7 papers
Curating Long-term Vector Maps
Samer Nashed, Joydeep Biswas
Autonomous service mobile robots need to consistently, accurately, and robustly localize in human environments despite changes to such environments over time. Episodic non-Markov L…
Learning to Optimize Autonomy in Competence-Aware Systems
Connor Basich, Justin Svegliato, Kyle Hollins Wray +3
Interest in semi-autonomous systems (SAS) is growing rapidly as a paradigm to deploy autonomous systems in domains that require occasional reliance on humans. This paradigm allows…
SMT-based Robot Transition Repair
Jarrett Holtz, Arjun Guha, Joydeep Biswas
State machines are a common model for robot behaviors. Transition functions often rely on parameterized conditions to model preconditions for the controllers, where the correct val…
Automatic Failure Recovery for End-User Programs on Service Mobile Robots
Jenna Claire Hammond, Joydeep Biswas, Arjun Guha
For service mobile robots to be most effective, it must be possible for non-experts and even end-users to program them to do new tasks. Regardless of the programming method (e.g.,…
Making High-Performance Robots Safe and Easy to Use for an Introduction to Computing
Joseph Spitzer, Joydeep Biswas, Arjun Guha
Robots are a popular platform for introducing computing and artificial intelligence to novice programmers. However, programming state-of-the-art robots is very challenging, and req…
IVOA: Introspective Vision for Obstacle Avoidance
Sadegh Rabiee, Joydeep Biswas
Vision, as an inexpensive yet information rich sensor, is commonly used for perception on autonomous mobile robots. Unfortunately, accurate vision-based perception requires a numbe…