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Ashley Stroupe
PhD Student

No longer a member of RI.

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I am interested in the efficient collaboration of multiple robots to achieve complex tasks. Specifically, I am interested in using teams of robots for planetary exploration. My dissertation work is in selecting low-level actions for robot teams to maximize progress toward multiple parallel mission tasks, such as mapping, target tracking, interacting with objects in the environment, and maintaining line-of-sight communications.

education, mobile robots, multi-agent systems, sensor fusion, and space robotics

I am very interested in issues of education in science and technology. I work with high school students on robotics and am a member of the Robotics Institute Program Committee.

• MultiRobot Lab - We are interested in the challenges of building teams of intelligent agents -- simulated agents and mobile robots -- that cooperate, observe the world, reason, act, and learn!

• Biotracking - We are developing algorithms for automatically tracking and modeling the behavior of multiagent systems.
• Lunar Ice Discovery Initiative - Icebreaker is a proposed mission to explore the south pole of the Moon.
• Mobile Autonomous Robot Software - Develop complete, effective and scalable software for autonomous robot teams. Demonstrate robot teams with integrated action, perception, reasoning, communication and cooperative strategies that solve complex multiagent tasks.
• The Minnow Robot - We are interested in building and studying teams of robots operating in dynamic and uncertain environments.

• Collaborative Execution of Exploration and Tracking Using Move Value Estimation for Robot Teams (MVERT)
  A. Stroupe
  doctoral dissertation, tech. report CMU-RI-TR-03-07, Robotics Institute, Carnegie Mellon University, September, 2003. [Abstract]
  Download: pdf [4531 KB] copyrighted

• Value-Based Observation with Robot Teams (VBORT) for Dynamic Targets
  A. Stroupe and T. Balch
  Proceedings of IROS '03, September, 2003. [Abstract]
  Download: pdf [250 KB] copyrighted

• Value-Based Observation with Robot Teams (VBORT) Using Probabilistic Techniques
  A. Stroupe and T. Balch
  Proceedings of ICAR '03, September, 2003. [Abstract]
  Download: pdf [416 KB] copyrighted

• Value-Based Observation with Robot Teams (VBORT) Using Probabilistic Techniques
  A. Stroupe and T. Balch
  Proceedings of ICAR 2003, June, 2003. [Abstract]

• Behavior-Based Mapping and Tracking with Multi-Robot Teams Using Probabilistic Techniques
  A. Stroupe and T. Balch
  Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA '03), May, 2003. [Abstract]
  Download: pdf [391 KB] copyrighted

• Collaborative Probabilistic Constraint-Based Landmark Localization
  A. Stroupe and T. Balch
  Proceedings of IROS '02, October, 2002. [Abstract]
  Download: pdf [5151 KB] copyrighted

• Linear 2D Localization and Mapping for Single and Multiple Robots
  F. Dellaert and A. Stroupe
  Proceedings of the IEEE International Conference on Robotics and Automation, 2002, IEEE, May, 2002. [Abstract]
  Download: pdf [229 KB] copyrighted

• CMU Hammerheads 2001 Team Description
  S.B. Stancliff, R. Balasubramanian, T. Balch, R. Emery-Montemerlo, K. Sikorski, and A. Stroupe
  RoboCup 2001: Robot Soccer World, A. Birk, S. Coradeschi and S. Tadokoro, ed., Springer, New York, 2002, pp. 631-634. [Abstract]
  Download: pdf [144 KB] copyrighted

• Constraint-Based Landmark Localization
  A. Stroupe, K. Sikorski, and T. Balch
  RoboCup 2002: Robot Soccer World Cup IV, Springer-Verlag, 2002. [Abstract]
  Download: pdf [198 KB], ps.gz [2372 KB] copyrighted

• Mission-Relevant Collaborative Observation and Localization
  A. Stroupe and T. Balch
  Multi-Robot Systems: From Swarms to Intelligent Automata, Alan C. Shultz and Lynne E. Parker, ed., Klewer, 2002. [Abstract]
  Download: pdf [36 KB] copyrighted