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Mixed-Initiative Human-Robot Interaction: Definition, Taxonomy, and Survey
The goal of the taxonomy is to inform the design of mixed-initiative human-robot systems by identifying key elements of these systems by examining the state of practice along each taxonomical dimension.
Automatic Verification of Autonomous Robot Missions
This paper overviews a software system for the verification of behavior-based controllers in context of chosen hardware and environmental models and demonstrates accurate verification for a mission related to the search for a biohazard.
Heterogeneous Ground and Air Platforms, Homogeneous Sensing: Team CSIRO Data61's Approach to the DARPA Subterranean Challenge
The solution developed by Team CSIRO Data61, consisting of CSIRO, Emesent, and Georgia Tech, during the DARPA Subterranean Challenge is described, which enabled a shift in focus from constructing a pervasive communications network to relying on multi-agent autonomy.
Verifying Performance for Autonomous Robot Missions with Uncertainty
This work proposes an approach to verifying robot missions that shifts the focus from state-based analysis onto the solution of a set of flow equations (Lyons et al. 2012), and presents three validation results that show this approach has strong predictive power; that is, that the verifications it produces can be trusted.
Designing autonomous robot missions with performance guarantees
- D. Lyons, R. Arkin, P. Nirmal, Shu Jiang
- Computer ScienceIEEE/RSJ International Conference on Intelligent…
- 24 December 2012
This paper describes the need and methods required to construct an integrated software verification and mission specification system for use in robotic missions intended for counter-weapons of mass…
Performance verification for robot missions in uncertain environments
Online 3D Frontier-Based UGV and UAV Exploration Using Direct Point Cloud Visibility
- Jason L. Williams, Shu Jiang, N. Hudson
- Computer ScienceIEEE International Conference on Multisensor…
- 14 September 2020
This paper presents a new approach that addresses the complexity of operating in 3D by directly modelling the boundary between observed free and unobserved space (the frontier), rather than utilising dense 3D volumetric representations.
Autonomous Driving Trajectory Optimization With Dual-Loop Iterative Anchoring Path Smoothing and Piecewise-Jerk Speed Optimization
- Jinyun Zhou, Runxin He, Qi Luo
- Computer Science, EngineeringIEEE Robotics and Automation Letters
- 1 April 2021
This letter presents a free space trajectory optimization algorithm for autonomous driving, which decouples the collision-free trajectory generation problem into a Dual-Loop Iterative Anchoring Path…
TDR-OBCA: A Reliable Planner for Autonomous Driving in Free-Space Environment
This paper presents an optimization-based collision avoidance trajectory generation method for autonomous driving in free-space environments, with enhanced robustness, driving comfort and efficiency, and names it TDR-OBCA to improve the robustness and efficiency.
Performance Verification for Behavior-Based Robot Missions
- D. Lyons, R. Arkin, Shu Jiang, Tsung-Ming Liu, P. Nirmal
- Computer ScienceIEEE Trans. Robotics
- 20 May 2015
An approach based on behavior-based controllers in a process-algebra framework that avoids state-space combinatorics is presented here, and verification of the robot program in the uncertain environment is reduced to a filtering problem for a Bayesian network.