GT MARS

Project Documents

This page contains links to papers, presentations, and other publications that are relevant to GT MARS.

• Georgia Tech's proposal to DARPA for the MARS project (edited for web publication): PDF (322 kB)
• Multi-level Learning in Hybrid Deliberative/Reactive Mobile Robot Architectural Software Systems
  • Very brief overview of the GT MARS project: PDF (33 kB)
  • Presentation: PDF (2.1 MB), PowerPoint (1.0 MB)
  • Poster: PDF (46 kB), PowerPoint (168 kB)
• Presentations at DARPA MARS review meetings:
  • January 2000, Aberdeen: PDF (1.7 MB), PowerPoint (1.1 MB)
  • May 2000, Houston: PDF (932 kB), PowerPoint (1.0 MB)
  • March 2001, San Diego: PDF (1.3 MB), PowerPoint (2.3 MB)
• Relevant Mobile Robot Lab On-line Publications:
  • Adaptive Multi-Robot Behavior via Learning Momentum; Brian Lee and Ronald C. Arkin; 2003
    compressed postscript (1.6 MB), pdf (533 kB)
  • A Reactive Robot Architecture with Planning on Demand; Ananth Ranganathan and Sven Koenig; 2003
    compressed postscript (1.2 MB), pdf (785 kB)
  • Multistrategy Learning Methods for Multirobot Systems; Ronald C. Arkin, Yoichiro Endo, Brian Lee, Douglas C. MacKenzie, and Eric Martinson; 2003
    compressed postscript (1.8 MB), pdf (304 kB)
  • Robot Behavioral Selection Using Q-learning; Eric Martinson, Alexander Stoytchev, and Ronald C. Arkin; 2002
    compressed postscript (6.4 MB), pdf (2.8 MB)
  • Usability Evaluation of High-Level User Assistance for Robot Mission Specification;Yoichiro Endo, Douglas C. MacKenzie, and Ronald C. Arkin; 2002
    compressed postscript (1.1 MB), pdf (1016 kB)
  • Selection of Behavioral Parameters: Integration of Discontinuous Switching via Case-Based Reasoning with Continuous Adaptation via Learning Momentum; J. Brian Lee, Maxim Likhachev, and Ronald C. Arkin; 2001
    compressed postscript (376 kB), pdf (350 kB)
  • Learning Behavioral Parameterization Using Spatio-Temporal Case-Based Reasoning; Maxim Likhachev, Michael Kaess, and Ronald C. Arkin; 2001
    compressed postscript (1.0 MB), pdf (890 kB)
  • Robot Behavioral Selection Using Q-learning; Eric Martinson, Alexander Stoytchev, and Ronald C. Arkin; 2001
    compressed postscript (4.7 MB), pdf (766 kB)
  • Spatio-Temporal Case Based Reasoning for Behavioral Selection; Maxim Likhachev and Ronald C. Arkin; 2000
    compressed postscript (1.1 MB), pdf (862 kB)
  • Learning Momentum: Integration and Experimentation; J. Brian Lee and Ronald C. Arkin; 2000
    compressed postscript (1.2 MB), pdf (882 kB)
• Presentations made at DarpaTech '99 - the presentation entitled "Software for Autonomous Systems" by Col. Mark Swinson is especially relevent to the MARS project.