Intelligent Robotics
Webpage: http://www.cs.utexas.edu/users/qr/
Director: Benjamin Kuipers
The Intelligent Robotics Lab is interested in robot exploration and mapping strategies based on qualitative recognition of distinctive places.
People
Lewis Fishgold Ph.D. Student lewfish@cs.utexas.edu
Benjamin Kuipers Professor kuipers@cs.utexas.edu
Jeremy Stober Ph.D. Student stober@cs.utexas.edu
Publications (107)
Moving Object Segmentation Using Motor Signals 2012
Changhai Xu, Jingen Liu, and Benjamin Kuipers
Learning Geometry from Sensorimotor Experience 2011
Jeremy Stober, Risto Miikkulainen, and Benjamin Kuipers
Motion Segmentation by Learning Homography Matrices from Motor Signals 2011
Changhai Xu and Benjamin Kuipers
Object Detection Using Principal Contour Fragments 2011
Changhai Xu and Benjamin Kuipers
Autonomous Qualitative Learning of Distinctions and Actions in a Developing Agent 2010
Jonathan Mugan
Towards the Object Semantic Hierarchy 2010
Changhai Xu and Benjamin Kuipers
3D pose estimation for planes 2009
Changhai Xu, Benjamin Kuipers, and Aniket Murarka
A Comparison of Strategies for Developmental Action Acquisition in QLAP 2009
Jonathan Mugan and Benjamin Kuipers
A framework for planning comfortable and customizable motion of an assistive mobile robot 2009
Shilpa Gulati, Chetan Jhurani, Benjamin Kuipers, and Raul Longoria
A stereo vision based 3D mapping algorithm for detecting ramps, drop-offs, and obstacles for safe local navigation 2009
Aniket Murarka and Benjamin Kuipers
Autonomously Learning an Action Hierarchy Using a Learned Qualitative State Representation 2009
Jonathan Mugan and Benjamin Kuipers
Construction of the Object Semantic Hierarchy 2009
Changhai Xu and Benjamin Kuipers
Learning the Sensorimotor Structure of the Foveated Retina 2009
Jeremy Stober, Lewis Fishgold, and Benjamin Kuipers
Navigation, Control and Recovery of the ENDURANCE Under-ice Hovering AUV 2009
Kristof Richmond, Shilpa Gulati, Chris Flesher, Bartholomew P. Hogan, and William C. Stone
Sensor Map Discovery for Developing Robots 2009
Jeremy Stober, Lewis Fishgold, and Benjamin Kuipers
Skill Reuse in Lifelong Developmental Learning 2009
Jonathan Mugan and Benjamin Kuipers
Sub-ice exploration of West Lake Bonney: ENDURANCE 2008 Mission 2009
Bill Stone, Bart Hogan, Chris Flesher, Shilpa Gulati, Kristof Richmond, Aniket Murarka, Gregory Kuhlmann, and Mohan Sridharan
Towards a Safe, Low-Cost, Intelligent Wheelchair 2009
Aniket Murarka, Shilpa Gulati, Patrick Beeson, and Benjamin Kuipers
Vision based frozen surface egress: A docking algorithm for the ENDURANCE AUV 2009
Aniket Murarka, Gregory Kuhlmann, Shilpa Gulati, Mohan Sridharan, Chris Flesher, and Bill Stone
Continuous-domain reinforcement learning using a learned qualitative state representation 2008
Jonathan Mugan and Benjamin Kuipers
Creating and Utilizing Symbolic Representations of Spatial Knowledge using Mobile Robots 2008
Patrick Beeson
Detecting obstacles and drop-offs using stereo and motion cues for safe local motion 2008
Aniket Murarka, Mohan Sridharan and Benjamin Kuipers
From pixels to policies: a bootstrapping agent 2008
Jeremy Stober and Benjamin Kuipers
High Performance Control for Graceful Motion of an Intelligent Wheelchair 2008
Shilpa Gulati and Benjamin Kuipers
Ray-based color image segmentation 2008
Changhai Xu, Yong Jae Lee, and Benjamin Kuipers
Towards the Application of Reinforcement Learning to Undirected Developmental Learning 2008
Jonathan Mugan and Benjamin Kuipers
Trajectory generation for dynamic bipedal walking through qualitative model based manifold learning 2008
Subramanian Ramamoorthy and Benjamin Kuipers
Autonomous Development of a Grounded Object Ontology by a Learning Robot 2007
Joseph Modayil and Benjamin Kuipers
Following Natural Language Route Instructions 2007
Matthew T. MacMahon
Integrating Multiple Representations of Spatial Knowledge for Mapping, Navigation, and Communication 2007
Patrick Beeson, Matt MacMahon, Joseph Modayil, Aniket Murarka, Benjamin Kuipers, and Brian Stankiewicz
Learning distinctions and rules in a continuous world through active exploration 2007
Jonathan Mugan and Benjamin Kuipers
Learning to predict the effects of actions: synergy between rules and landmarks 2007
Jonathan Mugan and Benjamin Kuipers
Reinforcement Learning in High-Diameter, Continuous Environments 2007
Jefferson Provost
Robot Developmental Learning of an Object Ontology Grounded in Sensorimotor Experience 2007
Joseph Modayil
Sneaking up on the Hard Problem of consciousness 2007
Benjamin Kuipers
Task Encoding, Motion Planning and Intelligent Control with Qualitative Models 2007
Subramanian Ramamoorthy
Where do actions come from? Autonomous robot learning of objects and actions 2007
Joseph Modayil and Benjamin Kuipers
Adapting proposal distributions for accurate, efficient mobile robot localization 2006
Patrick Beeson, Aniket Murarka, and Benjamin Kuipers
Autonomous Shape Model Learning for Object Localization and Recognition 2006
Joseph Modayil and Benjamin Kuipers
Building local safety maps for a wheelchair robot using vision and lasers 2006
Aniket Murarka, Joseph Modayil, and Benjamin Kuipers
Developing navigation behavior through self-organizing distinctive state abstraction 2006
Jefferson Provost, Benjamin J. Kuipers, and Risto Miikkulainen
Low-Discrepancy Curves and Efficient Coverage of Space 2006
Subramanian Ramamoorthy, Ram Rajagopal, Qing Ruan, Lothar Wenzel
Parametrization and computations in shape spaces with area and boundary invariants 2006
Subramanian Ramamoorthy, Benjamin J. Kuipers and Lothar Wenzel
Qualitative hybrid control of dynamic bipedal walking 2006
Subramanian Ramamoorthy, Benjamin Kuipers
Bootstrap Learning of Foundational Representations. 2005
Benjamin Kuipers, Patrick Beeson, Joseph Modayil and Jefferson Provost
Consciousness: Drinking from the Firehose of Experience 2005
Benjamin Kuipers
Towards autonomous topological place detection using the Extended Voronoi Graph 2005
Patrick Beeson, Nicholas K. Jong, and Benjamin Kuipers
Bootstrap learning for object discovery 2004
Joseph Modayil and Benjamin Kuipers
Controller synthesis using qualitative models and constraints 2004
Subramanian Ramamoorthy, Benjamin Kuipers
Local metrical and global topological maps in the Hybrid Spatial Semantic Hierarchy 2004
Benjamin Kuipers, Joseph Modayil, Patrick Beeson, Matt MacMahon, and Francesco Savelli
The Constructivist Learning Architecture: A Model of Cognitive Development for Robust Autonomous Robots 2004
Harold H. Chaput
Using the topological skeleton for scalable global metrical map-building 2004
Joseph Modayil, Patrick Beeson and Benjamin Kuipers
Exploiting local perceptual models for topological map-building 2003
Patrick Beeson, Matt MacMahon, Joseph Modayil, Jefferson Provost, Francesco Savelli and Benjamin Kuipers
Qualitative heterogeneous control of higher order systems 2003
Subramanian Ramamoorthy and Benjamin Kuipers
The skeleton in the cognitive map: a computational and empirical exploration 2003
Benjamin Kuipers, Dan Tecuci and Brian Stankiewicz
Bootstrap learning for place recognition 2002
Benjamin Kuipers and Patrick Beeson
Qualitative modeling and heterogeneous control of global system behavior 2002
Benjamin Kuipers and Subramanian Ramamoorthy
Towards a general theory of topological maps 2002
Emilio Remolina and Benjamin Kuipers
A logical account of causal and topological maps 2001
Emilio Remolina
Computational Perceptual Attention 2001
Micheal Scott Hewett
Learning from uninterpreted experience in the SSH 2001
Benjamin Kuipers, Patrick Beeson, Joseph Modayil and Jefferson Provost
Post-Piagetian constructivism for grounded knowledge acquisition 2001
Harold H. Chaput
The skeleton in the cognitive map: a computational hypothesis 2001
Benjamin Kuipers
Toward bootstrap learning for place recognition 2001
Benjamin Kuipers and Patrick Beeson
Toward Learning the Causal Layer of the Spatial Semantic Hierarchy using SOMs 2001
Jefferson Provost, Patrick Beeson, and Benjamin J. Kuipers
The Spatial Semantic Hierarchy 2000
Benjamin Kuipers
Boundary region relations 1998
Emilio Remolina and Benjamin Kuipers
Integrating vision and spatial reasoning for assistive navigation 1998
W. S. Gribble, R. L. Browning, M. Hewett, E. Remolina and Benjamin J. Kuipers
Navigation and mapping in large scale space 1998
Benjamin J. Kuipers and T. Levitt
The Impact of Perception on Agent Architectures 1998
Micheal Hewett
Towards a formalization of the spatial semantic hierarchy 1998
Emilio Remolina and Benjamin Kuipers
A hierarchy of qualitative representations for space 1996
Benjamin Kuipers
Spatial Semantic Hierarchy for a Physical Mobile Robot 1996
Wan Yik Lee
A Guide to Programming Spot, a Mobile Robot of the University of Texas at Austin 1995
Wan Yik Lee
High-Speed Navigation with Approximate Maps 1995
Richard Froom
Map Learning with Uninterpreted Sensors and Effectors 1995
David M. Pierce
Programming Spot in Lisp with SpotLisp Package 1995
Wan Yik Lee
Qualitative reasoning about dynamic change in the spatial properties of a physical system 1995
Raman Rajagopalan
Slow visual search in a fast-changing world 1995
William S. Gribble
Learning to explore and build maps 1994
D. Pierce and Benjamin Kuipers
Short Algernon Reference Manual (for Algernon version 1.3.0) 1994
Benjamin J. Kuipers and J. M. Crawford
The composition and validation of heterogeneous control laws 1994
Benjamin J. Kuipers and K. Astrom
Algernon for Expert Systems 1993
Benjamin Kuipers
Automated modeling of physical systems in the presence of incomplete knowledge 1993
Adam Farquhar
The semantic hierarchy in robot learning 1993
Benjamin Kuipers, R. Froom, W.-Y. Lee and D. Pierce
Approximate maps for high-speed control of a mobile robot 1992
Richard Froom
Results of an experiment in domain knowledge base construction: a comparison of the Classic and Algernon knowledge representation systems 1992
Raman Rajagopalan
A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations 1991
Benjamin J. Kuipers and Y.-T. Byun
Acquiring effective knowledge of environment geometry for minimum-time control of a mobile robot 1991
Richard Froom
Algernon -- a tractable system for knowledge representation 1991
J. M. Crawford and Benjamin J. Kuipers
ALL: formalizing access-limited reasoning 1991
J. M. Crawford and Benjamin J. Kuipers
Learning hill-climbing functions as a strategy for generating behaviors in a mobile robot 1991
David M. Pierce and Benjamin J. Kuipers
Learning turn and travel actions with an uninterpreted sensorimotor apparatus 1991
David M. Pierce
Negation and proof by contradiction in access-limited logic 1991
J. M. Crawford and Benjamin J. Kuipers
The composition of heterogeneous control laws 1991
Benjamin Kuipers and Karl Astrom
Access-Limited Logic: A Language for Knowledge Representation 1990
James Crawford
QPC: a compiler from physical models into qualitative differential equations 1990
J. M. Crawford, A. Farquhar, Benjamin J. Kuipers
Toward a theory of access-limited logic for knowledge representation 1989
J. M. Crawford and Benjamin J. Kuipers
A robust qualitative method for spatial learning in unknown environments 1988
Benjamin J. Kuipers and Y.-T. Byun.
The Map-Learning Critter 1985
Benjamin Kuipers
Modeling human knowledge of routes: partial knowledge and individual variation 1983
Benjamin J. Kuipers
The cognitive map: Could it have been any other way? 1983
Benjamin J. Kuipers
The `Map in the Head' metaphor 1982
Benjamin J. Kuipers
Commonsense knowledge of space: learning from experience 1979
Benjamin J. Kuipers
On representing common sense knowledge 1979
Benjamin J. Kuipers
Modeling spatial knowledge 1978
Benjamin J. Kuipers
Representing Knowledge of Large-Scale Space 1977
Benjamin J. Kuipers
Projects
The Spatial Semantic Hierarchy
UT Intelligent Wheelchair Project
Areas of Interest
Bootstrap Learning Control Description Logics Enabling Technologies Geometric Or Spatial Reasoning Navigation and Mapping Robotics The Intelligent Wheelchair
Software/Data
Algernon Access-Limited Logic is a language for representing knowledge in the computer, and a method for drawing conclusions and ...