Robert T. Effinger

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In order for an autonomous agent to successfully complete its mission, the agent must be able to quickly replan on the fly, as unforeseen events arise in the environment. This is enabled through the use of temporally flexible plans, which allow the agent to adapt to execution uncertainties, by not over committing to timing constraints, and through(More)
In this paper we extend dynamic controllability of temporally-flexible plans to temporally-flexible reactive programs. We consider three reactive programming language constructs whose behavior depends on runtime observations; conditional execution, iteration, and exception handling. Temporally-flexible reactive programs are distinguished from(More)
With the goal of measuring precise gamma-ray intensities for short-lived (< 5 s) accelerator-produced activities, we have calibrated the efficiency of an HPGe detector between 53 and 1836keV to sub-percent precision with a combination of source measurements and Monte Carlo calculations. Using known or independently measured detector dimensions, we have(More)
Autonomous robots are being considered for increasingly capable roles in our society, such as urban search and rescue, automation for assisted living, and lunar habitat construction. To fulfill these roles, teams of autonomous robots will need to cooperate together to accomplish complex mission objectives in uncertain and dynamic environments. In these(More)
Getting robots to perform even simple tasks can be fraught with difficulty. Sending a robot to a distant planet, such as Mars, raises a number of significant issues concerning autonomy. The intended mission itself may be quite complex -conceivably involving coordinated work with other robots. An example of such an anticipated mission is to send a team of(More)
In the future, NASA envisions robotic assistants seamlessly interacting with astronauts. These robots must be capable of understanding abstract tasks, and must also reliably execute the tasks. We make progress towards these goals by firstly developing a task-level programming language, called RMPL, that robots can directly interpret and understand.(More)
Many planning and design problems can be characterized as optimal search over a constrained network of conditional choices with preferences. To draw upon the advanced methods of constraint satisfaction to solve these types of problems, many dynamic and flexible CSP variants have been proposed. One such variant is the Weighted Conditional CSP (WCCSP). So(More)