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A crucially important aspect for mission-critical robotic operations is ensuring as best as possible that an autonomous system be able to complete its task. In a project for the Defense Threat Reduction Agency (DTRA) we are developing methods to provide such guidance, specifically for counter-Weapons of Mass Destruction (C-WMD) missions. In this paper, we(More)
Autonomous robots offer the potential to conduct Counter-Weapons of Mass Destruction (C-WMD) missions in an efficient and robust manner. However, to leverage this potential, a mission designer needs to be able to determine how well a robot system will operate in the noisy and uncertain environments that a C-WMD mission may require. We are developing a(More)
Mobile manipulators and humanoid robots should have the ability to use objects in their environments. Previous work has shown significant advantages to robots that can remove objects that interfere with their goal. We propose the next step. Just like the fictional character `MacGyver,' robots should construct simple machines and tools from arbitrary(More)
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