Tara A. Estlin

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The recent growth of online information available in the form of natural language documents creates a greater need for computing systems with the ability to process those documents to simplify access to the information. One type of processing appropriate for many tasks is information extraction, a type of text skimming that retrieves speci c types of(More)
This paper describes the ASPEN system for automation of planning and scheduling for space mission operations. ASPEN contains a number of innovations including: an expressive but easy to use modeling language, multiple search (inference) engines, iterative repair suited for mixed-initiative human in loop operations, real-time replanning and response (in the(More)
This paper presents an overview of a newly developed Coupled Layer Architecture for Robotic Autonomy (CLARAty), which is designed for improving the modularity of system software while more tightly coupling the interaction of autonomy and controls. First, we frame the problem by briefly reviewing previous work in the field and describing the impediments and(More)
In this article, we will present an overview of the Coupled Layered Architecture for Robotic Autonomy. CLARAty develops a framework for generic and reusable robotic components that can be adapted to a number of heterogeneous robot platforms. It also provides a hmework that will simplify the integration of new technologies and enable the comparison of(More)
Space mission operations require flexible, efficient and reliable plan execution. In typical operations command sequences (which are a simple subset of general executable plans) are generated on the ground, either manually or with assistance from automated planning, and sent to the spacecraft. For more advanced operations more expressive executable plans(More)
We present in detail some of the challenges in developing reusable robotic software. We base that on our experience in developing the CLARAty robotics software, which is a generic object-oriented framework used for the integration of new algorithms in the areas of motion control, vision, manipulation, locomotion, navigation, localization, planning and(More)
Most research in planning and learning has involved linear, state-based planners. This paper presents Scope, a system for learning search-control rules that improve the performance of a partial-order planner. Scope integrates explanation-based and inductive learning techniques to acquire control rules for a partial-order planner. Learned rules are in the(More)
0-7803-7651-1267/03/$17.00 © 2003 IEEE Abstract—Rover traverse distances are increasing at a faster rate than downlink capacity is increasing. As this trend continues, the quantity of data that can be returned to Earth per meter traversed is reduced. The capacity of the rover to collect data, however, remains high. This circumstance leads to an opportunity(More)
In this article, we will present an overview of the Coupled Layered Architecture for Robotic Autonomy. CLARAty develops a frammork for generic and reusable robotic components that can be adapted to a number of heterogeneous robot playbrms. It also provides a framework that will simplify the integration of new technologies and enable the comparison of(More)