Felix Jonathan
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View article: Decentralized Uncertainty-Aware Active Search with a Team of Aerial Robots
Decentralized Uncertainty-Aware Active Search with a Team of Aerial Robots Open
Rapid search and rescue is critical to maximizing survival rates following natural disasters. However, these efforts are challenged by the need to search large disaster zones, lack of reliability in the communications infrastructure, and a…
View article: UGV-UAV Object Geolocation in Unstructured Environments
UGV-UAV Object Geolocation in Unstructured Environments Open
A robotic system of multiple unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs) has the potential for advancing autonomous object geolocation performance. Much research has focused on algorithmic improvements on individual…
View article: Evaluating Methods for End-User Creation of Robot Task Plans
Evaluating Methods for End-User Creation of Robot Task Plans Open
How can we enable users to create effective, perception-driven task plans for collaborative robots? We conducted a 35-person user study with the Behavior Tree-based CoSTAR system to determine which strategies for end user creation of gener…
View article: Temporal and Physical Reasoning for Perception-Based Robotic Manipulation
Temporal and Physical Reasoning for Perception-Based Robotic Manipulation Open
Accurate knowledge of object poses is crucial to successful robotic manipulation tasks, and yet most current approaches only work in laboratory settings. Noisy sensors and cluttered scenes interfere with accurate pose recognition, which is…
View article: User Experience of the CoSTAR System for Instruction of Collaborative Robots
User Experience of the CoSTAR System for Instruction of Collaborative Robots Open
How can we enable novice users to create effective task plans for collaborative robots? Must there be a tradeoff between generalizability and ease of use? To answer these questions, we conducted a user study with the CoSTAR system, which i…
View article: Do What I Want, Not What I Did: Imitation of Skills by Planning Sequences of Actions
Do What I Want, Not What I Did: Imitation of Skills by Planning Sequences of Actions Open
We propose a learning-from-demonstration approach for grounding actions from expert data and an algorithm for using these actions to perform a task in new environments. Our approach is based on an application of sampling-based motion plann…
View article: CoSTAR: Instructing Collaborative Robots with Behavior Trees and Vision
CoSTAR: Instructing Collaborative Robots with Behavior Trees and Vision Open
For collaborative robots to become useful, end users who are not robotics experts must be able to instruct them to perform a variety of tasks. With this goal in mind, we developed a system for end-user creation of robust task plans with a …