42 citations · 170 across the 22 of their papers we have counts for
26 papers
A Mathematical Characterization of Minimally Sufficient Robot Brains
Basak Sakcak, Kalle G. Timperi, Vadim Weinstein +1
This paper addresses the lower limits of encoding and processing the information acquired through interactions between an internal system (robot algorithms or software) and an exte…
Virtual Reality Sickness Reduces Attention During Immersive Experiences
Katherine J. Mimnaugh, Evan G. Center, Markku Suomalainen +6
In this paper, we show that Virtual Reality (VR) sickness is associated with a reduction in attention, which was detected with the P3b Event-Related Potential (ERP) component from…
The Limits of Learning and Planning: Minimal Sufficient Information Transition Systems
Basak Sakcak, Vadim Weinstein, Steven M. LaValle
In this paper, we view a policy or plan as a transition system over a space of information states that reflect a robot's or other observer's perspective based on limited sensing, m…
Bang-Bang Boosting of RRTs
Alexander J. LaValle, Basak Sakcak, Steven M. LaValle
This paper presents methods for dramatically improving the performance of sampling-based kinodynamic planners. The key component is the first-known complete, exact steering method…
Localization with Single or Antipodal Distance Measurements
Barak Ugav, Steven M. LaValle, Dan Halperin
Given a polygonal workspace , a depth sensor placed at point inside and oriented in direction measures the distance between and the closest po…
Leaning-Based Control of an Immersive-Telepresence Robot
Joona Halkola, Markku Suomalainen, Basak Sakcak +5
In this paper, we present an implementation of a leaning-based control of a differential drive telepresence robot and a user study in simulation, with the goal of bringing the same…
The Body Scaling Effect and Its Impact on Physics Plausibility
Matti Pouke, Evan G. Center, Alexis P. Chambers +3
In this study we investigated the effect of body ownership illusion-based body scaling on physics plausibility in Virtual Reality (VR). Our interest was in examining whether body o…
An Enactivist-Inspired Mathematical Model of Cognition
Vadim Weinstein, Basak Sakcak, Steven M. LaValle
We formulate five basic tenets of enactivist cognitive science that we have carefully identified in the relevant literature as the main underlying principles of that philosophy. We…
A Study of Preference and Comfort for Users Immersed in a Telepresence Robot
Adhi Widagdo, Markku Suomalainen, Basak Sakcak +5
In this paper, we show that unwinding the rotations of a user immersed in a telepresence robot is preferred and may increase the feeling of presence or "being there". By immersive…
Visibility-Inspired Models of Touch Sensors for Navigation
Kshitij Tiwari, Basak Sakcak, Prasanna Routray +2
This paper introduces mathematical models of \sensors\ for mobile robots based on visibility. Serving a purpose similar to the pinhole camera model for computer vision, the introdu…
HI-DWA: Human-Influenced Dynamic Window Approach for Shared Control of a Telepresence Robot
Juho Kalliokoski, Basak Sakcak, Markku Suomalainen +4
This paper considers the problem of enabling the user to modify the path of a telepresence robot. The robot is capable of autonomously navigating to a goal predefined by the user,…
Augmenting Immersive Telepresence Experience with a Virtual Body
Nikunj Arora, Markku Suomalainen, Matti Pouke +5
We propose augmenting immersive telepresence by adding a virtual body, representing the user's own arm motions, as realized through a head-mounted display and a 360-degree camera.…
Unwinding Rotations Improves User Comfort with Immersive Telepresence Robots
Markku Suomalainen, Basak Sakcak, Adhi Widagdo +5
We propose unwinding the rotations experienced by the user of an immersive telepresence robot to improve comfort and reduce VR sickness of the user. By immersive telepresence we re…
Comfort and Sickness while Virtually Aboard an Autonomous Telepresence Robot
Markku Suomalainen, Katherine J. Mimnaugh, Israel Becerra +3
In this paper, we analyze how different path aspects affect a user's experience, mainly VR sickness and overall comfort, while immersed in an autonomously moving telepresence robot…
Analysis of User Preferences for Robot Motions in Immersive Telepresence
Katherine J. Mimnaugh, Markku Suomalainen, Israel Becerra +3
This paper considers how the motions of a telepresence robot moving autonomously affect a person immersed in the robot through a head-mounted display. In particular, we explore the…
Defining Preferred and Natural Robot Motions in Immersive Telepresence from a First-Person Perspective
Katherine J. Mimnaugh, Markku Suomalainen, Israel Becerra +3
This paper presents some early work and future plans regarding how the autonomous motions of a telepresence robot affect a person embodied in the robot through a head-mounted displ…
The Plausibility Paradox for Resized Users in Virtual Environments
Matti Pouke, Katherine J. Mimnaugh, Alexis Chambers +2
This paper identifies and confirms a perceptual phenomenon: when users interact with simulated objects in a virtual environment where the users' scale deviates greatly from normal,…
Information Requirements of Collision-Based Micromanipulation
Alexandra Q. Nilles, Ana Pervan, Thomas A. Berrueta +2
We present a task-centered formal analysis of the relative power of several robot designs, inspired by the unique properties and constraints of micro-scale robotic systems. Our tas…
Human Perception-Optimized Planning for Comfortable VR-Based Telepresence
Israel Becerra, Markku Suomalainen, Eliezer Lozano +3
This paper introduces an emerging motion planning problem by considering a human that is immersed into the viewing perspective of a remote robot. The challenge is to make the exper…
The Plausibility Paradox for Scaled-Down Users in Virtual Environments
Matti Pouke, Katherine J. Mimnaugh, Timo Ojala +1
This paper identifies a new phenomenon: when users interact with simulated objects in a virtual environment where the user is much smaller than usual, there is a mismatch between t…
Virtual Reality for Robots
Markku Suomalainen, Alexandra Q. Nilles, Steven M. LaValle
This paper applies the principles of Virtual Reality (VR) to robots, rather than living organisms. A simulator, of either physical states or information states, renders outputs to…
Optimal Multi-Robot Path Planning on Graphs: Complete Algorithms and Effective Heuristics
Jingjin Yu, Steven M. LaValle
We study the problem of optimal multi-robot path planning on graphs MPP over four distinct minimization objectives: the makespan (last arrival time), the maximum (single-robot trav…
Optimal Multi-Robot Path Planning on Graphs: Structure and Computational Complexity
Jingjin Yu, Steven M. LaValle
We study the problem of optimal multi-robot path planning on graphs (MPP) over four distinct minimization objectives: the total arrival time, the makespan (last arrival time), the…
On Considering Uncertainty and Alternatives in Low-Level Vision
Steven M. LaValle, Seth A. Hutchinson
In this paper we address the uncertainty issues involved in the low-level vision task of image segmentation. Researchers in computer vision have worked extensively on this problem,…