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Human Robot Interaction: Application To Smart Wheelchairs, Rahul Rao, K. Conn, Sang-Hack Jung, J. Katupitiya, Terry Kientz, R. Kumar, James Ostrowski, Sarangi Patel, Camillo Taylor
Human Robot Interaction: Application To Smart Wheelchairs, Rahul Rao, K. Conn, Sang-Hack Jung, J. Katupitiya, Terry Kientz, R. Kumar, James Ostrowski, Sarangi Patel, Camillo Taylor
R. Vijay Kumar
This paper addresses the problem of human robot interaction with application to the design of assistive devices. We describe the design and development of a prototype of a smart wheelchair that can be commanded by a rider. Specifically, we focus on (a) the vision-based human interaction interface; (b) the suite of sensors on the chair; and (c) the software architecture and the control algorithms used to control the chair.
Hierarchical Modeling And Analysis Of Embedded Systems, Rajeev Alur, Thao Dang, Joel Esposito, Yerang Hur, Franjo Ivancic, R. Kumar, Insup Lee, Pradyumna Mishra, George Pappas, Oleg Sokolsky
Hierarchical Modeling And Analysis Of Embedded Systems, Rajeev Alur, Thao Dang, Joel Esposito, Yerang Hur, Franjo Ivancic, R. Kumar, Insup Lee, Pradyumna Mishra, George Pappas, Oleg Sokolsky
R. Vijay Kumar
This paper describes the modeling language CHARON for modular design of interacting hybrid systems. The language allows specification of architectural as well as behavioral hierarchy and discrete as well as continuous activities. The modular structure of the language is not merely syntactic, but is exploited by analysis tools and is supported by a formal semantics with an accompanying compositional theory of refinement. We illustrate the benefits of CHARON in the design of embedded control software using examples from automated highways concerning vehicle coordination.
A Method For Modifying Closed-Loop Motion Plans To Satisfy Unpredictable Dynamic Constraints At Runtime, Joel Esposito, R. Kumar
A Method For Modifying Closed-Loop Motion Plans To Satisfy Unpredictable Dynamic Constraints At Runtime, Joel Esposito, R. Kumar
R. Vijay Kumar
In this paper; the problem of motion planning in environments with both known static obstacles and unpredictable dynamic constraints is considered. A methodology is introduced in which the motion plan for the static environment is modified on-line to accommodate the unpredictable constraints in such a way that the completeness properties of the original motion plan are preserved. At the heart of the approach is the idea that Navigation functions are indeed Lyapunov functions; and that the traditional method of forcing the robot to track the negative gradient of field is not the only input which stabilizes the system. This extra …
Formations Of Localization Of Robot Networks, Fan Zhang, Ben Grocholsky, R. Kumar
Formations Of Localization Of Robot Networks, Fan Zhang, Ben Grocholsky, R. Kumar
R. Vijay Kumar
In this paper, we consider the problem of cooperatively localizing a formation of networked mobile robots/vehicles in SE(2), and adapting the formation to reduce localization errors. First, we propose necessary and sufficient conditions to establish when a team of robots with heterogeneous sensors can be completely localized. We present experimental measurements of range and bearing with omni-directional cameras to motivate a simple model for noisy sensory information. We propose a measure of quality of team localization, and show how this measure directly depends on a sensing graph. Finally, we show how the formation and the sensing graph can be adapted …