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<title>UT Intelligent Robotics Research</title><!-- Changed by: Benjamin J. Kuipers, 29-Jul-1996 --><body bgcolor="#ffffff" text="#000000" link="#0000ee" vlink="551a8b" alink="ff0000"><h1>UT Intelligent Robotics Research</h1>Spatial reasoning and intelligent robotics based on the <!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><ahref="http://www.cs.utexas.edu/users/qr/ssh-overview.html"> Spatial Semantic Hierarchy</a>, has been afocus for research in the <!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><a href="http://net.cs.utexas.edu/users/qr/">Qualitative Reasoning group</a>. <p>Most of our work has concentrated on mobile robot exploration andmapping of previously unknown environments. We have used a number ofdifferent simulated robots, and are now working with several types of<!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><a href="http://www.cs.utexas.edu/users/qr/physical-robots.html"> physical robots</a>. <p>We have recently been exploring new methods for <!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><a href="http://www.cs.utexas.edu/users/robot/argus/top-level.html">real-time active vision</a>, primarily but not exclusively motivatedby the navigational needs of a mobile robot. <p>Work on <!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><a href="http://www.cs.utexas.edu/users/qr/papers-QR.html#HC"> heterogeneous control</a>(our approach to fuzzy control, supporting validation via qualitativesimulation), is also relevant to the robotics research. <p><hr><h2> Robotics Researchers </h2><ul> <li> <!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><a href="http://www.cs.utexas.edu/users/kuipers"> Ben Kuipers</a> --- kuipers@cs.utexas.edu <li> <!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><a href="http://www.cs.utexas.edu/users/sbishop">Spencer Bishop</a> --- sbishop@cs.utexas.edu <li> <!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><a href="http://www.cs.utexas.edu/users/osiris">Rob Browning</a> --- osiris@cs.utexas.edu <li> <!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><a href="http://www.cs.utexas.edu/users/chaput">Cliff Chaput</a> --- chaput@cs.utexas.edu <li> <!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><a href="http://www.cs.utexas.edu/users/grib/vision.html">Bill Gribble</A> --- grib@cs.utexas.edu <li> <!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><a href="http://www.cs.utexas.edu/users/wylee"> Wan Yik Lee</a> --- wylee@cs.utexas.edu <li> <!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><a href="http://www.cs.utexas.edu/users/eremolin">Emilio Remolina</a> --- eremolin@cs.utexas.edu</ul><hr><h2> <a name="robot-papers"> Indexed Bibliography </a> </h2> <ul> <li> <!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><a href="#SSH"> The Spatial Semantic Hierarchy </a> <li> <!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><a href="#TOUR"> The TOUR Model </a> <li> <!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><a href="#Critter">Learning from Uninterpreted Sensors and Effectors </a> <li> <!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><a href="#speed">High-Speed Motion Control </a> <li> <!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><a href="#swan">"Swan's Neck" Highly-Redundant Manipulators </a> <li> <!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><a href="#robot">Mobile Robot Experiments </a> <li> <!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><a href="#vision">Active Vision </a> </ul><H2><a name="SSH">The Spatial Semantic Hierarchy</a></H2><ul> <li> B. Kuipers. 1996.<!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Kuipers-qr-96.ps.Z"><b>A hierarchy of qualitative representations for space</b></a>.In <i>Working Papers of the Tenth International Workshop onQualitative Reasoning (QR-96)</i>, Fallen LeafLake, California. <br><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><a href="http://www.cs.utexas.edu/users/qr/abstracts-robotics.html">[Abstract]</a> <P> <li> B. Kuipers, R. Froom, W.-Y. Lee & D. Pierce. 1993. <!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Kuipers+Froom+Lee+Pierce-93.ps.Z"><b>The semantic hierarchy in robot learning.</b></a> In J. Connell and S. Mahadevan (Eds.), <i>Robot Learning</i>.Kluwer Academic Publishers, 1993, pages 141-170. <p> <li> B. J. Kuipers & Y.-T. Byun. 1991.<!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Kuipers+Byun-jras-91.ps.Z"><b>A robot exploration and mapping strategy based on a semantic hierarchyof spatial representations.</b></a><i>Journal of Robotics and Autonomous Systems</i>, <b>8</b>: 47-63. <P>Reprinted in Walter Van de Velde (ed.), <i>Towards Learning Robots</i>, Bradford/MIT Press, 1993. <p> <li> B. J. Kuipers & Y.-T. Byun. 1988.<b>A robust qualitative method for spatial learning in unknown environments.</b>In <i>Proceedings of the NationalConference on Artificial Intelligence (AAAI-88)</i>. Los Altos, CA:Morgan Kaufman, 1988. <p></ul><H2><a name="TOUR">The TOUR Model</a></H2><ul> <li> B. J. Kuipers and T. Levitt. 1988.<b>Navigation and mapping in large scale space.</b><i>AI Magazine</i>, vol. 9, no. 2, Summer 1988, pp. 25-43. <P>Reprinted in <i>Advances in Spatial Reasoning, Volume 2</i>, Su-shing Chen (Ed.),Norwood NJ: Ablex Publishing, 1990. <p> <li> B. J. Kuipers. 1983.<!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Kuipers-pick-83.ps.Z"><b>The cognitive map: Could it have been any other way?</b></a>In H. L. Pick, Jr. and L. P. Acredolo (Eds.),<i>Spatial Orientation: Theory, Research, and Application</i>.New York: Plenum Press, 1983, pages 345-359. <p> <li> B. J. Kuipers. 1982. <b>The `Map in the Head' metaphor.</b><i>Environment and Behavior</i> <b>14</b>: 202-220, 1982. <P> <li> B. J. Kuipers. 1979.<!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Kuipers-csk-79.ps.Z"><b>On representing common sense knowledge</b></a>. In N. V. Findler(Ed.), <em>Associative Networks: The Representation and Useof Knowledge by Computers</em>. New York: Academic Press, 1979, pages 393--408. <P> <li> B. J. Kuipers. 1979.<B>Commonsense knowledge of space: learning from experience.</B>In <I>Proceedings of the Sixth International Joint Conference onArtificial Intelligence (IJCAI-79)</I>. Tokyo, Japan, August 1979. <P>Reprinted in <i>Advances in Spatial Reasoning, Volume 2</i>, Su-shing Chen (Ed.),Norwood NJ: Ablex Publishing, 1990. <p> <li> B. J. Kuipers. 1978. <!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Kuipers-cogsci-78.ps.Z"><b>Modeling spatial knowledge</b></a>.<i>Cognitive Science</i>, <b>2</b>: 129-153, 1978. <P> Reprinted in <i>Advances in Spatial Reasoning, Volume 2</i>, Su-shingChen (Ed.), Norwood NJ: Ablex Publishing, 1990. <p> <ul> <li> The version of the PS file currently available (7-16-96) ismissing the two figures. I'll fix it as soon as possible. <li> There is a <!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Kuipers-cogsci-78-beta.ps.Z">Word version</a> of the paper that includes the figures,but is a much longer file, and fails to display reasonably in ghostview,though it seems to print correctly.<p> </ul> <li> B. J. Kuipers. 1977.<B>Representing Knowledge of Large-Scale Space</B>. Doctoral dissertation,Mathematics Department, Massachusetts Institute of Technology,Cambridge, Massachusetts, June 1977. Published as Technical Report418, M.I.T. Artificial Intelligence Laboratory, 1977. <P></ul><h2><a name="Critter">Learning from Uninterpreted Sensors and Effectors</a></h2><ul><li> David Pierce and Benjamin Kuipers. 1997.<!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Pierce+Kuipers-aij-97.ps.Z"><b>Map learning with uninterpreted sensors and effectors</b></a>.<cite>Artificial Intelligence Journal</cite>, 1997. <br><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><a href="http://www.cs.utexas.edu/users/qr/abstracts-robotics.html#Learning">[Abstract]</a> <p> <li> David M. Pierce. 1995. <!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Pierce-PhD-95.ps.Z"><B>Map Learning with Uninterpreted Sensors and Effectors</B></a>.Doctoral dissertation, Department of Computer Sciences, The University of Texasat Austin. (TR AI95-233, May 1995.) <P> <li> D. Pierce and B. Kuipers. 1994. <!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Pierce+Kuipers-AAAI94.ps.Z"><b>Learning to explore and buildmaps.</b></a> In <i>Proceedings of the National Conference on ArtificialIntelligence (AAAI-94)</i>, AAAI/MIT Press, 1994. <p> <li> David M. Pierce. 1991. <!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Pierce-ICRA91.ps.Z"><b>Learning turn and travel actions with anuninterpreted sensorimotor apparatus.</b></a> In <i> Proceedings of the IEEEInternational Conference on Robotics and Automation</i>, pp. 246-251.Los Alamitos, CA: IEEE Computer Society Press. <p> <li> David M. Pierce and B. J. Kuipers. 1991. <!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Pierce+Kuipers-SAB90.ps.Z"><b>Learning hill-climbingfunctions as a strategy for generating behaviors in a mobile robot.</b></a> In J.-A. Meyer and S. W. Wilson (Eds.), <i> From Animals to Animats: Proceedings of the International Conference on Simulationof Adaptive Behavior</i>, pp. 327-336. Cambridge, MA: MITPress/Bradford Books, 1991. <p> <li> Benjamin Kuipers. 1985. <!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Kuipers-aitr-85-17.ps.Z"><b>The Map-Learning Critter</b></a>.University of Texas at Austin, Artificial Intelligence LaboratoryAI TR 85-17, December 1985. <p></ul><h2><a name="speed">High-Speed Motion Control</a></h2><ul> <li> Richard Froom. 1995. <!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Froom-PhD-95.ps.Z"><B>High-Speed Navigation with Approximate Maps</B></a>.Doctoral dissertation, Department of Computer Sciences, The University of Texasat Austin. <P> <li> Richard Froom. 1992. <!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Froom-SPIE92.ps.Z"><b>Approximate maps for high-speed control of a mobile robot.</b></a> In<i> Mobile Robots VII: Proceedings of SPIE -- the International Society forOptical Engineering v. 1831</i>, Boston, MA, November 15-20 1992. <p> <li> Richard Froom. 1991. <!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Froom-ieee91.ps.Z"><b>Acquiring effective knowledge of environment geometry forminimum-time control of a mobile robot</b></a>. In <i> Proceedings of the 1991 IEEEInternational Symposium on Intelligent Control</i>, pages 501-506, Arlington, VA,August 13-15 1991. <p></ul><h2><a name="swan">"Swan's Neck" Highly-Redundant Manipulators</a></h2><ul> <li> Motion planning for the <!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><a href="http://www.cs.utexas.edu/users/qr/swans-neck.html"> "Swan's Neck" manipulator</a>. <p> <li> Akira Hayashi and Benjamin Kuipers. 1992. <!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Hayashi+Kuipers-IROS92.ps.Z"><b>A continuous approach to robot motion planning with many degrees offreedom.</b></a> In <i>Proceedings of the 1992 IEEE InternationalConference on Intelligent Robots and Systems (IROS'92)</i>. <p> <li> Akira Hayashi & B. J. Kuipers. 1991. <!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Hayashi+Kuipers-AAAI91.ps.Z"><b>Path planning forhighly-redundant manipulators using a continuous-curvature model.</b></a> In<i>Proceedings of the National Conference on Artificial Intelligence(AAAI-91)</i>, AAAI/MIT Press, 1991. <p> <li> Akira Hayashi. 1991.<!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Hayashi-PhD-91.ps.Z"><b>Geometrical Motion Planning for HighlyRedundant Manipulators Using a Continuous Manipulator Model</b></a>.Doctoral dissertation, Department of Computer Sciences, University ofTexas at Austin, Austin, Texas. May 1991. (Available as TRAI91-156.) <p></ul><h2><a name="robot">Mobile Robot Experiments</a></h2><ul> <li> Wan Yik Lee. 1995.<!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Lee-AITR-95-235.ps.gz"><b>A Guide to Programming Spot, a Mobile Robot of the University of Texas at Austin</b></a>. Artificial Intelligence Laboratory, The University of Texas at Austin, AI Laboratory Technical Report AI95-235, June 1995. <p> <li> Wan Yik Lee. 1995.<!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Lee-AITR-95-240.ps.gz"><b>Programming Spot in Lisp with SpotLisp Package</b></a>. Artificial Intelligence Laboratory, The University of Texas at Austin, AI Laboratory Technical Report AI95-240, June 1995. <p></ul><h2><a name="vision">Active Vision</a></h2><ul> <li> William S. Gribble. 1995. <!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Gribble-iscv-95.ps.Z"><B>Slow visual search in a fast-changing world</B></a>. In<I>Proceedings of the 1995 IEEE Symposium on Computer Vision (ISCV-95)</I> <p></ul><hr><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><a href="http://www.cs.utexas.edu/users/qr">[QR home]</a><address><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><a href="http://www.cs.utexas.edu/users/kuipers">BJK</a></address>⌨️ 快捷键说明
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