PhD Thesis Defense

Event Location: Newell Simon Hall 1305Abstract: Outdoor mobile robot motion planning and navigation is a challenging problem in artificial intelligence. The search space density and dimensionality, system dynamics and environmental interaction complexity, and the perceptual horizon limitation all contribute to the difficultly of this problem. It is hard to generate a motion plan between arbitrary [...]

Event Location: Newell Simon Hall 1305Abstract: Recent display applications for entertainment and business have made available new types of illumination using LEDs, DMDs and LCDs, which are bright, energy efficient and cheap. Some of these devices are programmable and allow spatio-temporal control of the emitted light rays. With the advent of such digital light-sources, illumination [...]

Event Location: Newell Simon Hall 1305Abstract: Many applications require teams of robots to cooperatively execute tasks. Among these domains are those in which successful coordination must respect intra-path constraints, which are constraints that occur on the paths of agents and affect route planning. One such domain is disaster response with intra-path constraints, a compelling application [...]

Event Location: Newell Simon Hall 1305Abstract: Current mobile robots generally fall into one of two categories as far as reliability is concerned -- highly unreliable, or very expensive. Most fall into the first category, requiring teams of graduate students or staff engineers to coddle them in the days and hours before a brief demonstration. The [...]

Event Location: Newell Simon Hall 3305Abstract: A variety of learning problems in robotics, computer vision and other areas of artificial intelligence can be construed as problems of learning statistical models for dynamical systems from sequential observations. Good dynamical system models allow us to represent and predict observations in these systems, which in turn enables applications [...]

Event Location: GHC 7101Abstract: The creation of a diabetes management assistant that can remotely collect data, increase communication between patient and care provider, and automatically analyze all available information could improve the health of many diabetics. Individual models, taking into account nutrition, medication, and exercise, with appropriate mathematical modeling, can learn accurate representations of specific [...]

Event Location: GHC 6115Abstract: Simultaneous Localization and Mapping (SLAM) has been an active area of research for several decades, and has become a foundation of indoor mobile robotics. However, although the scale and quality of results have improved markedly in that time period, no current technique can effectively handle city-sized urban areas. The Global Positioning [...]

Event Location: NSH 3305Abstract: Social scientists have identified and begun to describe rhythmic and synchronous properties of human social interaction. However, social interactions with robots are often stilted due to temporal mismatch between the behaviors, both verbal and nonverbal, of the interacting partners. This thesis brings the theory of interactional synchrony to bear on the [...]

Event Location: NSH 3305Abstract: Endoscopy is attracting increasing attention for its role in minimally invasive, computer-assisted and tele-surgery. Analyzing images from endoscopes to obtain meaningful information about anatomical structures such as their 3D shapes, deformations and appearances, is crucial to such surgical applications. However, 3D reconstruction from endoscopic images is challenging due to the small [...]