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  • Journal of Open Source Software (JOSS) : design and first-year review

    Creator:
    Valls Guimera, Roman, Madan, Christopher R., Ram, Karthik, Barba, Lorena A., Prins, Pjotr, Vanderplas, Jacob T., Mayes, Abigail Cabunoc, Githinji, George, Teal, Tracy K., Rokem, Ariel, Huff, Kathryn D., Niemeyer, Kyle E., Smith, Arfon M., Katz, Daniel S., Moerman, Kevin M., and Gymrek, Melissa
    Abstract:
    This article describes the motivation, design, and progress of the Journal of Open Source Software (JOSS). JOSS is a free and open-access journal that publishes articles describing research software. It has the dual goals of improving the quality of the software submitted and providing a mechanism for research software developers...
    Resource Type:
    Article
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    Creative Commons CC-BY 4.0 OPEN ACCESS Journal of Open Source Software (JOSS): design and first-year

  • Geometry of Locomotion

    Creator:
    Ramasamy, Suresh
    Abstract:
    Many animals and robots move through the world by coupling cyclical changes in shape called gaits to an interaction with the environment. Because mobility is an important aspect of such robots, a key metric when evaluating design and performance of mobile robots is the efficiency of their optimal gaits. The...
    Resource Type:
    Dissertation
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    intuitive understanding of how systems locomote and gave us tools that used the curvature of system dy

  • Efficiently Learning Human Preferences for Robot Autonomy

    Creator:
    Somers, Thane N.
    Abstract:
    Human-robot teams are invaluable for mapping unknown environments, exploring difficult-to-reach areas, and manipulating inaccessible equipment. However, guiding autonomous robots requires dealing with these dynamic domains while synthesizing a significant amount of data and balancing competing objectives. Current mission planning methods often involve manually specifying low-level parameters of the mission, such...
    Resource Type:
    Masters Thesis
    Full Text:
    and regular human intervention. Improving the long-term autonomy of these systems requires developing

  • Design of Complex Engineered Systems Using Multiagent Coordination

    Creator:
    Soria Zurita, Nicolás Francisco
    Abstract:
    This thesis is the combination of two research publications working toward a unified strategy in which the design of complex engineered systems can be completed using a multiagent coordination approach. Current engineered system modeling techniques segment large complex models into multiple groups to be simulated independently. These methods restrict the...
    Resource Type:
    Masters Thesis
    Full Text:
    indeed complex systems. Furthermore, as an engineered system is an organized combination of hardware

  • Optimization Across Decomposition : A Multiagent Model of Collaboration in Decomposed System Design

    Creator:
    Hulse, Daniel E.
    Abstract:
    Complex engineered systems design is a collaborative activity. To design a system, experts from the relevant disciplines must work together to create the best overall system from their individual components. This situation is analogous to a multiagent system in which agents solve individual parts of a larger problem. Current multiagent...
    Resource Type:
    Masters Thesis
    Full Text:
    complex systems: decision-making and the decomposition of a system architecture across disciplinary

  • Geometric Motion Planning for Inertial Systems

    Creator:
    Faraji, Hossein
    Abstract:
    In order to enable better visualization and understanding of the effect of the robot's geometry and inertia on the robot's trajectories, this dissertation proposes to use geometric mechanics to bridge the gap between the physical motion of a robot and its mathematical structure. The main focus of this research is...
    Resource Type:
    Dissertation
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    locomotion of robotic systems is often complex. In order to enable better visualization and understanding of

  • Agile Bipedal Locomotion via Hierarchical Control by Incorporating Physical Principles, Learning, and Optimization

    Creator:
    Green, Kevin
    Abstract:
    Robotic Bipedal locomotion holds the potential for efficient, robust traversal of difficult terrain. The difficulty lies in the dynamics of locomotion which complicate control and motion planning. Bipedal locomotion dynamics are dimensionally large problems, extremely nonlinear, and operate on the limits of actuator capabilities, which limit the performance of generic...
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    Dissertation
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    . . . . . . . . . . . . . . . . . . . . 54 5.4 Approximation of the Step-to-Step System . . . . . . . . . . . . . . 54 5.4.1 Controlled

  • Designing and Evaluating a User Interface for Multi-Robot Furniture

    Creator:
    Stoddard, Brett
    Abstract:
    A chair, once placed, will stay put until moved. Or will it? With the rise of technology being embeddable into everyday objects, what if that chair could move itself? Such robotic furniture has been featured in advertisements, art, and Human-Robot Interaction (HRI) research. Existing methods for operating robotic furniture have...
    Resource Type:
    Masters Thesis
    Full Text:
    robot system senses, thinks or acts. Data from the robot system is passed to the human in the form of

  • Privacy-Sensitive Robotics

    Creator:
    Rueben, Matthew R.
    Abstract:
    This dissertation focuses on personal privacy in human-robot interaction, which we call "privacy-sensitive robotics." Our understanding of "privacy" is very broad, including not just information privacy but also physical, psychological, and social privacy. We begin by surveying the scholarly literature on privacy and talking about why it applies to interactions...
    Resource Type:
    Dissertation
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    formulation. It is shown in Figure 2.1 as a general overview of informational privacy concerns. A number of

  • CLEAN learning to improve coordination and scalability in multiagent systems

    Creator:
    HolmesParker, Chris
    Abstract:
    Recent advances in multiagent learning have led to exciting new capabilities spanning fields as diverse as planetary exploration, air traffic control, military reconnaissance, and airport security. Such algorithms provide a tangible benefit over traditional control algorithms in that they allow fast responses, adapt to dynamic environments, and generally scale well....
    Resource Type:
    Dissertation
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    techniques to extend the applicability of these algorithms into real-world systems where accurate system