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Articles 1 - 4 of 4

Full-Text Articles in Engineering

The Trolley Problem In Virtual Reality, Jungsu Pak, Ariane Guirguis, Nicholas Mirchandani, Scott Cummings, Uri Maoz Dec 2019

The Trolley Problem In Virtual Reality, Jungsu Pak, Ariane Guirguis, Nicholas Mirchandani, Scott Cummings, Uri Maoz

Student Scholar Symposium Abstracts and Posters

Would people react to the Trolley problem differently based on the medium? Immersive Virtual Reality Driving Simulator was used to examine participants respond to the trolley problem in a realistic and controlled simulated environment.


Domain Adaptation In Unmanned Aerial Vehicles Landing Using Reinforcement Learning, Pedro Lucas Franca Albuquerque Dec 2019

Domain Adaptation In Unmanned Aerial Vehicles Landing Using Reinforcement Learning, Pedro Lucas Franca Albuquerque

Computer Science and Engineering: Theses, Dissertations, and Student Research

Landing an unmanned aerial vehicle (UAV) on a moving platform is a challenging task that often requires exact models of the UAV dynamics, platform characteristics, and environmental conditions. In this thesis, we present and investigate three different machine learning approaches with varying levels of domain knowledge: dynamics randomization, universal policy with system identification, and reinforcement learning with no parameter variation. We first train the policies in simulation, then perform experiments both in simulation, making variations of the system dynamics with wind and friction coefficient, then perform experiments in a real robot system with wind variation. We initially expected that providing ...


A Collaborative Visual Localization Scheme For A Low-Cost Heterogeneous Robotic Team With Non-Overlapping Perspectives, Benjamin Abruzzo, David Cappelleri, Philippos Mordohai Nov 2019

A Collaborative Visual Localization Scheme For A Low-Cost Heterogeneous Robotic Team With Non-Overlapping Perspectives, Benjamin Abruzzo, David Cappelleri, Philippos Mordohai

West Point Research Papers

This paper presents and evaluates a relative localization scheme for a heterogeneous team of low-cost mobile robots. An error-state, complementary Kalman Filter was developed to fuse analytically-derived uncertainty of stereoscopic pose measurements of an aerial robot, made by a ground robot, with the inertial/visual proprioceptive measurements of both robots. Results show that the sources of error, image quantization, asynchronous sensors, and a non-stationary bias, were sufficiently modeled to estimate the pose of the aerial robot. In both simulation and experiments, we demonstrate the proposed methodology with a heterogeneous robot team, consisting of a UAV and a UGV tasked with ...


Personal Universes: A Solution To The Multi-Agent Value Alignment Problem, Roman V. Yampolskiy Jan 2019

Personal Universes: A Solution To The Multi-Agent Value Alignment Problem, Roman V. Yampolskiy

Faculty Scholarship

AI Safety researchers attempting to align values of highly capable intelligent systems with those of humanity face a number of challenges including personal value extraction, multi-agent value merger and finally in-silico encoding. State-of-the-art research in value alignment shows difficulties in every stage in this process, but merger of incompatible preferences is a particularly difficult challenge to overcome. In this paper we assume that the value extraction problem will be solved and propose a possible way to implement an AI solution which optimally aligns with individual preferences of each user. We conclude by analyzing benefits and limitations of the proposed approach.