Mark C. Torrance

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This report addresses the problem of achieving fault tolerant cooperation within small-to medium-sized teams of heterogeneous mobile robots. I describe a software architecture I have d e v eloped, called ALLIANCE, that facilitates robust, fault tolerant cooperative control, and examine numerous issues in cooperative team design. ALLIANCE is a fully(More)
At the MIT Artiicial Intelligence Laboratory we have been working on technologies for an Intelligent Room. Rather than pull people into the virtual world of the computer we are trying to pull the computer out into the real world of people. To do this we are combining robotics and vision technology with speech understanding systems, and agent based(More)
The author and publisher of this book have used their best efforts in preparing this book. These efforts include the development, research, and testing of the theories and programs to determine their effectiveness. The author and publisher shall not be liable in any event for incidental or consequential damages in connection with, or arising out of, the(More)
The construction of a program that generates crossword puzzles is discussed. As in a recent paper by Dechter and Meiri, we make an experimental comparison of various search techniques. The conclusions to which we come differ from theirs in some areas-although we agree that directional arc consistency is better than path-consistency or other forms of(More)
We describe an implemented system which mediates between an un-modiied reactive mobile robot architecture and domain-restricted natural language. We introduce reactive-odometric plans and demonstrate their use in plan recognition, fault-tolerant plan execution, and learning to associate human terms with locations in the environment which are perceptually(More)
Simulators used in research on autonomous mobile robots have been criticized for their tendency to change the nature of the problems the robot control architecture has to solve. In this paper we address those arguments, and find that under certain conditions simulators can be a valuable tool to supplement research with physical robots. We conclude with(More)
In this thesis, we demonstrate that robots can develop their own languages for communication. We call the languages developed by the robots Adaptable Synthetic Robot Languages (ASRLs). The basic ASRL is a simple one-to-one mapping of signals to concepts. We then present t wo A S R L t ypes that use small amounts of additional structure to reduce learning(More)