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From Pixels to Multi-Robot Decision-Making: A Study in Uncertainty (2006)
Peter Stone
and
Mohan Sridharan
and
Daniel Stronger
and
Gregory Kuhlmann
and
Nate Kohl
and
Peggy Fidelman
and
Nicholas K. Jong
Mobile robots must cope with uncertainty from many sources along the path from interpreting raw sensor inputs to behavior selection to execution of the resulting primitive actions. This article identifies several such sources and introduces methods for i) reducing uncertainty and ii) making decisions in the face of uncertainty. We present a complete vision-based robotic system that includes several algorithms for learning models that are useful and necessary for planning, and then place particular emphasis on the planning and decision-making capabilities of the robot. Specifically, we present models for autonomous color calibration, autonomous sensor and actuator modeling, and an adaptation of particle filtering for improved localization on legged robots. These contributions enable effective planning under uncertainty for robots engaged in goal-oriented behavior within a dynamic, collaborative and adversarial environment. Each of our algorithms is fully implemented and tested on a commercial off-the-shelf vision-based quadruped robot.
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Citation:
Robotics and Autonomous Systems
, 54(11):933-43, November 2006. Special issue on Planning Under Uncertainty in Robotics..
Bibtex:
@Article{RAS06, title={From Pixels to Multi-Robot Decision-Making: A Study in Uncertainty}, author={Peter Stone and Mohan Sridharan and Daniel Stronger and Gregory Kuhlmann and Nate Kohl and Peggy Fidelman and Nicholas K. Jong}, volume={54}, journal={Robotics and Autonomous Systems}, number={11}, month={November}, pages={933-43}, note={Special issue on Planning Under Uncertainty in Robotics.}, url="http://nn.cs.utexas.edu/?RAS06", year={2006} }
People
Peggy Fidelman
Former Ph.D. Student
peggyf [at] cs utexas edu
Nicholas Jong
nickjong [at] me com
Nate Kohl
Ph.D. Alumni
nate [at] natekohl net
Gregory Kuhlmann
kuhlmann [at] cs utexas edu
Mohan Sridharan
mhnsrdhrn [at] gmail com
Peter Stone
pstone [at] cs utexas edu
Daniel Stronger
dan stronger [at] gmail com
Areas of Interest
Planning
Robotics