2017
|
R. Han, N. Correll, K. Pister, P. Dutta Wireless Robotic Materials Conference 15th ACM Conference on Embedded Networked Sensor Systems (SenSys), Delft, The Netherlands, 2017. BibTeX @conference{sensys,
title = {Wireless Robotic Materials},
author = {R. Han and N. Correll and K. Pister and P. Dutta},
year = {2017},
date = {2017-11-07},
booktitle = {15th ACM Conference on Embedded Networked Sensor Systems (SenSys)},
address = {Delft, The Netherlands},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
|
N. Correll Manufacturing of Multifunctional soft composites with integrated proximity and tactile sensing Conference 21st International Conference on Composite Materials
, 2017. BibTeX @conference{correll17,
title = {Manufacturing of Multifunctional soft composites with integrated proximity and tactile sensing},
author = {N. Correll},
year = {2017},
date = {2017-08-25},
booktitle = {21st International Conference on Composite Materials
},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
|
Jacob Segil, Radhen Patel, Yanyu Xiong, Marie Schmitt, Richard Weir, Nikolaus Correll Force Sensing Prosthetic Finger Tip using Elastomer-Embedded Commodity Infrared Proximity Sensor Inproceedings In: Myoelectric Controls Symposium (MEC), New Brunswick, 2017. BibTeX @inproceedings{segil2017,
title = {Force Sensing Prosthetic Finger Tip using Elastomer-Embedded Commodity Infrared Proximity Sensor},
author = {Jacob Segil and Radhen Patel and Yanyu Xiong and Marie Schmitt and Richard Weir and Nikolaus Correll},
year = {2017},
date = {2017-08-15},
booktitle = {Myoelectric Controls Symposium (MEC)},
address = {New Brunswick},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
D. Hughes, A. Krauthammer, N. Correll Recognizing Social Touch Gestures using Recurrent and Convolutional Neural Networks Inproceedings In: Int. Conf. on Robotics and Automation (ICRA), 2017. BibTeX @inproceedings{hughes2016b,
title = {Recognizing Social Touch Gestures using Recurrent and Convolutional Neural Networks},
author = {D. Hughes and A. Krauthammer and N. Correll},
year = {2017},
date = {2017-05-30},
booktitle = {Int. Conf. on Robotics and Automation (ICRA)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
R. Shepherd, N. Correll, S. Morin, B. Mosadegh, C. Onal, K. Petersen, P. Polygerinos, M. Cianchetti, M. Tolley Soft robotics: Review of Fluid-Driven Intrinsically Soft Devices; manufacturing, sensing, control, and Applications in Human-Robot Interaction Journal Article In: Advanced Engineering Materials, 2017. BibTeX @article{shepherd17,
title = { Soft robotics: Review of Fluid-Driven Intrinsically Soft Devices; manufacturing, sensing, control, and Applications in Human-Robot Interaction},
author = {R. Shepherd and N. Correll and S. Morin and B. Mosadegh and C. Onal and K. Petersen and P. Polygerinos and M. Cianchetti and M. Tolley},
year = {2017},
date = {2017-05-15},
journal = {Advanced Engineering Materials},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
R. Cox, N. Correll Merging Local and Global 3D Perception using Contact Sensing Inproceedings In: AAAI Spring Symposium on Interactive Multi-Sensory Object Perception for Embodied Agents, Stanford, CA, 2017. BibTeX @inproceedings{cox2017,
title = {Merging Local and Global 3D Perception using Contact Sensing},
author = {R. Cox and N. Correll},
year = {2017},
date = {2017-03-15},
booktitle = {AAAI Spring Symposium on Interactive Multi-Sensory Object Perception for Embodied Agents},
address = {Stanford, CA},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
D. Hughes, H. Profita, S. Radzihovsky, N. Correll Intelligent RF-Based Gesture Input Devices Implemented using e-Textiles Journal Article In: Sensors, 2017. BibTeX @article{hughes2017,
title = {Intelligent RF-Based Gesture Input Devices Implemented using e-Textiles},
author = {D. Hughes and H. Profita and S. Radzihovsky and N. Correll},
year = {2017},
date = {2017-03-01},
journal = {Sensors},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
N. Farrow, L. McIntire, N. Correll Functionalized Textiles for Interactive Soft Robotics Conference Int. Conf. on Robotics and Automation (ICRA), 2017. BibTeX @conference{farrow2017,
title = {Functionalized Textiles for Interactive Soft Robotics},
author = {N. Farrow and L. McIntire and N. Correll},
year = {2017},
date = {2017-01-30},
booktitle = {Int. Conf. on Robotics and Automation (ICRA)},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
|
2016
|
Y. Li, J. Klingner, N. Correll Distributed Camouflage for Swarm Robotics and Smart Materials Conference Distributed Autonomous Robotic Systems (DARS), London, UK, 2016. BibTeX @conference{li2016,
title = {Distributed Camouflage for Swarm Robotics and Smart Materials},
author = {Y. Li, J. Klingner and N. Correll},
year = {2016},
date = {2016-11-07},
booktitle = {Distributed Autonomous Robotic Systems (DARS)},
address = {London, UK},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
|
D. Hughes, N. Correll Distributed Convolutional Neural Networks for Human Activity Recognition in Wearable Robotics Conference Distributed Autonomous Robotic Systems (DARS), London, UK, 2016. BibTeX @conference{hughes2016,
title = {Distributed Convolutional Neural Networks for Human Activity Recognition in Wearable Robotics},
author = {D. Hughes and N. Correll},
year = {2016},
date = {2016-11-07},
booktitle = {Distributed Autonomous Robotic Systems (DARS)},
address = {London, UK},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
|
R. Patel, Jorge Canardo Alastuey, N. Correll Improving grasp performance using in-hand proximity and force sensing Inproceedings In: Int. Symposium on Experimental Robotics (ISER), Tokyo, Japan, 2016. BibTeX @inproceedings{patel2016b,
title = {Improving grasp performance using in-hand proximity and force sensing},
author = {R. Patel, Jorge Canardo Alastuey and N. Correll},
year = {2016},
date = {2016-10-20},
booktitle = {Int. Symposium on Experimental Robotics (ISER)},
address = {Tokyo, Japan},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
H. McCreery, N. Correll, M. Breed, S. Flaxman Consensus or Deadlock? Consequences of Simple Behavioral Rules for Coordination in Group Decisions Journal Article In: PLoS ONE , 11 (9), pp. e0162768, 2016. Links | BibTeX @article{mccreery16,
title = { Consensus or Deadlock? Consequences of Simple Behavioral Rules for Coordination in Group Decisions},
author = {H. McCreery and N. Correll and M. Breed and S. Flaxman},
doi = {doi:10.1371/journal.pone.0162768},
year = {2016},
date = {2016-09-28},
journal = { PLoS ONE },
volume = {11},
number = {9},
pages = {e0162768},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
A. Randall, J. Klingner, N. Correll Simulating Chemical Reactions using a Swarm of Miniature Robots Inproceedings In: 14th Int. Conf. on Simulation of Adaptive Behavior, pp. 12, Aberystwyth, UK, 2016. BibTeX @inproceedings{randall16,
title = {Simulating Chemical Reactions using a Swarm of Miniature Robots},
author = {A. Randall, J. Klingner, N. Correll},
year = {2016},
date = {2016-08-23},
booktitle = {14th Int. Conf. on Simulation of Adaptive Behavior},
pages = {12},
address = {Aberystwyth, UK},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
R. Patel, N. Correll Integrated force and distance sensing for robotic manipulation using elastomer-embedded commodity proximity sensors Conference Robotics: Science and Systems, Ann Arbor, MN, 2016. BibTeX @conference{patel16,
title = {Integrated force and distance sensing for robotic manipulation using elastomer-embedded commodity proximity sensors},
author = {R. Patel, N. Correll},
year = {2016},
date = {2016-07-01},
booktitle = {Robotics: Science and Systems},
address = {Ann Arbor, MN},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
|
M. A. McEvoy, N. Correll Distributed Inverse Kinematics for Shape-Changing Robotic Materials Inproceedings In: 3rd International Conference on System-integrated Intelligence:
New Challenges for Product and Production Engineering , Paderborn, Germany, 2016. BibTeX @inproceedings{mcevoy16,
title = {Distributed Inverse Kinematics for Shape-Changing Robotic Materials },
author = {M. A. McEvoy and N. Correll},
year = {2016},
date = {2016-06-13},
booktitle = {3rd International Conference on System-integrated Intelligence:
New Challenges for Product and Production Engineering },
address = {Paderborn, Germany},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
A. Kanakia, B. Touri, N. Correll Modeling Multi-Robot Task Allocation with Limited Information as Global Game Journal Article In: Swarm Intelligence, 2016. Links | BibTeX @article{kanakia16,
title = {Modeling Multi-Robot Task Allocation with Limited Information as Global Game},
author = {A. Kanakia and B. Touri and N. Correll},
url = {http://link.springer.com/article/10.1007/s11721-016-0123-4},
doi = {10.1007/s11721-016-0123-4},
year = {2016},
date = {2016-04-28},
journal = {Swarm Intelligence},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
N. Correll, K. Bekris, D. Berenson, O. Brock, A. Causo, K. Hauser, K. Okada, A. Rodriguez, J. Romano, P. Wurman Analysis and Observations From the First Amazon Picking Challenge Journal Article In: IEEE Transactions on Automation Science and Engineering, 2016. Links | BibTeX @article{correll2016,
title = {Analysis and Observations From the First Amazon Picking Challenge},
author = {N. Correll, K. Bekris, D. Berenson, O. Brock, A. Causo, K. Hauser, K. Okada, A. Rodriguez, J. Romano, P. Wurman},
url = {http://ieeexplore.ieee.org/abstract/document/7583659/},
doi = {10.1109/TASE.2016.2600527},
year = {2016},
date = {2016-01-21},
journal = {IEEE Transactions on Automation Science and Engineering},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
2015
|
D. Hughes, N. Farrow, H. Profita, N. Correll Detecting and Identifying Tactile Gestures using Deep Autoencoders, Geometric Moments and Gesture Level Features Conference ACM International Conference on Multimodal Interaction, Recognition of Social Touch Gestures Challenge, Seattle, 2015. Links | BibTeX @conference{hughes,
title = {Detecting and Identifying Tactile Gestures using Deep Autoencoders, Geometric Moments and Gesture Level Features},
author = {D. Hughes and N. Farrow and H. Profita and N. Correll},
url = {http://dl.acm.org/citation.cfm?id=2830601},
year = {2015},
date = {2015-11-06},
booktitle = {ACM International Conference on Multimodal Interaction, Recognition of Social Touch Gestures Challenge},
address = {Seattle},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
|
H. Hosseinmardi, A. Mysore, N. Farrow, N. Correll, R. Han Distributed Spatio-Temporal Gesture Recognition Journal Article In: ACM Transactions on Autonomous and Adaptive Systems, 2015, (to appear). Links | BibTeX @article{hosseinmardi15,
title = {Distributed Spatio-Temporal Gesture Recognition},
author = {H. Hosseinmardi, A. Mysore, N. Farrow, N. Correll, R. Han},
url = {http://correll.cs.colorado.edu/wp-content/uploads/GestureRecognitionTAAS.pdf},
year = {2015},
date = {2015-11-01},
journal = {ACM Transactions on Autonomous and Adaptive Systems},
note = {to appear},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
N. Farrow, N. Correll A soft pneumatic actuator that can sense grasp and touch Inproceedings In: Int. Conf. on Intelligent Robots and Systems (IROS), pp. 2317-2323, 2015. Links | BibTeX @inproceedings{farrow15,
title = { A soft pneumatic actuator that can sense grasp and touch},
author = {N. Farrow and N. Correll},
url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7353689&tag=1},
year = {2015},
date = {2015-09-26},
booktitle = {Int. Conf. on Intelligent Robots and Systems (IROS)},
pages = {2317-2323},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
T. Caldwell, N. Correll Fast Sample-Based Planning of Dynamic Systems by Zero-Control Linearization-Based Steering Conference Int. Symposium on Robotics Research, Sestri Levante, Italy, 2015. BibTeX @conference{caldwell15b,
title = {Fast Sample-Based Planning of Dynamic Systems by Zero-Control Linearization-Based Steering},
author = {T. Caldwell and N. Correll},
year = {2015},
date = {2015-09-16},
booktitle = {Int. Symposium on Robotics Research},
address = {Sestri Levante, Italy},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
|
D. Hughes, N. Correll Texture Recognition and Localization in Amorphous Robotic Skin Journal Article In: Bioinspiration & Biomimetics, 10 (5), 2015. Links | BibTeX @article{hughes15,
title = {Texture Recognition and Localization in Amorphous Robotic Skin},
author = {D. Hughes and N. Correll},
url = {http://iopscience.iop.org/article/10.1088/1748-3190/10/5/055002},
year = {2015},
date = {2015-09-09},
journal = {Bioinspiration & Biomimetics},
volume = {10},
number = {5},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
E. Komendera, N. Correll Precise Assembly of 3D Truss Structures Using MLE-based Error Prediction and Correction Journal Article In: International Journal of Robotics Research, 34 (13), pp. 1622-1644, 2015. Links | BibTeX @article{komendera15,
title = {Precise Assembly of 3D Truss Structures Using MLE-based Error Prediction and Correction},
author = {E. Komendera and N. Correll},
url = {http://ijr.sagepub.com/content/34/13/1622},
year = {2015},
date = {2015-09-01},
journal = {International Journal of Robotics Research},
volume = {34},
number = {13},
pages = {1622-1644},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
N. Correll, H. Hamman Probabilistic Modeling of Swarming Systems Book Chapter In: Chapter 74, pp. 1421-1430, Springer, Handbook of Collective Intelligence, 2015. Links | BibTeX @inbook{hamman15,
title = {Probabilistic Modeling of Swarming Systems},
author = {N. Correll and H. Hamman},
url = {http://correll.cs.colorado.edu/wp-content/uploads/chapter.pdf},
year = {2015},
date = {2015-08-01},
pages = {1421-1430},
publisher = {Springer},
edition = {Handbook of Collective Intelligence},
chapter = {74},
keywords = {},
pubstate = {published},
tppubtype = {inbook}
}
|
T. Caldwell, N. Correll Zero-Control Linearization-Based Steering for Sample-Based Planning of Dynamic Systems Inproceedings In: Workshop for Optimal Robot Motion Planning at ICRA'15, 2015. BibTeX @inproceedings{caldwell15,
title = {Zero-Control Linearization-Based Steering for Sample-Based Planning of Dynamic Systems},
author = {T. Caldwell, N. Correll},
year = {2015},
date = {2015-05-29},
booktitle = {Workshop for Optimal Robot Motion Planning at ICRA'15},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
D. Coleman, I. Sucan, M. Moll, K. Okada, N. Correll Experience-Based Planning with Sparse Roadmap Spanners Conference International Conference on Robotics and Automation (ICRA) , Seattle, 2015. Links | BibTeX @conference{coleman15,
title = {Experience-Based Planning with Sparse Roadmap Spanners},
author = {D. Coleman and I. Sucan and M. Moll and K. Okada and N. Correll},
url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7139284},
doi = {10.1109/ICRA.2015.7139284},
year = {2015},
date = {2015-05-26},
booktitle = {International Conference on Robotics and Automation (ICRA) },
pages = {900-905},
address = {Seattle},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
|
L. Ma, M. Ghafarianzadeh, D. Coleman, N. Correll, G. Sibley Simultaneous Localization, Mapping, and Manipulation for Unsupervised Object Discovery Inproceedings In: International Conference on Robotics and Automation (ICRA), pp. 1344-1351, Seattle, 2015. Links | BibTeX @inproceedings{ma15,
title = {Simultaneous Localization, Mapping, and Manipulation for Unsupervised Object Discovery},
author = {L. Ma and M. Ghafarianzadeh and D. Coleman and N. Correll and G. Sibley},
url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7139365},
doi = {10.1109/ICRA.2015.7139365},
year = {2015},
date = {2015-05-26},
booktitle = {International Conference on Robotics and Automation (ICRA)},
pages = {1344-1351},
address = {Seattle},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
M. A. McEvoy, N. Correll Materials that couple sensing, actuation, computation and communication Journal Article In: Science, 347 (6228), 2015. Links | BibTeX @article{mcevoy15,
title = {Materials that couple sensing, actuation, computation and communication},
author = {M. A. McEvoy and N. Correll},
url = {http://www.sciencemag.org/cgi/content/full/347/6228/1261689?ijkey=aBKH64l64h8rs&keytype=ref&siteid=sci},
year = {2015},
date = {2015-03-20},
journal = {Science},
volume = {347},
number = {6228},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
H. Profita, N. Farrow, N. Correll Flutter: An Exploration of an Assistive Garment Using Distributed Sensing, Computation and Actuation Inproceedings In: Proc. of the ACM Conference on Tangible Embodied Interaction, Stanford, CA, 2015, (to appear). Links | BibTeX @inproceedings{profita15,
title = {Flutter: An Exploration of an Assistive Garment Using Distributed Sensing, Computation and Actuation},
author = {H. Profita and N. Farrow and N. Correll},
url = {http://dl.acm.org/citation.cfm?id=2680586},
year = {2015},
date = {2015-02-02},
booktitle = {Proc. of the ACM Conference on Tangible Embodied Interaction},
address = {Stanford, CA},
note = {to appear},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
2014
|
A. Kanakia, J. Klingner, N. Correll A Response Threshold Sigmoid Function Model for Swarm Robot Collaboration Inproceedings In: In Proc. of Int. Symp. on Distributed Autonomous Robotic Systems (DARS), Springer Tracts on Advanced Robotics, Daejeon, Korea, 2014. Links | BibTeX @inproceedings{kanakia14,
title = {A Response Threshold Sigmoid Function Model for Swarm Robot Collaboration},
author = {A. Kanakia, J. Klingner, N. Correll},
url = {http://correll.cs.colorado.edu/wp-content/uploads/SigTaskAlloc.pdf},
year = {2014},
date = {2014-11-15},
booktitle = {In Proc. of Int. Symp. on Distributed Autonomous Robotic Systems (DARS)},
publisher = {Springer Tracts on Advanced Robotics},
address = {Daejeon, Korea},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
E. Komendera Precise Assembly of Truss Structures by Distributed Robots PhD Thesis University of Colorado at Boulder, 2014. Links | BibTeX @phdthesis{komphd14,
title = {Precise Assembly of Truss Structures by Distributed Robots},
author = {E. Komendera},
url = {http://correll.cs.colorado.edu/downloads/komendera_thesis.pdf},
year = {2014},
date = {2014-11-07},
school = {University of Colorado at Boulder},
keywords = {},
pubstate = {published},
tppubtype = {phdthesis}
}
|
J. Kim, M. Kasper, T. Yeh, N. Correll SikuliBot: Automating Physical Interface Using Images Inproceedings In: 27th ACM User Interface Software and Technology Symposium (UIST) (Demotrack), pp. 53-54 , Honolulu, Hawaii, 2014. Abstract | Links | BibTeX @inproceedings{uist2014,
title = {SikuliBot: Automating Physical Interface Using Images},
author = {J. Kim, M. Kasper, T. Yeh, N. Correll},
url = {http://dl.acm.org/citation.cfm?id=2659110},
year = {2014},
date = {2014-10-10},
booktitle = {27th ACM User Interface Software and Technology Symposium (UIST) (Demotrack)},
pages = {53-54 },
address = { Honolulu, Hawaii},
abstract = {We present SikuliBot, an image-based approach to automating user interface. SikuliBot extends the visual programming concept of Sikuli Script from the graphical UIs to the real world of physical UIs, such as mobile devices\' touch-screens and hardware buttons. The key to our approach is using a physical robot to see an interface, identify a target, and perform an action on the target using the robot\'s actuators. We demonstrate working examples on MakerBot 3D printer that could move a stylus to perform multi-touch gestures on touchscreen to automate tasks such as swipe-to unlock, playing a virtual piano, and playing the Angry Bird game. A wide range of automation possibilities are made viable using a simple scripting language based on images of UI components. The benefits of our approach are: generalizability, instrumentation-free, and high-level programming abstraction.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
We present SikuliBot, an image-based approach to automating user interface. SikuliBot extends the visual programming concept of Sikuli Script from the graphical UIs to the real world of physical UIs, such as mobile devices' touch-screens and hardware buttons. The key to our approach is using a physical robot to see an interface, identify a target, and perform an action on the target using the robot's actuators. We demonstrate working examples on MakerBot 3D printer that could move a stylus to perform multi-touch gestures on touchscreen to automate tasks such as swipe-to unlock, playing a virtual piano, and playing the Angry Bird game. A wide range of automation possibilities are made viable using a simple scripting language based on images of UI components. The benefits of our approach are: generalizability, instrumentation-free, and high-level programming abstraction. |
H. McCreery, N. Correll Know when you’re beaten: efficient cooperative transport requires either a directional bias or that outnumbered individuals give up quickly Inproceedings In: Biological Distributed Algorithms Workshop, associated with Distributed Computing , 2014. Abstract | BibTeX @inproceedings{mccreery2014,
title = {Know when you’re beaten: efficient cooperative transport requires either a directional bias or that outnumbered individuals give up quickly},
author = {H. McCreery and N. Correll},
year = {2014},
date = {2014-10-01},
booktitle = {Biological Distributed Algorithms Workshop, associated with Distributed Computing },
abstract = {Ants are excellent examples of self-organized systems capable of remarkable coordination. Here, I model some proximate mechanisms that may lead to this coordination in the context of cooperative transport, which occurs when a group of ants work together to move a large object intact. Using a deterministic model in continuous time with one implicit spatial dimension, I examine the initial phase of transport, or how individuals agree on a direction to move the object. Key parameters of the model are the extent of bias in individuals’ preferred direction of movement, and persistence, or the reluctance of individuals to give up their preferred direction. In this deterministic system at least a small directional bias is necessary for movement. When directional bias is small, efficiency is maximized when individuals give up more readily if the transport is slow and they are outnumbered (more individuals pulling the opposite direction). In this situation high persistence reduces efficiency. However, high persistence increases efficiency if individuals either 1) give up more readily when transport is slow regardless of whether they are outnumbered or 2) give up at the same rate regardless of transport success. This model provides new insight into behavioral parameters that may modulate the cooperative transport efficiency of ant species in nature.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Ants are excellent examples of self-organized systems capable of remarkable coordination. Here, I model some proximate mechanisms that may lead to this coordination in the context of cooperative transport, which occurs when a group of ants work together to move a large object intact. Using a deterministic model in continuous time with one implicit spatial dimension, I examine the initial phase of transport, or how individuals agree on a direction to move the object. Key parameters of the model are the extent of bias in individuals’ preferred direction of movement, and persistence, or the reluctance of individuals to give up their preferred direction. In this deterministic system at least a small directional bias is necessary for movement. When directional bias is small, efficiency is maximized when individuals give up more readily if the transport is slow and they are outnumbered (more individuals pulling the opposite direction). In this situation high persistence reduces efficiency. However, high persistence increases efficiency if individuals either 1) give up more readily when transport is slow regardless of whether they are outnumbered or 2) give up at the same rate regardless of transport success. This model provides new insight into behavioral parameters that may modulate the cooperative transport efficiency of ant species in nature. |
D. Hughes, H. Profita, N. Correll SwitchBack: An On-Body RF-Based Gesture Input Device Inproceedings In: 18th International Symposium on Wearable Computers (ISWC), pp. 63-66, Seattle, WA, 2014. Links | BibTeX @inproceedings{hughes14b,
title = {SwitchBack: An On-Body RF-Based Gesture Input Device},
author = {D. Hughes, H. Profita, N. Correll},
url = {http://dl.acm.org/citation.cfm?id=2634343},
year = {2014},
date = {2014-09-13},
booktitle = {18th International Symposium on Wearable Computers (ISWC)},
pages = {63-66},
address = {Seattle, WA},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
T. Caldwell, D. Coleman, N. Correll Optimal Parameter Identification for Discrete Mechanical Systems with Application to Flexible Object Manipulation Inproceedings In: IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS), 2014. Abstract | Links | BibTeX @inproceedings{caldwell14,
title = {Optimal Parameter Identification for Discrete Mechanical Systems with Application to Flexible Object Manipulation},
author = {T. Caldwell, D. Coleman, N. Correll},
url = {http://arxiv.org/abs/1402.2735},
year = {2014},
date = {2014-09-09},
booktitle = {IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS)},
abstract = {We present a method for system identification of flexible objects by measuring forces and displacement during interaction with a manipulating arm. We model the object\'s structure and flexibility by a chain of rigid bodies connected by torsional springs. Unlike previous work, the proposed optimal control approach using variational integrators allows identification of closed loops, which include the robot arm itself. This allows using the resulting models for planning in configuration space of the robot. In order to solve the resulting problem efficiently, we develop a novel method for fast discrete-time adjoint-based gradient calculation. The feasibility of the approach is demonstrated using full physics simulation in trep and using data recorded from a 7-DOF series elastic robot arm.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
We present a method for system identification of flexible objects by measuring forces and displacement during interaction with a manipulating arm. We model the object's structure and flexibility by a chain of rigid bodies connected by torsional springs. Unlike previous work, the proposed optimal control approach using variational integrators allows identification of closed loops, which include the robot arm itself. This allows using the resulting models for planning in configuration space of the robot. In order to solve the resulting problem efficiently, we develop a novel method for fast discrete-time adjoint-based gradient calculation. The feasibility of the approach is demonstrated using full physics simulation in trep and using data recorded from a 7-DOF series elastic robot arm. |
J. Klingner, A. Kanakia, N. Farrow, D. Reishus, N. Correll A Stick-Slip Omnidirectional Drive-Train for Low-Cost Swarm Robotics: Mechanism, Calibration, and Control Inproceedings In: IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS), 2014. Links | BibTeX @inproceedings{Klingner14,
title = {A Stick-Slip Omnidirectional Drive-Train for Low-Cost Swarm Robotics: Mechanism, Calibration, and Control},
author = {J. Klingner, A. Kanakia, N. Farrow, D. Reishus, N. Correll},
url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6942658},
year = {2014},
date = {2014-09-09},
booktitle = {IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
N. Correll, R. Voyles Robotic Materials: From smart polymers to computational metamaterials Inproceedings In: Proceedings of Robot Makers workshop in conjunction with Robotics: Science and Systems (RSS), Berkeley, CA, 2014. Links | BibTeX @inproceedings{correll14b,
title = {Robotic Materials: From smart polymers to computational metamaterials},
author = {N. Correll and R. Voyles},
url = {http://correll.cs.colorado.edu/wp-content/uploads/roboticmaterials.pdf},
year = {2014},
date = {2014-07-12},
booktitle = {Proceedings of Robot Makers workshop in conjunction with Robotics: Science and Systems (RSS)},
address = {Berkeley, CA},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
M. A. McEvoy, N. Correll Shape Change Through Programmable Stiffness Conference International Symposium on Experimental Robotics (ISER), Springer Verlag, Marrakech, Morocco, 2014. Links | BibTeX @conference{mcevoy14b,
title = {Shape Change Through Programmable Stiffness},
author = {M. A. McEvoy and N. Correll},
url = {http://correll.cs.colorado.edu/wp-content/uploads/McEvoy_ISER2014_final.pdf},
year = {2014},
date = {2014-07-01},
booktitle = {International Symposium on Experimental Robotics (ISER)},
publisher = {Springer Verlag},
address = {Marrakech, Morocco},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
|
T. Caldwell, D. Coleman, N. Correll Robotic Manipulation for Identification of Flexible Objects Inproceedings In: International Symposium on Experimental Robotics (ISER), Marrakech, Morocco, 2014. Links | BibTeX @inproceedings{caldwell14b,
title = {Robotic Manipulation for Identification of Flexible Objects},
author = {T. Caldwell, D. Coleman, N. Correll},
url = {http://correll.cs.colorado.edu/wp-content/uploads/ISER2014.pdf},
year = {2014},
date = {2014-07-01},
booktitle = {International Symposium on Experimental Robotics (ISER)},
address = {Marrakech, Morocco},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
E. Komendera, N. Correll Precise Assembly of 3D Truss Structures Using EKF-based Error Prediction and Correction Inproceedings In: International Symposium on Experimental Robotics (ISER), Marrakech, Morocco, 2014. Links | BibTeX @inproceedings{komendera14bb,
title = {Precise Assembly of 3D Truss Structures Using EKF-based Error Prediction and Correction},
author = {E. Komendera and N. Correll},
url = {http://correll.cs.colorado.edu/wp-content/uploads/Komendera-Erik1.pdf},
year = {2014},
date = {2014-07-01},
booktitle = {International Symposium on Experimental Robotics (ISER)},
address = {Marrakech, Morocco},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
J. Harriman, M. Theodore, N. Correll, H. Ewen endo/exo - Making Art and Music with Distributed Computing Inproceedings In: 14th International Conference on New Interfaces for Musical Expression (NIME), pp. 383-386, London, UK, 2014. Abstract | Links | BibTeX @inproceedings{harriman14,
title = {endo/exo - Making Art and Music with Distributed Computing},
author = {J. Harriman, M. Theodore, N. Correll, H. Ewen},
url = {http://nime2014.org/proceedings/papers/523_paper.pdf},
year = {2014},
date = {2014-06-30},
booktitle = {14th International Conference on New Interfaces for Musical Expression (NIME)},
pages = {383-386},
address = {London, UK},
abstract = {What do new possibilities for music and art making look like in
a world in which the biological and mechanical are increasingly
entangled? It is with this question in mind that the interactive
mechanical sound art installation endo/exo came into being.
Through the use of networked technology, the system becomes
more like a self-aware organism, passing messages from node
to node as cells communicate through “chemical signals” with
their neighbors. In an artistic context, the communication
network resembles, but differs from, other mechanical systems.
Issues such as latency are often considered negative factors, yet
when leveraged purposefully, they can contribute a touch of
personality in this context.
This paper is a reflection on these and other considerations
gained from the experience of designing and constructing
endo/exo. Additionally, it considers future implications for the
Honeycomb platform as a tool for creating musical interactions
within a new paradigm that allows for emergent behavior
across vast physical spaces. The use of swarming and selforganization,
as well as playful interaction, creates an aliveness
in the mechanism, and renders its exploration pleasurable,
intriguing and uncanny.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
What do new possibilities for music and art making look like in
a world in which the biological and mechanical are increasingly
entangled? It is with this question in mind that the interactive
mechanical sound art installation endo/exo came into being.
Through the use of networked technology, the system becomes
more like a self-aware organism, passing messages from node
to node as cells communicate through “chemical signals” with
their neighbors. In an artistic context, the communication
network resembles, but differs from, other mechanical systems.
Issues such as latency are often considered negative factors, yet
when leveraged purposefully, they can contribute a touch of
personality in this context.
This paper is a reflection on these and other considerations
gained from the experience of designing and constructing
endo/exo. Additionally, it considers future implications for the
Honeycomb platform as a tool for creating musical interactions
within a new paradigm that allows for emergent behavior
across vast physical spaces. The use of swarming and selforganization,
as well as playful interaction, creates an aliveness
in the mechanism, and renders its exploration pleasurable,
intriguing and uncanny. |
M. Otte, N. Correll C-FOREST: Parallel Shortest-Path Planning with Super Linear Speedup Inproceedings In: 24th International Conference on Automated Planning and Scheduling (ICAPS). Journal presentation track, pp. 532-535, Portsmouth, NH, 2014. Abstract | Links | BibTeX @inproceedings{otte2014,
title = {C-FOREST: Parallel Shortest-Path Planning with Super Linear Speedup},
author = {M. Otte and N. Correll},
url = {http://www.aaai.org/ocs/index.php/ICAPS/ICAPS14/paper/view/8674/8073},
year = {2014},
date = {2014-06-21},
booktitle = {24th International Conference on Automated Planning and Scheduling (ICAPS). Journal presentation track},
pages = {532-535},
address = {Portsmouth, NH},
abstract = {In (Otte and Correll 2013) we present C-FOREST, a parallelization framework for single-query sampling-based shortest-path planning algorithms. C-FOREST has been observed to have super linear speedup on many problems, e.g., paths of quality Ltarget are found 350X faster by 64 CPUs working in parallel than by 1 CPU. In (Otte and Correll 2013) C-FOREST is tested in conjunction with the RRT* algorithm. In the current work we perform additional experiments that show C-FOREST provides similar advantages when used conjunction with the SPRT algorithm. This reinforces our original claim that C-FOREST is generally applicable to a wide range of sampling based motion planning algorithms.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
In (Otte and Correll 2013) we present C-FOREST, a parallelization framework for single-query sampling-based shortest-path planning algorithms. C-FOREST has been observed to have super linear speedup on many problems, e.g., paths of quality Ltarget are found 350X faster by 64 CPUs working in parallel than by 1 CPU. In (Otte and Correll 2013) C-FOREST is tested in conjunction with the RRT* algorithm. In the current work we perform additional experiments that show C-FOREST provides similar advantages when used conjunction with the SPRT algorithm. This reinforces our original claim that C-FOREST is generally applicable to a wide range of sampling based motion planning algorithms. |
D. Coleman, I. Sucan, S. Chitta, N. Correll Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case-Study Journal Article In: Journal of Software Engineering in Robotics, Special issue on Best Practice in Robot Software Development, 5 (1), pp. 3-16, 2014. Abstract | Links | BibTeX @article{coleman14b,
title = {Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case-Study},
author = {D. Coleman and I. Sucan and S. Chitta and N. Correll},
url = {http://arxiv.org/abs/1404.3785},
year = {2014},
date = {2014-06-18},
journal = {Journal of Software Engineering in Robotics, Special issue on Best Practice in Robot Software Development},
volume = {5},
number = {1},
pages = {3-16},
abstract = {Developing robot agnostic software frameworks involves synthesizing the disparate fields of robotic theory and software engineering while simultaneously accounting for a large variability in hardware designs and control paradigms. As the capabilities of robotic software frameworks increase, the setup difficulty and learning curve for new users also increase. If the entry barriers for configuring and using the software on robots is too high, even the most powerful of frameworks are useless. A growing need exists in robotic software engineering to aid users in getting started with, and customizing, the software framework as necessary for particular robotic applications. In this paper a case study is presented for the best practices found for lowering the barrier of entry in the MoveIt! framework, an open-source tool for mobile manipulation in ROS, that allows users to 1) quickly get basic motion planning functionality with minimal initial setup, 2) automate its configuration and optimization, and 3) easily customize its components. A graphical interface that assists the user in configuring MoveIt! is the cornerstone of our approach, coupled with the use of an existing standardized robot model for input, automatically generated robot-specific configuration files, and a plugin-based architecture for extensibility. These best practices are summarized into a set of barrier to entry design principles applicable to other robotic software. The approaches for lowering the entry barrier are evaluated by usage statistics, a user survey, and compared against our design objectives for their effectiveness to users.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Developing robot agnostic software frameworks involves synthesizing the disparate fields of robotic theory and software engineering while simultaneously accounting for a large variability in hardware designs and control paradigms. As the capabilities of robotic software frameworks increase, the setup difficulty and learning curve for new users also increase. If the entry barriers for configuring and using the software on robots is too high, even the most powerful of frameworks are useless. A growing need exists in robotic software engineering to aid users in getting started with, and customizing, the software framework as necessary for particular robotic applications. In this paper a case study is presented for the best practices found for lowering the barrier of entry in the MoveIt! framework, an open-source tool for mobile manipulation in ROS, that allows users to 1) quickly get basic motion planning functionality with minimal initial setup, 2) automate its configuration and optimization, and 3) easily customize its components. A graphical interface that assists the user in configuring MoveIt! is the cornerstone of our approach, coupled with the use of an existing standardized robot model for input, automatically generated robot-specific configuration files, and a plugin-based architecture for extensibility. These best practices are summarized into a set of barrier to entry design principles applicable to other robotic software. The approaches for lowering the entry barrier are evaluated by usage statistics, a user survey, and compared against our design objectives for their effectiveness to users. |
N. Farrow, J. Klingner, D. Reishus, N. Correll Miniature Six-channel Range and Bearing System: Algorithm, Analysis and Experimental Validation Inproceedings In: IEEE International Conference on Robotics and Automation (ICRA), pp. 6180-6185, Hong Kong, 2014. Links | BibTeX @inproceedings{farrow14,
title = {Miniature Six-channel Range and Bearing System: Algorithm, Analysis and Experimental Validation },
author = {N. Farrow, J. Klingner, D. Reishus and N. Correll },
url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6907770
},
year = {2014},
date = {2014-05-31},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {6180-6185},
address = {Hong Kong},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
D. Hughes, N. Correll A Soft, Amorphous Skin that can Sense and Localize Texture Inproceedings In: IEEE International Conference on Robotics and Automation (ICRA), pp. 1844-1851, Hong Kong, 2014. Abstract | Links | BibTeX @inproceedings{hughes14,
title = {A Soft, Amorphous Skin that can Sense and Localize Texture },
author = {D. Hughes and N. Correll},
url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6907101},
year = {2014},
date = {2014-05-31},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {1844-1851},
address = {Hong Kong},
abstract = {We present a soft, amorphous skin that can sense and localize textures. The skin consists of a series of sensing and computing elements that are networked with their local neighbors and mimic the function of the Pacinian corpuscle in human skin. Each sensor node samples a vibration signal at 1 KHz, transforms the signal into the frequency domain, and classifies up to 15 textures using logistic regression. By measuring the power spectrum of the signal and comparing it with its local neighbors, computing elements can then collaboratively estimate the location of the stimulus. The resulting low-bandwidth information, consisting of the texture probability distribution and its location are then routed to a sink anywhere in the skin in a multi-hop fashion. We describe the design, manufacturing, classification, localization and networking algorithms and experimentally validate the proposed approach. In particular, we demonstrate texture classification with 71% accuracy and centimeter accuracy in localization over an area of approximately three square feet using ten networked sensor nodes.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
We present a soft, amorphous skin that can sense and localize textures. The skin consists of a series of sensing and computing elements that are networked with their local neighbors and mimic the function of the Pacinian corpuscle in human skin. Each sensor node samples a vibration signal at 1 KHz, transforms the signal into the frequency domain, and classifies up to 15 textures using logistic regression. By measuring the power spectrum of the signal and comparing it with its local neighbors, computing elements can then collaboratively estimate the location of the stimulus. The resulting low-bandwidth information, consisting of the texture probability distribution and its location are then routed to a sink anywhere in the skin in a multi-hop fashion. We describe the design, manufacturing, classification, localization and networking algorithms and experimentally validate the proposed approach. In particular, we demonstrate texture classification with 71% accuracy and centimeter accuracy in localization over an area of approximately three square feet using ten networked sensor nodes. |
N. Correll Crowdfunding of science leads to innovation and better public engagement Online A. Rathi (Ed.): The Conversation (UK) 2014, visited: 23.05.2014. Links | BibTeX @online{correllconv14,
title = {Crowdfunding of science leads to innovation and better public engagement},
author = {N. Correll},
editor = {A. Rathi},
url = {https://theconversation.com/crowdfunding-of-science-leads-to-innovation-and-better-public-engagement-26268},
year = {2014},
date = {2014-05-23},
urldate = {2014-05-23},
organization = {The Conversation (UK)},
keywords = {},
pubstate = {published},
tppubtype = {online}
}
|
N. Correll The Robot in the Garden Inproceedings In: Michael G. Lee, Kenneth L. Helphand (Ed.): Technology and the Garden, Harvard University Press, 2014. Links | BibTeX @inproceedings{correll14,
title = {The Robot in the Garden},
author = {N. Correll},
editor = {Michael G. Lee and Kenneth L. Helphand},
url = {http://correll.cs.colorado.edu/wp-content/uploads/correll_therobotinthegarden.pdf},
year = {2014},
date = {2014-04-22},
booktitle = {Technology and the Garden},
publisher = {Harvard University Press},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
E. Komendera, J. Dorsey, W. Doggett, N. Correll Truss Assembly and Welding by Intelligent Precision Jigging Robots Inproceedings In: IEEE International Conference on Technologies for Practical Robot Applications (TePRA), Boston, MA, 2014. Links | BibTeX @inproceedings{komendera14b,
title = {Truss Assembly and Welding by Intelligent Precision Jigging Robots},
author = {E. Komendera, J. Dorsey, W. Doggett and N. Correll},
url = {http://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/20140005338.pdf},
year = {2014},
date = {2014-04-15},
booktitle = { IEEE International Conference on Technologies for Practical Robot Applications (TePRA)},
address = {Boston, MA},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
M. A. McEvoy, E. Komendera, N. Correll Assembly Path Planning for Stable Robotic Construction Inproceedings In: IEEE International Conference on Technologies for Practical Robot Applications (TePRA), pp. 1-6, Boston, MA, 2014. Links | BibTeX @inproceedings{mcevoy14a,
title = {Assembly Path Planning for Stable Robotic Construction},
author = {M. A. McEvoy, E. Komendera and N. Correll},
url = {http://dx.doi.org/10.1109/TePRA.2014.6869152},
year = {2014},
date = {2014-04-15},
booktitle = { IEEE International Conference on Technologies for Practical Robot Applications (TePRA)},
pages = {1-6},
address = {Boston, MA},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
M. Kasper, N. Correll, T. Yeh Abstracting Perception and Manipulation in End-User Robot Programming using Sikuli Inproceedings In: IEEE International Conference on Technologies for Practical Robot Applications (TePRA), Boston, MA, 2014. Links | BibTeX @inproceedings{kasper14,
title = {Abstracting Perception and Manipulation in End-User Robot Programming using Sikuli},
author = {M. Kasper, N. Correll and T. Yeh},
url = {http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=6869156},
year = {2014},
date = {2014-04-15},
booktitle = {IEEE International Conference on Technologies for Practical Robot Applications (TePRA)},
address = {Boston, MA},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
