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Mobile Robot Laboratory On-line Publications

(Compressed postscript versions have sharper figures, pdf versions are often the smaller file size)


2014

Automatic Verification of Autonomous Robot Missions
M. O'Brien, R. C. Arkin, D. Harrington, D. Lyons, S. Jiang
compressed postscript (775 KB) pdf (440 KB)

Other-Oriented Robot Deception: A Computational Approach for Deceptive Action Generation to Benefit the Mark
J. Shim, R. C. Arkin
compressed postscript (4.1 MB) pdf (4.9 MB)

Robot Deception and Squirrel Behavior: A Case Study in Bio-inspired Robotics
J. Shim, R. C. Arkin
compressed postscript (8.2 MB) pdf (6.5 MB)

A Primate-inspired Autonomous Navigation Algorithm Using the Cognitive Mechanism of Mental Rotation
M. Pettinati, R. C. Arkin
compressed postscript (2.8 MB) pdf (840 KB)

Moral Emotions, Robots, and their Role in Managing Stigma in Early Stage Parkinson's Disease Caregiving
R. C. Arkin, M. Pettinati
compressed postscript (3.9 MB) pdf (1.7 MB)

Getting it right the first time: Verification of Behavior-based Multirobot Missions
D. M. Lyons, R. C. Arkin, S. Jiang, D. Harrington, M. O'Brien
compressed postscript (196 KB) pdf (254 KB)

Ameliorating Patient-Caregiver Stigma in Early-Stage Parkinson's Disease using Robot co-Mediators
R. C. Arkin
compressed postscript (3.7 MB) pdf (1.1 MB)

Verifying and Validating Multirobot Missions
D. M. Lyons, R. C. Arkin, S. Jiang, D. Harrington, T. Liu
compressed postscript (3.1 MB) pdf (918 KB)

Affect in Human-Robot Interaction
R. C. Arkin, L. Moshkina
compressed postscript (542 KB) pdf (562 KB)

Collaborative Robots in Rehabilitation for Social Self-Management of Health
L. Tickle-Degnen, M. Scheutz, R. C. Arkin
compressed postscript (131 KB) pdf (131 KB)

Preserving Dignity in Patient Caregiver Relationships Using Moral Emotions and Robots
R. C. Arkin, M. Scheutz, L. Tickle-Degnen
compressed postscript (691 KB) pdf (336 KB)


2013

Performance Guarantees for C-WMD Robot Missions
S. Jiang, R. C. Arkin, D. M. Lyons, T-M Liu, D. Harrington
compressed postscript (386 KB) pdf (596 KB)

Getting it Right the First time: Robot Mission Guarantees in the presence of Uncertainty
D. M. Lyons, R. C. Arkin, P. Nirmal, S. Jiang, T-M Liu, J. Deeb
compressed postscript (647 KB) pdf (623 KB)

A Taxonomy of Robot Deception and its Benefits in HRI
J. Shim and R. C. Arkin
compressed postscript (1.9 MB) pdf (1.1 MB)

Lethal Autonomous Systems and the Plight of the Non-combatant
R. C. Arkin
compressed postscript (180 KB) pdf (172 KB)

Primate-inspired Vehicle Navigation using Optic Flow and Mental Rotations
R. C. Arkin, F. Dellaert, N. Srinivasan, R. Kerwin
compressed postscript (6 MB) pdf (1.9 MB)

Performance Verification for Behavior-based Robot Missions
D. Lyons, R. C. Arkin, S. Jiang, T-L. Liu, P. Nirmal, J. Deeb
compressed postscript (690 KB) pdf (618 KB)

The Robot didn't do it.
R. C. Arkin
compressed postscript (340 KB) pdf (94 KB)


2012

A Software Tool for the Design of Critical Robot Missions with Performance Guarantees
D. Lyons, R. Arkin, P. Nirmal, S. Jiang, T. Liu
compressed postscript (1.2 MB) pdf (790 KB)

Verifying Performance for Autonomous Robot Missions with Uncertainty
D. Lyons, R. Arkin, T. Liu, S. Jiang, P. Nirmal
compressed postscript (1.2 MB) pdf (541 KB)

Robots that Need to Mislead: Biologically-inspired Machine Deception
R.C. Arkin
compressed postscript (4.3 MB) pdf (878 KB)

Designing Autonomous Robot Missions with Performance Guarantees
D.M. Lyons, R.C. Arkin, P. Nirmal, S. Jiang
compressed postscript (1.3 MB) pdf (602 KB)

Biologically-Inspired Deceptive Behavior for a Robot
J. Shim, R.C. Arkin
compressed postscript (1.8 MB) pdf (2.1 MB)

Envisioning: Mental Rotation-based Semi-reactive Robot Control
R.C. Arkin, F. Dellaert, J. Devassy
compressed postscript (745 KB) pdf (745 KB)

The Role of Mental Rotations in Primate-inspired Robot Navigation
R.C. Arkin
compressed postscript (484 KB) pdf (1.3 MB)

Mobbing Behavior and Deceit and its role in Bio-inspired Autonomous Robotic Agents
J. Davis, R.C. Arkin
compressed postscript (484 KB) pdf (585 KB)

Architectural Design and Support for Knowledge Sharing Across Heterogeneous MAST systems
R.C. Arkin, Sergio Garcia-Vergara, Sung G. Lee
compressed postscript (5.0 MB) pdf (5.8 MB)

Getting it Right the First Time: Predicted Performance Guarantees from the Analysis of Emergent Behavior in Autonomous and Semi-autonomous Systems
R.C. Arkin, D. Lyons, S. Jiang, P. Nirmal, M. Zafar
compressed postscript (4.0 MB) pdf (3.3 MB)

Overriding Ethical Constraints in Lethal Autonomous Systems
R.C. Arkin, P. Ulam
compressed postscript (3.0 MB) pdf (3.0 MB)

Characterizing Performance Guarantees for Multiagent, Real-Time Systems operating in Noisy and Uncertain Environments
D. Lyons, R.C. Arkin, S. Fox, S. Jiang, P. Nirmal, M. Zafar
compressed postscript (15 MB) pdf (533 KB)


2011

Modeling the Effects of Mass and Age Variation in Wolves to Explore the Effects of Heterogeneity in Robot Team Composition
J. D. Madden and R. C. Arkin
compressed postscript (488 KB) pdf (485 KB)

Recognizing Situations that Demand Trust
A.R. Wagner and R.C. Arkin
compressed postscript (2.2 MB) pdf (252 KB)

The Ethics of Robotic Deception
R.C. Arkin
compressed postscript (277 KB) pdf (97 KB)

Moral Emotions for Robots
R.C. Arkin
compressed postscript (289 KB) pdf (100 KB)

A Conceptual Space Architecture for Widely Heterogeneous Robotic Systems
H. Jung, A. Menon, and R.C. Arkin
compressed postscript (1.1 MB) pdf (558 KB)

Moral Decision-making in Autonomous Systems: Enforcement, Moral Emotions, Dignity, Trust, and Deception
R.C. Arkin, P. Ulam, and A.R. Wagner
compressed postscript (5.1 MB) pdf (499 KB)

Viewpoint: Military Robotics and the Robotics Community's Responsibility
R.C. Arkin
compressed postscript (122 KB) pdf (48 KB)

An Integrative Framework of Time-Varying Affective Robotic Behavior
Lilia Moshkina, Ph.D. Dissertation
compressed postscript (21 MB) pdf (11 MB)

International Governance of Autonomous Military Robots
G. Marchant, B. Allenby, R. Arkin, E. Barrett, J. Borenstein, L. Gaudet, O. Kittrie, P. Lin, G. Lucas, R. O'Meara, and J. Silberman
compressed postscript (5.6 MB) pdf (460 KB)


2010

The Case for Ethical Autonomy in Unmanned Systems
R.C. Arkin
compressed postscript (1.5 MB) pdf (158 KB)

TAME: Time-varying Affective Response for Humanoid Robots
L. Moshkina, S. Park, R.C. Arkin, J.K. Lee, H. Jung
compressed postscript (3.5 MB) pdf (912 KB)

Multi-Robot System Based on Model of Wolf Hunting Behavior to Emulate Wolf and Elk Interactions
J. Madden, R.C. Arkin, D.R. MacNulty
compressed postscript (3.2 MB) pdf (818 KB)

Mood as an Affective Component for Robotic Behavior with Continuous Adaptation via Learning Momentum
S. Park, L. Moshkina, and R.C. Arkin
compressed postscript (1.2 MB) pdf (415 KB)

Recognizing Nonverbal Affective Behavior in Humanoid Robots
S. Park, L. Moshkina, and R.C. Arkin
compressed postscript (1.7 MB) pdf (412 KB)

Communication and Alignment of Grounded Symbolic Knowledge among Heterogeneous Robots
Zsolt Kira, Ph.D. Dissertation
compressed postscript (7.9 MB) pdf (5.0 MB)

Mission Specification and Control for Unmanned Aerial and Ground Vehicles for Indoor Target Discovery and Tracking
P. Ulam, Z. Kira, R.C. Arkin, and T.R. Collins
compressed postscript (89 MB) pdf (3.0 MB)

A Design Process for Robot Capabilities and Missions Applied to Microautonomous Platforms
Z. Kira, R.C. Arkin, and T.R. Collins
compressed postscript (4.8 MB) pdf (1.2 MB)

Acting Deceptively: Providing Robots with the Capacity for Deception
A.R. Wagner and R.C. Arkin
compressed postscript (559 KB) pdf (554 KB)

Inter-Robot Transfer Learning for Perceptual Classification
Z. Kira
AAMAS Proceedings
compressed postscript (827 KB) pdf (954 KB)


2009

The Role of Trust and Relationships in Human-Robot Social Interaction
Alan R. Wagner, Ph.D. Dissertation
compressed postscript (3.3 MB) pdf (3.3 MB)

Transferring Embodied Concepts between Perceptually Heterogeneous Robots
Z. Kira
compressed postscript (1.4 MB) pdf (1.2 MB)

Lek Behavior as a Model for Multi-Robot Systems
B.A. Duncan, P.D. Ulam, and R.C. Arkin
compressed postscript (1.6 MB) pdf (8.6 MB)

Robot Deception: Recognizing when a Robot Should Deceive
A.R. Wagner and R.C. Arkin
compressed postscript (244 KB) pdf (106 KB)

An Ethical Adaptor: Behavioral Modification Derived from Moral Emotions
R.C. Arkin and P. Ulam
compressed postscript (2.6 MB) pdf (1.6 MB)

The Coordination of Deliberative Reasoning in a Mobile Robot
P. Ulam
compressed postscript (277 KB) pdf (159 KB)

Beyond Humanoid Emotions: Incorporating Traits, Attitudes and Moods
L. Moshkina and R.C. Arkin
compressed postscript (158 KB) pdf (179 KB)

Mapping Grounded Object Properties across Perceptually Heterogeneous Embodiments
Z. Kira
compressed postscript (961 KB) pdf (559 KB)

Accountable Autonomous Agents: The next level
R.C. Arkin
Position Paper for the DARPA Complete Intelligence Workshop.
compressed postscript (56 KB) pdf (111 KB)

Creating and Using Matrix Representations of Social Interaction
A.R. Wagner
compressed postscript (4.1 MB) pdf (298 KB)

Time-varying Affective Response for Humanoid Robots
L. Moshkina, R.C. Arkin, J.K. Lee, and H. Jung
compressed postscript (349 KB) pdf (372 KB)

Ethical Robots in Warfare
R.C. Arkin
compressed postscript (98 KB) pdf (142 KB)

An Ethical Governor for Constraining Lethal Action in an Autonomous System
R.C. Arkin, P. Ulam, and B. Duncan
compressed postscript (1.2 MB) pdf (873 KB)

Responsibility and Lethality for Unmanned Systems: Ethical Pre-mission Responsibility Advisement
R.C. Arkin, A.R. Wagner, and B. Duncan
compressed postscript (795 KB) pdf (580 KB)


2008

Countering Murphy's Law: The Use of Anticipation and Improvisation via an Episodic Memory in Support of Intelligent Robot Behavior
Yoichiro Endo, Ph.D. Dissertation
compressed postscript (6.9 MB) pdf (4.9 MB)

Lethality and Autonomous Systems: The Roboticist Demographic
L. Moshkina and R.C. Arkin
compressed postscript (301 KB) pdf (181 KB)

Illusion versus Reality in Companion Robots: A Reprise (EXTENDED ABSTRACT)
R.C. Arkin
compressed postscript (276 KB) pdf (92 KB)


2007

Lethality and Autonomous Systems: Survey Design and Results
L. Moshkina and R.C. Arkin
compressed postscript (3.1 MB) pdf (2.1 MB)

Acoustical Awareness for Intelligent Robotic Action
Eric Martinson, Ph.D. Dissertation
compressed postscript (2.5 MB) pdf (4.1 MB)

Biasing Behavioral Activation with Intent for an Entertainment Robot
P. Ulam and R. Arkin
compressed postscript (643 KB) pdf (685 KB)

Modeling Robot Differences by Leveraging a Physically Shared Context
Z. Kira and K. Long
compressed postscript (204 KB) pdf (153 KB)

Governing Lethal Behavior: Embedding Ethics in a Hybrid Deliberative/Reactive Robot Architecture
R.C. Arkin
compressed postscript (2.1 MB) pdf (1.9 MB)
Derivative papers:
Part 1: Motivation and Philosophy [PDF]
Part 2: Formalization for Ethical Control [PDF]
Part 3: Representational and Architectural Considerations [PDF]

Modeling Cross-Sensory and Sensorimotor Correlations to Detect and Localize Faults in Mobile Robots
Z. Kira
compressed postscript (250 KB) pdf (199 KB)

Analyzing Social Situations for Human-Robot Interaction
A.R. Wagner and R.C. Arkin
compressed postscript (630 KB) pdf (535 KB)

Adaptive Teams of Autonomous Aerial and Ground Robots for Situational Awareness
M.A. Hsieh, A. Cowley, J.F. Keller, L. Chaimowicz, B. Grocholsky, V. Kumar, and C.J. Taylor; Y. Endo and R.C. Arkin; B. Jung, D.F. Wolf and G.S. Sukhatme; D.C. MacKenzie
This is a preprint of an article accepted for publication in the Journal of Field Robotics, copyright 2007.
compressed postscript (7.3 MB) pdf (5.8 MB)

Anticipatory Robot Control for a Partially Observable Environment Using Episodic Memories
Y. Endo
compressed postscript (778 KB) pdf (367 KB)

Lethality and Autonomous Robots: An Ethical Stance
R.C. Arkin and L. Moshkina
compressed postscript (91 KB) pdf (117 KB)

On the Ethical Quandaries of a Practicing Roboticist: A first-hand look
R.C. Arkin
compressed postscript (209 KB) pdf (171 KB)

Robotic Discovery of the Auditory Scene
E. Martinson and A. Schultz
compressed postscript (1.4 MB) pdf (341 KB)

Multi-method Learning and Assimilation
S. Takamuku and R.C. Arkin
compressed postscript (4.3 MB) pdf (2.7 MB)


2006

An Integrative Framework for Time-Varying Affective Agent Behavior
L. Moshkina
compressed postscript (144 KB) pdf (107 KB)

Auditory Evidence Grids
E. Martinson and A. Schultz
compressed postscript (1.7 MB) pdf (456 KB)

Auditory Perspective Taking
E. Martinson and D. Brock
compressed postscript (772 KB) pdf (172 KB)

From Deliberative to Routine Behaviors: a Cognitively-inspired Action Selection Mechanism for Routine Behavior Capture
S. Chernova and R.C. Arkin
compressed postscript (1.8 MB) pdf (655 KB)

Integrated Mission Specification and Task Allocation for Robot Teams - Design and Implementation
P. Ulam, Y. Endo, A.R. Wagner, and R.C. Arkin
compressed postscript (1.1 MB) pdf (864 KB)

Integrated Mission Specification and Task Allocation for Robot Teams - Part 2: Testing and Evaluation
P. Ulam, Y. Endo, A.R/ Wagner, and R.C. Arkin
compressed postscript (1.4 MB) pdf (940 KB)

Behavioral Overlays for Non-Verbal Communication Expression on a Humanoid Robot [Autonomous Robots]
A.G. Brooks and R.C. Arkin
compressed postscript (1.7 MB) pdf (1.6 MB)

Biasing Behavioral Activation with Intent
P. Ulam and R.C. Arkin
compressed postscript (1.6 MB) pdf (1.6 MB)

A Framework for Situation-based Social Interaction
A.R. Wagner and R.C. Arkin
compressed postscript (1.5 MB) pdf (229 KB)

Applying Heuristic Evaluation to Human-Robot Interaction Systems
E. Clarkson and R.C. Arkin
compressed postscript (881 KB) pdf (130 KB)

Multi-robot User Interface Modeling
A.R. Wagner, Y. Endo, P. Ulam, and R.C. Arkin
compressed postscript (2.0 MB) pdf (175 KB)


2005

An Empirical Evaluation of Context-Sensitive Pose Estimators in an Urban Outdoor Environment
Y. Endo, P.D. Ulam, R.C. Arkin, T.R. Balch, and M.D. Powers
compressed postscript (285 KB) pdf (220 KB)

Usability Evaluation of an Automated Mission Repair Mechanism for Mobile Robot Mission Specification
L. Moshkina, Y. Endo, and R.C. Arkin
compressed postscript (2.3 MB) pdf (449 KB)

Anticipatory and Improvisational Robot via Recollection and Exploitation of Episodic Memories
Y. Endo
compressed postscript (228 KB) pdf (177 KB)

Spatio-Temporal Case-Based Reasoning for Efficient Reactive Robot Navigation
M. Likhachev, M. Kaess, Z. Kira, and R.C. Arkin
compressed postscript (5.1 MB) pdf (2.7 MB)

Behavior-Grounded Representation of Tool Affordances
A. Stoytchev
compressed postscript (979 KB) pdf (170 KB)


2004

Noise Maps for Acoustically Sensitive Navigation
E. Martinson, R.C. Arkin
compressed postscript (15 MB) pdf (1.6 MB)

Human Perspective on Affective Robotic Behavior: A Longitudinal Study
L. Moshkina, R.C. Arkin
compressed postscript (424 KB) pdf (148 KB)

Reactive Speed Control System Based on Terrain Roughness Detection
M. Castelnovi, R.C. Arkin, and T.R. Collins
compressed postscript (17 MB) pdf (3.7 MB)

Forgetting Bad Behavior: Memory Management for Case-Based Navigation
Z. Kira, R.C. Arkin
compressed postscript (689 KB) pdf (283 KB)

PDRRTs: Integrating Graph-Based and Cell-Based Planning
A. Ranganathan, S. Koenig
compressed postscript (4.0 MB) pdf (711 KB)

Metaphor of Politics: A Mechanism of Coalition Formation
R. Sorbello, A. Chella, and R.C. Arkin
compressed postscript (1.8 MB) pdf (906 KB)


2003

Design of an Agile Unmanned Combat Vehicle - A Product of the DARPA UGCV Program
L. Thornhill, A. Walls, R.C. Arkin, J. Beno, C. Bergh, D. Bresie, A. Giovannetti, B. Gothard, Larry Matthies, P. Nogueiro, J. Scanlon, R. Scott, M. Simon, W. Smith, and K. Waldron
Request by email

Niche Selection for Foraging Tasks in Multi-Robot Teams Using Reinforcement Learning
Patrick Ulam and Tucker Balch
compressed postscript (66 KB) pdf (188 KB)

Value-Based Communication Preservation for Mobile Robots
Matthew Powers and Tucker Balch
compressed postscript (1.4 MB) pdf (901 KB)

Multi-Robot Communication-Sensitive Reconnaissance
Alan R.Wagner and Ronald C. Arkin
compressed postscript (945 KB) pdf (357 KB)

When Good Comms Go Bad: Communications Recovery For Multi-Robot Teams
Patrick Ulam and Ronald C. Arkin
compressed postscript (1.6 MB) pdf (319 KB)

Towards Performance Guarantees For Emergent Behavior
Damian M. Lyons and Ronald C. Arkin
compressed postscript (298 KB) pdf (302 KB)

Efficient Particle Filter-Based Tracking of Multiple Interacting Targets Using an MRF-based Motion Model
Z. Khan, T. Balch, and F. Dellaert
compressed postscript (805 KB) pdf (252 KB)

Intrinsic Localization and Mapping with 2 Applications: Diffusion Mapping and Marco Polo Localization
F. Dellaert, F. Alegre and E. Martinson
compressed postscript (617 KB) pdf (422 KB)

Marco Polo Localization
E. Martinson and F. Dellaert
compressed postscript (354 KB) pdf (111 KB)

Moving Up the Food Chain: Motivation and Emotion in Behavior-Based Robots
Ronald C. Arkin
compressed postscript (1.9 MB) pdf (965 KB)

Mobile Robots at Your Fingertip: Bezier Curve On-line Trajectory Generation for Supervisory Control
Jung-Hoon Hwang, Ronald C. Arkin, and Dong-Soo Kwon
compressed postscript (333 KB) pdf (386 KB)

On TAMEing Robots
Lilia Moshkina and Ronald C. Arkin
compressed postscript (91 KB) pdf (70 KB)

Adaptive Multi-Robot Behavior via Learning Momentum
Brian Lee and Ronald C. Arkin
compressed postscript (1.8 MB) pdf (533 KB)

A Reactive Robot Architecture with Planning on Demand
Ananth Ranganathan and Sven Koenig
compressed postscript (1.2 MB) pdf (786 KB)

Anticipatory Robot Navigation by Simultaneously Localizing and Building a Cognitive Map
Yoichiro Endo and Ronald C. Arkin
compressed postscript (227 KB) pdf (248 KB)

Internalized Plans for Communication-Sensitive Robot Team Behaviors
Alan R.Wagner, Ronald C. Arkin
compressed postscript (733 KB) pdf (444 KB)

Proprioceptive Control for a Robotic Vehicle Over Geometric Obstacles
Kenneth J. Waldron, Ronald C. Arkin, Douglas Bakkum, Ernest Merrill, and Muhammad Abdallah
compressed postscript (512 KB) pdf (317 KB)

Compact Encoding of Robot-Generated 3D Maps for Efficient Wireless Transmission
Michael Kaess, Ronald C. Arkin, and Jarek Rossignac
compressed postscript (524 KB) pdf (545 KB)

Multistrategy Learning Methods for Multirobot Systems
Ronald C. Arkin, Yoichiro Endo, Brian Lee, Douglas C. MacKenzie, and Eric Martinson
compressed postscript (301 KB) pdf (305 KB)

Learning to Role-Switch in Multi-Robot Systems
Eric Martinson and Ronald C. Arkin
compressed postscript (936 KB) pdf (363 KB)


2002

The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue
Frank Dellaert, Tucker Balch, Michael Kaess, Ram Ravichandran, Fernando Alegre, Marc Berhault, Robert McGuire, Ernest Merrill, Lilia Moshkina, and Daniel Walker
compressed postscript (3.6 MB) pdf (446 KB)

Linear 2D Localization and Mapping for Single and Multiple Robots
F. Dellaert and A. Stroupe
compressed postscript (716 KB) pdf (225 KB)

Incremental Replanning for Mapping
Maxim Likhachev, and Sven Koenig
compressed postscript (164 KB) pdf (148 KB)

Robot Behavioral Selection Using Q-learning
Eric Martinson, Alexander Stoytchev, and Ronald C. Arkin
compressed postscript (6.5 MB) pdf (2.8 MB)

An Ethological and Emotional Basis for Human-Robot Interaction
Ronald C. Arkin, Masahiro Fujita, Tsuyoshi Takagi, Rika Hasegawa
compressed postscript (241 KB) pdf (295 KB)

Usability Evaluation of High-Level User Assistance for Robot Mission Specification
Yoichiro Endo, Douglas C. MacKenzie, and Ronald C. Arkin
compressed postscript (1.2 MB) pdf (1017 KB)

Improved Fast Replanning for Robot Navigation in Unknown Terrain
Sven Koenig, and Maxim Likhachev
compressed postscript (122 KB) pdf (180 KB)


2001

Distributed Sensor Fusion for Object Position Estimation by Multi-Robot Systems
Stroupe, A., Martin, M. and Balch, T.
compressed postscript (4.4 MB) pdf (425 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
compressed postscript (377 KB) pdf (351 KB)

Learning Behavioral Parameterization Using Spatio-Temporal Case-Based Reasoning
Maxim Likhachev, Michael Kaess, and Ronald C. Arkin
compressed postscript (1.1 MB) pdf (891 KB)

Line-of-Sight Constrained Exploration for Reactive Multiagent Robotic Teams
Ronald C. Arkin and Jonathan Diaz
compressed postscript (976 KB) pdf (707 KB)

Local Navigation Strategies for a Team of Robots
Antonio Sgorbissa and Ronald C. Arkin
compressed postscript (933 KB) pdf (750 KB)

Exploring Unknown Structured Environments
Jonathan F. Diaz, Alexander Stoychev, and Ronald C. Arkin
compressed postscript (780 KB) pdf (223 KB)

Ethological Modeling and Architecture for an Entertainment Robot
Ronald C. Arkin, Masahiro Fujita,Tsuyoshi Takagi, and Rika Hasegawa
compressed postscript (231 KB) pdf (204 KB)

Greedy Mapping of Terrain
Sven Koenig, Craig Tovey, William Halliburton
compressed postscript (874 KB) pdf (409 KB)

Probabilistic Planning for Behavior-Based Robotics
Sven Koenig, Amin Atrash
compressed postscript (410 KB) pdf (162 KB)


2000

Implementing Tolman's Schematic Sowbug: Behavior-Based Robotics in the 1930's
Yoichiro Endo and Ronald C. Arkin
compressed postscript (1.1 MB) pdf (892 KB)

Spatio-Temporal Case Based Reasoning for Behavioral Selection
Maxim Likhachev and Ronald C. Arkin
compressed postscript (1.2 MB) pdf (862 KB)

Learning Momentum: Integration and Experimentation
J. Brian Lee and Ronald C. Arkin
compressed postscript (1.3 MB) pdf (882 KB)

Combining Deliberation, Reactivity and Motivation in the Context of a Behavior-Based Robot Architecture
Alexander Stoytchev and Ronald C. Arkin
compressed postscript (2.4 MB) pdf (805 KB)

Robotic Comfort Zones
Maxim Likhachev and Ronald C. Arkin
compressed postscript (929 KB) pdf (730 KB)

Field Results for Tactical Mobile Robot Missions
Thomas R. Collins, Ronald C. Arkin, Michael J. Cramer, and Yoichiro Endo
compressed postscript (1.1 MB) pdf (667 KB)

Neuronal Networks Working at Multiple Temporal Scales as a Basis for Amphibia's Prey-Catching Behavior
Francisco Cervantes-Perez, Luis R. Flores-Castillo, Alfredo Weitzenfeld, and Ronald C. Arkin
compressed postscript (576 KB) pdf (394 KB)

Tactical Mobile Robot Mission Specification and Execution
Ronald C. Arkin, Thomas R. Collins, Yoichiro Endo
compressed postscript (3.2 MB) pdf (2.5 MB)

Real-time Cooperative Behavior for Tactical Mobile Robot Teams; Skills Impact Study for Tactical Mobile Robot Operational Units
Georgia Tech College of Computing and Georgia Tech Research Institute
compressed postscript (4.2 MB) pdf (4.0 MB)


1999

Using the Condensation Algorithm for Robust, Vision-based Mobile Robot Localization
F. Dellaert, W. Burgard, D. Fox, and S. Thrun
compressed postscript (1.2 MB) pdf (379 KB)

Monte Carlo Localization for Mobile Robots
F. Dellaert, D. Fox, W. Burgard, and S. Thrun
compressed postscript (877 KB) pdf (3.3 MB)

Reward and Diversity in Multirobot Foraging
Balch, T.R.
compressed postscript (740 KB) pdf (208 KB)

Multiagent Telerobotics: Matching Systems to Tasks
Khaled S. Ali, Ph.D. Dissertation
compressed postscript (2.5 MB) pdf (1.1 MB)

Behavioral Models of the Praying Mantis as a Basis for Robotic Behavior
Ronald C. Arkin, Khaled S. Ali, Alfredo Weitzenfeld, and Francisco Cervantes-Perez
compressed postscript (6.0 MB) pdf (1.3 MB)

Behavior-based Formation Control for Multi-robot Teams
Tucker Balch and Ronald C. Arkin
compressed postscript (1.6 MB) pdf (843 KB)


1998

Behavioral Diversity in Learning Robot Teams
Tucker Balch, Ph.D. Dissertation
Download Here

Implementing Schema-theoretic Models of Animal Behavior in Robotic Systems
Khaled S. Ali and Ronald C. Arkin
compressed postscript (4.7 MB) pdf (860 KB)

Evaluating the Usability of Robot Programming Toolsets
Douglas C. MacKenzie and Ronald C. Arkin
compressed postscript (756 KB) pdf (821 KB)

Igloos on the Equator - Position paper for AAAI Spring Symposium 98
Ronald C. Arkin
html

Visualization of Multi-level Neural-based Robotic Systems
Alfredo Weitzenfeld, Ronald C. Arkin, Francisco Cervantes, and Jose F. Peniche
compressed postscript (267 KB) pdf (331 KB)

A Neural Schema Architecture for Autonomous Robots
Alfredo Weitzenfeld, Ronald C. Arkin, Francisco Cervantes, Roberto Olivares, and Fernando Corbacho
compressed postscript (914 KB) pdf (864 KB)


1997

Design and Implementation of a Teleautonomous Hummer
Darrin C. Bentivegna, Khaled S. Ali, Ronald C. Arkin, and Tucker Balch
compressed postscript (783 KB) pdf (740 KB)

Ecological Robotics: A Schema-theoretic Approach
Ronald C. Arkin, Francisco Cervantes-Perez and Alfredo Weitzenfeld
compressed postscript (490 KB) pdf (491 KB)

Integrating RL and Behavior-based Control for Soccer
Tucker Balch
compressed postscript (262 KB) pdf (313 KB)

Multiagent Teleautonomous Behavioral Control
Khaled Ali and Ronald C. Arkin
compressed postscript (906 KB) pdf (761 KB)

Learning of Parameter-Adaptive Reactive Controllers for Robotic Navigation
Juan Carlos Santamaria and Ashwin Ram
compressed postscript (120 KB) pdf (238 KB)

A New Heuristic Approach for Dual Control
Juan Carlos Santamaria and Ashwin Ram
compressed postscript (79 KB) pdf (263 KB)

Design Methodology for the Configuration of Behavior-Based Robots
Douglas C. Mackenzie, Ph.D. Dissertation
compressed postscript (5.4 MB) pdf (4.2 MB)

Cooperative Multiagent Robotic Systems
Ronald C. Arkin and Tucker Balch
compressed postscript (902 KB) pdf (813 KB)

Multiagent Mission Specification and Execution
Doug MacKenzie, Ronald C. Arkin, and Jonathan Cameron
compressed postscript (2.2 MB) pdf (1.8 MB)

AuRA: Principles and Practice in Review
Ronald C. Arkin and Tucker Balch
compressed postscript (312 KB) pdf (419 KB)

Learning Roles: Behavioral Diversity in Robot Teams
Tucker Balch
compressed postscript (50 KB) pdf (174 KB)

Social Entropy: a New Metric for Learning Multi-robot Teams
Tucker Balch
compressed postscript (53 KB) pdf (196 KB)

Model-Based Reconfiguration of Schema-Based Reactive Control Architectures
Ashok Goel, Eleni Stroulia, Zhong Chen, and Paul Rowland
compressed postscript (54 KB) pdf (151 KB)

The Development of a Shared Interdisciplinary Intelligent Mechatronics Laboratory
Ronald C. Arkin, Kok-Meng Lee, Leon F. McGinnis, and Chen Zhou
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1996

Experiments with Reinforcement Learning in Problems with Continuous State and Action Spaces
Juan Carlos Santamaria, Richard S. Sutton, and Ashwin Ram
compressed postscript (185 KB) pdf (606 KB)

Behavior-Based Mobile Manipulation for Drum Sampling
Doug MacKenzie and Ronald C. Arkin
compressed postscript (2.8 MB) pdf (1.9 MB)


1995

Development of Visual Tracking Algorithms for an Autonomous Helicopter
David E. Cardoze and Ronald C. Arkin
compressed postscript (1.1 MB) pdf (1002 KB)

Intelligent Robotic Systems - Editorial Introduction
Ronald C. Arkin
compressed postscript (24 KB) pdf (103 KB)

Io, Ganymede and Callisto - a Multiagent Robot Janitorial Team
Doug MacKenzie and Juan Carlos Santamaria
compressed postscript (373 KB) pdf (475 KB)

Just What is a Robot Architecture Anyway? Turing Equivalence versus Organizing Principles
Ronald C. Arkin
compressed postscript (29 KB) pdf (103 KB)

Model-Based Echolocation of Environmental Objects
Juan Carlos Santamaria and Ronald C. Arkin
compressed postscript (147 KB) pdf (259 KB)

Motor Schema-based Formation Control for Multiagent Robot Teams
Tucker Balch and Ronald C. Arkin
compressed postscript (93 KB) pdf (175 KB)

Reactive Robotic Systems
Ronald C. Arkin
compressed postscript (24 KB) pdf (85 KB)

Specification and Execution of Multiagent Missions
Doug MacKenzie, Jonathan Cameron, and Ronald C. Arkin
compressed postscript (1.6 MB) pdf (1.2 MB)

Structured Light System for Dent Recognition: Lessons Learned
Juan Carlos Santamaria and Ronald C. Arkin
compressed postscript (973 KB) pdf (1019 KB)


1994

Planning to Behave: A Hybrid Deliberative/Reactive Robot Control Architecture for Mobile Manipulation
Ronald C. Arkin and Douglas C. Mackenzie
compressed postscript (195 KB) pdf (178 KB)

Communication in Reactive Multiagent Robotic Systems
Tucker Balch and Ronald C. Arkin
compressed postscript (1.8 MB) pdf (1.9 MB)

Dynamic Scheduling for Obstacle Avoidance in Mobile Robots
Tucker Balch, Harold Forbes and Karsten Schwan
compressed postscript (66 KB) pdf (228 KB)

Narrow Aisle Mobile Robot Navigation in Hazardous Environments
Thomas Collins, Andrew Henshaw, Ronald C. Arkin, and William Wester
compressed postscript (280 KB) pdf (96 KB)

Using Genetic Algorithms to Learn Reactive Control Parameters for Autonomous Robotic Navigation
Ashwin Ram, Ronald C. Arkin
compressed postscript (158 KB) pdf (330 KB)

Integration of Reactive and Telerobotic Control in Multi-Agent Robotic Systems
Ronald C. Arkin and Khaled S. Ali
compressed postscript (131 KB) pdf (203 KB)

Integration of Reactive Navigation with a Flexible Parallel Hardware Architecture
Thomas R. Collins, Ronald C. Arkin and Andrew M. Henshaw
compressed postscript (67 KB) pdf (102 KB)

Temporal Coordination of Perceptual Algorithms for Mobile Robot Navigation
Arkin, R.C. and MacKenzie, D.
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1993

Avoiding the Past: A Simple but Effective Strategy for Reactive Navigation
Tucker Balch and Ronald C. Arkin
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Buzz, An Instantiation of a schema-based reactive robotic system
Arkin, R.C., Balch, T., Collins, T., Henshaw, A., MacKenzie, D., Nitz, E., Rodriguez, R., and Ward, K.
compressed postscript (82 KB) pdf (155 KB)

Making a Clean Sweep: Behavior-based Vacuuming
MacKenzie, D. and Balch, T
compressed postscript (102 KB) pdf (327 KB)

Knowledge Compilation and Speedup Learning in Continuous Task Domains
Juan Carlos Santamaria and Ashwin Ram
compressed postscript (37 KB) pdf (77 KB)

A Multistrategy Case-Based and Reinforcement Learning Approach to Self-Improving Reactive Control Systems for Autonomous Robotic Navigation
Ashwin Ram and Juan Carlos Santamaria
compressed postscript (173 KB) pdf (475 KB)

Multistrategy Learning in Reactive Control Systems for Autonomous Robotic Navigation
Ashwin Ram and Juan Carlos Santamaria
compressed postscript (230 KB) pdf (455 KB)

Reactive Control of a Mobile Manipulator Using Pseudo-joint Damping
Keith R. Ward and Ronald C. Arkin
compressed postscript (5.0 MB) pdf (1.9 MB)

Communication of Behavioral State in Multi-Agent Retrieval Tasks
Arkin, R.C., Balch, T., and Nitz, E.
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Reactive Control for Mobile Manipulation
Cameron, J.M., MacKenzie, D.C., Ward, K.R., Arkin, R.C., and Book, W.J.
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Active Avoidance: Escape and Dodging Behaviors for Reactive Control
Ronald C. Arkin, William M. Carter, and Douglas C. Mackenzie
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Survivable Robotic Systems: Reactive and Homeostatic Control
Ronald C. Arkin
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Homeostatic Control for a Mobile Robot: Dynamic Replanning in Hazardous Environments
Ronald C. Arkin
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Formal Specification for Behavior-Based Mobile Robots
Douglas C. MacKenzie and Ronald C. Arkin
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Modeling Neural Function at the Schema Level: Implications and Results for Robotic Control
Ronald C. Arkin
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1992

Case-Based Reactive Navigation: A case-based method for on-line selection and adaptation of reactive control parameters in autonomous robotics systems
Ashwin Ram, Ronald C. Arkin, Kenneth Moorman, and Russell J. Clark
compressed postscript (183 KB) pdf (404 KB)

Learning Momentum: On-line Performance Enhancement for Reactive Systems
Rusell J. Clark, and Ronald C. Arkin
compressed postscript (169 KB) pdf (168 KB)

The Learning of Reactive control Parameters through Genetic Algorithms
Michael Pearce, Ronald C. Arkin, and Ashwin Ram
compressed postscript (44 KB) pdf (178 KB)

A Case-Based Approach to Reactive Control for Autonomous Robots
Kenneth Moorman and Ashwin Ram
compressed postscript (80 KB) pdf (208 KB)

Integrated Control for Mobile Manipulation for Intelligent Materials Handling
R.C. Arkin, W.J. Book, D.T. Lawton, G. Vachtsevanos, D.C. MacKenzie, S. Arya, J. Cameron, W. Gardner, V. Ramanathan, C. Son, and K.R. Ward
compressed postscript (1.9 MB) pdf (761 KB)

SFX: An Architecture For Action-oriented Sensor Fusion
Murphy, R.R. and Arkin, R.C.
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Cooperation without Communication: Multiagent Schema-Based Robot Navigation
Ronald C. Arkin
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Behavior-Based Robot Navigation for Extended Domains
Ronald C. Arkin
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Autonomous Helicopter Position Determination Using an On-Board Integrated Vision System
Douglas C. MacKenzie and Ronald C. Arkin
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Dimensions of Communication and Social Organization in Multi-agent Robotic Systems
Ronald C. Arkin and J. David Hobbs
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1991

The Multiple Dimensions of Action-Oriented Robotic. Perception: Fission, Fusion, and Fashion
Ronald C. Arkin
compressed postscript (30 KB) pdf (117 KB)

Perceptual Support for Ballistic Motion in Docking for a Mobile Robot
Douglas C. MacKenzie and Ronald C. Arkin
compressed postscript (1.6 MB) pdf (531 KB)

Reactive Control as a Substrate for Telerobotic Systems
Ronald C. Arkin
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Visual Interaction in Diagnostic Radiology
Rogers, E., Arkin, R.C., and Baron, M.
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Visual Interaction: A Link Between Perception and Problem Solving
Rogers, E. and Arkin, R.C.
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Spatial Uncertainty Management for a Mobile Robot
Ronald C. Arkin
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Survival of Falling Robots
Jonathan M. Cameron and Ronald C. Arkin
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1990

Autonomous Navigation in a Manufacturing Environment
Ronald C. Arkin and Robin R. Murphy
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The Impact of Cybernetics on the Design of a Mobile Robotic System: A Case Study
Ronald C. Arkin
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Visual Protocol Collection for the Enhancement of the Radiological Diagnostic Process
Rogers, E., Arkin, R.C., Baron, M., Ezquerra, N., Garcia, E
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Reactive Inclinometer-based Mobile Robot Navigation
Arkin, R.C. and Gardner, W.F.
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Adaptive Tracking for a Mobile Robot
Murphy, R.R. and Arkin, R.C.
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Qualitative Fault Propagation in Complex Systems
Arkin, R.C. and Vachtsevanos, G.
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Qualitative Spatial Understanding and Reactive Control for Autonomous Robots
Lawton, D.T., Arkin, R.C., and Cameron, J.M.
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Reactive Behavioral Support for Qualitative Visual Navigation
Arkin, R.C. and Lawton, D.T.
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3D Navigational Path Planning
T.M. Rao and Ronald C. Arkin
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Integrating Behavioral, Perceptual, and World Knowledge in Reactive Navigation
Ronald C. Arkin
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Techniques for Robot Survivability
Ronald C. Arkin and George Vachtsevanos
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1989

Towards the Unification of Navigational Planning and Reactive Control
Ronald C. Arkin
compressed postscript (32 KB) pdf (133 KB)

Workstation Recognition using a Constrained Edge Based Hough Transform for Mobile Robot Navigation
David L. Vaughn and Ronald C. Arkin
compressed postscript (1.8 MB) pdf (676 KB)

Dynamic Replanning for a Mobile Robot Based on Internal Sensing
Ronald C. Arkin
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Mobile Robot Docking Operations in a Manufacturing Environment: Progress in Visual Perceptual Strategies
Arkin, R.C., Murphy, R., Pearson, M., Vaughn, D.
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3D Path Planning for Flying/Crawling Robots
T.M. Rao and Ronald C. Arkin
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Motor Schema-Based Mobile Robot Navigation
Ronald C. Arkin
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Navigational Path Planning for a Vision-Based Mobile Robot
Ronald C. Arkin
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Three-dimensional Motor Schema Based Navigation
Ronald C. Arkin
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Neuroscience in Motion: The Application of Schema Theory to Mobile Robotics
Ronald C. Arkin
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1988

Intelligent Mobile Robots in the Workplace: Leaving the Guide Behind
Ronald C. Arkin
compressed postscript (1.3 MB) pdf (1.2 MB)

Homeostatic Control for a Mobile Robot: Dynamic Replanning in Hazardous Environments
Ronald C. Arkin
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Spatial Uncertainty Management for a Mobile Robot and its Role in Expectation-Based Perception
Ronald C. Arkin
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1987

Towards Cosmopolitan Robots: Intelligent Navigation in Extended Man-made Environments
Ronald C. Arkin, Ph.D. Dissertation
        Front Matter
        Chapter 1
        Chapter 2
        Chapter 3
        Chapter 4
        Chapter 5
        Chapter 6
        Chapter 7
        Chapter 8
        Chapter 9
        Appendices
        Bibliography

Motor Schema Based Navigation for a Mobile Robot: An Approach to Programming by Behavior
Ronald C. Arkin
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AuRA: An Architecture for Vision-Based Robot Navigation
Ronald C. Arkin, Edward M. Riseman, and Allen R. Hanson
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Visual Depth Recovery for Obstacle Avoidance in a Mobile Robot
Seraj Bharwani, Ronald C. Arkin, Edward Riseman, and Allen Hanson
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Visual Strategies for Mobile Robot Navigation
Ronald C. Arkin, Edward Riseman, and Allen Hanson
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Reactive/Reflexive Navigation for an Autonomous Vehicle
Ronald C. Arkin
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1986

Path Planning for a Vision-Based Autonomous Robot
Ronald C. Arkin
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