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@PHDTHESIS{HosseinmemarThesis,
AUTHOR = {Amirhossein Hosseinmemar},
SCHOOL = {Department of Computer Science, University of Manitoba},
TITLE = {Push Recovery and Active Balancing for Inexpensive
Humanoid Robots},
YEAR = {2019},
ADDRESS = {Winnipeg, Canada},
MONTH = {August},
NOTE = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/HosseinmemarPhD.pdf},
ABSTRACT = {Active balancing of a humanoid robot is a challenging
task due to the complexity of combining a walking gait, dynamic
balancing, vision and high-level behaviors. My Ph.D research focuses
on the active balancing and push recovery problems that allow
inexpensive humanoid robots to balance while standing and walking,
and to compensate for external forces. In this research, I have
proposed a push recovery mechanism that employs two machine learning
techniques, Reinforcement Learning (RL) and Deep Reinforcement
Learning (DRL) to learn recovery step trajectories during push
recovery using a closed-loop feedback control. I have implemented a
3D model using the Robot Operating System (ROS) and Gazebo. To reduce
wear and tear on the real robot, I used this model for learning the
recovery steps for different impact strengths and directions. I
evaluated my approach in both in the real world and in simulation.
All the real world experiments are performed by Polaris, a teensized
humanoid robot in the Autonomous Agent Laboratory (AALab), University
of Manitoba. The design, implementation, and evaluation of hardware,
software, and kinematic models are discussed in this document.}
}
@MASTERSTHESIS{fiawooThesis,
AUTHOR = {Seth Fiawoo},
SCHOOL = {Department of Computer Science, University of Manitoba},
TITLE = {Independent Activity and Local Opportunity for Dynamic
Robot Team Management in Dangerous Domains},
YEAR = {2019},
ADDRESS = {Winnipeg, Canada},
MONTH = {July},
NOTE = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/FiawooMSc.pdf},
ABSTRACT = {Dangerous domains are a challenge for teams of
heterogeneous robots, since robot losses may involve the loss of
particular skills that might be rare in the domain. Previous research
has resulted in a framework that allows teams to rebalance and
recruit from the environment. However, there is currently no
consideration of situations where agents may at times provide more
useful work globally by not joining a team, or situations where it
might be discovered that types of work might be associated with a
given locality. My thesis extends this framework to give agents the
ability to refuse to join teams and work for times on their own, by
considering current satisfaction in the use of their skills, the
likely rarity of their skills, and the distribution of places those
skills are used in the environment. I examine this work in a
simulated Urban Search and Rescue domain. My results show that in
scenarios where a robot's special skills are rare and tasks requiring
those skills are only available at a few xed locations in the
environment, a robot is more useful if it suspends its team
commitment to make itself available to all teams.}
}
@INCOLLECTION{Anderson18:LocalGroundedCommChapter09,
AUTHOR = {John Anderson},
BOOKTITLE = {Humanoid Robotics: A Rererence},
PUBLISHER = {Springer-Verlag},
TITLE = {Humanoid Multi-Robot Systems},
YEAR = {2018},
ADDRESS = {Heidelberg},
CHAPTER = {},
CROSSREF = {},
EDITION = {},
EDITOR = {Prahlad Vadakkepat and Ambarish Goswami},
MONTH = {},
NOTE = {},
NUMBER = {},
PAGES = {2473--2481},
SERIES = {},
SLIDES = {},
TYPE = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/HumanoidMRS.pdf},
ABSTRACT = {The ability to function socially, both directly in
groups and indirectly through understanding the needs and
perspectives of others, is an important part of intelligent behavior.
This chapter introduces important elements of multi-agent and
multi-robot systems and focuses on the particular issues brought
about when humanoid robots are employed. Previous work using humanoid
robots - both inside and outside of robotics competitions - is
reviewed, and open problems are discussed.}
}
@INPROCEEDINGS{IEAAIE18:PR,
AUTHOR = {Amir Hosseinmemar and Jacky Baltes and John Anderson and
Meng Cheng Lau and Chi Fung Lun and Ziang Wang},
BOOKTITLE = {Proceedings of the 31st International Conference on Industrial, Engineering, and Other Applications of Intelligent Systems (IEAAIE-18},
TITLE = {Closed-Loop Push Recovery for an Inexpensive Humanoid
Robot},
YEAR = {2018},
ADDRESS = {Montreal, Quebec},
CROSSREF = {},
EDITOR = {},
MONTH = {June},
NOTE = {Best Paper Award},
NUMBER = {},
ORGANIZATION = {},
PAGES = {233--244},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/RMIEAAIE.pdf},
ABSTRACT = {Active balancing in autonomous humanoid robots is a
challenging task due to the complexity of combining a walking gait
with dynamic balancing, vision and high-level behaviors. Humans not
only walk successfully over even and uneven terrain, but can recover
from the interaction of external forces such as impacts with
obstacles and active pushes. While push recovery has been
demonstrated successfully in expensive robots, it is more challenging
with robots that are inexpensive, with limited power in actuators and
less accurate sensing. This work describes a closed-loop control
method that uses an accelerometer and gyroscope to allow an
inexpensive humanoid robot to actively balance while walking and
recover from pushes. An experiment is performed to test three
hand-tuned closed-loop control configurations; using only a the
gyroscope, only the accelerometer, and a combination of both sensors
to recover from pushes. Experimental results show that the
combination of gyroscope and accelerometer outperforms the other
methods with 100% recovery from a light push and 70% recovery from a
strong push. }
}
@INPROCEEDINGS{morrisAAAISS18,
AUTHOR = {Kyle J. Morris and John Anderson and Meng Cheng Lau and
Jacky Baltes},
BOOKTITLE = {Proceedings of the AAAI Spring Symposium on Integrating Representation, Readoning, Learning and Execution for Goal-Directed Autonomy},
TITLE = {Interaction and Learning in a Humanoid Robot Magic
Performance},
YEAR = {2018},
ADDRESS = {Stanford, CA},
CROSSREF = {},
EDITOR = {Siddharth Srivastava},
MONTH = {March},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {578--581},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/IntLearningMagic18.pdf},
ABSTRACT = {Magicians have been a source of entertainment for many
centuries, with the ability to play on human bias, and perception to
create an entertaining experience. There has been rapid growth in
robotics throughout industrial applications; where primary challenges
in- clude improving human-robot interaction, and robotic perception.
Despite preliminary work in expressive AI, which aims to use AI for
entertainment; there has not been direct application of fully
embodied autonomous agents (vision, speech, learning, planning) to
enter- tainment domains. This paper describes preliminary work
towards the use of magic tricks as a method for developing
fully-embodied autonomous agents. A card trick is developed requiring
vision, communica- tion, interaction, and learning capabilities all
of which are coordinated using our script representation. Our work is
evaluated quantitatively through experimen- tation, and qualitatively
through acquiring 2nd place at the 2016 IROS Humanoid Application
Challenge. A video of the live performance can be found at
https://youtu.be/OMpcmcPWAVM }
}
@INPROCEEDINGS{IEAAIE18:RM,
AUTHOR = {Kyle J. Morris and Vladyslav Samonin and John Anderson and
Meng Cheng Lau and Jacky Baltes},
BOOKTITLE = {Proceedings of the 31st International Conference on Industrial, Engineering, and Other Applications of Intelligent Systems (IEAAIE-18},
TITLE = {Robot Magic: A Robust Interactive Humanoid Entertainment
Robot},
YEAR = {2018},
ADDRESS = {Montreal, Quebec},
CROSSREF = {},
EDITOR = {},
MONTH = {June},
NOTE = {Best Paper Award},
NUMBER = {},
ORGANIZATION = {},
PAGES = {245--256},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/RMIEAAIE.pdf},
ABSTRACT = {In recent years, there have been a number of popular
robotics competitions whose intent is to advance the state of
research by comparing embodied entries against one another in real
time. The IEEE Humanoid application challenge is intended to broaden
these by allowing more open-ended entries, with a general theme
within which entrants are ective application involving a humanoid
robot. This year's theme was Robot Magic, and this paper describes
our rst-place winning entry in the 2017 competition, running on a
ROBOTIS OP2 humanoid robot. We describe the overall agent design and
contributions to perception, learning, control, and representation,
which together support a robust live robot magic performance.}
}
@INPROCEEDINGS{NagyAndersonAI17,
AUTHOR = {Geoff Nagy and John Anderson},
BOOKTITLE = {Advances in Artificial Intelligence: 30th Canadian Conference on Artificial Intelligence},
TITLE = {Active Team Management Strategies for Multi-robot Teams
in Dangerous Environments},
YEAR = {2017},
ADDRESS = {Edmonton, AB},
CROSSREF = {},
EDITOR = {},
MONTH = {May},
NOTE = {Best Paper Award},
NUMBER = {},
ORGANIZATION = {},
PAGES = {385--396},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/NagyAndersonAI17.pdf},
ABSTRACT = {Cost-effectiveness, management of risk, and simplicity
of design are all arguments in favour of using heterogeneous
multi-robot teams in dangerous domains. Robot losses are expected to
occur and the loss of useful skills means that replacement robots -
either released into the environment or previously lost and
rediscovered - must be recruited for useful work. While teams of
robots may eventually encounter replacements by chance, more active
search strategies can be used to locate them more quickly, either to
complete a single task or join a team. These searches, however, must
be balanced with existing tasks so that the team can still perform
useful work in the domain. This paper describes additions that we
have made to an existing framework for managing dynamic teams in
dangerous domains in order to support this goal.},
DOI = {10.1007/978-3-319-57351-9 43}
}
@UNPUBLISHED{17PosterComp},
AUTHOR = {Kyle J. Morris and Vlad Samonin and John E. Anderson and
Meng Cheng Lau and Jacky Baltes},
NOTE = {1st Place Poster, Applied Science, Undergraduate Research Poster Competition, University of Manitoba},
TITLE = {Robot Magic: A Robust Interactive Entertainment Robot},
MONTH = {October},
SLIDES = {},
VIDEOS = {},
YEAR = {2017},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/RM17Poster.png}
}
@MASTERSTHESIS{nagyThesis,
AUTHOR = {Geoff Nagy},
SCHOOL = {Department of Computer Science, University of Manitoba},
TITLE = {Active Recruitment in Dynamic Teams of Heterogeneous
Robots},
YEAR = {2016},
ADDRESS = {Winnipeg, Canada},
MONTH = {October},
NOTE = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/NagyThesis2016.pdf},
ABSTRACT = {Using teams of autonomous, heterogeneous robots to
operate in dangerous environments has a number of advantages. Among
these are cost-effctiveness and the ability to spread out skills
among team members. The nature of operating in dangerous domains
means that the risk of loss is higher - teams will often lose members
and must acquire new ones. In this work, I explore various
recruitment strategies for the purpose of improving an existing
framework for team management. My additions allow robots to more
actively acquire new teams members and assign tasks among other
robots on a team without the intervention of a team leader. I
evaluate this framework in simulated post-disaster environments where
the risk of robot loss is high and communications are often
unreliable. My results show that in many scenarios, active
recruitment strategies provide signicant performance benefits.}
}
@ARTICLE{RRTKI16,
AUTHOR = {Jacky Baltes and Jonathan Bagot and Soroush Sadeghnejad and
John Anderson and Chen-Hsien Hsu},
JOURNAL = {KI - Künstliche Intelligenz},
TITLE = {Full-Body Motion Planning for Humanoid Robots using
Rapidly Exploring Random Trees},
YEAR = {2016},
MONTH = {},
NOTE = {},
NUMBER = {},
PAGES = {1--11},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PUBLISHER = {Springer},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/RRTKI16.pdf},
ABSTRACT = { Humanoid robots with many degrees of freedom have an
enormous range of possible motions. To be able to move in complex
environments and dexterously manipulate objects, humanoid robots must
be capable of creating and executing complex sequences of motions to
accomplish their tasks. For soccer playing robots (e.g., the
participants of RoboCup), the highly dynamic environment require
real-time motion planning in spite of the enormous search space of
possible motions. In this research, we propose a practical solution
to the general movers problem in the context of motion planning for
robots. The proposed robot motion planner uses a sample-based tree
planner combined with an incremental simulator that models not only
collisions, but also the dynamics of the motion. Thus it can ensure
that the robot will be dynamically stable while executing the motion.
The effectiveness of the robot motion planner is demonstrated both in
simulation and on a real robot, using a variation of the Rapidly
Exploring Random Tree (RRT) type of motion planner. The results of
our empirical evaluation show that CONNECT works better than EXTEND
versions of the RRT algorithms in simple domains, but that this
advantage disappears in more obstacle-filled environments. The
evaluation also shows that our motion planning system is able to find
and execute complex motion plans for a small humanoid robot. },
DOI = {10.1007/s13218-016-0450-z}
}
@ARTICLE{HuroCupKEReview16,
AUTHOR = {Jacky Baltes and Kuo-Yang Tu and Soroush Sadeghnejad and
John Anderson},
JOURNAL = {The Knowledge Engineering Review},
TITLE = {HuroCup: Competition for Multi-Event Humanoid Robot
Athletes},
YEAR = {2016},
MONTH = {8},
NOTE = {},
NUMBER = {},
PAGES = {1--14},
SLIDES = {},
VOLUME = {FirstView},
VIDEOS = {},
POSTER = {},
PUBLISHER = {Cambridge University Press},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/HuroCupKEReview.pdf},
ABSTRACT = { This paper describes the motivation for the development
of the HuroCup competition and follows the rule development from its
inaugural competition from 2002 to 2015. The history of HuroCup is
broken down into its growing phase (2002-2006), a time of explosive
growth (2007-2011) and current times. This paper describes the main
research focus of HuroCup, the multi-event humanoid robot
competition: (a) active balancing, (b) complex motion planning, and
(c) human-robot interaction and shows how the various HuroCup events
relate to those research topics. This paper concludes with some
medium- and long-term goals of the rule development for HuroCup. },
DOI = {10.1017/S0269888916000114}
}
@INPROCEEDINGS{NagyCanAI16,
AUTHOR = {Geoff Nagy and John Anderson},
BOOKTITLE = {Advances in Artificial Intelligence: 29th Canadian Conference on Artificial Intelligence},
TITLE = {Active Recruitment Mechanisms for Heterogeneous Robot
Teams in Dangerous Environments},
YEAR = {2016},
ADDRESS = {Victoria, British Columbia},
CROSSREF = {},
EDITOR = {},
MONTH = {June},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {276--281},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/NagyCanAI16.pdf},
ABSTRACT = {Using teams of autonomous, heterogeneous robots to
operate in dangerous environments means increased cost-effectiveness
and the ability to spread skills among team members. The high risk of
loss in these domains is a challenge to team management. Teams must
be able to recruit the help of other robots in the environment, while
balancing searching with performing immediately useful work. This
paper describes additions to a framework for dynamic team management
in dangerous domains in order to support various levels of active
search for useful agents while balancing useful work in the domain.}
}
@ARTICLE{GerndtBaltesRAM15,
AUTHOR = {Reinhard Gerndt and Daniel Seifert and
Jacky Baltes Soroush Sadeghnejad and Sven Behnke},
JOURNAL = {IEEE-RAS Robotics and Automation Magazine},
TITLE = {Humanoid Robots in Soccer - Robots Versus Humans in
RoboCup 2050},
YEAR = {2015},
MONTH = {September},
NOTE = {},
NUMBER = {3},
PAGES = {147--154},
SLIDES = {},
VOLUME = {22},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/GerndtBaltesRAM15.pdf}
}
@ARTICLE{GunnAndersonJCSS15,
AUTHOR = {Tyler Gunn and John Anderson},
JOURNAL = {Journal of Computer and System Sciences},
TITLE = {Dynamic Heterogeneous Team Formation for Robotic Urban
Search and Rescue},
YEAR = {2015},
MONTH = {May},
NOTE = {},
NUMBER = {3},
PAGES = {553--567},
SLIDES = {},
VOLUME = {81},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/GunnAndersonJCSS15.pdf},
ABSTRACT = { Much work on coalition formation and maintenance exists
from the standpoint of abstract agents. This has not yet translated
well to robot teams, however: most multi-robot research has focused
on pre-formed teams, with little attention to team formation and
maintenance. This means solutions fail in challenging environments
where equipment is easily lost, such as urban search and rescue. This
paper describes a framework for coordinating a changing collection of
heterogeneous robots in complex and dynamic environments such as
disaster zones. The framework allows a team to reshape to compensate
for lost or failed robots, including adding newly-encountered robots
or additions from other teams, and also allows new teams to be formed
dynamically. The framework also includes provisions for task
discovery and assignment, under the conditions of changing team
membership. We evaluate this framework through an implementation
where robots perform exploration in order to locate victims in a
simulated disaster environment. }
}
@INPROCEEDINGS{BaltesROSLAM,
AUTHOR = {Teng-Wei Huang and Chen-Chien Hsu and Wei-Yen Wang and
Jacky Baltes},
BOOKTITLE = {Proceedings of the 4th International Conference on Robot Intelligence Technology and Applications (RITA 2015)},
TITLE = {ROSLAM - A Faster Algorithm for Simultaneous
Localization and Mapping (SLAM)},
YEAR = {2015},
ADDRESS = {Bucheon, Korea},
CROSSREF = {},
EDITOR = {},
MONTH = {December},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{JanatiBaltes15,
AUTHOR = {Farzam Janati and Farzaneh Abdollahi and
Saeed Shiry Ghidary and Masoumeh Jannatifar and Jacky Baltes and
Soroush Sadeghnejad},
BOOKTITLE = {Proceedings of the 4th International Conference on Robot Intelligence Technology and Applications (RITA 2015)},
TITLE = {Multi-Robot Task Allocation Using Clustering Method},
YEAR = {2015},
ADDRESS = {Bucheon, Korea},
CROSSREF = {},
EDITOR = {},
MONTH = {December},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{KungBaltes15,
AUTHOR = {Da-Wei Kung and Chen-Chien Hsu and Wei-Yen Wang and
Jacky Baltes},
BOOKTITLE = {Proceedings of the 4th International Conference on Robot Intelligence Technology and Applications (RITA 2015)},
TITLE = {Adaptive Computation Algorithm for Simultaneous
Localization and Mapping (SLAM)},
YEAR = {2015},
ADDRESS = {Bucheon, Korea},
CROSSREF = {},
EDITOR = {},
MONTH = {December},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{NagyHRI15,
AUTHOR = {Geoff Nagy and James Young and John Anderson},
BOOKTITLE = {Proceedings of the 10th Annual ACM/IEEE International Conference on Human-Robot Interaction},
TITLE = {Are Tangibles Really Better?: Keyboard and Joystick
Outperform TUIs for Remote Robotic Locomotion Control},
YEAR = {2015},
ADDRESS = {Portland, OR},
CROSSREF = {},
EDITOR = {},
MONTH = {March},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {41--42},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/NagyHRI15.pdf},
ABSTRACT = {Prior work has suggested that tangible user interfaces
(TUIs) may be more natural and easier to learn than conventional
interfaces. We present study results that suggest an opposite effect:
we found user performance, satisfaction, and ease of use to be higher
with more common-place input methods (keyboard and joystick) than two
novel TUIs. }
}
@INPROCEEDINGS{SouroshBaltes15,
AUTHOR = {Soroush Sadeghnejad and Ehsan Abdollahi and
Sepehr Ramezani and Jacky Baltes},
BOOKTITLE = {Proceedings of the 4th International Conference on Robot Intelligence Technology and Applications (RITA 2015)},
TITLE = {Zero Moment Point Control of a Biped Robot Using
Feedback Linearization},
YEAR = {2015},
ADDRESS = {Bucheon, Korea},
CROSSREF = {},
EDITOR = {},
MONTH = {December},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{AbbasBaltes15,
AUTHOR = {Taher Abbas Shangari and Faraz Shamshirdar and
Bita Azari and Mohammadhossein Heydari and Sourosh Sadeghnejad and
Jacky Baltes},
BOOKTITLE = {Proceedings of the 5th International Conference on Advanced Humanoid Robotics Research (ICAHRR 2015)},
TITLE = {Real-time Ball Detection and Following Based on a Hybrid
Vision System with Application to Robot Soccer Field},
YEAR = {2015},
ADDRESS = {Daejon, Korea},
CROSSREF = {},
EDITOR = {},
MONTH = {December},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@PHDTHESIS{LauThesis,
AUTHOR = {Meng Cheng Lau},
SCHOOL = {Department of Computer Science, University of Manitoba},
TITLE = {Betty: A Portrait Drawing Humanoid Robot Using Torque
Feedback and Image-based Visual Servoing},
YEAR = {2014},
ADDRESS = {Winnipeg, Canada},
MONTH = {April},
NOTE = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/MCLauPhDThesis.pdf},
ABSTRACT = {Integrating computer vision into a robotic system can
provide a closed-loop controlled platform that increases the
robustness of a robot's motion. This integration is also known as
visual servo control or visual servoing. Visual servoing of a robot
manipulator in real-time presents complex engineering problems with
respect to both control and image processing particularly when we
want the robot arm to perform complicated tasks such as portrait
drawing. In my research, the implementation of torque feedback
control and Image-based Visual Servoing (IBVS) approaches are
proposed to improve previous open-loop portrait drawing tasks
performed by Betty, a humanoid robot in the Autonomous Agent Lab,
University of Manitoba. The implementations and evaluations of
hardware, software and kinematic models are discussed in this
document. I examined the problem of estimating ideal edges joining
points in a pixel reduction image for an existing point-to-point
portrait drawing humanoid robot, Betty. To solve this line drawing
problem, two automatic sketch generators are presented. First, a
modied Theta-graph, called Furthest Neighbour Theta-graph (FNTG).
Second, an extension of the Edge Drawing Lines algorithm (EDLines),
called Extended Edge Drawing Lines (eEDLines). The results show that
the number of edges in the resulting drawing is signicantly reduced
without degrading the detail of the output image. The other objective
of this research is to propose the extension of the drawing robot
project to further develop a robust visual servoing system for Betty
to correct any drawing deviation in real-time as a human does. This
is achieved by investigating and developing robust feature (lines and
shading) extraction approaches for real-time feature tracking of IBVS
in combination with adequate torque feedback in the drawing task.}
}
@MASTERSTHESIS{bagotThesis,
AUTHOR = {Jonathan Bagot},
SCHOOL = {Department of Computer Science, University of Manitoba},
TITLE = {Single-Query Robot Motion Planning using Rapidly
Exploring Random Trees (RRTs)},
YEAR = {2014},
ADDRESS = {Winnipeg, Canada},
MONTH = {August},
NOTE = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/BagotMScThesis.pdf},
ABSTRACT = {Robots moving about in complex environments must be
capable of determining and performing difficult motion sequences to
accomplish tasks. As the tasks become more complicated, robots with
greater dexterity are required. An increase in the number of degrees
of freedom and a desire for autonomy in uncertain environments with
real-time requirements leaves much room for improvement in the
current popular robot motion planning algorithms. In this thesis,
state of the art robot motion planning techniques are surveyed. A
solution to the general movers problem in the context of motion
planning for robots is presented. The proposed robot motion planner
solves the general movers problem using a sample-based tree planner
combined with an incremental simulator. The robot motion planner is
demonstrated both in simulation and the real world. Experiments are
conducted and the results analyzed. Based on the results, methods for
tuning the robot motion planner to improve the performance are
proposed.}
}
@ARTICLE{GaitDesignIceSkating14,
AUTHOR = {Chris Iverach-Brereton and Jacky Baltes and
John Anderson and Andrew Winton and Diana Carrier},
JOURNAL = {Robotics and Autonomous Systems},
TITLE = {Gait Design for an Ice Skating Humanoid Robot},
YEAR = {2014},
MONTH = {},
NOTE = {},
NUMBER = {3},
PAGES = {306--318},
SLIDES = {},
VOLUME = {62},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/GaitDesignIceSkating14.pdf},
ABSTRACT = { Basic walking gaits are a common building block for
many activities in humanoid robotics, such as robotic soccer. The
nature of the walking surface itself also has a strong affect on an
appropriate gait. Much work is currently underway in improving
humanoid walking gaits by dealing with sloping, debris-filled, or
otherwise unstable surfaces. Travel on slippery surfaces such as ice,
for example, greatly increases the potential speed of a human, but
reduces stability. Humans can compensate for this lack of stability
through the adaptation of footwear such as skates, and the
development of gaits that allow fast but controlled travel on such
footwear. This paper describes the development of a gait to allow a
small humanoid robot to propel itself on ice skates across a smooth
surface, and includes work with both ice skates and inline skates.
The new gait described in this paper relies entirely on motion in the
frontal plane to propel the robot, and allows the robot to traverse
indoor and outdoor ice surfaces more stably than a classic inverted
pendulum-based walking gait when using the same skates. This work is
demonstrated using Jennifer, a modified Robotis DARwIn-OP humanoid
robot with 20 degrees of freedom. }
}
@INPROCEEDINGS{BaltesObjectCounting14,
AUTHOR = {Jacky Baltes and Amirhossein Hosseinmemar and
Joshua Jung and Soroush Sadeghnejad and John Anderson},
BOOKTITLE = {Proceedings of the 3rd International Conference on Robot Intelligence Technology and Applications},
TITLE = {Practical Real-Time System for Object Counting based on
Optical Flow},
YEAR = {2014},
ADDRESS = {Beijing, China},
CROSSREF = {},
EDITOR = {},
MONTH = {November},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/BaltesObjectCounting14.pdf},
ABSTRACT = {This paper describes a simple and effective system for
counting the number of objects that move through a region of
interest. In this work, we focus on the problem of counting the
number of people that are entering or leaving an event. We design a
pedestrian counting system that uses a dense optical flow field to
calculate the integral of the optical flow in a video sequence. The
only parameter used in the system is the the estimated integral flow
for a single person. This parameter can be easily calculated from a
short training sequence. Empirical evaluations show that the system
is able to provide accurate estimates even for complex sequences in
real-time. The described system won 2nd place in the pedestrian
counting computer vision competition at the IEA-AIE 2014 conference.}
}
@INPROCEEDINGS{HumanInspiredControl14,
AUTHOR = {Jacky Baltes and Chris Iverach-Brereton and
John Anderson},
BOOKTITLE = {RoboCup 2014: Robot World Cup XVIII},
TITLE = {Human Inspired Control of a Small Humanoid Robot in
Highly Dynamic Environments, or Jimmy Darwin Rocks the Bongo Board},
YEAR = {2014},
ADDRESS = {Joao Pessoa, Brazil},
CROSSREF = {},
EDITOR = {R.A.C. Bianchi and H. L. Akin and S. Ramamoorthy and
K. Sugiura},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/HumanInspiredControl14.pdf},
ABSTRACT = {This paper describes three human-inspired approaches to
balancing in highly dynamic environments. In this particular work, we
focus on balancing on a Bongo board - a common device used for human
balance and coordination training - as an example of a highly dynamic
environment. The three approaches were developed to overcome
limitations in robot hardware. Starting with an approach based around
a simple PD controller for the centre of gravity, we then move to a
hybrid control mechanism that uses a predictive control scheme to
overcome limitation in sensor sensitivity, noise, latency, and
jitter. Our third control approach attempts to maintain a dynamically
stable limit cycle rather than a static equilibrium point, in order
to overcome limitations in the speed of the actuators. The humanoid
robot Jimmy is now able to balance for several seconds and can
compensate for external disturbances (e.g., the Bongo board hitting
the table). A video of the robot Jimmy balancing on the Bongo board
can be found at http://www.youtube.com/watch?v=ia2ZYqqF-lw .}
}
@INPROCEEDINGS{HumanInspiredControl14,
AUTHOR = {Chris Iverach-Brereton and Jacky Baltes and
Brittany Postnikoff and Diana Carrier and John Anderson},
BOOKTITLE = {RoboCup 2014: Robot World Cup XVIII},
TITLE = {Fuzzy Logic Control of a Humanoid Robot on Unstable
Terrain},
YEAR = {2014},
ADDRESS = {Joao Pessoa, Brazil},
CROSSREF = {},
EDITOR = {R.A.C. Bianchi and H. L. Akin and S. Ramamoorthy and
K. Sugiura},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/FuzzyLogicControl14.pdf},
ABSTRACT = {This paper describes a novel system for enabling a
humanoid robot to balance on highly dynamic terrain using fuzzy
logic. We evaluate this system by programming Jimmy, a small,
humanoid DARwIn-OP robot, to balance on a bongo board - a simple
apparatus consisting of a deck resting on a free-rolling wheel -
using our novel fuzzy logic system and a PID controller based on our
previous work (Baltes et al. [1]). Both control algorithms are tested
using two different control policies: "do the shake", wherein the
robot attempts to keep the bongo board's deck level by CoM
manipulation; and "Let's Sway", wherein the robot pumps its legs up
and down at regular intervals in an attempt to induce a state of
dynamic stability to the system. Our experiments show that fuzzy
logic control is equally capable to PID control for controlling a
bongo board system. }
}
@INPROCEEDINGS{LauDrawingPressure14,
AUTHOR = {Meng Cheng Lau and Chi-Tai Cheng and Jacky Baltes and
John Anderson},
BOOKTITLE = {Proceedings of the 3rd International Conference on Robot Intelligence Technology and Applications},
TITLE = {Drawing Pressure Estimation Using Torque Feedback
Control Model of A 4-DOF Robotic Arm},
YEAR = {2014},
ADDRESS = {Beijing, China},
CROSSREF = {},
EDITOR = {},
MONTH = {November},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/LauDrawingPressure14.pdf},
ABSTRACT = {In this paper we introduce a torque feedback control
(TFC) model to estimate pressure of the hand on a 4-DOF robotic arm
of Betty, a humanoid robot. Based on several preliminary experiments
of different stroke patterns, we measured and analysed the torque
replies of Betty's servos in order to model the torque feedback. We
developed a robust humanoid system to create sketch-like drawing with
limited hardware which has no force sensor but basic torque feedback
from servos to estimate the pressure applied on a drawing pad. We
investigated the efficiency of different stroke patterns. The
experimental results indicate that the TFC model successfully
corrected the errors during the drawing task.}
}
@INPROCEEDINGS{NagyRoboCup14,
AUTHOR = {Geoff Nagy and Jacky Baltes and Andrew Winton and
John Anderson},
BOOKTITLE = {RoboCup 2014: Robot World Cup XVIII},
TITLE = {An Event-Driven Operating System for Servomotor Control},
YEAR = {2014},
ADDRESS = {Joao Pessoa, Brazil},
CROSSREF = {},
EDITOR = {R.A.C. Bianchi and H. L. Akin and S. Ramamoorthy and
K. Sugiura},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {285--294},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/NagyRoboCup14.pdf},
ABSTRACT = {Control of a servomotor is a challenging real-time
problem. The embedded microcontroller is responsible for fast and
precise actuation of the motor shaft, and must handle communication
with a master controller as well. If additional tasks such as
temperature monitoring are desirable, they must take place often
enough to be useful, but not so frequently that they interfere with
the operation of the servo. Since microcontrollers have limited
multi-tasking capabilities, it becomes difficult to perform all of
these tasks at once. It was our goal to create servo firmware with
high communication speeds for humanoid robots, and our solution is
generalizable to non-humanoid motor control as well. In this paper,
we present an event-driven operating system for the Robotis AX-12
servomotor. By using interrupts to drive functionality that would
otherwise require polling, our operating system meets the real-time
constraints associated with controlling a servomotor. }
}
@INPROCEEDINGS{RoboCup14TDP,
AUTHOR = {Mohsen Tamiz and Ebrahim Bararian and
Taher Abbas Shangari and Mojtaba Karimi and Mohammad Hosein Heydari and
Faraz Shamshirdar and Majid Jegarian and Ali TorabiParizi and
Mehran Ahmadi and Shayan Khorsandi and Sourosh Sadeghnejad and
Saeed Shiry Ghidary and Mohsen Bahrami and Amirhossein Hosseinmemar and
Andrew Winton and Joshua Jung and Chris Iverach-Brereton and
Geoff Nagy and Diana Carrier and John Anderson and Jacky Baltes},
BOOKTITLE = {Proceedings of RoboCup-2014 (Team Description Papers)},
TITLE = {AUT-UofM Humanoid TeenSize Team},
YEAR = {2014},
ADDRESS = {Joao Pessoa, Brazil},
CROSSREF = {},
EDITOR = {},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/RoboCup14TDP}
}
@PROCEEDINGS{InspiringTheNext13,
TITLE = {},
YEAR = {2013},
ADDRESS = {},
EDITOR = {Khairuddin Omar and Md Jan Nordin and Prahlad Vadakkepat and
Anton Satria Prabowono and Siti Norul Hada Sheikh Abdullah and
Jacky Baltes and Shamsudin Mohn Amin and Wan Zuha Wan Hassan and
Mohammad Faidzul Nasrudin},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PUBLISHER = {Springer-Verlag},
SERIES = {Communications in Computer and Information Science},
SLIDES = {},
VOLUME = {376},
VIDEOS = {},
POSTER = {},
BOOKTITLE = {Intelligent Robotics Systems: Inspiring the NEXT (FIRA RoboWorld Congress 2013)},
PAGES = {466},
ABSTRACT = {The volume consists of selected quality papers from
three international conferences. The volume is intended to provide
readers with the recent technical progress in robotics, human-robot
interactions, cooperative robotics, and related fields. The volume
contains 38 papers from the 112 contributed papers at the 16th FIRA
RoboWorld congress, in Shah Alam, Malaysia, August 26-27, 2013.}
}
@MASTERSTHESIS{petersThesis,
AUTHOR = {Chad Peters},
SCHOOL = {Department of Computer Science, University of Manitoba},
TITLE = {Intrusion and Fraud Detection Using Multiple Machine
Learning Algorithms},
YEAR = {2013},
ADDRESS = {Winnipeg, Canada},
MONTH = {August},
NOTE = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/PetersFinalThesis.pdf},
ABSTRACT = {New methods of attacking networks are being invented at
an alarming rate, and pure signature detection cannot keep up. The
ability of intrusion detection systems to generalize to new attacks
based on behavior is of increasing value. Machine Learning algorithms
have been successfully applied to intrusion and fraud detection;
however the time and accuracy tradeoffs between algorithms are not
always considered when faced with such a broad range of choices. This
thesis explores the time and accuracy metrics of a wide variety of
machine learning algorithms, using a purpose-built supervised
learning dataset. Topics covered include dataset dimensionality
reduction through pre-processing techniques, training and testing
times, classication accuracy, and performance tradeoffs. Further,
ensemble learning and meta-classication are used to explore
combinations of the algorithms and derived data sets, to examine the
effects of homogeneous and heterogeneous aggregations. The results of
this research are presented with observations and guidelines for
choosing learning schemes in this domain.}
}
@MASTERSTHESIS{deDenusThesis,
AUTHOR = {de Denus, Michael},
SCHOOL = {Department of Computer Science, University of Manitoba},
TITLE = {Adaptive Formation Control for Heterogeneous Robots With
Limited Information},
YEAR = {2013},
ADDRESS = {Winnipeg, Canada},
MONTH = {April},
NOTE = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/deDenusMScThesis.pdf},
ABSTRACT = {In many robotics tasks, it is advantageous for robots to
assemble into formations. In many of these applications, it is useful
for the robots to have differing capabilities (i.e., be
heterogeneous). These differences are task specic, but the most
obvious differences lie in sensing and locomotion capabilities.
Groups of robots may also have only imperfect or partially-known
information about one another as well. One key piece of information
that robots often lack is how many other robots are in the
environment. This thesis describes a method for formation control
that allows heterogeneous robots with limited information to
dynamically assemble into formations, merge smaller formations
together, and correct errors that may arise in the formation. The
approach is shown to be scalable and robust against robot failure,
and is evaluated in multiple simulated environments.}
}
@INPROCEEDINGS{SensorFilteringDynamicBalance13,
AUTHOR = {Jacky Baltes and Chris Iverach-Brereton and
John Anderson},
BOOKTITLE = {Proceedings of the 2013 International Automatic Control Conference (CACS)},
TITLE = {Sensor Filtering for Balancing of Humanoid Robots in
Highly Dynamic Environments},
YEAR = {2013},
ADDRESS = {Sun Moon Lake, Taiwan},
CROSSREF = {},
EDITOR = {},
MONTH = {December},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {170--173},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/SensorFilteringDynamicBalance13.pdf},
ABSTRACT = {This paper is part of our ongoing research in balancing
of humanoid robots in highly dynamic environments. We focus on
balancing of a humanoid robot on a Bongo board. One of the problems
with balancing in highly dynamic environments such as the Bongo board
is the fact that any control algorithm needs to overcome the inherent
latency and jitter in the sensors as well as in the actuators of the
robot, since it has very little time to react to disturbances. The
sensor filter method described in this paper allows the robot Jimmy
(a DARwIn-OP robot) to balance for several seconds on a Bongo board.
A video of the robot Jimmy balancing on the Bongo board can be found
at http://www.youtube.com/watch?v=ia2ZYqqF-lw .}
}
@INPROCEEDINGS{RC2013HumanoidTeam,
AUTHOR = {Jacky Baltes and Chris Iverach-Brereton and
Diana Carrier and John Anderson},
BOOKTITLE = {RoboCup-2013 Proceedings (Team Description Papers)},
TITLE = {The Snobots: Jennifer, Jimmy, and Jeff},
YEAR = {2013},
ADDRESS = {Eindhoven, Netherlands},
CROSSREF = {},
EDITOR = {Sven Behnke and Manuela Veloso and Arnoud Visser and
Rong Xiong},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/teamDescriptionRoboCup13.pdf},
ABSTRACT = {This paper describes our latest humanoid robots:
Jennifer, Jimmy, and Jeff. These robots are customised DARwIn-OP
model robots; we have written our own image processing and
localisation algorithms, and modied the robots' hardware through the
addition of single-DOF grippers and FSR sensors mounted in the feet.
We have used these robots successfully in several competitions over
the last two years, including FIRA and IRC. This will be our first
time using them at RoboCup.}
}
@INPROCEEDINGS{EmbeddedHumanoid13,
AUTHOR = {Jacky Baltes and Kuo-Yang Tu and John Anderson},
BOOKTITLE = {Proceedings of FIRA 2013, CCIS 376},
TITLE = {Options and Pitfalls in Embedded Systems Development for
Intelligent Humanoid Robots},
YEAR = {2013},
ADDRESS = {Kuala Lumpur, Malaysia},
CROSSREF = {},
EDITOR = {},
MONTH = {August},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {77--89},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/EmbeddedHumanoid13.pdf},
ABSTRACT = {This paper describes the most popular options that are
available developers of intelligent humanoid robots and their
advantages and disadvantages. There has never been a wider range of
affordable and practical solutions for the developers of intelligent
humanoid robots. This paper lists the suitability of the most common
options such as microcontrollers, ARM based embedded boards, and x86
based small PCs and how well the meet different design constraints.
Using an example from low level vision processing, the paper
highlights common pitfalls when including these more complex embedded
systems in their robot. }
}
@INPROCEEDINGS{gunnANT2013,
AUTHOR = {Tyler Gunn and John Anderson},
BOOKTITLE = {Proceedings of the Fourth International Conference on Ambient Systems, Networks and Technologies (ANT-2013)},
TITLE = {Dynamic Heterogeneous Team Formation for Robotic Urban
Search and Rescue},
YEAR = {2013},
ADDRESS = {Halifax, Canada},
CROSSREF = {},
EDITOR = {},
MONTH = {June},
NOTE = {Best Paper Award},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/GunnANT2013.pdf},
ABSTRACT = {Though much work on coalition formation and maintenance
exists from the standpoint of abstract agents, this has not yet
translated well to the realm of physically grounded robots. Most
multi-robot research has focused on pre-formed teams, with little
attention to the formation and maintenance of the team itself. While
this is plausible in forgiving domains, it fails rapidly in
challenging environments where equipment is lost or broken easily,
such as urban search and rescue. This paper describes the team
management elements of a framework for coordinating a changing
collection of heterogeneous robots operating in complex and dynamic
environments such as disaster zones. Our framework helps a team to
reshape itself to compensate for lost or failed robots, including
adding newly-encountered robots or additions from other teams, and
also allows new teams to be formed dynamically starting from an
individual robot. We evaluate our framework through an example
implementation where robots perform exploration in order to locate
victims in a simulated disaster environment.}
}
@INPROCEEDINGS{gunnANT2013,
AUTHOR = {Tyler Gunn and John Anderson},
BOOKTITLE = {Proceedings of the 2013 IEEE/WIC/ACM International Conference on Intelligent Agent Technologies (IAT-2013)},
TITLE = {Effective Task Allocation for Evolving Multi-robot Teams
in Dangerous Environments},
YEAR = {2013},
ADDRESS = {Atlanta, GA},
CROSSREF = {},
EDITOR = {},
MONTH = {November},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {231-238},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/GunnIAT13.pdf},
ABSTRACT = {This paper describes the task management elements of a
framework for coordinating a changing collection of heterogeneous
robots operating in complex and dynamic environments such as disaster
zones. Our framework allows a team to discover and distribute tasks
among its members, in a distributed fashion, where the structure of
the team is under regular change. Robots may become lost or fail at
any time, and new equipment may arrive at any time. We evaluate our
framework through an example implementation where robots perform
exploration and search for victims in a simulated disaster
environment.}
}
@INPROCEEDINGS{StereoVisionFPGA,
AUTHOR = {Kuo-Yang Tu and Chen-Yu Chiu and Shih-An Li and
Jacky Baltes},
BOOKTITLE = {Proceedings of FIRA 2013, CCIS 376},
TITLE = {Design and Implementation of Stereo Vision Systems Based
on FPGA for 3D Information},
YEAR = {2013},
ADDRESS = {Kaohsiung, Taiwan},
CROSSREF = {},
EDITOR = {},
MONTH = {August},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {309-318},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/StereoVisionFPGA.pdf},
ABSTRACT = {The purpose of this paper is to utilize Field
Programmable Gate Array (FPGA) to perform stereo vision distance
detection. However, the stereo vision built by two cameras makes
memory space lacking and image process slow under the constraints of
FPGA application. In this paper, efficient memory space allocation
and hardware calculation for stereo vision detection built in a
System on a Programmable Chip (SOPC) based on FPGA are proposed. The
hardware for stereo vision distance calculation includes the
processing for the images of gray, binary, dilation, erosion, etc,
and image geometry method for the vision distance through information
of phase differences between two lenses. In addition, the simple
hardware algorithm of background image subtraction to capture an
object image from a series of image frames is also included. The
totally hardware to perform stereo vision distance detection is
difficult implementation, but firmware (some calculation in software)
is flexible and quick to develop. Therefore, the performance of
stereo vision distance detection according to hardware and firmware
is compared. Finally, the distance calculation between objects and
the lenses is demonstrated by practical experiments.}
}
@INPROCEEDINGS{RC13Formations,
AUTHOR = {de Denus, Michael and John Anderson and Jacky Baltes},
BOOKTITLE = {Proceedings of RoboCup-2013: Robot Soccer World Cup XVII},
TITLE = {Distributed Formation Control of Heterogeneous Robots
with Limited Information},
YEAR = {2013},
ADDRESS = {Eindhoven, Netherlands},
CROSSREF = {},
EDITOR = {Sven Behnke and Manuela Veloso and Arnoud Visser and
Rong Xiong},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/deDenusFormationsRoboCup13Poster.pdf},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/deDenusFormationsRoboCup13.pdf},
ABSTRACT = {In many multi-robot tasks, it is advantageous for robots
to assemble into formations. In many of these applications, it is
useful for ering capabilities (i.e., be heterogeneous) in terms of
perception and locomotion abilities. In real world settings, groups
of robots may also have only imperfect or partially-known information
about one another as well. Together, heterogeneity and imperfect
knowledge provide signicant challenges to creating and maintaining
formations. This paper describes a method for formation control that
allows heterogeneous robots with limited information (no known
population size, shared coordinates, or predened relationships) to
dynamically assemble into formation, merge smaller formations
together, and correct errors that may arise in the formation. Using a
simulation, we have shown our approach to be scalable and robust
against robot failure.}
}
@PHDTHESIS{WegnerThesis,
AUTHOR = {Ryan Wegner},
SCHOOL = {Department of Computer Science, University of Manitoba},
TITLE = {Multi-Agent Malicious Behaviour Detection},
YEAR = {2012},
ADDRESS = {Winnipeg, Canada},
MONTH = {September},
NOTE = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/WegnerPh.D.Thesis.pdf},
ABSTRACT = {This research presents a novel technique termed
Multi-Agent Malicious Behaviour Detection. The goal of Multi-Agent
Malicious Behaviour Detection is to provide infrastructure to allow
for the detection and observation of malicious multi-agent systems in
computer network environments. This research explores combinations of
machine learning techniques and fuses them with a multi-agent
approach to malicious behaviour detection that effectively blends
human expertise from network defenders with modern articial
intelligence. Detection in this approach focuses on identifying
multiple distributed malicious software agents cooperating to achieve
a malicious goal in a complex dynamic environment. A signicant
portion of this approach involves developing Multi-Agent Malicious
Behaviour Detection Agents capable of supporting interaction with
malicious multi-agent systems, while providing network defenders a
mechanism for improving detection capability through interaction with
the Multi-Agent Malicious Behaviour Detection system. Success of the
approach depends on the Multi-Agent Malicious Behaviour Detection
system's capability to adapt to evolving malicious multi-agent system
communications, even as the malicious software agents in network
environments vary in their degree of autonomy and intelligence. The
Multi-Agent Malicious Behaviour Detection system aims to take
advantage of detectable behaviours that individual malicious software
agents as well as malicious multi-agent systems are likely to
exhibit, including: beaconing, denying, propagating, ex-filtrating,
updating and mimicking. This thesis research involves the design of
this framework, its implementation into a working tool, and its
evaluation using network data generated by an enterprise class
network appliance to simulate both a standard educational network and
an educational network containing malware traffic.}
}
@ARTICLE{ImitationIJAST,
AUTHOR = {Jeff Allen and John Anderson and Jacky Baltes},
JOURNAL = {International Journal of Automation and Smart Technology},
TITLE = {Vision-Based Imitation Learning in Heterogeneous
Multi-Robot Systems: Varying Physiology and Skill},
YEAR = {2012},
MONTH = {},
NOTE = {},
NUMBER = {12},
PAGES = {147--161},
SLIDES = {},
VOLUME = {2},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/AllenAndersonBaltes12.pdf},
ABSTRACT = { Imitation learning enables a learner to improve its
abilities by observing others. Most robotic imitation learning
systems only learn from demonstrators that are similar physically and
in terms of skill level. In order to employ imitation learning in a
heterogeneous multi-agent environment, we must consider both
differences in skill, and physical differences (physiology, size).
This paper describes an approach to imitation learning from
heterogeneous demonstrators, using global vision. It supports
learning from physiologically different demonstrators (wheeled and
legged, of various sizes), and self-adapts to demonstrators with
varying levels of skill. The latter allows different parts of a task
to be learned from different individuals (that is, worthwhile parts
of a task can still be learned from a poorly-performing
demonstrator). We assume the imitator has no initial knowledge of the
observable effects of its own actions, and train a set of Hidden
Markov Models create an understanding of the imitator's own
abilities. We then use a combination of tracking sequences of
primitives and predicting future primitives from existing
combinations using forward models to learn abstract behaviours from
demonstrations. This approach is evaluated using a group of
heterogeneous robots that have been previously used in RoboCup soccer
competitions. }
}
@INPROCEEDINGS{AIM2012Lau,
AUTHOR = {Meng Cheng Lau and Jacky Baltes and John Anderson and
Stephane Durocher},
BOOKTITLE = {Proceedings of the 11th IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2012)},
TITLE = {A Portrait Drawing Robot Using A Geometric Graph
Approach: Furthest Neighbour Theta-Graphs},
YEAR = {2012},
ADDRESS = {Kaohsiung, Taiwan},
CROSSREF = {},
EDITOR = {},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/AIM2012_MCLau.pdf},
ABSTRACT = {We examine the problem of estimating ideal edges joining
points in a pixel reduction image for an existing point-to-point
portrait drawing humanoid robot, Betty. To solve this line drawing
problem we present a modified Theta-graph, called Furthest Neighbour
Theta-graph, which we show is computable in O(n(log n)/theta) time,
where theta is a fixed angle in the graph's definition. Our results
show that the number of edges in the resulting drawing is
significantly reduced without degrading the detail of the final
output image.}
}
@MASTERSTHESIS{AkhterThesis,
AUTHOR = {Roushain Akhter},
SCHOOL = {Department of Computer Science, University of Manitoba},
TITLE = {Perceived Image Quality Assessment for Stereoscopic
Vision},
YEAR = {2011},
ADDRESS = {Winnipeg, Canada},
MONTH = {May},
NOTE = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/RoushainAkhterMSc.pdf},
ABSTRACT = {This thesis describes an automatic evaluation approach
for estimating the quality of stereo displays and vision systems
using image features. The method is inspired by the human visual
system. Display of stereo images is widely used to enhance the
viewing experience of three-dimensional (3D) visual displays and
communication systems. Applications are numerous and range from
entertainment to more specialized applications such as: 3D
visualization and broadcasting, robot tele-operation, object
recognition, body exploration, 3D teleconferencing, and therapeutic
purposes. Consequently, perceived image quality is important for
assessing the performance of 3D imaging applications. There is no
doubt that subjective testing (i.e., asking human viewers to rank the
quality of stereo images) is the most accurate method for quality
evaluation. It reflects true human perception. However, these
assessments are time consuming and expensive. Furthermore, they
cannot be done in real time. Therefore, the goal of this research is
to develop an objective quality evaluation methods (computational
models that can automatically predict perceived image quality)
correlating well with subjective predictions that are required in the
field of quality assessment. I believe that the perceived distortion
and disparity of any stereoscopic display are strongly dependent on
local features, such as edge (non-uniform) and non-edge (uniform)
areas. Therefore, in this research, I propose a No-Reference (NR)
objective quality assessment for coded stereoscopic images based on
segmented local features of artifacts and disparity. Local feature
information such as edge and non-edge area based relative disparity
estimation, as well as the blockiness, blur, and the zero-crossing
within the block of images, are evaluated in this method. A
block-based edge dissimilarity approach is used for disparity
estimation. I use the Toyama stereo images database to evaluate the
performance and to compare it with other approaches both
qualitatively and quantitatively.}
}
@MASTERSTHESIS{GunnThesis,
AUTHOR = {Tyler Gunn},
SCHOOL = {Department of Computer Science, University of Manitoba},
TITLE = {Dynamic Heterogeneous Team Formation for Robotic Urban
Search and Rescue},
YEAR = {2011},
ADDRESS = {Winnipeg, Canada},
MONTH = {December},
NOTE = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/GunnMScThesis.pdf},
ABSTRACT = {Using teams of robots to complete a task provides a
number of advantages over the use of a single robot. Multiple robots
are able to complete tasks faster, and provide redundancy in case of
equipment failure or loss. Teams of robots with different
capabilities and physiologies are benecial because they allow a team
to provide a high level of overall functionality while striking a
balance between the cost and complexity of the robots. Previous work
tends to focus on the use of pre-formed teams of robots,with little
attention to the formation and maintenance of the team itself. An
environment such as a disaster zone presents numerous challenges to
robotic operation, and it can be expected that the nature of a team
will change due to, for example, malfunctions and the introduction of
replacement equipment. I developed a framework to support the
maintenance of teams of heterogeneous robots operating in complex and
dynamic environments such as disaster zones. Given an established
team, my work also facilitates the discovery of work to be done
during the team's mission and its subsequent assignment to members of
the team in a distributed fashion. I evaluated my framework through
the development of an example implementation where robots perform
exploration in order to locate victims in a simulated disaster
environment.}
}
@ARTICLE{RoboticCompetitionsBenchmarks,
AUTHOR = {John Anderson and Jacky Baltes and Chi Tai Cheng},
JOURNAL = {The Knowledge Engineering Review},
TITLE = {Robotics competitions as benchmarks for AI research},
YEAR = {2011},
MONTH = {},
NOTE = {},
NUMBER = {1},
PAGES = {11--17},
SLIDES = {},
VOLUME = {26},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/KERCompetitions.pdf},
ABSTRACT = {In the last two decades various intelligent robotics
competitions have become very popular. Arguably the most well-known
of these are the robotic soccer competitions. In addition to their
value in attracting media and capturing the minds of the general
public, these competitions also provide benchmark problems for
various robotics and artificial intelligence (AI) technologies. As
with any benchmark, care must be taken that the benchmark does not
introduce unwarranted biases. This paper critically evaluates the AI
contributions made by various robotic competitions on AI research.}
}
@ARTICLE{StereoMatchingIJAA11,
AUTHOR = {Brian McKinnon and Chi Tai Cheng and John Anderson and
Jacky Baltes},
JOURNAL = {International Journal of Automation Austria},
TITLE = {Point, Line Segment, and Region-Based Stereo Matching
for Mobile Robotics},
YEAR = {2011},
MONTH = {},
NOTE = {},
NUMBER = {},
PAGES = {7--42},
SLIDES = {},
VOLUME = {18},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/ijaa_baltes.pdf},
ABSTRACT = {At the heart of every stereo vision algorithm is a
solution to the matching problem - the problem of finding points in
the right and left image that correspond to a single point in the
real world. Applying assumptions regarding the epipolar rectification
and color similarity between two frames is often not possible for
real-world image capture systems, like those used rescue robots. More
flexible and robust feature descriptors are necessary to operate
under harsh real world conditions. This paper compares the accuracy
of disparity images generated using local features including points,
line segments, and regions, as well as a global framework implemented
using loopy belief propagation. This paper will introduce two new
algorithms for stereo matching using line segments and regions, as
well as several support structures that optimize the algorithms
performance and accuracy. Since few complete frameworks exist for
line segment and region features, new algorithms that were developed
during the research for this paper will be outlined and evaluated.
The comparison includes quantitative evaluation using the Middlebury
stereo image pairs and qualitative evaluation using images from a
less structured environment. Since this evaluation is grounded in
practical environments, processing time is a significant constraint
which will be evaluated for each algorithm. This paper will show that
line segment-based stereo vision with a gradient descriptor achieves
at least a 10% better accuracy than all other methods used in this
evaluation while maintaining the low runtime associated with local
feature based stereo vision. }
}
@INPROCEEDINGS{MASlamDemoAAMAS11,
AUTHOR = {Jacky Baltes and Chi Tai Cheng and Jonathan Bagot and
John Anderson},
BOOKTITLE = {Proceedings of the 10th International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS-2011)},
TITLE = {Vision-Based Obstacle Run for Teams of Humanoid Robots
(Demonstrated System)},
YEAR = {2011},
ADDRESS = {Taipei, Taiwan},
CROSSREF = {},
EDITOR = {},
MONTH = {May},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {1319-1320},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/AAMAS11multiagent_slam_demo.pdf},
ABSTRACT = {This demonstration shows a team of small humanoid robots
traverse an environment through a set of obstacles. The robots' brain
are implemented using mobile phones for vision, balance, and
processing. The robots use particle filters to localize themselves
and to map the environment. A frontier-based exploration algorithm is
used to direct the robots to overcome obstacles and to explore all
regions of the environment.}
}
@INPROCEEDINGS{costHumanoidIFAC11,
AUTHOR = {Jacky Baltes and Chi Tai Cheng and Meng Cheng Lau and
John Anderson},
BOOKTITLE = {Proceedings of the 18th IFAC World Congress},
TITLE = {Cost Oriented Automation Approach to Upper Body Humanoid
Robot},
YEAR = {2011},
ADDRESS = {Milan},
CROSSREF = {},
EDITOR = {},
MONTH = {September},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/ifacconf_lau.pdf},
ABSTRACT = {To develop an efficient robotic system is always a
challenge, in particular if the cost of the system is also an
important factor. This paper presents an overview of development of
our 10 degree of freedom humanoid, Betty. Reducing the cost of the
system requires optimization of all aspects to retain its
flexibility, reliability and performance at minimum cost. During the
design and development of Betty, we only use low cost hardware and
open source software to address both cost and performance issues. We
develop a real-time kernel optimized to control servo positions and
read back servo data. Parameters of this kernel are controlled by a
PID controller resulting in an adaptive real-time kernel. After
solving the forward and inverse kinematics of our robot, we
implemented portrait drawing as a sample application showing the
performance of our system.}
}
@INPROCEEDINGS{ThreadedCandFreezerOS,
AUTHOR = {Jacky Baltes and Chris Iverach-Brereton and
Chi Tai Cheng and John Anderson},
BOOKTITLE = {Proceedings of FIRA 2011, CCIS 212},
TITLE = {Threaded C and FreezerOS},
YEAR = {2011},
ADDRESS = {Kaohsiung, Taiwan},
CROSSREF = {},
EDITOR = {},
MONTH = {August},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {170--177},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/ThreadedCandFreezerOS.pdf},
ABSTRACT = {Threaded C is a meta-language that is based on C, but is
annotated with thread, monitor thread, and semaphore markup. Threaded
C uses the runtime provided by the Freezer OS, a small,
memory-efficient embedded kernel. The combination of Freezer OS and
Threaded C allows the simple expression of common control problems in
robotics. The system is geared especially towards robotics education,
as it matches the mental map that children have of how control
structures should work.}
}
@INPROCEEDINGS{LearningFacialGestures,
AUTHOR = {Jacky Baltes and Stela Seo and Chi Tai Cheng and
Meng Cheng Lau and John Anderson},
BOOKTITLE = {Proceedings of FIRA 2011, CCIS 212},
TITLE = {Learning of Facial Gestures Using SVMs},
YEAR = {2011},
ADDRESS = {Kaohsiung, Taiwan},
CROSSREF = {},
EDITOR = {},
MONTH = {August},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {147-154},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/LearningFacialGestures.pdf},
ABSTRACT = {This paper describes the implementation of a fast and
accurate gesture recognition system. Image sequences are used to
train a standard SVM to recognize Yes, No, and Neutral gestures from
different users. We show that our system is able to detect facial
gestures with more than 80% accuracy from even small input images.}
}
@INPROCEEDINGS{deDenusAAAISS11,
AUTHOR = {de Denus, Michael and John Anderson and Jacky Baltes},
BOOKTITLE = {Proceedings of the AAAI Spring Symposium on Multirobot Systems and Physical Data Structures},
TITLE = {Flexible Multi-Robot Formation Control: Partial
Formations as Physical Data Structures},
YEAR = {2011},
ADDRESS = {Stanford, CA},
CROSSREF = {},
EDITOR = {Dylan Shell and James McLurkin},
MONTH = {March},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {4--9},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/deDenusSS11.pdf},
ABSTRACT = {Formations are often seen in nature, and bring many
benefits for the group as a whole. They can allow a group to explore
a large area more effectively, can ease movement of the group through
the environment, and can increase group perceptual coverage and
increase defensive capabilities, for example. The benefits of any
particular formation vary and are obtained from the structure the
formation provides. Robotic formations can have similar applications.
To date, the techniques used and formations employed in robotic
applications are significantly simpler than those seen in nature.
Current techniques often require some level of global knowledge,
central processing or other unrealistic assumptions. We seek to
develop a formation control technique that has as few of these
limitations as possible. Each agent under our approach has only local
knowledge of the environment, uses no broadcast communication, and
can communicate only over a limited range. Formations are achieved by
organizing agents into a graph structure, where agents occupying the
vertices take on the role of maintaining an appropriate number of
agents on each edge, thus preserving the formation's shape and scale.
We do not assume a known or static population: the evolving formation
acts as a physical data structure to assist in placing and
rearranging agents as the population changes. This approach does not
require a global coordinate system, fixed positions within the
formation, or any single lead agent. All agents within our approach
are peers, and any can adopt any role within the formation.}
}
@INPROCEEDINGS{AkhterBaltes10,
AUTHOR = {Roushain Akhter and Z. M. Parvez Sazzad and Y. Horita and
Jacky Baltes},
BOOKTITLE = {Proceedings of the SPIE Conference on Stereoscopic Displays and Applications},
TITLE = {No Reference Stereoscopic Image Quality Assessment},
YEAR = {2010},
ADDRESS = {San Jose, CA},
CROSSREF = {},
EDITOR = {},
MONTH = {January},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/akhterBaltes2010.pdf}
}
@INPROCEEDINGS{AllenAndersonICMLA10,
AUTHOR = {Jeff Allen and John Anderson},
BOOKTITLE = {Proceedings of the Ninth International Conference on Machine Learning and Applications},
TITLE = {Heterogeneous Imitation Learning from Demonstrators of
Varying Physiology and Skill},
YEAR = {2010},
ADDRESS = {Washington, DC},
CROSSREF = {},
EDITOR = {},
MONTH = {December},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {105--112},
PUBLISHER = {IEEE Press},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/ICMLA2010.pdf}
}
@INPROCEEDINGS{BaltesAndersonAAAISS10,
AUTHOR = {Jacky Baltes and John Anderson},
BOOKTITLE = {Proceedings of the AAAI Spring Symposium on Intelligence in Embedded Systems},
TITLE = {Complex AI on Small Embedded Systems: Humanoid Robotics
Using Mobile Phones},
YEAR = {2010},
ADDRESS = {Stanford, CA},
CROSSREF = {},
EDITOR = {Gabe Hoffman},
MONTH = {March},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/AAAISS10Slides.pdf},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/embeddedAI.pdf}
}
@INPROCEEDINGS{BaltesAndersonEAAI10,
AUTHOR = {Jacky Baltes and John Anderson},
BOOKTITLE = {Proceedings of the First Symposium on Educational Advances in AI},
TITLE = {Leveraging Mixed Reality Infrastructure for Robotics and
Applied AI Instruction},
YEAR = {2010},
ADDRESS = {Atlanta},
CROSSREF = {},
EDITOR = {Mehran Sahami},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/EAAI10Slides.pdf},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/BaltesAndersonEAAI10.pdf}
}
@INPROCEEDINGS{EmbeddedBetty10,
AUTHOR = {Meng Cheng Lau and Jacky Baltes},
BOOKTITLE = {Proceedings of FIRA 2010, CCIS 103},
TITLE = {The Real-Time Embedded System for a Humanoid: Betty},
YEAR = {2010},
ADDRESS = {Bangalore, India},
CROSSREF = {},
EDITOR = {},
MONTH = {September},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {122--129},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/EmbeddedBetty10.pdf},
ABSTRACT = {This paper investigates the efficiency of the real-time
embedded system in our humanoid robot, Betty. In this paper we only
discuss the upper body of Betty. Based on several experiments of
different queue data structures, communication protocols and PID
controller implementations, we measured and analysed the latencies
and jitters of Betty's responses. The experimental results indicate
the best configuration to optimise the performance of Betty's Control
Program. }
}
@PROCEEDINGS{RoboCup2009,
TITLE = {},
YEAR = {2009},
ADDRESS = {},
EDITOR = {Jacky Baltes and Michail G. Lagoudakis and
Tadashi Naruse and Saeed Shiry},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PUBLISHER = {Springer-Verlag},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
BOOKTITLE = {Proceedings of RoboCup-2009: Robot Soccer World Cup XIII}
}
@PROCEEDINGS{ProgressFIRA2009,
TITLE = {},
YEAR = {2009},
ADDRESS = {},
EDITOR = {J.-H. Kim and S. Ge and P. Vadakkepat and N. Jesse and
A. Al Manum and K. Puthusserypady and U. Rueckert and J. Sitte and
U. Witkowski and R. Nakatsu and T. Braunl and J. Baltes and
J. Anderson and C.-C. Wong and I. Verner and D. Ahlgren},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PUBLISHER = {Springer-Verlag},
SERIES = {Communications in Computer and Information Science},
SLIDES = {},
VOLUME = {44},
VIDEOS = {},
POSTER = {},
BOOKTITLE = {Progress in Robotics (FIRA RoboWorld Congress 2009)},
PAGES = {392},
ABSTRACT = {This volume is a selection of papers of six
international conferences that are held under the umbrella of the
12th FIRA RoboWorld congress, in Incheon, Korea, August 16-18, 2009.
From the 115 contributed papers 44 papers are included in the volume,
which is organized into 6 sections: humanoid robotics, human robot
interaction, education and entertainment, cooperative robotics,
robotic system design, and learning, optimization, communication. The
volume is intended to provide readers with the recent technical
progresses in robotics, human robot interactions, cooperative
robotics and the related fields.}
}
@PROCEEDINGS{AdvancesFIRA2009,
TITLE = {},
YEAR = {2009},
ADDRESS = {},
EDITOR = {J.-H. Kim and S. Ge and P. Vadakkepat and N. Jesse and
A. Al Manum and K. Puthusserypady and U. Rueckert and J. Sitte and
U. Witkowski and R. Nakatsu and T. Braunl and J. Baltes and
J. Anderson and C.-C. Wong and I. Verner and D. Ahlgren},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PUBLISHER = {Springer-Verlag},
SERIES = {Image Processing, Computer Vision, Pattern Recognition, and Graphics},
SLIDES = {},
VOLUME = {5744},
VIDEOS = {},
POSTER = {},
BOOKTITLE = {Advances in Robotics (FIRA RoboWorld Congress 2009)},
PAGES = {322},
ABSTRACT = {The volume consists of selected quality papers from six
international conferences that are held under the umbrella of the
12th FIRA RoboWorld congress, in Incheon, Korea, August 16-18, 2009.
31 papers from 115 contributed papers at the FIRA RoboWorld Congress,
held in Incheon, Korea, August 16-18, were included in the volume. It
is organized in 7 sections: emotions and behaviour, human robot
interaction, biped humanoid robotics, localization, path planning,
obstacle avoidance, control, communication, terrain mapping and
classification. The volume is intended to provide readers with the
recent technical progresses in robotics, human robot interactions,
cooperative robotics and the related fields.}
}
@MASTERSTHESIS{AllenThesis,
AUTHOR = {Jeff Allen},
SCHOOL = {Department of Computer Science, University of Manitoba},
TITLE = {Imitation Learning from Multiple Demonstrators Using
Global Vision},
YEAR = {2009},
ADDRESS = {Winnipeg, Canada},
MONTH = {August},
NOTE = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/AllenThesis.pdf},
ABSTRACT = {Imitation learning enables a learner to expand its own
skill set with behaviours that it observes from others. Most
imitation learning systems learn from a single class of
demonstrators, and often only a single demonstrator. Such approaches
are limited, however: in the real world, people have varying levels
of skills and different approaches to solving problems, and learning
from only one demonstrator would be a very limited perspective. In
the context of robots, very different physiologies make learning from
many types of demonstrators equally important. A wheeled robot may
watch a humanoid perform a task, for example, and yet not be able to
perfectly approximate its movements (e.g. stepping over small
obstacles). This thesis describes an approach to learning a task by
observing demonstrations performed by multiple heterogeneous robots
using global (overhead) vision, incorporating demonstrators that are
different in size, physiology (wheeled vs. legged), and skill level.
The imitator evaluates demonstrators relative to each other, which
gives it the ability to weigh its learning towards the more skilled
demonstrators. I assume the imitator has no initial knowledge of the
observable effects of its own actions, and begin by training a set of
Hidden Markov Models (HMMs) to map observations to actions. These
HMMs provide a low-level basis for interpreting the observations of
others. I then use forward models to construct more abstract
behaviours that bridge the differences between highly heterogeneous
agents. This approach is evaluated in the domain of robotic soccer,
where it is found that the imitator can weigh its learning towards
skilled demonstrators regardless of physiology.}
}
@MASTERSTHESIS{McKinnonThesis,
AUTHOR = {Brian McKinnon},
SCHOOL = {Department of Computer Science, University of Manitoba},
TITLE = {Point, Line Segment, and Region-Based Stereo Matching
for Mobile Robotics},
YEAR = {2009},
ADDRESS = {Winnipeg, Canada},
MONTH = {August},
NOTE = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/McKinnonThesis.pdf},
ABSTRACT = {At the heart of every stereo vision algorithm is a
solution to the matching problem - the problem of finding points in
the right and left image that correspond to a single point in the
real world. Applying assumptions regarding the epipolar rectification
and color similarity between two frames is often not possible for
real-world image capture systems, like those used in urban search and
rescue robots. More flexible and robust feature descriptors are
necessary to operate under harsh real world conditions. This thesis
compares the accuracy of disparity images generated using local
features including points, line segments, and regions, as well as a
global framework implemented using loopy belief propagation. This
thesis will introduce two new algorithms for stereo matching using
line segments and regions, as well as several support structures that
optimize the algorithms performance and accuracy. Since few complete
frameworks exist for line segment and region features, new algorithms
that were developed during the research for this thesis will be
outlined and evaluated. The comparison includes quantitative
evaluation using the Middlebury stereo image pairs and qualitative
evaluation using images from a less structured environment. Since
this evaluation is grounded in urban search and rescue robotics,
processing time is a significant constraint which will be evaluated
for each algorithm. This thesis will show that line segment-based
stereo vision with a gradient descriptor achieves at least a 10%
better accuracy than all other methods used in this evaluation while
maintaining the low runtime associated with local feature based
stereo vision.}
}
@INCOLLECTION{BaltesAnderson09:MinHumanoidRoboticsChapter09,
AUTHOR = {Jacky Baltes and John Anderson},
BOOKTITLE = {Design and Control of Intelligent Robotic Systems},
PUBLISHER = {Springer-Verlag},
TITLE = {Advancing Artificial Intelligence through Minimalist
Humanoid Robotics},
YEAR = {2009},
ADDRESS = {Heidelberg},
CHAPTER = {17},
CROSSREF = {},
EDITION = {},
EDITOR = {Dikai Liu and Lingfeng Wang and Kay Chen Tan},
MONTH = {},
NOTE = {},
NUMBER = {},
PAGES = {355--376},
SERIES = {},
SLIDES = {},
TYPE = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/MinHumanoidRoboticsChapter09.pdf},
ABSTRACT = {While the robots that most quickly come to mind to the
general public are those with the most elaborate features and
movements, those that are most useful in advancing the state of the
art in artificial intelligence (AI) are very different. Minimalist
robots are inexpensive and therefore more broadly available for
research and educational purposes, but also force the researcher to
rely on good, adaptable solutions to hard AI problems rather than
relying on expensive specialized hardware that will only work under
strict conditions. This chapter describes our work in minimalist
humanoid robots, focussing mainly on Tao-Pie-Pie, a robot that
competed successfully in numerous RoboCup and FIRA competitions. The
chapter describes our motivations in designing minimalist robots and
our rationale for working with humanoid robots, and describes the
development of Tao-Pie-Pie, including contrasting this robot with
other work and developing its walking gait and balancing reflexes. We
then describe some issues in evaluating humanoid robots, and describe
ongoing work.},
DOI = {10.1007/978-3-540-89933-4_17}
}
@INCOLLECTION{WiebeAnderson09:LocalGroundedCommChapter09,
AUTHOR = {Nathan Wiebe and John Anderson},
BOOKTITLE = {Design and Control of Intelligent Robotic Systems},
PUBLISHER = {Springer-Verlag},
TITLE = {Local Methods for Supporting Grounded Communication in
Robot Teams},
YEAR = {2009},
ADDRESS = {Heidelberg},
CHAPTER = {14},
CROSSREF = {},
EDITION = {},
EDITOR = {Dikai Liu and Lingfeng Wang and Kay Chen Tan},
MONTH = {},
NOTE = {},
NUMBER = {},
PAGES = {279--301},
SERIES = {},
SLIDES = {},
TYPE = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/LocalGroundedCommChapter09.pdf},
ABSTRACT = {For a mobile robot to be able to communicate usefully
with others in a group, the references it makes to points in space
must be grounded in concepts that are shared among the group. In the
past it has been common to hand-construct a complete set of such
groundings, either by individual enumeration or by enforcement of a
common coordinate system and origin among all team members. Such
assumptions remove the ability to add new robots with no knowledge of
the environment in an ad hoc manner, and also require knowledge which
may not be available. In an urban search and rescue (USAR) setting,
for example, robots may be released into rubble from a collapsed
building with no shared starting point for an origin, under
conditions where GPS reception is disrupted. Preconstructed
groundings are also anthropocentric in that they are a best guess by
humans as to what is useful from their perspective, and may be
nothing like what robotic agents would come up with on their own.
This chapter describes the an approach that allows a group of robotic
agents to develop consistent shared groundings for useful locations
in an environment over time, using only local communication and
interaction. This approach is thus suitable for domains in which
broadcast communication may be sporadic, such as USAR, or jammed,
such as military applications. The evaluation of this approach, which
compares several different grounding techniques, shows that a
consistent set of shared groundings can be developed effectively by a
team of robots over time using only local interactions, and that
these improve the effectiveness of communication in a multi-robot
setting.},
DOI = {10.1007/978-3-540-89933-4_14}
}
@INPROCEEDINGS{AndersonBaltes09:FLAIRSMixedRealityEducation,
AUTHOR = {John Anderson and Jacky Baltes},
BOOKTITLE = {Proceedings of the 22nd International FLAIRS Conference},
TITLE = {Using Mixed Reality to Facilitate Education in Robotics
and AI},
YEAR = {2009},
ADDRESS = {Sanibel, FL},
CROSSREF = {},
EDITOR = {},
MONTH = {May},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/FLAIRSMixedRealityEducation.pdf},
ABSTRACT = {Using robots as part of any curriculum requires careful
management of the significant complexity that physical embodiment
introduces. Students need to be made aware of this complexity without
being overwhelmed by it, and navigating students through this
complexity is the biggest challenge faced by an instructor. Achieving
this requires a framework that allows complexity to be introduced in
stages, as students' abilities improve. Such a framework should also
be flexible enough to provide a range of application environments
that can grow with student sophistication, and be able to quickly
change between applications. It should be portable and maintainable,
and require a minimum of overhead to manage in a classroom. Finally,
the framework should provide repeatability and control for evaluating
the students' work, as well as for performing research. In this
paper, we discuss the advantages of a mixed reality approach to
applying robotics to education in order to accomplish these
challenges. We introduce a framework for managing mixed reality in
the classroom, and discuss our experiences with using this framework
for teaching robotics and AI.}
}
@INPROCEEDINGS{AndersonBaltesTu09:aaaiss09Evaluation,
AUTHOR = {John Anderson and Jacky Baltes and Kuo-Yang Tu},
BOOKTITLE = {Proceedings of the AAAI Spring Symposium on Experimental Design for Real-World Systems},
TITLE = {Improving Robotics Competitions for Real-World
Evaluation of AI},
YEAR = {2009},
ADDRESS = {Stanford, CA},
CROSSREF = {},
EDITOR = {},
MONTH = {March},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {AAAI Spring Symposium Series},
SLIDES = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/aaaiss09EvaluationSlides.pdf},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/aaaiss09Evaluation.pdf},
ABSTRACT = {While embodied robotic applications have been a strong
influence on moving artificial intelligence toward focussing on
broad, robust solutions that operate in the real world, evaluating
such systems remains difficult. Competition-based evaluation, using
common challenge problems, is one of the major methods for comparing
AI systems employing robotic embodiment. Competitions unfortunately
tend to influence the creation of specific solutions that exploit
particular rules rather than the broad and robust techniques that are
hoped for, however, and physical embodiment in the real world also
creates difficulties in control and repeatability. In this paper we
discuss the positive and negative influences of competitions as a
means of evaluating AI systems, and present recent work designed to
improve such evaluations. We describe how improved control and
repeatability can be achieved with mixed reality applications for
challenge problems, and how competitions themselves can encourage
breadth and robustness, using our rules for the FIRA HuroCup as an
example.}
}
@INPROCEEDINGS{Archie09,
AUTHOR = {Jacky Baltes and Ahmad Byagowi and John Anderson and
Peter Kopacek},
BOOKTITLE = {Proceedings of FIRA 2009, CCIS 44},
TITLE = {Teen Sized Humanoid Robot: Archie},
YEAR = {2009},
ADDRESS = {Incheon, Korea},
CROSSREF = {},
EDITOR = {},
MONTH = {August},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {34-41},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/Archie09.pdf},
ABSTRACT = {This paper describes our first teen sized humanoid robot
Archie. This robot has been developed in conjunction with Prof.
Kopacek's lab from the Technical University of Vienna. Archie uses
brushless motors and harmonic gears with a novel approach to position
encoding. Based on our previous experience with small humanoid
robots, we developed software to create, store, and play back motions
as well as control methods which automatically balance the robot
using feedback from an internal measurement unit (IMU).}
}
@INPROCEEDINGS{IJCAI09humanoidleagues,
AUTHOR = {Jacky Baltes and N. Michael Mayer and John Anderson and
Kuo-Yang Tu and Alan Liu},
BOOKTITLE = {Proceedings of the IJCAI Workshop on Competitions in Artificial Intelligence and Robotics},
TITLE = {The Humanoid Leagues in Robot Soccer Competitions},
YEAR = {2009},
ADDRESS = {Pasadena, California},
CROSSREF = {},
EDITOR = {},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {9--16},
PUBLISHER = {AAAI Press},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/IJCAI09HumanoidLeagues.pdf},
ABSTRACT = {This paper describes two major humanoid robotic
competitions: the RoboCup Humanoid League and the FIRA HuroCup, which
were both introduced in 2002. Even though both competitions have the
final goal of creating a team of robots that can compete with humans
in a soccer match, the two associateions focused on different
intermediate goals. RoboCup forucsed on interesting soccer matches
between teams of robots as soon as possible, whereas HuroCup
emphasizes versatility and robustness through a series of 8 events
for a single robot.}
}
@INPROCEEDINGS{RC09Formations,
AUTHOR = {de Denus, Michael and John Anderson and Jacky Baltes},
BOOKTITLE = {Proceedings of RoboCup-2009: Robot Soccer World Cup XIII},
TITLE = {Heuristic Formation Control in Multi-Robot Systems Using
Local Communication and Limited Identification},
YEAR = {2009},
ADDRESS = {Graz, Austria},
CROSSREF = {},
EDITOR = {Jacky Baltes and Michail G. Lagoudakis and
Tadashi Naruse and Saeed Shiry},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/heuristicFCPoster.pdf},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/heuristicFC.pdf}
}
@INPROCEEDINGS{AndersonBaltes08:RoboticsforCS.pdf,
AUTHOR = {John Anderson and Jacky Baltes},
BOOKTITLE = {Proceedings of the AAAI Spring Symposium on Using AI to Motivate Greater Participation in Computer Science},
TITLE = {Robotics and AI as a Motivator for the Attraction and
Retention of Computer Science Undergraduates in Canada},
YEAR = {2008},
ADDRESS = {Stanford, CA},
CROSSREF = {},
EDITOR = {},
MONTH = {March},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {AAAI Spring Symposium Series},
SLIDES = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/SpringSymp08Slides.pdf},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/SS08RoboticsforCS.pdf},
ABSTRACT = {Since the burst of the dot-com bubble in 2000, computer
science has seen a significant decrease in enrollment in universities
across North America. While this has been well-publicized in the
media in the United States, Canada's numbers in this regard have been
significantly worse. Within Canada, however, the Department of
Computer Science at the University of Manitoba has been relatively
fortunate: while a noticeable decrease has occurred, it is
statistically much less than has occurred across Canada and the U.S.
There are a number of reasons for this, one of which is the use of
artificial intelligence (AI), and robotics in particular, as a tool
for student recruitment and retention. In this paper, we examine
enrollment trends of our university compared to the rest of the
continent, discuss some of the reasons behind these trends, and
describe how we use AI, and robotics in particular, as tools to
attract and retain computer science students.}
}
@INPROCEEDINGS{RC2008KMR,
AUTHOR = {John Anderson and Jacky Baltes and de Denus, Michael and
Jeff Allen and and Daniel Troniak},
BOOKTITLE = {RoboCup-2008 Proceedings CD (Team Description Papers)},
TITLE = {Keystone Mixed Reality},
YEAR = {2008},
ADDRESS = {Suzhou, China},
CROSSREF = {},
EDITOR = {L. Iocchi and H. Matsubara and A. Weitzenfeld and
C. Zhou},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/keystoneMixedReality.pdf}
}
@INPROCEEDINGS{BagotMASlam,
AUTHOR = {Jonathan Bagot and John Anderson and Jacky Baltes},
BOOKTITLE = {Proceedings of the 5th International Conference on Computational Intelligence, Robotics and Autonomous Systems (CIRAS-2008)},
TITLE = {Vision-Based Multi-Agent Slam for Humanoid Robots},
YEAR = {2008},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {June},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {171--176},
PUBLISHER = {},
SERIES = {},
SLIDES = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/BagotMASlamSlides.pdf},
VOLUME = {},
VIDEOS = {http://aalab.cs.umanitoba.ca/videos/index.php?i=./publications/humanoid_slam},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/BagotMASlam.pdf},
ABSTRACT = {A solution to the SLAM problem using multiple
homogeneous humanoid robots with limited processing power, noisy
sensor data, and inconsistent locomotion is described and implemented
on two real humanoid robots. The solution uses particle filters and
the concept of frontier-based exploration.}
}
@INPROCEEDINGS{robovis08kn,
AUTHOR = {Jacky Baltes},
BOOKTITLE = {Robot Vision 2008 (Keynote Address)},
TITLE = {Ronaldinho's Metal Friends - 10 Years of Robotic Soccer
Competitions},
YEAR = {2008},
ADDRESS = {Auckland, NZ},
CROSSREF = {},
EDITOR = {},
MONTH = {February},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/robvis_2008_kn.pdf}
}
@INPROCEEDINGS{RC2008McGrath,
AUTHOR = {Sara McGrath and John Anderson and Jacky Baltes},
BOOKTITLE = {Proceedings of RoboCup-2008: Robot Soccer World Cup XII},
TITLE = {Model-Free Active Balancing for Humanoid Robots},
YEAR = {2008},
ADDRESS = {Suzhou, China},
CROSSREF = {},
EDITOR = {L. Iocchi and H. Matsubara and A. Weitzenfeld and
C. Zhou},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/balancingPoster.pdf},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/ActiveBalancing.pdf}
}
@INPROCEEDINGS{RC2008McKinnon,
AUTHOR = {Brian McKinnon and Jacky Baltes and John Anderson},
BOOKTITLE = {Proceedings of RoboCup-2008: Robot Soccer World Cup XII},
TITLE = {Stereo-Vision Based Control of a Car using Fast
Line-Segment Extraction},
YEAR = {2008},
ADDRESS = {Suzhou, China},
CROSSREF = {},
EDITOR = {L. Iocchi and H. Matsubara and A. Weitzenfeld and
C. Zhou},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/lineSegmentPoster.pdf},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/SegmentExtraction.pdf}
}
@MASTERSTHESIS{McGrathThesis,
AUTHOR = {Sara McGrath},
SCHOOL = {Department of Computer Science, University of Manitoba},
TITLE = {Active Reflex-Based Balancing for Small Humanoid Robots},
YEAR = {2007},
ADDRESS = {Winnipeg, Canada},
MONTH = {June},
NOTE = {},
SLIDES = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/McGrathDefenseSlides.pdf},
TYPE = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/McGrathThesis.pdf},
ABSTRACT = {For any practical purpose, humanoid robots must be able
to maneuver over a variety of terrains, at different speeds and with
varying gaits. Sensors must be used to make sense of the surrounding
environment, enabling robots to balance as they move. Though motion
and pressure sensors exist, their input is just beginning to be used
to dynamically balance gaits, and they are often used in conjunction
with other sensors, limiting the knowledge obtained about each
sensor. In this thesis, I implement three simple balancing algorithms
on a robot equipped solely with an accelerometer to study the utility
of simple algorithms and a single sensor in balancing. The basic
threshold algorithm proves the most effective overall. The algorithms
are able to balance for simple tasks, but as the balancing required
becomes more complex (i.e., controlling multiple joints over uneven
terrain), the need for more sophisticated algorithms becomes
apparent.}
}
@INCOLLECTION{BaltesAnderson06:VisionChapter,
AUTHOR = {Jacky Baltes and John Anderson},
BOOKTITLE = {Mobile Robots: Perception & Navigation},
PUBLISHER = {Advanced Robotic Systems International/pro literatur Verlag},
TITLE = {Intelligent Global Vision for Teams of Mobile Robots},
YEAR = {2007},
ADDRESS = {Vienna, Austria},
CHAPTER = {9},
CROSSREF = {},
EDITION = {},
EDITOR = {Sascha Kolski},
MONTH = {},
NOTE = {},
NUMBER = {},
PAGES = {165--186},
SERIES = {},
SLIDES = {},
TYPE = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/BaltesAndersonVisionChapter.pdf}
}
@ARTICLE{karpenko07,
AUTHOR = {Mark Karpenko and Nariman Sepehri and John Anderson},
JOURNAL = {ACME Journal of Dynamic Systems, Measurement, and Control},
TITLE = {Decentralized Coordinated Motion Control of Two
Hydraulic Actuators Handling a Common Object},
YEAR = {2007},
MONTH = {September},
NOTE = {},
NUMBER = {},
PAGES = {729--741},
SLIDES = {},
VOLUME = {129},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/KarpenkoSepehriAnderson07.pdf}
}
@INPROCEEDINGS{AllenAnderson07:Imitation,
AUTHOR = {Jeff Allen and John Anderson},
BOOKTITLE = {Proceedings of the AAAI Workshop on Plan and Intent Recognition},
TITLE = {A Vision-Based Approach to Imitation Using Heterogeneous
Demonstrators},
YEAR = {2007},
ADDRESS = {Vancouver, Canada},
CROSSREF = {},
EDITOR = {Christopher Geib and David Pynadath},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {9--16},
PUBLISHER = {AAAI Press},
SERIES = {},
SLIDES = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/VisionBasedImitationSlides.pdf},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/VisionBasedImitation.pdf},
ABSTRACT = {Imitation learning is a powerful mechanism used by
humans and other creatures. In imitation learning, the actions of
others form the basis for desirable behaviour, and an imitation
learner must be able to recognize the outcomes of the actions of
others, understand how these relate to its own abilities, and
ultimately duplicate the final outcome of a series of actions. We are
interested in supporting this type of learning in general populations
of robots, where a two important complications arise. First, physical
variation between demonstrator and learner may require the learner to
carry out different action(s) from the demonstrator to achieve the
same results. Second, since demonstrators' skills may differ as much
as their physiology, agents must be able to compare the
demonstrations of a number of different individuals, in order to give
greater weight to better demonstrators. Being able to integrate
multiple demonstrations from different demonstrators allows a learner
to deal with these problems as well as encouraging the creation of
more general behaviours, rather than simply mimicking the actions of
a single agent with no ability to generalize. In this paper we
describe an approach to imitation learning based on global vision,
which deals with these problems. }
}
@INPROCEEDINGS{AndersonBaltes07:MixedRealityAAAI,
AUTHOR = {John Anderson and Jacky Baltes},
BOOKTITLE = {Proceedings of AAAI-07 (Robot Exhibition Papers)},
TITLE = {A Mixed Reality Approach to Undergraduate Robotics
Education},
YEAR = {2007},
ADDRESS = {Vancouver, Canada},
CROSSREF = {},
EDITOR = {Robert Holte and Adele Howe},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {AAAI Press},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/MixedRealityAAAI07.pdf},
ABSTRACT = {Teaching robotics to undergraduate students requires a
course framework that allows students to learn about robotics in
stages, without being overwhelmed with details. Such a framework must
also provide the students with a motivating application environment
that challenges them to apply what they have learned. Robotics
competitions have proven to be an excellent method for motivating
students, so the framework should be portable and robust enough to be
used for competitions, and flexible enough to provide a range of
environments that can become more challenging as students become more
adept. Finally, the framework should provide repeatability and
control for evaluating the students work, as well as for performing
research. In this paper, we overview a mixed reality approach that
meets these criteria, and describe its use in an advanced
undergraduate course.}
}
@INPROCEEDINGS{AndersonBaltes07:VisionForEducationalRobotics,
AUTHOR = {John Anderson and Jacky Baltes},
BOOKTITLE = {Robots and Robot Venues: Resources for AI Education},
TITLE = {A Pragmatic Global Vision System for Educational
Robotics},
YEAR = {2007},
ADDRESS = {Stanford, CA},
CROSSREF = {},
EDITOR = {},
MONTH = {March},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {1--6},
PUBLISHER = {},
SERIES = {AAAI Spring Symposium Series},
SLIDES = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/SS07RoboticEducationSlides.pdf},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/SS07RoboticEducation.pdf},
ABSTRACT = {This paper advocates the use of global vision as a tool
for increasing the effectiveness of robotics education, and describes
the design and functionality of advanced global vision systems used
in our own programs. Our experiences with using global vision as a
basis for teaching robotics and AI have led us to use this as a
standard method for teaching undergraduates. Our recent vision
systems (DORAEMON and ERGO) have consistently been improved to
perform accurately and robustly over a wide range of applications.
DORAEMON uses a sophisticated camera calibration method and colour
model to remove the need for an overhead view of the world. ERGO
minimized the use of colour information to provide more robust object
recognition under varying lighting scenarios. Most recently, these
video servers have been used by undergraduates to develop autonomous
robots for a mixed virtual/physical world.}
}
@INPROCEEDINGS{IROS07Grounding,
AUTHOR = {Nathan Wiebe and John Anderson},
BOOKTITLE = {Proceedings of the 2007 IEEE/RSJ International Conference On Intelligent Robots and Systems (IROS-2007)},
TITLE = {A Local Approach to Developing Grounded Spatial
References in Multi-Robot Systems},
YEAR = {2007},
ADDRESS = {San Diego, CA},
CROSSREF = {},
EDITOR = {},
MONTH = {October},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {1357--1364},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/IROS07Grounding.pdf}
}
@MASTERSTHESIS{nathanthesis,
AUTHOR = {Nathan Wiebe},
SCHOOL = {Department of Computer Science, University of Manitoba},
TITLE = {Developing Grounded Communication in Multi-Agent Systems},
YEAR = {2006},
ADDRESS = {Winnipeg, MB},
MONTH = {January},
NOTE = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/nathanwiebemsc.pdf},
ABSTRACT = {For a mobile robot to be able to communicate usefully
with others, the symbols it uses to communicate must be associated
with (grounded to) physical entities in the environment. While it is
common practice to hand-construct such groundings, this does not
scale to large problems. In particular, when communicating about
useful locations in the environment, there are a large number of
potential groundings, even for a relatively simple task such as
navigation. The research goal of this thesis was to design,
implement, and evaluate an approach that allows a group of robotic
agents to develop consistent shared groundings for locations in an
environment over time. The approach was implemented in a multi-agent
robot simulator and experiments were run in domains of varying size
and complexity, and with different robot populations. A number of
parameters involved in developing shared groundings were also varied.
The results of these experiments illustrate that not only can such
shared groundings be developed over time, but that these groundings
will improve the effectiveness of communication and ultimately the
performance of tasks that require communication.}
}
@INCOLLECTION{WurrAnderson06:StigChapter,
AUTHOR = {Alfred Wurr and John Anderson},
BOOKTITLE = {Stigmergic Optimization},
PUBLISHER = {Springer-Verlag},
TITLE = {Stigmergic Navigation for Multi-Agent Teams in Complex
Environments},
YEAR = {2006},
ADDRESS = {Berlin},
CHAPTER = {4},
CROSSREF = {},
EDITION = {},
EDITOR = {Ajith Abraham, Crina Grosan and Vitorino Ramos},
MONTH = {},
NOTE = {},
NUMBER = {},
PAGES = {85--116},
SERIES = {},
SLIDES = {},
TYPE = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/WurrAndersonStigmergyChapter.pdf},
ABSTRACT = {Robotic agents in dynamic environments must sometimes
navigate using only their local perceptions. In complex environments,
features such as terrain undulation, geometrically complex barriers,
and similar obstacles form local maxima and minima that can trap and
hinder agents using reactive navigation. Moreover, agents navigating
in a purely reactive fashion forget their past discoveries quickly.
Preserving this knowledge usually requires that each agent construct
a detailed world model as it explores or be forced to rediscover
desired goals each time. Explicit communication can also be required
to share discoveries and coordinate actions. The cost of explicit
communication can be substantial, however, making it desirable to
avoid its use in many domains. Accordingly, in this paper we present
a method of cooperative trail making that allows a team of agents
using reactive navigation to assist one another in their explorations
through implicit (stigmergic) communication.}
}
@ARTICLE{socceredjournal,
AUTHOR = {John Anderson and Jacky Baltes},
JOURNAL = {International Journal of Robotics and Automation},
TITLE = {An Agent-Based Approach to Introductory Robotics Using
Robotic Soccer},
YEAR = {2006},
MONTH = {February},
NOTE = {},
NUMBER = {2},
PAGES = {},
SLIDES = {},
VOLUME = {21},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/andersonBaltesIJRA.pdf}
}
@ARTICLE{FuzzyPotentialEnergy2006,
AUTHOR = {Kuo-Yang Tu and Jacky Baltes},
JOURNAL = {Robotics and Autonomous Systems},
TITLE = {Fuzzy potential energy for a map approach to robot
navigation},
YEAR = {2006},
MONTH = {},
NOTE = {},
NUMBER = {7},
PAGES = {574--589},
SLIDES = {},
VOLUME = {54},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/FuzzyPotentialEnergy2006.pdf},
ABSTRACT = {A fully autonomous robot needs a flexible map to solve
frequent change of robot situations and/or tasks. In this paper,
based on the second type of fuzzy modeling, fuzzy potential energy
(FPE) is proposed to build a map that facilitates planning robot
tasks for real paths. Three rules for making use of FPEs are derived
to ground the basic ideas of building a map for task navigation. How
the FPE performs robot navigation is explained by its gradient
directions and shown by its gradient trajectories. To code
qualitative information into quantity, the proposed FPE provides a
way to quickly find a path for conducting the designated task or
solving a robot under an embarrassing situation. This paper pioneers
novel design and application of fuzzy modeling for a special map that
exploits innovation usage of task navigation for real paths.
Actually, visibility graphs based on the knowledge of human experts
are employed to build FPE maps for navigation. To emphasize the idea
of the created FPE, seven remarks direct the roadmap towards being a
utility tool for robot navigation. Three illustrative examples,
containing three spatial patterns, doors, corridors and cul-de-sacs,
are also included. This paper paves the way to create ideas of
intelligent navigation for further developments. }
}
@ARTICLE{teleautomjournal,
AUTHOR = {Ryan Wegner and John Anderson},
JOURNAL = {International Journal of Robotics and Automation},
TITLE = {Agent-Based Support for Balancing Teleoperation and
Autonomy in Urban Search and Rescue},
YEAR = {2006},
MONTH = {February},
NOTE = {},
NUMBER = {2},
PAGES = {},
SLIDES = {},
VOLUME = {21},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/wegnerAndersonIJRA.pdf}
}
@INPROCEEDINGS{BaltesAnderson06:AbarenbouDaodan,
AUTHOR = {Jacky Baltes and John Anderson},
BOOKTITLE = {Proceedings of the Invited Workshop on Artificial Intelligence and Humanoid Robotics, 29th Annual German Conference on Artificial Intelligence},
TITLE = {Abarenbou and DaoDan: Affordable Research Platforms for
Humanoid Robotics},
YEAR = {2006},
ADDRESS = {Bremen, Germany},
CROSSREF = {},
EDITOR = {},
MONTH = {June},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{BaltesAnderson06:AbarenbouDaodan,
AUTHOR = {Jacky Baltes and John Anderson},
BOOKTITLE = {Proceedings of the 2006 FIRA Robot World Congress},
TITLE = {Affordable Platforms for HuroSot},
YEAR = {2006},
ADDRESS = {Dortmund, Germany},
CROSSREF = {},
EDITOR = {},
MONTH = {June},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{BaltesAnderson06:DaoDanIcara,
AUTHOR = {Jacky Baltes and John Anderson},
BOOKTITLE = {Proceedings of the Fourth International Conference on Autonomous Robots and Agents (ICARA)},
TITLE = {DAODAN: An Affordable Research Platform for Humanoid
Robotics},
YEAR = {2006},
ADDRESS = {Palmerston North, New Zealand},
CROSSREF = {},
EDITOR = {},
MONTH = {December},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{BaltesAnderson06:AbarenbouDaodan,
AUTHOR = {Jacky Baltes and John Anderson},
BOOKTITLE = {37th International Symposium on Robotics (ISR/Robotic-2006)},
TITLE = {DaiGuardRS - an affordable platform for research into
humanoid robotic soccer},
YEAR = {2006},
ADDRESS = {Munich, Germany},
CROSSREF = {},
EDITOR = {},
MONTH = {May},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{AndersonBaltes06:ScavengerAAAI,
AUTHOR = {Jacky Baltes and John Anderson},
BOOKTITLE = {Proceedings of AAAI-06 (Robot Exhibition Papers)},
TITLE = {The Keystone Scavenger Team},
YEAR = {2006},
ADDRESS = {Boston},
CROSSREF = {},
EDITOR = {Yolanda Gill and Raymond Mooney},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {AAAI Press},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/ScavengerAAAI06.pdf},
ABSTRACT = {Stereo vision for small mobile robots is a challenging
problem, particularly when employing embedded systems with limited
processing power. However, it holds the promise of greatly increasing
the localization, mapping, and navigation ability of mobile robots.
To help in scene understanding, objects in the field of vision must
be extracted and represented in a fashion useful to the system. At
the same time, methods must be in place for dealing with the large
volume of data that stereo vision produces, in order that a practical
frame rate may be obtained. We have been working on stereo vision as
the sole form of perception for Urban Search and Rescue (USAR)
domains over the last three years. Recently, we have extended our
work to include domains with more complex human robot interactions.
Our entry in the 2006 AAAI Robotics competition embodies these ideas.}
}
@INPROCEEDINGS{KarpenkoAndersonSepehri06:RL,
AUTHOR = {Mark Karpenko and John Anderson and Nariman Sepehri},
BOOKTITLE = {Proceedings of the American Control Conference},
TITLE = {Coordination of Hydraulic Manipulators by Reinforcement
Learning},
YEAR = {2006},
ADDRESS = {Minneapolis, MN},
CROSSREF = {},
EDITOR = {},
MONTH = {June},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/KarpenkoAndersonSepehri_ACC06_0483.pdf}
}
@MASTERSTHESIS{LiuThesis,
AUTHOR = {Xiao-Wen Terry Liu},
SCHOOL = {Department of Computer Science, University of Manitoba},
TITLE = {An Intuitive and Flexible Architecture for Intelligent
Mobile Robots},
YEAR = {2005},
ADDRESS = {Winnipeg, Canada},
MONTH = {October},
NOTE = {},
SLIDES = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/LiuDefense.pdf},
TYPE = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/LiuThesis.pdf},
ABSTRACT = {The goal of this thesis is to develop an intuitive,
adaptive, and flexible architecture for controlling intelligent
mobile robots. This architecture is a hybrid architecture that
combines deliberative planning, reactive control, finite state
automata, behaviour trees and uses competition for behaviour
selection. This behaviour selection is based on a task manager, which
selects behaviours based on approximations of their applicability to
the current situation and the expected reward value for performing
that behaviour. One important feature of this architecture is that it
makes important behavioural information explicit using Extensible
Markup Language (XML) [99]. This explicit representation is an
important part in making the architecture easy to debug and extend.
The utility, intuitiveness and flexibility of this architecture is
shown in an evaluation of this architecture against older control
programs that lack such explicit behavioural representation. This
evaluation was carried out by developing behaviours for several
common robotic tasks and demonstrating common problems that arose
during the course of this development.}
}
@MASTERSTHESIS{mikevthesis,
AUTHOR = {van de Vijsel, Michael},
SCHOOL = {Department of Computer Science, University of Manitoba},
TITLE = {Increasing Realism in Coalition Formation in Multi-Agent
Systems},
YEAR = {2005},
ADDRESS = {Winnipeg, MB},
MONTH = {August},
NOTE = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/vandevijselthesis.pdf},
ABSTRACT = {It is well known that teams of agents in a multi-agent
system often perform better than individual agents working alone.
Most research in multi-agent systems has made the assumption that
teams are pre-formed, and has focused on improving the performance of
the existing teams. There has been far less research done on the
process of coalition formation - the process by which agents are
grouped into teams that can be successful in a given domain.
Addtionally, research that has been done in the area of coalition
formation has made several key assumptions that, while making either
implementations or analyses easier, are generally not true of more
realistic domains. This limits the applicability of current
approaches to environments with a high degree of realism. In this
thesis I examine existing coalition formation algorithms, enumerate
common restrictive assumptions, and propose a new coalition formation
algorithm that avoids these assumptions. I will also present an
implementation of this new approach, and evaluate it against a
baseline implementation in a software simulation.}
}
@ARTICLE{childrensworkshopjournal,
AUTHOR = {Jacky Baltes and John Anderson},
JOURNAL = {International Journal of Human-Friendly Welfare Robotic Systems},
TITLE = {Introductory Programming Workshop for Children Using
Robotics},
YEAR = {2005},
MONTH = {July},
NOTE = {},
NUMBER = {2},
PAGES = {17--26},
SLIDES = {},
VOLUME = {6},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/childrensworkshopIJHWRS.pdf}
}
@INPROCEEDINGS{BaltesAnderson05:RCHumanoid,
AUTHOR = {Jacky Baltes and John Anderson},
BOOKTITLE = {Proceedings of RoboCup-2005: Robot Soccer World Cup IX},
TITLE = {Humanoid Robots: Hiro and DaiGuard-RS},
YEAR = {2005},
ADDRESS = {Osaka},
CROSSREF = {},
EDITOR = {Ansgar Bredenfeld and Adam Jacoff and Itsuki Noda and
Yasutake Takahashi},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{BaltesAnderson05:RCRescue,
AUTHOR = {Jacky Baltes and John Anderson and Brian McKinnon and
Shawn Schaerer},
BOOKTITLE = {Proceedings of RoboCup-2005: Robot Soccer World Cup IX},
TITLE = {The Keystone Fire Brigade 2005},
YEAR = {2005},
ADDRESS = {Osaka},
CROSSREF = {},
EDITOR = {Ansgar Bredenfeld and Adam Jacoff and Itsuki Noda and
Yasutake Takahashi},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{ergoCIRAS,
AUTHOR = {Paul Furgale and John Anderson and Jacky Baltes},
BOOKTITLE = {Proceedings of the Third International Conference on Computational Intelligence, Robotics, and Autonomous Systems (CIRAS)},
TITLE = {Real-Time Vision-Based Pattern Tracking Without
Predefined Colors},
YEAR = {2005},
ADDRESS = {Singapore},
CROSSREF = {},
EDITOR = {},
MONTH = {December},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/ergoCIRAS.pdf}
}
@INPROCEEDINGS{mikeginstruction,
AUTHOR = {Michael Gauthier and John Anderson},
BOOKTITLE = {Proceedings of the Third International Conference on Computational Intelligence, Robotics, and Autonomous Systems (CIRAS)},
TITLE = {Peer Instruction for a Teleautonomous USAR System},
YEAR = {2005},
ADDRESS = {Singapore},
CROSSREF = {},
EDITOR = {},
MONTH = {December},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/instruction.pdf}
}
@INPROCEEDINGS{LyingRepBasedMAS,
AUTHOR = {Marek Laskowski and Sara McGrath},
BOOKTITLE = {Proceedings of the 18th Canadian Conference on Electrical and Computer Engineering},
TITLE = {Effects of Lying in Reputation-Based Multi-Agent Systems},
YEAR = {2005},
ADDRESS = {Saskatoon, SK},
CROSSREF = {},
EDITOR = {},
MONTH = {May},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/LyingRepMAS.pdf},
ABSTRACT = {As an increasing number of tasks on the Internet become
automated using autonomous agents, it will become increasingly
important for these agents to be able to discern which agents can be
trusted and which cannot. This is especially true where interacting
agents may have divergent goals, an example being Peer to Peer
applications. Passing on reputation information about other agents is
a strong way to encourage cooperation. This paper points out
weaknesses in both a general reputation scheme as well as a framework
which was previously proposed. These weaknesses could leave the door
open for exploitation by malicious agents.}
}
@INPROCEEDINGS{LiuBaltes05:Archangel,
AUTHOR = {Terry Liu and Jacky Baltes and John Anderson},
BOOKTITLE = {Proceedings of the Third International Conference on Computational Intelligence, Robotics, and Autonomous Systems (CIRAS)},
TITLE = {Archangel, a flexible and intuitive architecture for
intelligent mobile robots},
YEAR = {2005},
ADDRESS = {Singapore},
CROSSREF = {},
EDITOR = {},
MONTH = {December},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{saraciras,
AUTHOR = {Sara McGrath and John Anderson and Jacky Baltes},
BOOKTITLE = {Proceedings of the Third International Conference on Computational Intelligence, Robotics, and Autonomous Systems (CIRAS)},
TITLE = {Improving Cooperation in Spatially Distributed Agents},
YEAR = {2005},
ADDRESS = {Singapore},
CROSSREF = {},
EDITOR = {},
MONTH = {December},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/improvingspatialcoop.pdf}
}
@INPROCEEDINGS{mckinnonstereoRC,
AUTHOR = {Brian McKinnon and Jacky Baltes and John Anderson},
BOOKTITLE = {Proceedings of RoboCup-2005: Robot Soccer World Cup IX},
TITLE = {A Region-Based Approach to Stereo Matching for USAR},
YEAR = {2005},
ADDRESS = {Osaka},
CROSSREF = {},
EDITOR = {Ansgar Bredenfeld and Adam Jacoff and Itsuki Noda and
Yasutake Takahashi},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {452--463},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/mckinnonstereoRC05.pdf}
}
@INPROCEEDINGS{coalitionciras,
AUTHOR = {van de Vijsel, Michael and John Anderson},
BOOKTITLE = {Proceedings of the Third International Conference on Computational Intelligence, Robotics, and Autonomous Systems (CIRAS)},
TITLE = {Increasing Realism in Coalition Formation},
YEAR = {2005},
ADDRESS = {Singapore},
CROSSREF = {},
EDITOR = {},
MONTH = {December},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/coalitionCIRAS.pdf}
}
@PROCEEDINGS{aaai04workshop,
TITLE = {Forming and Maintaining Coalitions and Teams in Adaptive
Multiagent Systems: Papers from the 2004 AAAI Workshop},
YEAR = {2004},
ADDRESS = {},
EDITOR = {Leen-kiat Soh and John Anderson},
MONTH = {},
NOTE = {AAAI Technical Report WS-04-06},
NUMBER = {},
ORGANIZATION = {},
PUBLISHER = {AAAI Press},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
URL = {http://www.aaai.org/Library/Workshops/ws04-06.php}
}
@ARTICLE{baltes04:_desig_walkin_gaits_tao_pie,
AUTHOR = {Jacky Baltes and Patrick Lam},
JOURNAL = {Advanced Robotics},
TITLE = {Design of Walking Gaits for Tao-Pie-Pie, a Small
Humanoid Robot},
YEAR = {2004},
MONTH = {August},
NOTE = {},
NUMBER = {7},
PAGES = {713-716},
SLIDES = {},
VOLUME = {18},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes04:_desig_walkin_gaits_tao_pie.pdf},
ABSTRACT = {This paper describes the methodology that we used to
design and implement balancing and walking gaits for Tao-Pie-Pie, a
small 30cm tall humanoid robot. Tao-Pie-Pie is a fully autonomous
robot with all power, sensing, and processing done on-board. It is
also a minimalistic design with only six degrees of freedom.
Nevertheless, its performance is comparable to that of other more
complex designs. The paper describes three patterns: (a) a straight
walk, (b) a turn on the spot, and (c) a kicking pattern. Sensor
feedback is provided by two gyroscopes that provide angular velocity
in the left-right and forward-backward plane and a CMOS camera
providing vision information. The feedback from the gyroscopes is not
used to directly control the walking gait, because the signal is
noisy and it would be computationally too expensive for the current
processor hardware. Instead, coarse feedback from the gyroscopes is
used to monitor the transition from one phase of the pattern to the
next. This feedback is used to: (a) determine when a phase has
completed successfully, and (b) when to change the endpoints of
certain phases. Tao-Pie-Pie proved to be a successful design winning
a number of honors at international competitions.}
}
@INPROCEEDINGS{soccerworkshop,
AUTHOR = {John Anderson and Jacky Baltes},
BOOKTITLE = {Proceedings of the Agents Meet Robots Workshop, 17th Conference of the Canadian Society for the Computational Studies of Intelligence (AI-04)},
TITLE = {Agent-Based Control In a Global-Vision Robotic Soccer
Team},
YEAR = {2004},
ADDRESS = {London, ON},
CROSSREF = {},
EDITOR = {},
MONTH = {May},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {60--68},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/agentsoccer.pdf}
}
@INPROCEEDINGS{anderson05:_robob,
AUTHOR = {John Anderson and Jacky Baltes and Terry Liu},
BOOKTITLE = {The Eighth RoboCup Competitions and Conferences},
TITLE = {RoboBisons 2004},
YEAR = {2004},
ADDRESS = {Lisbon},
CROSSREF = {},
EDITOR = {Daniele Nardi and Martin Riedmiller and Claude Sammut},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{learncoal,
AUTHOR = {John Anderson and Brian Tanner and Jacky Baltes},
BOOKTITLE = {Proceedings of the AAAI-04 Workshop on Forming and Maintaining Coalitions and Teams in Adaptive Multiagent Systems},
TITLE = {Dynamic Coalition Formation in Robotic Soccer},
YEAR = {2004},
ADDRESS = {San Jose, CA},
CROSSREF = {},
EDITOR = {},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/learncoal.pdf}
}
@INPROCEEDINGS{anderson04:_reinf_learn_teamm_varyin_skill_robot_soccer,
AUTHOR = {John Anderson and Brian Tanner and Jacky Baltes},
BOOKTITLE = {Proceedings of the 2004 FIRA Robot World Congress},
TITLE = {Reinforcement Learning from Teammates of Varying Skill
in Robotic Soccer},
YEAR = {2004},
ADDRESS = {Busan, Korea},
CROSSREF = {},
EDITOR = {},
MONTH = {October},
NOTE = {},
NUMBER = {},
ORGANIZATION = {FIRA},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes04:_inter_method_global_vision_system,
AUTHOR = {Jacky Baltes and John Anderson},
BOOKTITLE = {The Eighth RoboCup Competitions and Conferences},
TITLE = {Interpolation Methods for Global Vision Systems},
YEAR = {2004},
ADDRESS = {Lisbon},
CROSSREF = {},
EDITOR = {Daniele Nardi and Martin Riedmiller and Claude Sammut},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes04:_inter_method_global_vision_system_poster.pdf},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes04:_inter_method_global_vision_system.pdf},
ABSTRACT = {In 2004, the playing field size of the small sized
league was significantly increased, which poses new challenges for
all teams. This paper describes extensions to our current video
server software Doraemon to deal with these new challenges. It shows
that a camera with a side view is a workable alternative to the more
expensive approach of using multiple cameras. To illustrate this
point, the paper discusses the camera calibration method used in
Doraemon as well as an investigation into some common two dimensional
interpolation methods (pulse, linear, and cubic B-spline) as well a
novel average gradient method. It also proves that (ignoring occluded
parts of the playing field) it is possible to construct a realistic
top down view of the playing field with a camera that only has a side
view of the field.}
}
@INPROCEEDINGS{baltes04:_introd_progr_works_child_using_robot,
AUTHOR = {Jacky Baltes and John Anderson},
BOOKTITLE = {Proceedings of the 2nd International Symposium on Robotics Education},
TITLE = {Introductory Programming Workshop for Children Using
Robotics},
YEAR = {2004},
ADDRESS = {Daejon, Korea},
CROSSREF = {},
EDITOR = {},
MONTH = {November},
NOTE = {},
NUMBER = {},
ORGANIZATION = {KAIST},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes04:_keyst_fire_brigad,
AUTHOR = {Jacky Baltes and John Anderson and Shawn Schaerer and
Ryan Wegner},
BOOKTITLE = {The Eighth RoboCup Competitions and Conferences},
TITLE = {Keystone Fire Brigade 2004},
YEAR = {2004},
ADDRESS = {Lisbon},
CROSSREF = {},
EDITOR = {Daniele Nardi and Martin Riedmiller and Claude Sammut},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes05:_tao_pie_pie_human_robot2,
AUTHOR = {Jacky Baltes and Sara McGrath and John Anderson},
BOOKTITLE = {The Eighth RoboCup Competitions and Conferences},
TITLE = {Tao-Pie-Pie Humanoid Robot},
YEAR = {2004},
ADDRESS = {Lisbon},
CROSSREF = {},
EDITOR = {Daniele Nardi and Martin Riedmiller and Claude Sammut},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes05:_tao_pie_pie_human_robot,
AUTHOR = {Jacky Baltes and Sara McGrath and John Anderson},
BOOKTITLE = {The Eighth RoboCup Competitions and Conferences},
TITLE = {The Use of Gyroscope Feedback in the Control of the
Walking Gaits for a Small Humanoid Robot},
YEAR = {2004},
ADDRESS = {Lisbon},
CROSSREF = {},
EDITOR = {Daniele Nardi and Martin Riedmiller and Claude Sammut},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes04:_use_gyros_feedb_contr_walkin.pdf}
}
@INPROCEEDINGS{baltes04:_teach_roboc,
AUTHOR = {Jacky Baltes and Elizabeth Sklar and John Anderson},
BOOKTITLE = {Accessible Hands-on Artificial Intelligence and Robotics Education},
TITLE = {Teaching with RoboCup},
YEAR = {2004},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {February},
NOTE = {},
NUMBER = {SS-04-01},
ORGANIZATION = {American Association for Artificial Intelligence},
PAGES = {146 - 152},
PUBLISHER = {AAAI Press},
SERIES = {Spring Symposium},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes04:_teach_roboc.pdf}
}
@INPROCEEDINGS{liu04:_intuit_flexib_archit_intel_mobil_robot,
AUTHOR = {Xiao-Wen Terry Liu and Jacky Baltes},
BOOKTITLE = {Second International Conference on Autonomous Robots and Agents (ICARA)},
TITLE = {An Intuitive and Flexible Architecture for Intelligent
Mobile Robots},
YEAR = {2004},
ADDRESS = {},
CROSSREF = {},
EDITOR = {S. C. Mukhopadhyay and G. Sen Gupta},
MONTH = {December},
NOTE = {},
NUMBER = {},
ORGANIZATION = {Massey University},
PAGES = {52-57},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/liu04:_intuit_flexib_archit_intel_mobil_robot.pdf},
ABSTRACT = {The goal of this research is to develop an intuitive,
adaptive, and flexible architecture for intelligent mobile robots. We
propose a hybrid architecture that uses behaviour trees and finite
state machines. A task manager selects behaviours based on
approximations of their applicability and the expected reward of a
behaviour. One major feature of this architecture is that important
information of the perception, reasoning, and execution parts of the
system are made explicit. This information includes parameters (e.g.,
colour definitions), structural information (e.g., the behaviour
tree), and the ability to represent prototypical scenarios.}
}
@INPROCEEDINGS{mcgrath04:_activ_balan_using_gyros_small_human_robot,
AUTHOR = {Sara McGrath and Jacky Baltes and John Anderson},
BOOKTITLE = {Second International Conference on Autonomous Robots and Agents (ICARA)},
TITLE = {Active Balancing Using Gyroscopes for a Small Humanoid
Robot},
YEAR = {2004},
ADDRESS = {},
CROSSREF = {},
EDITOR = {S. C. Mukhopadhyay and G. Sen Gupta},
MONTH = {December},
NOTE = {},
NUMBER = {},
ORGANIZATION = {Massey University},
PAGES = {470-475},
PUBLISHER = {},
SERIES = {},
SLIDES = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/mcgrath04:_activ_balan_using_gyros_small_human_robot_slides.pdf},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/mcgrath04:_activ_balan_using_gyros_small_human_robot.pdf},
ABSTRACT = {This paper describes methods used in stabilizing the
walking gait of Tao-Pie-Pie, a small humanoid robot given rate
feedback from two RC gyroscopes. Tao-Pie-Pie is a fully autonomous
small humanoid robot (30cm tall). Although Tao-Pie-Pie uses a minimal
set of actuators and sensors, it has proven itself in international
competitions, winning honors at the RoboCup and HuroSot competitions
in 2002 and 2003. The feedback control law is based solely on the
rate information from two RC gyroscopes. This alleviates drift
problems introduced by integrating the RC gyroscope feedback in the
more common position control approaches.}
}
@INPROCEEDINGS{mcgrath04:_activ_balan_small_human_robot,
AUTHOR = {Sara McGrath and Jacky Baltes and John Anderson},
BOOKTITLE = {Proceedings of the 2004 FIRA Robot World Congress},
TITLE = {Active Balancing in a Small Humanoid Robot},
YEAR = {2004},
ADDRESS = {Busan, Korea},
CROSSREF = {},
EDITOR = {},
MONTH = {October},
NOTE = {},
NUMBER = {},
ORGANIZATION = {FIRA},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{mckinnon04:_pract_region_based_match_stereo_vision,
AUTHOR = {Brian McKinnon and Jacky Baltes},
BOOKTITLE = {IWCIA},
TITLE = {Practical Region-Based Matching for Stereo Vision.},
YEAR = {2004},
ADDRESS = {},
CROSSREF = {},
EDITOR = {Reinhard Klette and Jovisa D. Zunic},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {726-738},
PUBLISHER = {Springer},
SERIES = {Lecture Notes in Computer Science},
SLIDES = {},
VOLUME = {3322},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/mckinnon04:_pract_region_based_match_stereo_vision.pdf},
ABSTRACT = {Using stereo vision in the field of mapping and
localization is an intuitive idea, as demonstrated by the number of
animals that have developed the ability. Though it seems logical to
use vision, the problem is a very difficult one to solve. It requires
the ability to identify objects in the field of view, and classify
their relationship to the observer. A procedure for extracting and
matching object data using a stereo vision system is introduced, and
initial results are provided to demonstrate the potential of this
system.}
}
@INPROCEEDINGS{ScharerRAM04,
AUTHOR = {Shawn Schärer and Jacky Baltes and John Anderson},
BOOKTITLE = {Proceedings of the 2004 IEEE Conference on Robotics, Automation, and Mechatronics},
TITLE = {Practical Ego-Motion Estimation for Mobile Robots},
YEAR = {2004},
ADDRESS = {Singapore},
CROSSREF = {},
EDITOR = {},
MONTH = {December},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {921--926},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/ScharerRAM04.pdf}
}
@INPROCEEDINGS{teleworkshop,
AUTHOR = {Ryan Wegner and John Anderson},
BOOKTITLE = {Proceedings of the Agents Meet Robots Workshop, 17th Conference of the Canadian Society for the Computational Studies of Intelligence (AI-04)},
TITLE = {An Agent-Based Approach to Balancing Teleoperation and
Autonomy for Robotic Search and Rescue},
YEAR = {2004},
ADDRESS = {London, ON},
CROSSREF = {},
EDITOR = {},
MONTH = {May},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {1--15},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/WegnerAnderson.pdf}
}
@INPROCEEDINGS{stigtrail,
AUTHOR = {Alfred Wurr and John Anderson},
BOOKTITLE = {Proceedings of the 17th Conference of the Canadian Society for the Computational Studies of Intelligence (AI-04)},
TITLE = {Multi-Agent Trail Making for Stigmergic Navigation},
YEAR = {2004},
ADDRESS = {London, ON},
CROSSREF = {},
EDITOR = {},
MONTH = {May},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {422--428},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/stigtrailmaking.pdf}
}
@INPROCEEDINGS{mikecoal,
AUTHOR = {van de Vijsel, Michael and John Anderson},
BOOKTITLE = {Proceedings of the AAAI-04 Workshop on Forming and Maintaining Coalitions and Teams in Adaptive Multiagent Systems},
TITLE = {Coalition Formation in Multi-Agent Systems under
Real-World Conditions},
YEAR = {2004},
ADDRESS = {San Jose, CA},
CROSSREF = {},
EDITOR = {},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/mikecoalworkshop.pdf}
}
@MANUAL{baltes04:_huros_laws_game,
TITLE = {HuroSot Laws of the Game},
ADDRESS = {Winnipeg, Canada},
AUTHOR = {Jacky Baltes and Thomas Bräunl},
EDITION = {},
MONTH = {May},
NOTE = {http://www.fira.net/hurosot},
ORGANIZATION = {University of Manitoba},
SLIDES = {},
VIDEOS = {},
YEAR = {2004},
POSTER = {}
}
@MASTERSTHESIS{ryanthesis,
AUTHOR = {Ryan Wegner},
SCHOOL = {Department of Computer Science, University of Manitoba},
TITLE = {Balancing Robotic Teleoperation and Autonomy in a
Complex and Dynamic Environment},
YEAR = {2003},
ADDRESS = {},
MONTH = {July},
NOTE = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/ryanthesis.pdf}
}
@MASTERSTHESIS{alfthesis,
AUTHOR = {Alfred Wurr},
SCHOOL = {Department of Computer Science, University of Manitoba},
TITLE = {Robotic Team Navigation in Complex Environments Using
Stigmergic Cues},
YEAR = {2003},
ADDRESS = {Winnipeg, MB},
MONTH = {July},
NOTE = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/alfthesis.pdf}
}
@INCOLLECTION{braunl03:_embed_robot,
AUTHOR = {Jacky Baltes},
BOOKTITLE = {Embedded Robotics: Mobile Robot Design and Applications with Embedded Systems},
PUBLISHER = {Springer-Verlag New York, Inc.},
TITLE = {Camera Interface},
YEAR = {2003},
ADDRESS = {Heidelberg, Germany},
CHAPTER = {8.1},
CROSSREF = {},
EDITION = {},
EDITOR = {Thomas Bräunl},
MONTH = {},
NOTE = {},
NUMBER = {},
PAGES = {},
SERIES = {},
SLIDES = {},
TYPE = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{anderson03:_littl_black_devil,
AUTHOR = {John Anderson and Jacky Baltes and Doug Cornelson and
Terry Liu and Clint Stuart and Adam Zilkie},
BOOKTITLE = {The Seventh RoboCup Competitions and Conferences},
TITLE = {The Little Black Devils},
YEAR = {2003},
ADDRESS = {Padova, Italy},
CROSSREF = {},
EDITOR = {Daniel Polani and Brett Browning and Andrea Bonarini and
Kazuo Yoshida},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{anderson03:_univer_manit_uleag_team,
AUTHOR = {John Anderson and Jacky Baltes and Doug Cornelson and
Terry Liu and Clint Stuart and Adam Zilkie},
BOOKTITLE = {The Seventh RoboCup Competitions and Conferences},
TITLE = {The University of Manitoba ULeague Team},
YEAR = {2003},
ADDRESS = {Padova, Italy},
CROSSREF = {},
EDITOR = {Daniel Polani and Brett Browning and Andrea Bonarini and
Kazuo Yoshida},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{anderson03:_keyst_rescue_team,
AUTHOR = {John Anderson and Jacky Baltes and Jay Kraut},
BOOKTITLE = {The Seventh RoboCup Competitions and Conferences},
TITLE = {The Keystone Rescue Team},
YEAR = {2003},
ADDRESS = {Padova, Italy},
CROSSREF = {},
EDITOR = {Daniel Polani and Brett Browning and Andrea Bonarini and
Kazuo Yoshida},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{anderson03:_towar_under_league_roboc,
AUTHOR = {John Anderson and Jacky Baltes and David Livingston and
Elizabeth Sklar},
BOOKTITLE = {The Seventh RoboCup Competitions and Conferences},
TITLE = {Toward an Undergraduate League for RoboCup},
YEAR = {2003},
ADDRESS = {Padova, Italy},
CROSSREF = {},
EDITOR = {Daniel Polani and Brett Browning and Andrea Bonarini and
Kazuo Yoshida},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes03:_flexib_binar_space_partit_robot_rescue,
AUTHOR = {Jacky Baltes and John Anderson},
BOOKTITLE = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
TITLE = {Flexible Binary Space Partitioning for Robotic Rescue},
YEAR = {2003},
ADDRESS = {Las Vegas},
CROSSREF = {},
EDITOR = {},
MONTH = {October},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {3144-3149},
PUBLISHER = {},
SERIES = {},
SLIDES = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes03:_flexib_binar_space_partit_robot_rescue_slides.pdf},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes03:_flexib_binar_space_partit_robot_rescue.pdf},
ABSTRACT = {In domains such as robotic rescue, robots must plan
paths through environments that are complex and dynamic, and in which
robots have only incomplete knowledge. This will normally require
both diversions from planned paths as well as significant re-planning
as events in the domain unfold and new information is acquired. In
terms of a representation for path planning, these requirements place
significant demands on efficiency and flexibility. This paper
describes a method for flexible binary space partitioning designed to
serve as a basis for path planning in uncertain dynamic domains such
as robotic rescue. This approach is used in the 2003 version of the
\kfb\, a robotic rescue team. We describe the algorithm used, make
comparisons to related approaches to path planning, and provide an
empirical evaluation of an implementation of this approach.}
}
@INPROCEEDINGS{baltes03:_ident_robot_throug_behav_analy,
AUTHOR = {Jacky Baltes and John Anderson},
BOOKTITLE = {Proceedings of the Second International Conference on Computational Intelligence, Robotics, and Autonomous Systems},
TITLE = {Identifying Robots Through Behavioral Analysis},
YEAR = {2003},
ADDRESS = {Singapore},
CROSSREF = {},
EDITOR = {},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
ANNOTE = {Identifying the location and orientation of robots is a significant problem in vision for robotic soccer. Previous approaches use some type of identifying marker system (coloured spots, arrangements of bars) in order to facilitate fast visual identification of individual robots. However, these methods do not scale well to larger teams and require considerable calibration effort. This paper describes an approach that does not require such markers. Instead, the movement history as well and command history are used to identity the robot by employing Bayesian techniques to correlate the commands sent to the robot with the robot's actions in the environment. This approach is implemented in the latest version of our global video server, \Doraemon.}
}
@INPROCEEDINGS{baltes03:_learn_orien_infor_robot_soccer,
AUTHOR = {Jacky Baltes and John Anderson},
BOOKTITLE = {Proceedings of the FIRA World Congress},
TITLE = {Learning Orientation Information for Robotic Soccer
Using Neural Nets},
YEAR = {2003},
ADDRESS = {Vienna, Austria},
CROSSREF = {},
EDITOR = {},
MONTH = {October},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
ANNOTE = {Robotic soccer teams using both local and global vision traditionally rely on a set of pre-determined markers (e.g., a group of small colored circles mounted on the top surface of the robot) to provide easy targets for visual analysis in order to determine the team membership, identity, and orientation of robots in the visual field. This approach requires calibration before any competition, as well as agreement in advance on color codes different enough between teams to avoid recognition errors at run-time. Even after extensive calibration, small lighting variations can cause extensive misidentification. In this paper, we examine an alternative approach: training a neural network to recognize the orientation of the robots on a team so that visual tracking can occur in real time without special markers of any kind. This paper describes the design and implementation of such an approach, and shows the results of an empirical evaluation of this approach.}
}
@INPROCEEDINGS{baltes03:_keyst_rescue,
AUTHOR = {Jacky Baltes and John Anderson},
BOOKTITLE = {Proceedings of the IJCAI Robotics Workshop},
TITLE = {The Keystone Rescue Robotic Rescue Team},
YEAR = {2003},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes03:_walkin_gaits_small_human_robot,
AUTHOR = {Jacky Baltes and Patrick Lam},
BOOKTITLE = {The Seventh RoboCup Competitions and Conferences},
TITLE = {Walking Gaits for a Small Humanoid Robot},
YEAR = {2003},
ADDRESS = {Padova, Italy},
CROSSREF = {},
EDITOR = {Daniel Polani and Brett Browning and Andrea Bonarini and
Kazuo Yoshida},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes03:_tao_pie_pie,
AUTHOR = {Jacky Baltes and Sara McGrath},
BOOKTITLE = {The Seventh RoboCup Competitions and Conferences},
TITLE = {Tao-Pie-Pie},
YEAR = {2003},
ADDRESS = {Padova, Italy},
CROSSREF = {},
EDITOR = {Daniel Polani and Brett Browning and Andrea Bonarini and
Kazuo Yoshida},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes03:_feedb_contr_walkin_small_human_robot,
AUTHOR = {Jacky Baltes and Sara McGrath and John Anderson},
BOOKTITLE = {Proceedings of the FIRA World Congress},
TITLE = {Feedback Control of Walking for a Small Humanoid Robot},
YEAR = {2003},
ADDRESS = {Vienna, Austria},
CROSSREF = {},
EDITOR = {},
MONTH = {October},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
ANNOTE = {This paper describes methods used in stabilizing the walking gait of Tao-Pie-Pie, a small humanoid robot given rate feedback from two RC gyroscopes. Tao-Pie-Pie is a fully autonomous small humanoid robot (30cm tall). Although Tao-Pie-Pie uses a minimal set of actuators and sensors, it has proven itself in international competitions, winning honors at the RoboCup\ and HuroSot\ competitions in 2002 and 2003. The feedback control law is based solely on the rate information from two RC gyroscopes. This alleviates drift problems introduced by integrating the RC gyroscope feedback in the more common position control approaches.}
}
@INPROCEEDINGS{baltes03:_stabil_walkin_gaits_using_feedb_from_gyros,
AUTHOR = {Jacky Baltes and Sara McGrath and John Anderson},
BOOKTITLE = {Proceedings of the Second International Conference on Computational Intelligence, Robotics, and Autonomous Systems},
TITLE = {Stabilizing Walking Gaits Using Feedback From Gyroscopes},
YEAR = {2003},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
ANNOTE = {This paper describes methods used in stabilizing the walking gait of Tao-Pie-Pie, a small humanoid robot given rate feedback from two RC gyroscopes. Tao-Pie-Pie is a fully autonomous small humanoid robot (30cm tall). Although Tao-Pie-Pie uses a minimal set of actuators and sensors, it has proven itself in international competitions, winning honors at the RoboCup and HuroSot competitions in 2002 and 2003. The feedback control law is based solely on the rate information from two RC gyroscopes. This alleviates drift problems introduced by integrating the RC gyroscope feedback in the more common position control approaches.}
}
@INPROCEEDINGS{lee03:_applic_td_learn_openin_games_go,
AUTHOR = {Byung-Doo Lee and Hans Werner Guesgen and Jacky Baltes},
BOOKTITLE = {Proceedings of the Fifth International Conference on Advances in Pattern Recognition},
TITLE = {The Application of TD(l) Learning to the Opening Games
of Go},
YEAR = {2003},
ADDRESS = {Calcutta, India},
CROSSREF = {},
EDITOR = {},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{wegner03:_blend_auton_teleop_intel_contr,
AUTHOR = {Ryan Wegner and John Anderson and Jacky Baltes},
BOOKTITLE = {Proceedings of the FIRA World Congress},
TITLE = {Blending Autonomy and Teleoperation for Intelligent
Control of Multiple Mobile Robots in Urban Search and Rescue
Environments},
YEAR = {2003},
ADDRESS = {Vienna, Austria},
CROSSREF = {},
EDITOR = {},
MONTH = {October},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INCOLLECTION{baltes4stooges,
AUTHOR = {Jacky Baltes},
BOOKTITLE = {RoboCup 2001: Robot Soccer World Cup V},
PUBLISHER = {Springer-Verlag},
TITLE = {4 Stooges},
YEAR = {2002},
ADDRESS = {Berlin},
CHAPTER = {},
CROSSREF = {},
EDITION = {},
EDITOR = {A. Birk and S. Coradeschi and S. Tadokoro},
MONTH = {},
NOTE = {},
NUMBER = {},
PAGES = {559-562},
SERIES = {Lecture Notes on AI},
SLIDES = {},
TYPE = {},
VOLUME = {2377},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{PR,
AUTHOR = {John Anderson and Brian Tanner and Ryan Wegner},
BOOKTITLE = {Proceedings of the IASTED International Conference on Artificial Intelligence and Soft Computing (ASC2002)},
TITLE = {Peer Reinforcement in Homogeneous and Heterogeneous
Multi-Agent Learning},
YEAR = {2002},
ADDRESS = {Banff, AB},
CROSSREF = {},
EDITOR = {},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {13-18},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/peerreinforcement.pdf}
}
@INPROCEEDINGS{simsoccer,
AUTHOR = {John Anderson and Ryan Wegner and Brian Tanner},
BOOKTITLE = {Proceedings of the AAAI International Workshop on Coalition Formation in Dynamic Multiagent Environments},
TITLE = {Exploiting Opportunities through Dynamic Coalitions in
Robotic Soccer},
YEAR = {2002},
ADDRESS = {Edmonton, AB},
CROSSREF = {},
EDITOR = {},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{withalf,
AUTHOR = {John Anderson and Alfred Wurr},
BOOKTITLE = {Proceedings of the IASTED International Conference on Artificial Intelligence and Soft Computing (ASC2002)},
TITLE = {Dimensions of Teleautonomy in Mobile Agents},
YEAR = {2002},
ADDRESS = {Banff, AB},
CROSSREF = {},
EDITOR = {},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {1-6},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/telebreadth.pdf}
}
@INPROCEEDINGS{baltes02:_doraem,
AUTHOR = {Jacky Baltes},
BOOKTITLE = {2nd IFAC Conference on Mechatronic Systems},
TITLE = {Doraemon: Object Orientation and Id without Additional
Markers},
YEAR = {2002},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {December},
NOTE = {},
NUMBER = {},
ORGANIZATION = {American Automatic Control Council},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes02:_effic_image_proces_increas_resol,
AUTHOR = {Jacky Baltes},
BOOKTITLE = {RoboCup-01: Robot Soccer World Cup V},
TITLE = {Efficient Image Processing for Increased Resolution and
Color Correctness of CMOS Image Sensors},
YEAR = {2002},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {Springer},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes02:_effic_image_proces_increas_resol.pdf},
ABSTRACT = {This paper describes fast demosaicing methods to
quadruple the resolution of a CMOS camera. The resulting increase in
accuracy in camera calibration and object detection is important for
local vision robots, especially those that use computer vision as
their only source of information about the state of the world. The
paper describes two methods for demosaicing: interpolation and
variance demosaicing. A comparison of three sample views is shown to
demonstrate the increased resolution and the difference between the
interpolation and variance demosaicing methods. Both demosaicing
methods work well. Variance demosaicing performs better around edges
in the image, but is computationally more expensive.}
}
@INPROCEEDINGS{baltes02:_effic_local_mobil_robot,
AUTHOR = {Jacky Baltes},
BOOKTITLE = {Proceedings of the 2002 FIRA World Congress},
TITLE = {Efficient Localization for Mobile Robots},
YEAR = {2002},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {Federation of International Robot-soccer Association},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes02:_local_mobil_robot_using_lines,
AUTHOR = {Jacky Baltes},
BOOKTITLE = {Proceedings of the Seventh International Conference on Control, Automation, Robotics and Vision (ICARCV)},
TITLE = {Localization for Mobile Robots Using Lines},
YEAR = {2002},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {December},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes02:_strat_selec_goal_gener_role,
AUTHOR = {Jacky Baltes},
BOOKTITLE = {Proceedings of the Seventh International Conference on Control, Automation, Robotics and Vision (ICARCV)},
TITLE = {Strategy Selection, Goal Generation, and Role Assignment
in a Robotic Soccer Team},
YEAR = {2002},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes02:_yuefei,
AUTHOR = {Jacky Baltes},
BOOKTITLE = {RoboCup-01: Robot Soccer World Cup V},
TITLE = {YueFei: Object Orientation and Id without Additional
Markers},
YEAR = {2002},
ADDRESS = {New York},
CROSSREF = {},
EDITOR = {},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {Springer},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes02:_yuefei.pdf},
ABSTRACT = {This paper describes a novel approach to detecting
orientation and identity of robots using a global vision system.
Instead of additional markers, the shape of the robot is used to
determine an orientation using a general Hough transform. In addition
the movement history as well as the command history are used to
calculate the quadrant of the orientation. The identity of the robot
is determined by correlating the motion of the robot with the command
history. An empirical evaluation shows that the performance of the
new video server is at least as good as that of a traditional
approach using additional coloured markers.}
}
@INPROCEEDINGS{baltes02:_pragm_approac_robot_rescue,
AUTHOR = {Jacky Baltes and John Anderson},
BOOKTITLE = {AAAI Mobile Robot Competition},
TITLE = {A Pragmatic Approach to Robot Rescue: The Keystone Fire
Brigade},
YEAR = {2002},
ADDRESS = {},
CROSSREF = {},
EDITOR = {William D. Smart and Tucker R. Balch and Holly A. Yanco},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {38-43},
PUBLISHER = {AAAI Press},
SERIES = {AAAI Technical Report},
SLIDES = {},
VOLUME = {WS-02-18},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes02:_devel_walkin_gaits_small_human_robot,
AUTHOR = {Jacky Baltes and Patrick Lam},
BOOKTITLE = {Proceedings of the 2002 FIRA World Congress},
TITLE = {Development of Walking Gaits for a Small Humanoid Robot},
YEAR = {2002},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {Federation of International Robot-soccer Association},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes02:_compar_sever_machin_learn_techn,
AUTHOR = {Jacky Baltes and Yong Joo Park},
BOOKTITLE = {RoboCup-01: Robot Soccer World Cup V},
TITLE = {Comparison of Several Machine Learning Techniques in
Pursuit-Evasion Games},
YEAR = {2002},
ADDRESS = {New York},
CROSSREF = {},
EDITOR = {},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {Springer},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes02:_compar_sever_machin_learn_techn.pdf},
ABSTRACT = {This paper describes the results of an empirical
evaluation comparing the performance of five different algorithms in
a pursuit and evasion game. The pursuit and evasion game was played
using two robots. The task of the pursuer was to catch the other
robot (the evader). The algorithms tested were a random player, the
optimal player, a genetic algorithm learner, a k-nearest neighbor
learner, and a reinforcement learner. The k-nearest neighbor learner
performed best overall, but a closer analysis of the results showed
that the genetic algorithm suffered from an exploration-exploitation
problem.}
}
@INPROCEEDINGS{lam02:_devel_walkin_gaits_small_human_robot,
AUTHOR = {Patrick Lam and Jacky Baltes},
BOOKTITLE = {Proceedings of the International Conference on Artificial Intelligence and Soft Computing},
TITLE = {Development of Walking Gaits for a Small Humanoid Robot},
YEAR = {2002},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {IASTED},
PAGES = {},
PUBLISHER = {Acta Press},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{thomson02:_mobil_robot_path_track_using_visual_servoin,
AUTHOR = {Andrew Thomson and Jacky Baltes},
BOOKTITLE = {Proceedings of the International Conference on Vision Computing New Zealand},
TITLE = {Mobile Robot Path Tracking Using Visual Servoing},
YEAR = {2002},
ADDRESS = {Auckland, New Zealand},
CROSSREF = {},
EDITOR = {},
MONTH = {November},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/thomson02:_mobil_robot_path_track_using_visual_servoin_slides.pdf},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/thomson02:_mobil_robot_path_track_using_visual_servoin.pdf},
ABSTRACT = {This paper describes a path tracking controller for
mobile robots using visual servoing. A highly efficient algorithm
suitable for cheap and low power micro-processor is described. The
algorithm uses a highly focused search in the image to approximate
the offset and gradient of the path. These features are determined
solely by a sweep through two rows of the image. An empirical
evaluation shows that the algorithm is efficient and robustness.
Furthermore, the empirical evaluation investigates the relationship
between the average error and the look ahead distance as well as the
weighting between the offset and gradient information.}
}
@INCOLLECTION{gb,
AUTHOR = {John Anderson},
BOOKTITLE = {Integrating GIS and Agent based modeling techniques for Understanding Social and Ecological Processes},
PUBLISHER = {Oxford University Press},
TITLE = {Providing a Broad Spectrum of Agents in
Spatially-Explicit Simulation Models},
YEAR = {2001},
ADDRESS = {},
CHAPTER = {2},
CROSSREF = {},
EDITION = {},
EDITOR = {Randy Gimblett},
MONTH = {May},
NOTE = {},
NUMBER = {},
PAGES = {21-58},
SERIES = {},
SLIDES = {},
TYPE = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/chapter.pdf}
}
@INCOLLECTION{baltes01:_adapt_path_plann_highl_dynam_envir,
AUTHOR = {Jacky Baltes and Nicholas Hildreth},
BOOKTITLE = {RoboCup-2000: Robot Soccer World Cup IV},
PUBLISHER = {Springer Verlag},
TITLE = {Adaptive Path Planner for Highly Dynamic Environments},
YEAR = {2001},
ADDRESS = {Berlin},
CHAPTER = {},
CROSSREF = {},
EDITION = {},
EDITOR = {Peter Stone and Tucker Balch and Gerhard Kraetszchmar},
MONTH = {},
NOTE = {},
NUMBER = {},
PAGES = {76--85},
SERIES = {},
SLIDES = {},
TYPE = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes01:_adapt_path_plann_highl_dynam_envir.pdf},
ABSTRACT = {This paper describes adaptive path planning, a novel
approach to path planning for car-like mobile robots. Instead of
creating a new plan from scratch, whenever changes in the environment
invalidate the current plan, the adaptive path planner attempts to
adapt the old plan to the new situation. The paper proposes an
efficient representation for path that is easily amendable to
adaptation. Associated with the path planner is a set of repair
strategies. These repair strategies are local methods to fix a plan
to compensate for object movement in the domain. The repair
strategies are specific and have a high probability of being able to
fix a plan. An empirical evaluation shows that adaptive path planning
is suitable to highly dynamic domains, such as \RoboCup. Adaptive
path planning reduces the cumulative planning time by a factor of
$2.7$ compared to Bicchi's planner. At the same time, the quality of
the plans generated by the adaptive path planner were similar to
those generated by Bicchi's planner.}
}
@INPROCEEDINGS{asc2001,
AUTHOR = {John Anderson},
BOOKTITLE = {Proceedings of the IASTED International Conference on Artificial Intelligence and Soft Computing (ASC2001)},
TITLE = {Natural Integration of External Advice in an
Architecture for Real-Time Intelligent Agents},
YEAR = {2001},
ADDRESS = {Cancun, MX},
CROSSREF = {},
EDITOR = {},
MONTH = {May},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {377-382},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes01:_camer_calib_rectan_textur,
AUTHOR = {Jacky Baltes},
BOOKTITLE = {Proceedings of the Robot Vision Workshop},
TITLE = {Camera Calibration of Rectangular Textures},
YEAR = {2001},
ADDRESS = {Auckland, New Zealand},
CROSSREF = {},
EDITOR = {},
MONTH = {February},
NOTE = {},
NUMBER = {},
ORGANIZATION = {Centre for Imaging Technology and Robotics},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes01:_camer_calib_rectan_textur_slides.pdf},
VOLUME = {},
VIDEOS = {},
POSTER = {},
ANNOTE = {Description of application of our matching points algorithm to calibration of rectangular patterns},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes01:_camer_calib_rectan_textur.pdf},
ABSTRACT = {This paper describes a practical method for the camera
calibration given a single image of a regular texture. This paper
uses the calibration of images of skyscrapers as an example. The
paper introduces two algorithms for the assignment of real world
coordinates to feature points. The first algorithm selects five
closely connected feature points and determines the orientation of
the rectangular pattern. The second algorithm iteratively sorts the
feature points and assigns real world coordinates to them. Lastly,
the Tsai camera calibration algorithm is used to compute the camera
parameters. }
}
@INPROCEEDINGS{baltes01:_horus,
AUTHOR = {Jacky Baltes},
BOOKTITLE = {Proceedings of the Robot Vision Workshop},
TITLE = {Horus: Object Orientation and ID Without Additional
Markers},
YEAR = {2001},
ADDRESS = {Auckland, New Zealand},
CROSSREF = {},
EDITOR = {},
MONTH = {February},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes01:_horus_slides.pdf},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes01:_horus.pdf},
ABSTRACT = {This paper describes a novel approach to detecting
orientation and identity of robots using a global vision system.
Instead of additional markers, the original shape of the robot is
used to determine an orientation using a general Hough transform. In
addition the movement history as well as the command history are used
to calculate the quadrant of the orientation as well as the identity
of the robot. An empirical evaluation shows that the performance of
the new video server is at least as good as that of a traditional
approach using additional coloured markers. }
}
@INPROCEEDINGS{baltes01:_roboc,
AUTHOR = {Jacky Baltes and Nicholas Hildreth},
BOOKTITLE = {Proceedings of the Robot Vision Workshop},
TITLE = {RoboCup99: A Student's Perspective},
YEAR = {2001},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {February},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes01:_roboc_slides.pdf},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes01:_roboc.pdf},
ABSTRACT = {One of the reasons for organizing robotic games is that
they allow researchers to evaluate their systems and approaches on a
level playing field. This evaluation is important in a quickly
developing field such as robotics with few real world applications.
This paper investigates through a case-study how much participating
at the RoboCup-99 competition has benefited a MSc. student at the
University of Auckland. Although the participation was certainly
stimulating, its influence on the research was indirect. The paper
makes a number of suggestions that will make it easier to
quantitatively evaluate research at these competitions and thus
influence research more directly.}
}
@INPROCEEDINGS{groner,
AUTHOR = {Tim Groner and John Anderson},
BOOKTITLE = {Proceedings of the 2001 International Conference on Artificial Intelligence (IC-AI'2001, regular session)},
TITLE = {Efficient Multi-Robot Localization and Navigation
Through Passive Cooperation},
YEAR = {2001},
ADDRESS = {Las Vegas, NV},
CROSSREF = {},
EDITOR = {},
MONTH = {June},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {84-89},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@MISC{baltes01:_toy_elect,
AUTHOR = {Jacky Baltes},
HOWPUBLISHED = {},
MONTH = {May},
NOTE = {Invited tutorial at the conference for Artificial Intelligence and Soft Computing},
SLIDES = {},
TITLE = {Toy Electronics},
VIDEOS = {},
YEAR = {2001},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes01:_toy_elect.tar.gz},
ABSTRACT = {The tutorial describes the initial steps in the
development of a robotic platform that can be used for many
experiments into AI. The system uses remote controlled cars as
platforms and is thus inexpensive and easily available. A standard
framegrabber and video camera are used to provide vision information
to the processor. The tutorial will lesson the learning curve for
people by describing efficient methods for image processing and
control. This methods have been developed by the All Botz in the
previous years and have proven their effectiveness in many games and
demonstrations. Effectively, this will provide participants with
solutions to the low level problems associated with soccer playing
robots. Therefore, the participants of the tutorial will be able to
build their own team in short time and to use it to test higher level
AI and Soft Computing methods.}
}
@ARTICLE{canai,
AUTHOR = {John Anderson},
JOURNAL = {Candian Artificial Intelligence},
TITLE = {Distributed Simulation as a Tool for Artificial
Intelligence Research},
YEAR = {2000},
MONTH = {March},
NOTE = {},
NUMBER = {},
PAGES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@ARTICLE{StrachJ,
AUTHOR = {Linda Strachan and John Anderson and Murray Sneesby and
Mark Evans},
JOURNAL = {International Journal of User Modelling and User Adapted Interaction},
TITLE = {Minimalist User Modelling in a Complex Commercial
Software System},
YEAR = {2000},
MONTH = {December},
NOTE = {},
NUMBER = {2/3},
PAGES = {109-146},
SLIDES = {},
VOLUME = {10},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/UMUAI.pdf},
ABSTRACT = {While user modelling has produced many research-based
systems, comparatively little progress has been made in the
development of user modelling components for commercial software
systems. The development of minimalist user modelling components
which are simplified to provide 'just enough' assistance to a user
through a pragmatic adaptive user interface is seen by many as an
important step toward this goal. This paper describes the
development, implementation, and evaluation of a minimalist user
modelling component for the Tax and Investment Management Strategizer
(TIMS), a complex commercial software system for financial
management. This user modelling component manages several levels of
adaptations designed to assist novice users in dealing with the
complexity of this software package. Important issues and
considerations for the development of user modelling components for
commercial software systems and the evaluation of such systems in
commercial settings are also discussed.}
}
@INPROCEEDINGS{sim2000,
AUTHOR = {John Anderson},
BOOKTITLE = {Proceedings of the 10th International Conference on AI, Simulation, and Planning in High Autonomy Systems},
TITLE = {A Generic Distributed Simulation System for Intelligent
Agent Design and Evaluation},
YEAR = {2000},
ADDRESS = {Tucson, AZ},
CROSSREF = {},
EDITOR = {},
MONTH = {March},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {36-44},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/dgensim.pdf}
}
@INPROCEEDINGS{oopsla2001,
AUTHOR = {John Anderson},
BOOKTITLE = {Proceedings of the OOPSLA Workshop on Experiences with Autonomous Mobile Objects and Agent-Based Systems},
TITLE = {Agent Breadth in a Tool for Distributed Multi-Agent
System Development},
YEAR = {2000},
ADDRESS = {Minneapolis, MN},
CROSSREF = {},
EDITOR = {},
MONTH = {October},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/oopsla.pdf}
}
@INPROCEEDINGS{baltes00:_bench_suite_mobil_robot,
AUTHOR = {Jacky Baltes},
BOOKTITLE = {Proceedings of IROS-2000},
TITLE = {A Benchmark Suite for Mobile Robots},
YEAR = {2000},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {November},
NOTE = {},
NUMBER = {},
ORGANIZATION = {IEEE},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes00:_bench_suite_mobil_robot.pdf},
ABSTRACT = {This paper describes a benchmark suite for mobile robots
that provides quantitative measurements of a mobile robot's ability
to perform specific tasks. Guidelines for the design of benchmark
tests were derived from other areas faced with the problem of
evaluating complex systems. The benchmarks test the control and
accuracy of the path and trajectory tracking, the static path
planning, and the dynamic path planning ability of a mobile robot. A
set of metrics that provide important information about a mobile
robot's performance are also presented. These benchmarks could also
be used as simple games. Their inclusion in robotic games will lead
to an increased opportunity fo researchers to evaluate their work
without having to buy expensive or special purpose equipment.}
}
@INPROCEEDINGS{baltes00:_pract_camer_colour_calib_large_rooms,
AUTHOR = {Jacky Baltes},
BOOKTITLE = {RoboCup-99: Robot Soccer World Cup III},
TITLE = {Practical Camera and Colour Calibration for Large Rooms},
YEAR = {2000},
ADDRESS = {New York},
CROSSREF = {},
EDITOR = {Manuela Veloso and Enrico Pagello and Hiroaki Kitano},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {148-161},
PUBLISHER = {Springer Verlag},
SERIES = {},
SLIDES = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes00:_pract_camer_colour_calib_large_rooms_slides.pdf},
VOLUME = {},
VIDEOS = {},
POSTER = {},
ANNOTE = {Description of our camera and colour calibration},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes00:_pract_camer_colour_calib_large_rooms.pdf},
ABSTRACT = {This paper describes a practical method for calibrating
the geometry and colour information for cameras surveying large
rooms. To calibrate the geometry, we use a semi-automatic system to
assign real world to pixel coordinates. This information is the input
to the Tsai camera calibration method. Our system uses a two stage
process in which easily recognizable objects (squares) are used to
sort the individual data points and to find missing objects. Fine
object features (corners) are used in a second step to determine the
object's real world coordinates. An empirical evaluation of the
system shows that the average and maximum errors are sufficiently
small for our domain. Objects are recognized through coloured spots.
The colour calibration uses six thresholds (Three colour ranges (Red,
Green, and Blue) and three colour differences (Red - Green, Red -
Blue, Green - Blue)). This paper describes a fast threshold
comparison routine. }
}
@INPROCEEDINGS{baltes00:_subsum_based_contr_mobil_robot_dynam_envir,
AUTHOR = {Jacky Baltes},
BOOKTITLE = {Proceedings of ICARCV},
TITLE = {Subsumption-Based Control for Mobile Robots in Dynamic
Environments},
YEAR = {2000},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {http://aaalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes00:_subsum_based_contr_mobil_robot_dynam_envir_slides.pdf},
VOLUME = {},
VIDEOS = {},
POSTER = {},
ANNOTE = {Description of our controller for 2000. Mainly based on a Ben's work},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes00:_subsum_based_contr_mobil_robot_dynam_envir.pdf},
ABSTRACT = {This paper describes an architecture for path planning
and control of car-like mobile robots. The method is based on a
subsumption architecture with four individual behaviors: approach,
steer, turn, and progress. The coordination of these simple behaviors
results in a robust control architecture for mobile robots that
performed well when compared to other control methods. The controller
also results in simplifying the requirements on the path planner.}
}
@INPROCEEDINGS{baltes00:_adapt_path_plann_system_highl_dynam_envir,
AUTHOR = {Jacky Baltes and Nicholas Hildreth},
BOOKTITLE = {Proceedings of ICARCV},
TITLE = {Adaptive Path Planning System for Highly Dynamic
Environments},
YEAR = {2000},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
ANNOTE = {Description of our adaptive path planner}
}
@INPROCEEDINGS{baltes00:_all_botz,
AUTHOR = {Jacky Baltes and Nicholas Hildreth and David Maplesdon},
BOOKTITLE = {RoboCup-99: Robot Soccer World Cup III},
TITLE = {All Botz},
YEAR = {2000},
ADDRESS = {New York},
CROSSREF = {},
EDITOR = {Manuela Veloso and Enrico Pagello and Hiroaki Kitano},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {653-656},
PUBLISHER = {Springer},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
ANNOTE = {Description of our RoboCup Team},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/robocup99-3.pdf},
ABSTRACT = {This paper discusses some important features, which make
the All Botz, the University of RoboCup team, a very unique team. In
particular, the use of cheap hardware and the design of the video
server. }
}
@INPROCEEDINGS{baltes00:_path_contr_non_car_robot,
AUTHOR = {Jacky Baltes and Yuming Lin},
BOOKTITLE = {RoboCup-99: Robot Soccer World Cup III},
TITLE = {Path-tracking Control of Non-holonomic Car-like Robots
Using Reinforcement Learning},
YEAR = {2000},
ADDRESS = {New York},
CROSSREF = {},
EDITOR = {Manuela Veloso and Enrico Pagello and Hiroaki Kitano},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {162-173},
PUBLISHER = {Springer},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
ANNOTE = {Description of Yuming's MSc thesis work. A reinforcement learning controller using a case based reasoning system to deal with a a continuous control space},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes00:_path_contr_non_car_robot.pdf},
ABSTRACT = {This paper investigates the use of reinforcement
learning in solving the path-tracking problem for car-like robots.
The reinforcement learner uses a case-based function approximator, to
extend the standard reinforcement learning paradigm to handle
continuous states. The learned controller performs comparable to the
best traditional control functions in both simulation and also in
practical driving. }
}
@INPROCEEDINGS{zhou00:_ferret,
AUTHOR = {Yuhua Zhou and Jacky Baltes},
BOOKTITLE = {Proceedings of the Pacific Rim Conference on AI},
TITLE = {Ferret: An Intelligent Assistant for Internet Searching},
YEAR = {2000},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/zhou00_ferret.pdf},
ABSTRACT = {This paper describes the design and implementation of
Ferret, an information-seeking assistant that helps a user find
information on the World Wide Web. It analyzes and automatically
clusters the returned pages from a search engine.}
}
@MISC{baltes00:_pract_camer_calib_objec_track,
AUTHOR = {Jacky Baltes},
HOWPUBLISHED = {Invited Talk at the National University of Singapore, Singapore},
MONTH = {February},
NOTE = {},
SLIDES = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes00:_pract_camer_calib_objec_track_slides.pdf},
TITLE = {Practical Camera Calibratio and Object Tracking},
VIDEOS = {},
YEAR = {2000},
POSTER = {}
}
@MISC{baltes00:_robot_soccer_multi_agent_resear_tool,
AUTHOR = {Jacky Baltes},
HOWPUBLISHED = {Keynote Address at the Workshop on Multiagent Systems},
MONTH = {December},
NOTE = {Massey Univeristy, Auckland, New Zealand},
SLIDES = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes00:_robot_soccer_multi_agent_resear_tool_slides.pdf},
TITLE = {Robotic Soccer as Multi-Agent Research Tool},
VIDEOS = {},
YEAR = {2000},
POSTER = {}
}
@INPROCEEDINGS{baltes99:_pract_camer_colour_calib_large_scale_rooms,
AUTHOR = {Jacky Baltes},
BOOKTITLE = {RoboCup '99},
TITLE = {Practical Camera Calibration for Large Rooms},
YEAR = {1999},
ADDRESS = {Stockholm, Sweden},
CROSSREF = {},
EDITOR = {},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes99:_all_botz,
AUTHOR = {Jacky Baltes and Nich Hildreth and David Maplesdon},
BOOKTITLE = {RoboCup '99},
TITLE = {The All Botz RoboCup Team},
YEAR = {1999},
ADDRESS = {Stockholm, Sweden},
CROSSREF = {},
EDITOR = {},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes99:_path_contr_non_car_robot,
AUTHOR = {Jacky Baltes and Yuming Lin},
BOOKTITLE = {Proceedings of the IJCAI Workshop on RoboCup},
TITLE = {Path-tracking Control of Non-holonomic Car-like Robots
Using Reinforcement Learning},
YEAR = {1999},
ADDRESS = {Stockholm, Sweden},
CROSSREF = {},
EDITOR = {},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes99:_fuzzy_logic_contr_car_like_mobil_robot,
AUTHOR = {Jacky Baltes and Robin Otte},
BOOKTITLE = {Prcoeedings of the International Symposium on Computational Intelligence in Robotics and Automation},
TITLE = {A Fuzzy Logic Controller for Car-Like Mobile Robots},
YEAR = {1999},
ADDRESS = {Monterey, CA},
CROSSREF = {},
EDITOR = {},
MONTH = {November},
NOTE = {},
NUMBER = {},
ORGANIZATION = {IEEE},
PAGES = {89--94},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
ANNOTE = {Description of the fuzzy logic controller for our toy cars.},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes99:_fuzzy_logic_contr_car_like_mobil_robot.pdf},
ABSTRACT = {This paper describes a fuzzy logic controller for
car-like mobile robots. It also introduces a simple heuristic that
helps a designer in the specification of fuzzy input and output sets.
The design of fuzzy rules follows intuitively from the design of the
fuzzy input sets. In practical tests, this Fuzzy Logic controller
resulted in greatly reduced errors and also resulted in a control law
with 75\% less control work than a traditional sliding mode
controller.}
}
@INPROCEEDINGS{lin99:_micro_contr_board_suppor_intel,
AUTHOR = {XinKe Lin and Jacky Baltes},
BOOKTITLE = {Proceedings of ENZCON-99},
TITLE = {Micro-Controller Board to Support Intelligent Control of
Car-Like Mobile Robots},
YEAR = {1999},
ADDRESS = {Auckland, New Zealand},
CROSSREF = {},
EDITOR = {},
MONTH = {November},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/lin99_micro_contr_board_suppor_intel.pdf},
ABSTRACT = {This paper describes the design and implementation of an
embedded system for the low level control of autonomous mobile
robots. The micro controller board provides more accurate speed and
direction control, more reliable digital communication, and
facilities for additional sensors and actuators. The velocity control
is implemented by a one bit D-A converter using pulse width
modulation. The data rate of the digital communication is limited to
five Bytes/sec., which is sufficient for simple navigation tasks. }
}
@INPROCEEDINGS{lin99:_path_contr_non_car_robot_reinf_learn,
AUTHOR = {Yuming Lin and Jacky Baltes},
BOOKTITLE = {Computer Science Research Students's Conference},
TITLE = {Path-tracking Control of Non-holonomic Car-like Robots
with Reinforcement Learning},
YEAR = {1999},
ADDRESS = {Hamilton, New Zealand},
CROSSREF = {},
EDITOR = {},
MONTH = {April},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {6-13},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{xu99:_paral_port_inter_mentor_robot_arm,
AUTHOR = {Weidong Xu and Jacky Baltes},
BOOKTITLE = {Proceedings of ENZCON-99},
TITLE = {Parallel Port for Interface for the Mentor Robot Arm},
YEAR = {1999},
ADDRESS = {Auckland, New Zealand},
CROSSREF = {},
EDITOR = {},
MONTH = {November},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
ANNOTE = {Description of parallel port interface board},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/xu99_paral_port_inter_mentor_robot_arm.pdf},
ABSTRACT = {This paper describes the design of an interface board
which by emulating the bus of some popular home computers can control
legacy hardware through a generic parallel port interface and serial
interface. In particular, the board is currently being used to
control two Mentor robot arms from a PC. We also developed firmware
and a device driver for the Linux operating system.}
}
@MISC{baltes99:_time_manag_graduat_studen,
AUTHOR = {Jacky Baltes},
HOWPUBLISHED = {Invited Talk at the New Zealand Graduate Student Conference for Computer Science},
MONTH = {April},
NOTE = {},
SLIDES = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes99:_time_manag_graduat_studen_slides.pdf},
TITLE = {Time Management for Graduate Students},
VIDEOS = {},
YEAR = {1999},
POSTER = {}
}
@MISC{baltes99:_use_linux_comput_scien_educat,
AUTHOR = {Jacky Baltes},
HOWPUBLISHED = {Invited Talk at the IEEE New Zealand Meeting},
MONTH = {September},
NOTE = {},
SLIDES = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes99:_use_linux_comput_scien_educat_slides.pdf},
TITLE = {Use of Linux in Computer Science Education},
VIDEOS = {},
YEAR = {1999},
POSTER = {}
}
@INPROCEEDINGS{gis98,
AUTHOR = {John Anderson},
BOOKTITLE = {Proceedings of the Twelfth Annual Conference on Geographic Information Systems (GIS-98)},
TITLE = {Tool-Level Support for Agent Breadth in
Spatially-Explicit Simulation Models},
YEAR = {1998},
ADDRESS = {Toronto, ON},
CROSSREF = {},
EDITOR = {},
MONTH = {April},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes98:_plann_strat_repres_dolit,
AUTHOR = {Jacky Baltes},
BOOKTITLE = {Advances in Artificial Intelligence},
TITLE = {Planning Strategy Representation in DoLittle},
YEAR = {1998},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {30-44},
PUBLISHER = {Springer},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes98:_plann_strat_repres_dolit.pdf},
ABSTRACT = {This paper introduces multi-strategy planning and
describes its implementation in the \DoLittle\ system, which can
combine many different planning strategies, including means-ends
analysis, macro-based planning, abstraction-based planning (reduced
and relaxed), and case-based planning on a single problem.
\emph{Planning strategies} are defined as methods to reduce the
search space by exploiting some assumptions (so-called \emph{planning
biases}) about the problem domain. \emph{General operators} are
generalizations of standard \Strips\ operators that conveniently
represent many different planning strategies. The focus of this work
is to develop a representation weak enough to represent a wide
variety of different strategies, but still strong enough to emulate
them. The search control method applies different general operators
based on a strongest first principle; planning biases that are
expected to lead to small search spaces are tried first. An empirical
evaluation in three domains showed that multi-strategy planning
performed significantly better than the best single strategy planners
in these domains.}
}
@INPROCEEDINGS{baltes98:_pract_camer_calib_large_rooms,
AUTHOR = {Jacky Baltes},
BOOKTITLE = {Proceedings of the Image and Vision Conference},
TITLE = {Practical Camera Calibration for Large Rooms},
YEAR = {1998},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {December},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes98:_pract_camer_calib_large_rooms_slides.pdf},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes98:_pract_camer_calib_large_rooms.pdf},
ABSTRACT = {This paper describes our practical experiences and
methods for calibrating a large room. We show a semi-automatic system
to assign real world coordinates to image features. Our system uses a
two stage process in which easily recognizable objects (squares) are
used to sort the individual data and to find missing objects. Fine
object features (corners) are used in a second step to determine the
image real world coordinates. An empirical evaluation of the system
shows that the average and maximum errors are sufficiently small for
our problem domain (autonomous mobile agents playing soccer)}
}
@INPROCEEDINGS{baltes-1998,
AUTHOR = {Jacky Baltes and Nicholas Hildreth and Yuming Lin},
BOOKTITLE = {Proceedings of the PRICAI Workshop on RoboCup},
TITLE = {The All Botz RoboCup Team},
YEAR = {1998},
ADDRESS = {Singapore},
CROSSREF = {},
EDITOR = {},
MONTH = {November},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes-1998.pdf}
}
@INPROCEEDINGS{noonan98:_pc_inter_remot_contr_car,
AUTHOR = {Ben Noonan and Jacky Baltes and Bruce MacDonald.},
BOOKTITLE = {Proceedings of the IPENZ sustainable city conference},
TITLE = {PC Interface for a Remote Controlled Car},
YEAR = {1998},
ADDRESS = {Auckland, New Zealand},
CROSSREF = {},
EDITOR = {},
MONTH = {February},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {22-27},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/noonan98_pc_inter_remot_contr_car.pdf},
ABSTRACT = {This paper discusses the design of an interface for a PC
and a commercially available remote-controlled car. The objective of
the project is to provide the capability for a PC to emulate a
conventional RC transmitter. The micro-controller-based design
provides the best means of extendibility and flexibility where future
requirements are yet to be defined, it also significantly reduces the
processing requirements on the host PC and the client application.
The data communications between the host PC and the interface is via
a standard parallel port implementation that provides a platform
independent communications medium. The firmware design is based on a
single, restart-able task paradigm with interrupts for communications
and other system functions. This is motivated by a need for quick
execution of commands by the interface. An active braking application
was used to evaluate advanced functionality, which produced
encouraging results, and showed superior control compared with the
original manual controller. A client application was written to test
the functionality of the interface and data communications.}
}
@INPROCEEDINGS{wasalathantra98:_mobil_robot_probl_solver,
AUTHOR = {Sanj Wasalathantra and Bruce MacDonald and Jacky Baltes},
BOOKTITLE = {Proceedings of the IPENZ Sustainable City Conference},
TITLE = {Mobile Robot Problem Solver},
YEAR = {1998},
ADDRESS = {Auckland, New Zealand},
CROSSREF = {},
EDITOR = {},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{gis97,
AUTHOR = {John Anderson},
BOOKTITLE = {Proceedings of the Eleventh Annual Conference on Geographic Information Systems},
TITLE = {Supporting Intelligent Agents in Individual-Based
Ecosystem Models},
YEAR = {1997},
ADDRESS = {Vancouver, BC},
CROSSREF = {},
EDITOR = {},
MONTH = {February},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {3-6},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{constragents,
AUTHOR = {John Anderson},
BOOKTITLE = {Proceedings of the AAAI-97 Workshop on Constraints and Agents},
TITLE = {Waffler: A Constraint-Directed Approach to Intelligent
Agent Design},
YEAR = {1997},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes-1997,
AUTHOR = {Jacky Baltes},
BOOKTITLE = {Proceedings of the IASTED International Conference on Artificial Intelligence and Soft Computing},
TITLE = {DoLittle: A Multi-strategy planning system},
YEAR = {1997},
ADDRESS = {},
CROSSREF = {},
EDITOR = {M.H. Hamza},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {IASTED},
PAGES = {435-439},
PUBLISHER = {IASTED Acta Press},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes-1997.pdf},
ABSTRACT = {This paper introduces multi-strategy planning, which
focuses on the selection and combination of different planning
methods. Planning is the problem of finding a sequence of actions
(operators) that will take an agent from one state (initial state) to
a desired state (goal). This problem has gotten considerable
attention in artificial intelligence. Unfortunately, theoretical
results show that the general planning problem is intractable in
complex domains. Therefore, a practical planning system reduce the
search space. This reduction of the search space is based on
assumptions (so called \emph{planning biases\/}) about the problem
such as: the problem order, plan structure, or subgoal hierarchy.
Given these assumptions about the task, a \emph{planning strategy\/}
exploits the reduction in the search space and searches the resulting
search space. Popular examples of planning strategies are means-ends
analysis, case-based planning, macro-operators, abstraction
hierarchies, and non-linear planning. Planning strategies based on a
specific planning bias work well in domains, in which these
assumptions are satisfied, but fail if these assumptions are not met.
Furthermore, in complex domains it is possible that only parts of a
task can be efficiently solved with a given planning method. But for
other parts of the tasks, a different planning strategy may be
appropriate.}
}
@INPROCEEDINGS{um97,
AUTHOR = {Linda Strachan and John Anderson and Murray Sneesby and
Mark Evans},
BOOKTITLE = {Proceedings of The Sixth International Conference on User Modelling},
TITLE = {Pragmatic User Modelling in a Commercial Software System},
YEAR = {1997},
ADDRESS = {Sardinia},
CROSSREF = {},
EDITOR = {},
MONTH = {June},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {189-200},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/PUM.pdf}
}
@PHDTHESIS{baltes-1996,
AUTHOR = {Jacky Baltes},
SCHOOL = {University of Calgary},
TITLE = {DoLittle: a learning multi-strategy planning system},
YEAR = {1996},
ADDRESS = {},
MONTH = {June},
NOTE = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes-1996.pdf},
ABSTRACT = {Multi-strategy planning focuses on the selection and
combination of different problem solving methods. Since planning is
intractable in complex domains, researchers have developed different
methods to restrict, restructure, or reorder the search space and to
search the new space. These reformulations of the search space are
based on assumptions about the domain or other features of the task
such as the problem order, plan structure, or subgoal hierarchy.
These planners, then, work well in domains where the underlying
assumptions are met, and fail otherwise. Furthermore, in complex
domains it is possible that only parts of a task can be efficiently
solved with a given planning method. But for other parts of the
tasks, a different planning strategy may be appropriate. The goal of
multi-strategy planning is to alleviate this problem by selecting and
combining different problem solving methods on a single problem.
First, planning is seen as search through the space of partial plans.
Different planning strategies can be described by the language of
partial plans, the set of transformations on partial plans, and the
search method. Secondly, the thesis develops a theory of
multi-strategy planning and shows that a multi-strategy planner can
exponentially improve performance over a single strategy planner and
derives sufficient conditions for this improvement. Thirdly, the
thesis proposes \emph{general operators} (\Strips\ operators with
added refinements) as a representation for different planning
strategies and shows how general operators can represent different
planning methods. Fourthly, the thesis develops a search control
method that, given a planning method expressed as a general operator
reduces the associated search space similarly to the original problem
solving strategy. % The search strategy is based on a cheapest first
method. Based on % the assumption that all planning strategies have
similar reduction % probabilities, the planning strategy with the
smallest refinement % cost is selected. Since the generation of
general operators may be cumbersome by hand, and since the system is
intended as a part of a learning apprentice system, \DoLittle\ learns
new general operators from examples. The planning bias learners are
highly specific methods that have knowledge of \DoLittle's operator
set and search method and create new general operators to exploit a
given planning bias. Through an empirical evaluation, this research
shows (a) that multi-strategy planning improves the performance over
single strategy planning in some toy domains, (b) that multi-strategy
planning can solve problems in at least one complex domain (the
kitchen domain), and (c) and that an unordered subproblem coordinated
multi-strategy planner performs better in the kitchen domain than a
problem coordinated one. }
}
@INPROCEEDINGS{cscsi96,
AUTHOR = {John Anderson and Mark Evans},
BOOKTITLE = {Proceedings of the Eleventh Biennial Canadian Society for the Computational Studies of Intelligence Conference (AI-96)},
TITLE = {Constraint-Directed Improvisation},
YEAR = {1996},
ADDRESS = {Toronto, ON},
CROSSREF = {},
EDITOR = {},
MONTH = {May},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {1-13},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/ai96.pdf}
}
@INPROCEEDINGS{cons96,
AUTHOR = {John Anderson and Mark Evans},
BOOKTITLE = {Proceedings of CONSTRAINT-96: the Second International Workshop on Constraint-Based Reasoning)},
TITLE = {Constraint-Directed Reasoning as a Basis for Real Time
Planning},
YEAR = {1996},
ADDRESS = {Key West, FL},
CROSSREF = {},
EDITOR = {},
MONTH = {May},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {40-50},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{flairs96,
AUTHOR = {John Anderson and Mark Evans},
BOOKTITLE = {Proceedings of the Ninth Florida AI Symposium},
TITLE = {Real-Time Satisficing Agents for Complex Domains},
YEAR = {1996},
ADDRESS = {Key West, FL},
CROSSREF = {},
EDITOR = {},
MONTH = {May},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {96-100},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@ARTICLE{appliedai95,
AUTHOR = {John Anderson and Mark Evans},
JOURNAL = {Applied Artificial Intelligence},
TITLE = {A Generic Simulation System for Intelligent Agent
Designs},
YEAR = {1995},
MONTH = {October},
NOTE = {},
NUMBER = {5},
PAGES = {527-562},
SLIDES = {},
VOLUME = {9},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/gensim.pdf}
}
@ARTICLE{baltes95:_trans_hardw_system_desig,
AUTHOR = {Jacky Baltes},
JOURNAL = {Computing Reviews},
TITLE = {Transputer Hardware and System Design},
YEAR = {1995},
MONTH = {February},
NOTE = {},
NUMBER = {2},
PAGES = {},
SLIDES = {},
VOLUME = {36},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/compreview95-1.pdf},
ABSTRACT = {The reviewed book is intended as a practical guide to
transputer hardware design. The authors do not assume prior knowledge
of the transputer architecture, but the reader should be familiar
with more conventional micro-processor design.}
}
@INPROCEEDINGS{macdonald95,
AUTHOR = {Bruce MacDonald and Jacky Baltes and Istavan Hernadi},
BOOKTITLE = {Proceedings of the 2nd New Zealand Two-Stream Conference on Artificial Neural Nets and Expert Systems},
TITLE = {An architecture for understanding human instruction,
planning, and learning},
YEAR = {1995},
ADDRESS = {Dunedin, New Zealand},
CROSSREF = {},
EDITOR = {},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {231-234},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@ARTICLE{enviro94,
AUTHOR = {John Anderson and Mark Evans},
JOURNAL = {International Journal of Mathematical and Computer Modelling},
TITLE = {Intelligent Agent Modelling for Natural Resource
Management},
YEAR = {1994},
MONTH = {October},
NOTE = {},
NUMBER = {8},
PAGES = {109-119},
SLIDES = {},
VOLUME = {20},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes94:_distr_archit_instr_probl_solver,
AUTHOR = {Jacky Baltes and Bruce MacDonald},
BOOKTITLE = {Proceedings of the Twenty-Seventh Annual Hawaii Conference on System Sciences},
TITLE = {A Distributed Architecture for an Instructable Problem
Solver},
YEAR = {1994},
ADDRESS = {Wailaea, Hawaii},
CROSSREF = {},
EDITOR = {},
MONTH = {January},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {63-73},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {3},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes94:_distr_archit_instr_probl_solver.pdf},
ABSTRACT = {Our research goal is to design systems that enable
humans to teach tedious, repetitive, simple tasks to a computer. We
propose here a learner/problem solver architecture for such a system.
The problem solving module is able to combine diverse problem solving
strategies on a single problem, by using a common representation for
operators, and learning operators by analyzing solution traces. At
the distributed processor level, the design provides a general
dynamic load balancing system that has little domain knowledge. It is
controlled from the next level by a tightly constrained planner. The
distributed problem solver testbed enables us to design, experiment
with, and evaluate our combined learning/problem solving system for
automating users' repetitive tasks.}
}
@INPROCEEDINGS{baltes94:_evolut_digit_logic_lab,
AUTHOR = {Jacky Baltes and Cameron Patterson},
BOOKTITLE = {Proceedings of the 1994 Canadian Workshop on Field Programmable Devices},
TITLE = {The Evolution of a Digital Logic Lab},
YEAR = {1994},
ADDRESS = {Kingston, Ontario},
CROSSREF = {},
EDITOR = {},
MONTH = {June},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {Section 3.5.1},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes94:_evolut_digit_logic_lab.pdf},
ABSTRACT = {This paper describes different technologies that were
used in a VLSI design course at the university of Calgary. The main
goal of this paper is to show how the advent of new technology allows
students to spend more time on design capture, logic simulation, and
the design of test vectors, as opposed to the tedious tasks of
implementing/fabricating a design and a test environment. This trend
has lead to more and more complex and interesting projects. In recent
years, the students used VHDL to create a behavioral description of
their circuit and synthesize a schematic from it. The synthesis
targets Actel or Xilinx FPGAs. The example project is the design of a
GCD circuit, which the authors selected because of a number of
desirable characteristics: most importantly, (a) it is complex enough
to allow the students freedom in their design, and (b) it can easily
be adapted to the available hardware resources. The paper includes a
small example of the conversion from an algorithm into a finite state
machines, one of the crucial steps in the design phase. In the
future, we hope to use configurable hardware (the Algotronix \CHS)
with a powerful connection to a host computer. This will allow
students even greater flexibility in their design, since they can
choose which parts are implemented in hardware and which are done
through software.}
}
@TECHREPORT{amc-1994,
AUTHOR = {et al., Jacky Baltes},
INSTITUTION = {Alberta Microelectronic Centre},
TITLE = {Selected student reports from CPSC 521, Winter term 1994},
YEAR = {1994},
ADDRESS = {},
MONTH = {},
NOTE = {},
NUMBER = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {}
}
@TECHREPORT{amc-1993,
AUTHOR = {et al., Jacky Baltes},
INSTITUTION = {Alberta Microelectronic Centre},
TITLE = {Selected student reports from CPSC 521, Winter term 1993},
YEAR = {1993},
ADDRESS = {},
MONTH = {},
NOTE = {},
NUMBER = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {}
}
@ARTICLE{appliedai92,
AUTHOR = {Mark Evans and John Anderson and Geoff Crysdale},
JOURNAL = {Applied Artificial Intelligence},
TITLE = {Achieving Flexible Autonomy in Multi-Agent Systems using
Constraints},
YEAR = {1992},
MONTH = {January},
NOTE = {},
NUMBER = {1},
PAGES = {103-126},
SLIDES = {},
VOLUME = {6},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/FlexibleAutonomy.pdf}
}
@INPROCEEDINGS{baltes-1992d,
AUTHOR = {Jacky Baltes and Bruce MacDonald},
BOOKTITLE = {Proceedings of the Workshop on Change of Representation and Problem Reformulation},
TITLE = {An Integrated Planning Representation using Macros,
Abstractions, and Cases},
YEAR = {1992},
ADDRESS = {Moffet Field, CA 94025,USA},
CROSSREF = {},
EDITOR = {Michael R. Lowry},
MONTH = {April},
NOTE = {},
NUMBER = {},
ORGANIZATION = {NASA Ames Research Center},
PAGES = {1-10},
PUBLISHER = {NASA Ames Research Center},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes-1992d.pdf},
ABSTRACT = {Planning will be an essential part of future autonomous
robots and integrated intelligent systems. After giving a brief
introduction to the classical planning paradigm, this paper focuses
on learning problem solving knowledge in planning systems. A general
weak method for learning useful operators is the creation of macros.
The paper first describes a novel approach to the selection and
dynamic filtering of macros. The dynamic filtering approach is
suggested for controlling the creation of operators. A new planning
representation is proposed that uses a common representation for
macros, abstractions, and cases. A general operator is represented by
sequences of primitive or non--primitive operators. A macro is
equivalent to a sequence of primitive, executable, operators with
uninstantiated arguments. A case consists of primitive operators with
instantiated arguments. An abstract plan is equivalent to a sequence
of non--primitive operators at a lower level of abstraction. A
learned indexing mechanism allows rapid access to relevant operators.
The system is able to use both classical and case--based techniques.
The general operators in a successful plan derivation would be
assessed for the potential usefulness, and some stored.}
}
@INPROCEEDINGS{baltes-1992b,
AUTHOR = {Jacky Baltes and Bruce MacDonald},
BOOKTITLE = {Proceedings of the ML 92 Workshop on Biases in Inductive Learning},
TITLE = {Case--based Meta Learning: Sustained Learning supported
by a Dynamically Biased Version Space},
YEAR = {1992},
ADDRESS = {},
CROSSREF = {},
EDITOR = {Diana Gordon},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
KEY = {ML 92 workshop},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes-1992b.pdf},
ABSTRACT = {It is well--recognized that in practical inductive
learning systems the search for a concept must be heavily biased. In
addition the bias must be dynamic, adapting to the current learning
problem. Another important requirement is sustained learning,
allowing transfer from known tasks to new ones. Previous work on
dynamic bias has not explicitly addressed learning transfer, while
previous case--based learning research suffers from a variety of
problems. This paper presents a method of Case--Based Meta Learning
(CBML), in which the cases are concepts, rather than instances, and
retrieved similar concepts are used as a skeletal version space to
speed up learning. CBML is independent of the concept representation
language. The CBML--Clerk system, which learns repetitive operating
system tasks, is presented as a demonstration.}
}
@INPROCEEDINGS{baltes-1992,
AUTHOR = {Jacky Baltes and Bruce MacDonald},
BOOKTITLE = {Proceedings Ninth Canadian Conference on Artificial Intelligence},
TITLE = {Case--based Meta Learning: Using a Dynamically Version
Space in Sustained Learning},
YEAR = {1992},
ADDRESS = {Palo Alto, California},
CROSSREF = {},
EDITOR = {Janice Glasgow and Robert Hadley},
MONTH = {May},
NOTE = {},
NUMBER = {},
ORGANIZATION = {Canadian Society for Computational Studies of Intelligence},
PAGES = {228-235},
PUBLISHER = {Morgan Kaufman Publishers Inc.},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes-1992.pdf},
ABSTRACT = {It is well--recognized that in practical inductive
learning systems the search for a concept must be heavily biased. In
addition the bias must be dynamic, adapting to the current learning
problem. Another important requirement is sustained learning,
allowing transfer from known tasks to new ones. Previous work on
dynamic bias has not explicitly addressed learning transfer, while
previous case--based learning research suffers from a variety of
problems. This paper presents a method of Case--Based Meta Learning
(CBML), in which the cases are concepts, rather than instances, and
retrieved similar concepts are used as a skeletal version space to
speed up learning. CBML is independent of the concept representation
language. The CBML--Clerk system, which learns repetitive operating
system tasks, is presented as a demonstration.}
}
@INPROCEEDINGS{withbarker,
AUTHOR = {Ken Barker and Mark Evans and John Anderson},
BOOKTITLE = {Proceedings of the AAAI Workshop on Cooperation Among Heterogeneous Agents},
TITLE = {Quantification of Autonomy in Multi-Agent Systems},
YEAR = {1992},
ADDRESS = {San Jose, CA},
CROSSREF = {},
EDITOR = {},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {6},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes-1992e,
AUTHOR = {Bruce MacDonald and Jacky Baltes},
BOOKTITLE = {Machine Learning Workshop at AI/GI/VI '92},
TITLE = {Research in instructable Systems},
YEAR = {1992},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {May},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
KEY = {ML workshop at CAI 92}
}
@TECHREPORT{baltes-1992f,
AUTHOR = {Jacky Baltes},
INSTITUTION = {University of Calgary},
TITLE = {Symmetric Version Space Algorithm for Learning
Disjunctive String Concepts},
YEAR = {1992},
ADDRESS = {Calgary,Alta},
MONTH = {March},
NOTE = {},
NUMBER = {92/469/06},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {},
KEY = {Tech report of string paper},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes-1992f.pdf}
}
@TECHREPORT{amc-1992,
AUTHOR = {et al., Jacky Baltes},
INSTITUTION = {Alberta Microelectronic Centre},
TITLE = {Selected student reports from CPSC 521, Winter term 1992},
YEAR = {1992},
ADDRESS = {},
MONTH = {},
NOTE = {},
NUMBER = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {}
}
@ARTICLE{baltes-1991a,
AUTHOR = {Jacky Baltes},
JOURNAL = {Computing Reviews},
TITLE = {The Transputer Development System},
YEAR = {1991},
MONTH = {July},
NOTE = {},
NUMBER = {7},
PAGES = {},
SLIDES = {},
VOLUME = {32},
VIDEOS = {},
POSTER = {},
KEY = {TDS review}
}
@INPROCEEDINGS{nb,
AUTHOR = {John Anderson and Mark Evans},
BOOKTITLE = {Proceedings of the Fourth UNB AI Symposium},
TITLE = {An Architecture for Reactive and Strategic Planning},
YEAR = {1991},
ADDRESS = {Fredericton, NB},
CROSSREF = {},
EDITOR = {},
MONTH = {September},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {195-207},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{baltes91,
AUTHOR = {Jacky Baltes},
BOOKTITLE = {Proceedings of the fourth University of New Brunswick Artificial Intelligence Symposium},
TITLE = {A symmetric version space algorithm for learning
disjunctive string concepts},
YEAR = {1991},
ADDRESS = {},
CROSSREF = {},
EDITOR = {},
MONTH = {September},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {55-65},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {},
PDF = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes-1991.pdf},
ABSTRACT = {The symmetric version space algorithm (SVS) learns
disjunctions of string patterns by example. The learnable string
concepts are a subset of regular expressions. The running time of the
algorithm is {\em reduced}, because the system learns a top--down
description of the string concepts. Different parts of the algorithm
learn descriptions at different levels of the concept independently.
This technique is similar to factoring the version space, in order to
restrict the search space. The problem of {\em fragmentation} of the
$G$--set is overcome by using a symmetric version space approach.}
}
@INPROCEEDINGS{taskallocwksp,
AUTHOR = {Mark Evans and John Anderson},
BOOKTITLE = {Proceedings of the AAAI Cooperation Among Heterogeneous Intelligent Systems Workshop},
TITLE = {Flexible Task Allocation in Heterogeneous Cooperative
Systems},
YEAR = {1991},
ADDRESS = {Anaheim, CA},
CROSSREF = {},
EDITOR = {},
MONTH = {July},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {20},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@TECHREPORT{baltes91:_integ_plann_repres_macros_abstr_cases,
AUTHOR = {Jacky Baltes and Bruce MacDonald},
INSTITUTION = {University of Calgary},
TITLE = {An Integrated Planning Representation using Macros,
Abstractions, and Cases},
YEAR = {1991},
ADDRESS = {},
MONTH = {December},
NOTE = {},
NUMBER = {},
SLIDES = {},
TYPE = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{sim90,
AUTHOR = {Mark Evans and John Anderson},
BOOKTITLE = {AI, Simulation, and Planning in High Autonomy Systems},
TITLE = {Constraint-Directed Intelligent Control in Multi-Agent
Problem Solving},
YEAR = {1990},
ADDRESS = {Los Alamitos, CA},
CROSSREF = {},
EDITOR = {Bernard Zeigler and Jerzy Rozenblit},
MONTH = {},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {42-50},
PUBLISHER = {IEEE Computer Society Press},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}
@INPROCEEDINGS{dai89,
AUTHOR = {Mark Evans and John Anderson},
BOOKTITLE = {Proceedings of the Ninth Workshop on Distributed Artificial Intelligence},
TITLE = {A Constraint-Based Architecture for Multi-Agent Problem
Solving},
YEAR = {1989},
ADDRESS = {Eastsound, WA},
CROSSREF = {},
EDITOR = {},
MONTH = {September},
NOTE = {},
NUMBER = {},
ORGANIZATION = {},
PAGES = {1--24},
PUBLISHER = {},
SERIES = {},
SLIDES = {},
VOLUME = {},
VIDEOS = {},
POSTER = {}
}