Thomas Apker

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To perform complex tasks, a team of robots requires both reactive and deliberative planning. For reactive control, a restricted variant of Linear Temporal Logic called General Reactivity(1) can be used to synthesize correct-byconstruction controllers in polynomial time, but they often ignore time and resource constraints to maintain tractable synthesis. For(More)
Domestic grazing animals follow simple, scalable rules to assign themselves trajectories to cover a pasture. We explain how to adapt these rules for an information gathering system based on a realistic robot motion model and Kalman-filter based evidence grid that accounts for both bandwidth and sensor limitations. Our results show that this algorithm can(More)
A system that controls a team of autonomous vehicles should be able to accurately predict the expected outcomes of various subtasks. For example, this may involve estimating how well a vehicle will perform when searching a designated area. We present CBE, a case-based estimation algorithm, and apply it to the task of predicting the performance of autonomous(More)
Temporal logics have been used in autonomous planning to represent and reason about temporal planning problems. However, such techniques have typically been restricted to either (1) representing actions, events, and goals with temporal properties or (2) planning for temporally-extended goals under restrictive conditions of classical planning. We introduce(More)
In complex and dynamic scenarios, autonomous vehicles often need to intelligently adapt their behavior to unexpected changes in the their environment. Goal Reasoning provides a methodology for autonomous agents to deliberate and adapt their goals to more intelligently react to changing conditions. This paper implements a Goal Reasoning system based on the(More)
This work presents the study of the single-dielectric barrier discharge aerodynamic plasma actuator. To model the physics of the plasma discharge, a space-time lumpedelement circuit model was developed. The model solution compared well to some of the characteristic features of the discharge such as the dependence of the sweep velocity and maximum extent of(More)
Unmanned vehicles have been the focus of active research on autonomous motion planning, both deliberative and reactive. However, they are fundamentally limited in their autonomy by an inability to independently reason about, prioritize, and change the goals they pursue. We describe two new projects in which we are incorporating goal autonomy on unmanned(More)
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