Parameters in robotic systems have traditionally been hand-tuned by human experts
through painstaking trail-and-error. In addition to requiring a substantial number of man …

This thesis identifies operational uncertainty as a significant problem affecting reliable robot
performance in real environments. Operational uncertainty represents ambiguity in a robot's …

Robots reason about abstract actions, such as" go to positionl'", in order to decide what to do
or to generate plans for their intended course of action. The use of abstract actions enables …

One of the main challenges in motor control is expressing high-level goals in terms of low-
level actions. To do so effectively, motor control systems must reason about actions at …

In this paper we describe the integration of a robot control platform (Player/Stage) and a real
robot (Pioneer P3DX) with PELEA (Planning, Execution and LEarning Architecture). PELEA …

Autonomous robots acting in complex, dynamic every-day environments must constantly
adapt their abilities to their environment by means of learning during the execution of their …

Hybrid robot control architectures separate planning, coordination, and sensing and acting
into separate processing layers to provide autonomous robots both deliberative and reactive …

We designed an easy-to-use user interface based on speech and gesture modalities for
controling an interactive robot. This paper, after a brief description of this interface and the …

Applying neural networks to generate robust agent controllers is now a seasoned practice,
with time needed only to isolate particulars of domain and execution. However we are often …

One of the most challenging visions of contemporary robotics is to bring autonomous robots
into the real world and enable them to operate efficiently and safely in natural, populated …