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Advanced Mechatronics Lab (AML)
Head: Pradeep Khosla

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Location:
NSH B512

Associated center: VASC

For more information, see this lab's homepage.

The goal of research in the AML is to develop the enabling technologies for "Rapidly Deployable Systems" through composition (using hardware and software building blocks) and collaboration (amongst autonomous hardware and software agents). Our vision of an intelligent system involves several specialized components (hardware or software) that can be rapidly composed to create a system and collaborate with each other to achieve the desired behavior. We are currently pursuing the research areas of Distributed Informations Systems, Distributed Robotics Systems, Distributed Design Systems, Intelligent Instruments, Sensor Based Robotics, and Reconfigurable Systems to meet the goal.

Name - Title <Email Address>
• [Home] John Dolan - Senior Systems Scientist <jmd@cs.cmu.edu>

• Agent Based Design - Novel agent-based approach for the design of modular robot manipulators
• Amaranth - Real-Time System for Adaptive Optimization of End-to-End Quality of Service
• BORG - Framework for the development of distributed, secure, reliable, robust and scalable systems
• Collaborative Agents - Cooperative robotics
• Composable Simulation - Software environment which facilitates creating simulations of mechatronic systems
• Dexterous Haptic Interface for Interaction with Remote/Virtual Environments - Convey finger touch and force information to a human operator
• Distributed Design System - CODES - Providing people, tools, and information for integrated robotics design
• Gyrover - A Single-Wheel, Gyroscopically stabilized Robot
• Intelligent Assembly Modelling and Simulation - Facilitating assemblability checking in a virtual, simulated environment
• Millibots - Heterogeneous group of small autonomous robots with modular payloads and sensing platforms

• Interactive Multimodal Robot Programming
  S. Iba, C. Paredis, and P. Khosla
  International Journal of Robotics Research, Vol. 24, No. 1, January, 2005, pp. 83-104. [Abstract]

• Interactive Multi-Modal Robot Programming
  S. Iba, C. Paredis, and P. Khosla
  9th International Symposium on Experimental Robotics, June, 2004. [Abstract]
  Download: pdf [726 KB] copyrighted

• Development and deployment of a line of sight virtual sensor for heterogeneous teams
  R. Grabowski, P. Khosla, and H. Choset
  Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), Vol. 3, May, 2004, pp. 3024 - 3029. [Abstract]
  Download: pdf [708 KB] copyrighted

• Interactive Multi-Modal Robot Programming
  S. Iba
  doctoral dissertation, tech. report CMU-RI-TR-04-50, Robotics Institute, Carnegie Mellon University, May, 2004. [Abstract]
  Download: pdf [2673 KB] copyrighted

• Optimal Sensor Placement for Cooperative Distributed Vision
  L.E. Navarro-Serment, J. Dolan, and P. Khosla
  Proceedings of the International Conference on Robotics and Automation (ICRA), April, 2004, pp. 939-944. [Abstract]
  Download: pdf [389 KB] copyrighted

• A Review: Pattern Formation and Adaptation in Multi-Robot Systems
  E. Bahceci, O. Soysal, and E. Sahin
  tech. report CMU-RI-TR-03-43, Robotics Institute, Carnegie Mellon University, October, 2003. [Abstract]
  Download: pdf [113 KB] copyrighted

• Autonomous exploration via regions of interest
  R. Grabowski, P. Khosla, and H. Choset
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'03), Vol. 2, October, 2003, pp. 1691 - 1696. [Abstract]
  Download: pdf [566 KB] copyrighted

• Intention aware interactive multi-modal robot programming
  S. Iba, C. Paredis, and P. Khosla
  Proceedings. 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 4, October, 2003, pp. 3479 - 3484.
  Download: pdf [526 KB] copyrighted

• Millibot trains for enhanced mobility
  H. Brown, M. Vande Weghe, C. Bererton, and P. Khosla
  IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 4, December, 2002, pp. 452 - 461.
  Download: pdf [1135 KB] copyrighted

• Millibot Trains for Enhanced Mobility
  H. Brown, J.M.V. WEGHE, C.A. BERERTON, and P.K. KHOSLA
  IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 4, December, 2002, pp. 452-461. [Abstract]