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...
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...
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...
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...
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...
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...
Artificial Intelligence has gained resurgence in popularity through machine learning methods. This thesis investigates the current use of AI, the impact it will have on the economy and the ethical considerations for developing this technology. In the coming decade AI could increase global economic output over $10 Trillion. AI will...
The Jetson Artificial Intelligence Tool chain (JAI-TC) is a set of packages, APIs and libraries for Artificial Intelligence applications to be deployed on the NVidia SOC, Jetson TX2. JAI-TC automates the installation of these items allowing for a wider set of users to leverage these technologies. Prior to this, the...
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...
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...
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...
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...
The purpose of this dissertation was to estimate the extent to which group-level synchrony predicts specific group outcomes. Synchrony is broadly defined as the coordination of biological and behavioral processes during social contact (Feldman, 2017). In this dissertation, biological coordination is defined as, “the spontaneous synchronization of physiological signals (e.g.,...
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...
The purpose of this thesis was to assess the relationship between group rapport and nonverbal expressivity using three data sources: self-report, observer ratings, and test data. Assessing these constructs using multiple data sources enabled the construction of multitrait-multimethod matrices. These matrices allowed for a critical evaluation of the convergent and...
While robotic systems may have once been relegated to structured environments and automation style tasks, in recent years these boundaries have begun to erode. As robots begin to operate in largely unstructured environments, it becomes more difficult for them to effectively interpret their surroundings. As sensor technology improves, the amount...
Smart Manufacturing (SM) is envisioned to make manufacturing processes more efficient through automation and integration of networked information systems. Robotic arms are integral to this vision. However the benefits of SM, enabled by automation and networking, also come with cyber risks.
In this work, we propose an anomaly detection framework...
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...
There is growing commercial interest in the use of unmanned aerial vehicles (UAVs) in urban environments, specifically for package delivery applications. However, the size, complexity and sheer numbers of expected UAVs makes conventional air traffic management that relies on human air traffic controllers infeasible. To enable UAVs to safely and...
Tensegrity structures are composed of pure compressional elements that are connected via a network of pure tensional elements. The concept of tensegrity promises numerous advantages to the field of robotics. Tensegrity robots are, however, notoriously difficult to control due to their oscillatory nature and nonlinear interaction between the components. Multiagent...