Execution
The Configuration Description Language (CDL) is developed to capture the recursive composition of configurations in an architecture- and robot-independent fashion and the Societal Agent theory is presented as a basis for constructions of this form. Expand
Usability evaluation of high-level user assistance for robot mission specification
The mission-planning wizard has been recently integrated into MissionLab, and testing for usability improvements in terms of speed of the mission planning process, accuracy of the produced mission plans, and ease of use is conducted. Expand
Adaptive teams of autonomous aerial and ground robots for situational awareness
This is a preprint of an article accepted for publication in the Journal of Field Robotics, copyright 2007 and will be published online in Wiley InterScience. Expand
Temporal coordination of perceptual algorithms for mobile robot navigation
A methodology for integrating multiple perceptual algorithms within a reactive robotic control system is presented. A model using finite state accepters is developed as a means for expressingExpand
Reactive control for mobile manipulation
Kinematics- and dynamics-based concepts are combined with reactive control approaches in order to move toward a practical level of complexity and performance in mobile manipulators. Expand
Evaluating the Usability of Robot Programming Toolsets
The issues of evaluating high-level robot programming toolsets as to their usability are examined, including how usability criteria are established and target values are chosen. Expand
Adaptive teams of autonomous aerial and ground robots for situational awareness: Field Reports
In this paper, we report on the integration challenges of the various component technologies developed toward the establishment of a framework for deploying an adaptive system of heterogeneous robotsExpand
Io, Ganymede, and Callisto A Multiagent Robot Trash-Collecting Team
The design and implementation of these reactive trash-collecting robots are described, including details of multiagent cooperation, color vision for the detection of perceptual object classes, temporal sequencing of behaviors for task completion, and a language for specifying motor schema-based robot behaviors. Expand
Behavior-based mobile manipulation for drum sampling
  • D. MacKenzie, R. Arkin
  • Engineering, Computer Science
  • Proceedings of IEEE International Conference on…
  • 22 April 1996
An implementation of a behavior-based mobile manipulator capable of autonomously transferring a sample from one drum to a second in unstructured environments and the coherent integration of the arm and base as a cohesive unit is described. Expand
Specification and execution of multiagent missions
The design of a multiagent behavioral configuration is simplified by applying an object-oriented approach to the design using a methodology called temporal sequencing to partition the mission into discrete operating states and enumerate the perceptual triggers causing transitions between those states. Expand