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  • Planning Under Uncertainty for Unmanned Aerial Vehicles

    Creator:
    Skeele, Ryan
    Abstract:
    Unmanned aerial vehicle (UAV) technology has grown out of traditional research and military applications and has captivated the commercial and consumer markets, showing the ability to perform a spectrum of autonomous functions. This technology has the capability of saving lives in search and rescue, fighting wildfires in environmental monitoring, and...
    Resource Type:
    Masters Thesis
    Full Text:
    data. In all cases, RAGS is shown to reduce the probability of executing high-cost paths over A*, D

  • 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:
    . . . . . . . . . . . . . . . . . . . . . . 17 2.3.2 D++ Evaluations . . . . . . . . . . . . . . . . . . . . . . . . . 17 2.3.3 Other

  • 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:
    will only equal 1 if and only if B-type and D- type POIs have been observed

  • Toward Machine Learning-Enabled Adaptivity for Humorous Robots

    Creator:
    Gray, Carson C.
    Abstract:
    Social robots benefit from a sense of humor, which requires the ability to recognize and adapt to human responses during playful interactions. Past work on humorous robots has classified audience responses with audio-based and preliminary visual-based methods following the joke punchline. Building on this progress, we conducted a survey of...
    Resource Type:
    Masters Thesis
    Full Text:
    Walcott and Huy Nguyen. Thank you to Professors Grimm, Smart, Hollinger, Jerman, Fitter, Hatton, Calvo

  • Design and Initial Analysis of a Wearable Device for Anxiety Management

    Creator:
    Brown, Hannah E.
    Abstract:
    Deep pressure therapy (DPT) is a method of anxiety relief that uses pressure sensations to lower the stress response produced in the brain, and functions in a manner similar to a hug. Heavily weighted blankets and weighted vests are most commonly used to apply DPT, though recent work has shown...
    Resource Type:
    Masters Thesis
    Full Text:
    safe for a user to wear. (D.) Wearing the device should cause the user to show biosignal responses

  • Biomechanical Modeling of Isometric Muscle-Tendon Force Generation Through Tendons Coupled in Parallel and a Passive Differential Mechanism

    Creator:
    Le, Anthony H.
    Abstract:
    There are at least fifteen types of upper extremity tendon transfer procedures for combined peripheral nerve injuries that involve re-routing a single donor muscle to multiple recipient tendons. As a result, force and movement across finger joints become coupled, resulting in limited grasping abilities. Quantification and modeling of the donor...
    Resource Type:
    Masters Thesis
    Full Text:
    prosperous opportunity. Thank you to Dr. Bill Smart for serving as my Minor Professor and welcoming me

  • Practical Reinforcement Learning for Bipedal Locomotion

    Creator:
    Dao, Jeremy
    Abstract:
    Reinforcement learning has emerged as a popular tool for solving control tasks, with multiple works focusing on the complex and dynamic task of locomotion. However, the naive application of reinforcement learning to this problem often produces maladaptive policies that exploit the model or reward function. This results in behavior that...
    Resource Type:
    Capstone Project
    Full Text:
    ) = ∇θ ∫ r(τ)πθ(τ)dτ = ∫ r(τ)∇θπθ(τ)dτ = ∫ r(τ)∇θπθ(τ) πθ(τ) πθ(τ) dτ = ∫ r(τ)∇θ log πθ(τ)πθ(τ)dτ

  • Deep Perception Without a Camera: Enabling 3D Reconstruction and Object Recognition using Lidar and Sonar Sensing

    Creator:
    DeBortoli, Robert A.
    Abstract:
    Deep learning has recently revolutionized robot perception in many canonical robotic applications, such as autonomous driving. However, a similar transformation has yet to occur in more harsh environments including underwater and underground. This is due in part to the difficulty in deploying robots in these environments, which lack large real...
    Resource Type:
    Dissertation
    Full Text:
    Bill Smart for offering their diverse expertise and being available whenever I sought advice. I would

  • Improving robotic grasping performance using machine learning techniques

    Creator:
    Goins, Alex Keith
    Abstract:
    Robots are being utilized in ever more complex tasks and environments to help humans with difficult or dangerous tasks. However, robotic grasping is still in its infancy and is one of the limiting factors which prevent the deployment of robots in the home and other assisted living scenarios. Traditional methods...
    Resource Type:
    Masters Thesis
    Full Text:
    ) Sarah (b) Shadow (c) iRobot (d) Sandia. 3 2.1 Flow chart of experimental procedure

  • 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:
    Hollinger, and Dr. Bill Smart for their time and input. I would also like to thank my peers, cohort, and