Jens Wawerla

Learn More
We study the problem of construction by autonomous mobile robots focusing on the coordination strategy employed by the robots to solve a simple construction problem efficiently. In particular, we address the problem of constructing a linear 2D structure in a planar, bounded environment. A "minimalist" single-robot solution to the problem is given, as well(More)
— In this paper we present two task-allocation strategies for a multi-robot transportation system. The first strategy is based on a centralized planner that uses domain knowledge to solve the assignment problem in linear time. In contrast in the second strategy, individual robots make rule based allocation decision using only locally obtainable information(More)
— Extending our previous work in real-time vision-based human robot interaction with multi-robot systems, we present the first example of creating, modifying and commanding teams of UAVs by an uninstrumented human. To create a team the user focuses attention on an individual robot by simply looking at it, then adds or removes it from the current team with a(More)
We examine the practical problem of a mobile autonomous robot performing a long-duration survey task, during which it must recharge its batteries periodically. We present a scalable, online, heuristic method that allows the robot to recharge efficiently , thus maximizing its rate of work. The method is a direct application of the rate-maximizing foraging(More)
Energy is defined as the potential to perform work: every system that does some work must possess the required energy in advance. An interesting class of systems, including animals and recharging robots, has to actively choose when to obtain energy and when to dissipate energy in work. If working and collecting energy are mutually exclusive, as is common in(More)
— We describe a system whereby multiple humans and mobile robots interact robustly using a combination of sensing and signalling modalities. Extending our previous work on selecting an individual robot from a population by face-engagement, we show that reaching toward a robot-a specialization of pointing-can be used to designate a particular robot for(More)
In this paper we describe the development of the BearCam, a camera system which was deployed in Fall 2005 to monitor the behaviour of grizzly bears at a remote location near the arctic circle. The system aided biologists in collecting the data for their study on bears' behavioural responses to ecotourists. We developed a camera system for operating in the(More)