Keith L. Doty

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Robotics research has made extensive use of techniques based on the Moore-Penrose inverse, or generalized-inverse, of matrices. Recently, it has been pointed out how non-invariant results may, in general, be obtained applying these techniques to some areas of robotics, namely hybrid control and inverse velocity kinematics. Unfortunately, the problems are(More)
In this paper we derive and apply a new technique useful in the analysis of swarm robotics. We derive useful swarm descriptions from the basic kinetic theory of gases. Several experiments verified our basic assumptions made in the theoretical derivation. We also performed experiments to test the methodology as a tool in evaluating robotic behavior(More)
This paper presents a new approach to the problem of searching large data bases. It describes an architecture in which a cellular structure is adapted to the use of sequential-access bulk storage. This organization combines most of the advantages of a distributed processor with that of inexpensive bulk storage.
In the Machine Intelligence Laboratory, University of Florida, we have built a small autonomous robot and programmed it to exhibit various reactive behaviors. The robot, named Gator, performs area coverage in an interior room by combining distinct behaviors. Gator has 26 sensors of which only 7 are used in the coverage algorithms examined here. Gator’s(More)
2001 ii ACKNOWLEDGMENTS This work would not have been completed without the guidance of the members of my thesis committee, Prof. Prof. Keith Doty also deserves credit for helping me formulate the original question regarding the improvement of Q-learning. I am grateful for the facilities at the Machine Intelligence Laboratory here at the University of(More)
The development of GnRH analogs (GnRHa) has made it possible to treat children with central precocious puberty (CPP). This treatment may prevent adult short stature due to premature epiphyseal fusion. Achievement of this goal, however, is dependent upon adequate suppression of gonadal steroid production as a result of GnRHa-induced pituitary desensitization(More)
A manufacturing workcell model employs behavior-based swarm robots whose emergent behavior successfully performs the workcell’s required materials handling without central planning. Swarm robots are groups of autonomous mobile robots whose sensory-driven state behavior produces emergent group functionality not characteristic of the individual robots.(More)