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Filtering by: Creator Schram, Julie B. Remove constraint Creator: Schram, Julie B. Committee Member Adams, Julie A. Remove constraint Committee Member: Adams, Julie A.

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  • Modeling human expertise for providing adaptive levels of robot shared autonomy

    Creator:
    Milliken, Lauren
    Abstract:
    In shared autonomy, a robot and human user both have some level of control in order to achieve a shared goal. Choosing the balance of control given to the user and the robot can be a challenging problem since different users have different preferences and vary in skill levels when...
    Resource Type:
    Masters Thesis
    Full Text:
    to run a user study, and my committee members Dr. Cindy Grimm and Dr. Julie A. Adams for their

  • Topologically-Guided Robotic Information Gathering

    Creator:
    McCammon, Seth
    Abstract:
    Information gathering tasks, such as terrestrial search and rescue, aerial inspection, and marine monitoring, require robotic unmanned systems to make decisions on how to travel within an environment to maximize or minimize a path-dependent information objective function. The distribution of information throughout the environment is the result of various processes,...
    Resource Type:
    Dissertation
    Full Text:
    ]. . . . . . . . . . . . . . . . . 11 2.2 A metric (a) and topological (b) map of a building. The metric floor- plan provides

  • Counterfactual thinking applied to multiagent systems

    Creator:
    Zerbel, Nicholas
    Abstract:
    Multiagent approaches are well suited to designing autonomous solutions for systems that feature complex interactions between many individuals such as in autonomous traffic systems and multi-robot exploration systems. However, creating autonomous agents that function effectively in these systems is a challenging task. In these complex environments, agents need informative reward...
    Resource Type:
    Dissertation
    Full Text:
    joint-state-action. In (b) CFL introduces a counterfactual state where the left box has a vacuum robot

  • Robust Long Term Autonomy Through Local Behaviors

    Creator:
    Yates, Connor L.
    Abstract:
    Multi-robot teams offer promising solutions for many long term deployments in remote and dangerous domains, such as extraterrestrial or underseas exploration. However, long term deployments present many problems preventing robot teams from operating effectively. Learning over long time scales is makes it difficult to assign credit to robots' actions, as...
    Resource Type:
    Dissertation
    Full Text:
    further node can be observed. This is particularly important in configuration (b) where the global fitness

  • Non-Myopic Distributed Coordination and Planning for Robotic Teams

    Creator:
    Smith, Andrew
    Abstract:
    As robotic systems become increasingly prevalent in our lives (e.g., by harvesting food, assisting with disaster response and defense, and transporting persons and our goods around the world) there is a growing need to ensure that they can cooperate to achieve their intended goals. Robotic cooperation in the real-world is...
    Resource Type:
    Dissertation
    Full Text:
    wisdom he has helped me discover. I would also like to thank Drs. Kagan Tumer, William Smart, and Julie

  • Providing Informative Feedback for Learning in Tightly Coupled Multiagent Domains

    Creator:
    Rockefeller, Golden C.
    Abstract:
    Autonomous agents that sense, decide, act, and coordinate effectively with each other are critical in many real-world domains such as autonomous driving, search and rescue missions, air traffic management, and underwater or deep space exploration. All such domains share a key difficulty: though high-level mission goals are clear to system...
    Resource Type:
    Dissertation

  • Learning to coordinate in sparse asymmetric multiagent systems

    Creator:
    Dixit, Gaurav
    Abstract:
    Multiagent learning offers a rich framework to address challenging real-world problems such as remote exploration and healthcare coordination, which require autonomous agents to express elaborate interactions. To be effective in such systems, agents must collectively reason about and pursue high-level, long-term, and possibly nebulous objectives while adapting their strategy to...
    Resource Type:
    Dissertation
    Full Text:
    : A prior distribution over agent types (a) is assigned to agents to form a team (b). The team is

  • Communication Planning for Cooperative Terrain-Based Underwater Localization

    Creator:
    Anderson, Jacob
    Abstract:
    This thesis presents a decentralized communication planning algorithm for cooperative terrain-based navigation (dec-TBN) with autonomous underwater vehicles. The proposed algorithm uses forward simulation to approximate the value of communicating at each time step. The simulations are used to build a directed acyclic graph that can be searched to provide a...
    Resource Type:
    Masters Thesis

  • 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:
    . . . . . . . . . . . . . . . . . . . . . . 67 B Evaluation Experiment Questions . . . . . . . . . . . . . . . . . . . . 70 B.1 Evaluation Semi

  • Socially Communicative Multi-Robot Motion and Formation: Algorithm Development and Validation

    Creator:
    Bacula, Alexandra
    Abstract:
    Expressive motion has been found to be a highly effective tool in communicating intent and motivation in single robot human-robot interaction, but work in exploring how groups of robots can use motion in interactions with humans is relatively nascent. There are many additional complexities to consider expanding from single robot...
    Resource Type:
    Dissertation
    Full Text:
    , Deanna Flynn, Ethan Villalovoz, and Dr. Julie A. Adams who all provided invaluable advice and guid