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Using Ontology-based Experiences for Supporting Robot Tasks- Position Paper

by Lothar Hotz, Bernd Neumann, Stephanie Von Riegen, Nina Worch
"... Abstract. In this paper, we consider knowledge needed for interaction tasks of an artificial cognitive system, embodied by a service robot. First, we describe ideas about the use of experiences of a robot for improving its interactivity. Our approach is based on an multilevel ontological representat ..."
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Abstract. In this paper, we consider knowledge needed for interaction tasks of an artificial cognitive system, embodied by a service robot. First, we describe ideas about the use of experiences of a robot for improving its interactivity. Our approach is based on an multilevel ontological

Real-Time Obstacle Avoidance for Manipulators and Mobile Robots

by Oussama Khatib - INT. JOUR OF ROBOTIC RESEARCH , 1986
"... This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the artificial potential field concept. Collision avoidance, tradi-tionally considered a high level planning problem, can be effectively distributed between different levels of control, al- ..."
Abstract - Cited by 1345 (28 self) - Add to MetaCart
This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the artificial potential field concept. Collision avoidance, tradi-tionally considered a high level planning problem, can be effectively distributed between different levels of control, al

A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots

by Sebastian Thrun, Wolfram Burgard, Dieter Fox, Henry Hexmoor, Maja Mataric - Machine Learning , 1998
"... . This paper addresses the problem of building large-scale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximum-likelihood estimation problem. It then devises a practical algorithm for generating the most likely map from ..."
Abstract - Cited by 483 (43 self) - Add to MetaCart
. This paper addresses the problem of building large-scale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximum-likelihood estimation problem. It then devises a practical algorithm for generating the most likely map from

Randomized kinodynamic planning

by Steven M. Lavalle, James J. Kuffner, Jr. - THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH 2001; 20; 378 , 2001
"... This paper presents the first randomized approach to kinodynamic planning (also known as trajectory planning or trajectory design). The task is to determine control inputs to drive a robot from an initial configuration and velocity to a goal configuration and velocity while obeying physically based ..."
Abstract - Cited by 626 (35 self) - Add to MetaCart
This paper presents the first randomized approach to kinodynamic planning (also known as trajectory planning or trajectory design). The task is to determine control inputs to drive a robot from an initial configuration and velocity to a goal configuration and velocity while obeying physically based

A Tutorial on Visual Servo Control

by Seth Hutchinson, Greg Hager, Peter Corke - IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION , 1996
"... This paper provides a tutorial introduction to visual servo control of robotic manipulators. Since the topic spans many disciplines our goal is limited to providing a basic conceptual framework. We begin by reviewing the prerequisite topics from robotics and computer vision, including a brief review ..."
Abstract - Cited by 839 (26 self) - Add to MetaCart
This paper provides a tutorial introduction to visual servo control of robotic manipulators. Since the topic spans many disciplines our goal is limited to providing a basic conceptual framework. We begin by reviewing the prerequisite topics from robotics and computer vision, including a brief

Closed-form solution of absolute orientation using unit quaternions

by Berthold K. P. Horn - J. Opt. Soc. Am. A , 1987
"... Finding the relationship between two coordinate systems using pairs of measurements of the coordinates of a number of points in both systems is a classic photogrammetric task. It finds applications in stereophotogrammetry and in robotics. I present here a closed-form solution to the least-squares pr ..."
Abstract - Cited by 989 (4 self) - Add to MetaCart
Finding the relationship between two coordinate systems using pairs of measurements of the coordinates of a number of points in both systems is a classic photogrammetric task. It finds applications in stereophotogrammetry and in robotics. I present here a closed-form solution to the least

Maximum entropy markov models for information extraction and segmentation

by Andrew McCallum, Dayne Freitag, Fernando Pereira , 2000
"... Hidden Markov models (HMMs) are a powerful probabilistic tool for modeling sequential data, and have been applied with success to many text-related tasks, such as part-of-speech tagging, text segmentation and information extraction. In these cases, the observations are usually modeled as multinomial ..."
Abstract - Cited by 561 (18 self) - Add to MetaCart
Hidden Markov models (HMMs) are a powerful probabilistic tool for modeling sequential data, and have been applied with success to many text-related tasks, such as part-of-speech tagging, text segmentation and information extraction. In these cases, the observations are usually modeled

Implicit Fairing of Irregular Meshes using Diffusion and Curvature Flow

by Mathieu Desbrun , Mark Meyer, Peter Schröder, Alan H. Barr , 1999
"... In this paper, we develop methods to rapidly remove rough features from irregularly triangulated data intended to portray a smooth surface. The main task is to remove undesirable noise and uneven edges while retaining desirable geometric features. The problem arises mainly when creating high-fidelit ..."
Abstract - Cited by 542 (23 self) - Add to MetaCart
In this paper, we develop methods to rapidly remove rough features from irregularly triangulated data intended to portray a smooth surface. The main task is to remove undesirable noise and uneven edges while retaining desirable geometric features. The problem arises mainly when creating high

Motivation through the Design of Work: Test of a Theory. Organizational Behavior and Human Performance,

by ] Richard Hackman , Grec R Oldham , 1976
"... A model is proposed that specifies the conditions under which individuals will become internally motivated to perform effectively on their jobs. The model focuses on the interaction among three classes of variables: (a) the psychological states of employees that must be present for internally motiv ..."
Abstract - Cited by 622 (2 self) - Add to MetaCart
motivated work behavior to develop; (b) the characteristics of jobs that can create these psychological states; and (c) the attributes of individuals that determine how positively a person will respond to a complex and challenging job. The model was tested for 658 employees who work on 62 different jobs

Loopy belief propagation for approximate inference: An empirical study. In:

by Kevin P Murphy , Yair Weiss , Michael I Jordan - Proceedings of Uncertainty in AI, , 1999
"... Abstract Recently, researchers have demonstrated that "loopy belief propagation" -the use of Pearl's polytree algorithm in a Bayesian network with loops -can perform well in the context of error-correcting codes. The most dramatic instance of this is the near Shannon-limit performanc ..."
Abstract - Cited by 676 (15 self) - Add to MetaCart
. Introduction The task of calculating posterior marginals on nodes in an arbitrary Bayesian network is known to be NP hard In this paper we investigate the approximation performance of "loopy belief propagation". This refers to using the well-known Pearl polytree algorithm [12] on a Bayesian network
Results 1 - 10 of 17,083