/Reliable Autonomous Systems Lab

Reliable Autonomous Systems Lab

Portrait of Reliable Autonomous Systems Lab
Lab Head: Reid Simmons
Lab Homepage
Mailing Address

We are developing reliable, highly autonomous systems (especially mobile robots) that operate in rich, uncertain environments. The goal is to create intelligent systems that can operate autonomously for long periods of time in unstructured, natural environments. This necessitates robots that can plan, effectively reason about uncertainty, diagnose and recover from unanticipated errors, and reason about their limitations. In particular, we are interested in architectures for autonomy that combine deliberative and reactive behavior, reliable execution monitoring and error recovery, multi-robot coordination, probabilistic and symbolic planning, formal verification of autonomous systems, and human-robot social interaction.

Displaying 75 Publications
Background Subtraction and Accessibility Analysis in Evidence Grids
Peter Anderson-Sprecher, Reid Simmons and Daniel Huber

Conference Paper, Proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA 2011), May, 2011
Interactional disparities in English and Arabic native speakers with bi-lingual robot receptionist
Imran Aslam Fanaswala, Brett Browning and Majd Sakr

Conference Paper, International conference on Human Robot Interaction (HRI). Late breaking track., March, 2011
Do You Really Want to Know? Display Questions in Human-Robot Dialogues
Maxim Makatchev and Reid Simmons

Conference Paper, Proc. of AAAI Fall Symposium on Dialog with Robots, November, 2010
Social Robot Navigation
Rachel Kirby

PhD Thesis, Tech. Report, CMU-RI-TR-10-13, Robotics Institute, Carnegie Mellon University, May, 2010
Affective Social Robots
Rachel Kirby, Jodi Forlizzi and Reid Simmons

Journal Article, Carnegie Mellon University, Robotics and Autonomous Systems, Vol. 58, March, 2010
Dialogue Patterns of an Arabic Robot Receptionist
Maxim Makatchev, Imran Aslam Fanaswala, Ameer Ayman Abdulsalam, Brett Browning, Wael Mahmoud Ghazzawi, Majd Sakr and Reid Simmons

Conference Paper, Proceeding of the 5th ACM/IEEE international conference on Human-robot interaction, March, 2010
Incorporating a User Model to Improve Detection of Unhelpful Robot Answers
Maxim Makatchev and Reid Simmons

Conference Paper, International Symposium on Robot and Human Interactive Communication, RO-MAN'2009, pp. 973-978, September, 2009
How do people talk with a robot?: an analysis of human-robot dialogues in the real world
Min Kyung Lee and Maxim Makatchev

Conference Paper, Proceedings of the 27th international conference extended abstracts on Human factors in computing systems (CHI'2009), April, 2009
Learning Sequential Composition Plans Using Reduced-Dimensionality Examples
Nicholas Melchior and Reid Simmons

Tech. Report, (AAAI) SS-09-01, Robotics Institute, Carnegie Mellon University, Papers from the 2009 AAAI Spring Symposium, March, 2009
Relating initial turns of human-robot dialogues to discourse
Maxim Makatchev, Min Kyung Lee and Reid Simmons

Conference Paper, International Conference on Human-Robot Interaction, March, 2009
Socially Distributed Perception: GRACE plays Social Tag at AAAI 2005
Marek Piotr Michalowski, Selma Sabanovic, Carl Francis DiSalvo, Didac Busquets Font, Laura M. Hiatt, Nicholas Melchior and Reid Simmons

Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 22, No. 4, pp. 385-397, May, 2007
Making Friends: Building Social Robots through Interdisciplinary Collaboration
Selma Sabanovic, Marek Piotr Michalowski and Linnda R. Caporael

Conference Paper, Multidisciplinary Collaboration for Socially Assistive Robotics: Papers from the 2007 AAAI Spring Symposium, Technical Report SS-07-07, pp. 71-77, March, 2007
Natural Person-Following Behavior for Social Robots
Rachel Kirby, Jodi Forlizzi and Reid Simmons

Conference Paper, Proceedings of Human-Robot Interaction, pp. 17-24, March, 2007
Modeling Affect in Socially Interactive Robots
Rachel Kirby, Reid Simmons and Jodi Forlizzi

Conference Paper, Proceedings of the 15th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN06), pp. 558-563, September, 2006
A spatial model of engagement for a social robot
Marek Piotr Michalowski, S. Sabanovic and Reid Simmons

Conference Paper, Proceedings of the 9th International Workshop on Advanced Motion Control (AMC 2006), pp. 762 - 767, March, 2006
Interactions with a Moody Robot
Rachel Kirby, Jodi Forlizzi and Reid Simmons

Conference Paper, Proceedings of Human-Robot Interaction, Salt Lake City, Utah, pp. 186-193, March, 2006
Multimodal person tracking and attention classification
Marek Piotr Michalowski and Reid Simmons

Conference Paper, Proceedings of the 1st Annual Conference on Human-Robot Interaction (HRI 2006), pp. 347-348, March, 2006
Robots in the wild: observing human-robot social interaction outside the lab
S. Sabanovic, Marek Piotr Michalowski and Reid Simmons

Conference Paper, Proceedings of the 9th International Workshop on Advanced Motion Control (AMC 2006), pp. 596 - 601, March, 2006
Socially Distributed Perception
Marek Piotr Michalowski, Carl Francis DiSalvo, Selma Sabanovic, Didac Busquets Font, Laura M. Hiatt, Nicholas Melchior and Reid Simmons

Conference Paper, Proceedings of the 1st Annual Conference on Human-Robot Interaction (HRI 2006), pp. 349-350, March, 2006
What to Communicate? Execution-time Decision in Multi-agent POMDPs
Maayan Roth, Reid Simmons and Manuela Veloso

Conference Paper, The 8th International Symposium on Distributed Autonomous Robotic Systems (DARS), January, 2006
Designing Robots for Long-Term Social Interaction
Rachel Kirby, Frank Broz, Jodi Forlizzi, Marek Piotr Michalowski, Anne Mundell, Stephanie Rosenthal, Brennan Peter Sellner, Reid Simmons, Kevin Snipes, Alan Schultz and Jue Wang

Conference Paper, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), pp. 2199 - 2204, August, 2005
Social Tag: Finding the Person with the Pink Hat
Carl Francis DiSalvo, Didac Busquets Font, Laura Hiatt, Nicholas Melchior, Marek Piotr Michalowski and Reid Simmons

Conference Paper, Proceedings of the Twentieth National Conference on Artificial Intelligence (AAAI 2005), pp. 1726-1727, July, 2005
Tractable Particle Filters for Robot Fault Diagnosis
Vandi Verma

PhD Thesis, Tech. Report, Robotics Institute, Carnegie Mellon University, May, 2005
Decentralized Communication Strategies for Coordinated Multi-Agent Policies
Maayan Roth, Reid Simmons and Manuela Veloso

Book Section/Chapter, Multi-Robot Systems. From Swarms to Intelligent Automata, Vol. III, pp. 93-106, January, 2005
Reasoning About Joint Beliefs for Execution-Time Communication Decisions
Maayan Roth, Reid Simmons and Manuela Veloso

Conference Paper, The Fourth International Joint Conference on Autonomous Agents and Multi Agent Systems (AAMAS), January, 2005
Social Tag: Finding the Person with the Pink Hat
Marek Piotr Michalowski, Didac Busquets Font, Carl Francis DiSalvo, Laura Hiatt, Nicholas Melchior, Reid Simmons and Selma Sabanovic

Conference Paper, AAAI Mobile Robot Competition and Exhibition: Papers from the 2005 AAAI Workshop, Technical Report WS-05-11, pp. 40-44, January, 2005
Real-time fault diagnosis [robot fault diagnosis]
Vandi Verma, Geoffrey Gordon, Reid Simmons and Sebastian Thrun

Journal Article, Carnegie Mellon University, Robotics & Automation Magazine, Vol. 11, No. 2, pp. 56 - 66, June, 2004
Decision-theoretic Monte Carlo smoothing for scaling tracking in hybrid dynamic systems
Vandi Verma and Reid Simmons

Journal Article, Carnegie Mellon University, Vol. 3, pp. 1986 - 1992, March, 2004
Preliminary Results in Sliding Autonomy for Coordinated Teams
Jonathan Brookshire, Sanjiv Singh and Reid Simmons

Conference Paper, Proceedings of The 2004 Spring Symposium Series, March, 2004
Policy Search in Reproducing Kernel Hilbert Space
J. Andrew (Drew) Bagnell and Jeff Schneider

Tech. Report, CMU-RI-TR-03-45, Robotics Institute, Carnegie Mellon University, November, 2003
Variable Resolution Particle Filter
Vandi Verma, Sebastian Thrun and Reid Simmons

Conference Paper, In Proceedings of International Joint Conference on Artificial Intelligence, August, 2003
Boosting Stochastic Problem Solvers Through Online Self-Analysis of Performance
Vincent Cicirello

PhD Thesis, Tech. Report, CMU-RI-TR-03-27, Robotics Institute, Carnegie Mellon University, July, 2003
Efficient Monitoring for Planetary Rovers
Vandi Verma, Geoffrey Gordon and Reid Simmons

Conference Paper, International Symposium on Artificial Intelligenceand Robotics in Space, May, 2003
A Generic Framework for Robotic Navigation
Christopher Urmson, Reid Simmons and Issa Nesnas

Conference Paper, IEEE Aerospace Conference 2003, March, 2003
Market-Based Multi-Robot Planning in a Distributed Layered Architecture
Dani Goldberg, Vincent Cicirello, M Bernardine Dias, Reid Simmons, Stephen Smith and Anthony (Tony) Stentz

Conference Paper, Multi-Robot Systems: From Swarms to Intelligent Automata: Proceedings from the 2003 International Workshop on Multi-Robot Systems, Vol. 2, pp. 27-38, January, 2003
Amplification of Search Performance through Randomization of Heuristics
Vincent Cicirello and Stephen Smith

Conference Paper, Principles and Practice of Constraint Programming: 8th International Conference, Proceedings, Vol. LNCS 2470 of Lecture Notes in Computer Science, pp. 124-138, September, 2002
A Layered Architecture for Coordination of Mobile Robots
Reid Simmons, Trey Smith, M Bernardine Dias, Dani Goldberg, David Hershberger, Anthony (Tony) Stentz and Robert Michael Zlot

Conference Paper, Multi-Robot Systems: From Swarms to Intelligent Automata, Proceedings from the 2002 NRL Workshop on Multi-Robot Systems, May, 2002
A Social Robot that Stands in Line
Yasushi Nakauchi and Reid Simmons

Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 12, No. 3, pp. 313 - 324, May, 2002
The Role of Expressiveness and Attention in Human-Robot Interaction
Frank Broz, Illah Nourbakhsh and Reid Simmons

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA' 02), May, 2002
A Distributed Layered Architecture for Mobile Robot Coordination: Application to Space Exploration
Dani Goldberg, Vincent Cicirello, M Bernardine Dias, Reid Simmons, Stephen Smith, Trey Smith and Anthony (Tony) Stentz

Conference Paper, Proceedings of the 3rd International NASA Workshop on Planning and Scheduling for Space, January, 2002
Distributed Coordination of Resources via Wasp-like Agents
Vincent Cicirello and Stephen Smith

Conference Paper, First NASA GSFC/JPL Workshop on Radical Agent Concepts (WRAC), January, 2002
Randomizing Dispatch Scheduling Policies
Vincent Cicirello and Stephen Smith

Conference Paper, The 2001 AAAI Fall Symposium: Using Uncertainty Within Computation, November, 2001
A Game-Theoretic Analysis of Multi-Agent Systems for Shop Floor Routing
Vincent Cicirello

Tech. Report, CMU-RI-TR-01-28, Robotics Institute, Carnegie Mellon University, September, 2001
A Market Approach to Multirobot Coordination
M Bernardine Dias and Anthony (Tony) Stentz

Tech. Report, CMU-RI -TR-01-26, Robotics Institute, Carnegie Mellon University, August, 2001
Improved Routing Wasps for Distributed Factory Control
Vincent Cicirello and Stephen Smith

Conference Paper, The IJCAI-01 Workshop on Artificial Intelligence and Manufacturing: New AI Paradigms for Manufacturing, August, 2001
Insect Societies and Manufacturing
Vincent Cicirello and Stephen Smith

Conference Paper, The IJCAI-01 Workshop on Artificial Intelligence and Manufacturing: New AI Paradigms for Manufacturing, August, 2001
Solving Uncertain Markov Decision Problems
J. Andrew (Drew) Bagnell, Andrew Y. Ng and Jeff Schneider

Tech. Report, CMU-RI-TR-01-25, Robotics Institute, Carnegie Mellon University, August, 2001
Autonomous Helicopter Control using Reinforcement Learning Policy Search Methods
J. Andrew (Drew) Bagnell and Jeff Schneider

Conference Paper, Proceedings of the International Conference on Robotics and Automation 2001, May, 2001
Wasp Nests for Self-Configurable Factories
Vincent Cicirello and Stephen Smith

Conference Paper, Agents '01, Proceedings of the Fifth International Conference on Autonomous Agents, May, 2001
Ant Colony Control for Autonomous Decentralized Shop Floor Routing
Vincent Cicirello and Stephen Smith

Conference Paper, ISADS-2001: Fifth International Symposium on Autonomous Decentralized Systems, pp. 383 - 390, March, 2001
The Role of Expressiveness and Attention in Human-Robot Interaction
Frank Broz, Illah Nourbakhsh and Reid Simmons

Conference Paper, Proceedings, 2001 AAAI Fall Symposium, January, 2001
Distributed Robotic Mapping of Extreme Environments
Scott Thayer, Bruce Digney, M Bernardine Dias, Anthony (Tony) Stentz, Bart Nabbe and Martial Hebert

Conference Paper, Proceedings of SPIE: Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, Vol. 4195, November, 2000
A Social Robot that Stands in Line
Yasushi Nakauchi and Reid Simmons

Conference Paper, Proceedings of the Conference on Intelligent Robots and Systems (IROS '00), October, 2000
A Free Market Architecture for Distributed Control of a Multirobot System
M Bernardine Dias and Anthony (Tony) Stentz

Conference Paper, 6th International Conference on Intelligent Autonomous Systems (IAS-6), pp. 115-122, July, 2000
Q2: memory-based active learning for optimizing noisy continuous functions
Andrew Moore, Jeff Schneider, Justin Boyan and M.S. Lee

Conference Paper, IEEE International Conference on Robotics and Automation (ICRA '00), Vol. 4, pp. 4095 - 4102, April, 2000
Lessons Learned from Xavier
Reid Simmons, Joaquin Lopez Fernandez, Richard Goodwin, Sven Koenig and Joseph O'Sullivan

Journal Article, Robotics and Automation Magazine, pp. 733 - 39, January, 2000
A Free Market Architecture for Coordinating Multiple Robots
Anthony (Tony) Stentz and M Bernardine Dias

Tech. Report, CMU-RI-TR-99-42, Robotics Institute, Carnegie Mellon University, December, 1999
Social Behavioral Robot that Stands in Line
Yasushi Nakauchi and Reid Simmons

Conference Paper, Proceedings of SMC '99, October, 1999
Handling Sensing Failures in Autonomous Mobile Robots
Robin Murphy and David Hershberger

Journal Article, The International Journal of Robotics Research, Vol. 18, No. 4, pp. 382 - 400, April, 1999
Distributed Value Functions
Jeff Schneider, Weng-Keen Wong, Andrew Moore and Martin Riedmiller

Conference Paper, International Conference on Machine Learning, January, 1999
Xavier: An Autonomous Mobile Robot on the Web
Reid Simmons, J. Fernandez, R. Goodwin, S. Koenig and Joseph O'Sullivan

Journal Article, Robotics and Automation Magazine, January, 1999
Q2: Memory-based active learning for optimizing noisy continuous functions
Andrew Moore, Jeff Schneider, Justin Boyan and Mary Lee

Conference Paper, International Conference of Machine Learning, June, 1998
Value Function Based Production Scheduling
Jeff Schneider, Justin Boyan and Andrew Moore

Conference Paper, Machine Learning: Proceedings of the Fifteenth International Conference (ICML '98), March, 1998
Solving Robot Navigation Problems with Initial Pose Uncertainty Using Real-Time Heuristic Search
Sven Koenig and Reid Simmons

Conference Paper, Proceedings of the International Conference on Artificial Intelligence Planning Systems, pp. 144 - 153, January, 1998
Xavier: A Robot Navigation Architecture Based on Partially Observable Markov Decision Process Models
Sven Koenig and Reid Simmons

Book Section/Chapter, Artificial Intelligence Based Mobile Robotics: Case Studies of Successful Robot Systems, pp. 91 - 122, January, 1998
A Layered Architecture for Office Delivery Robots
Reid Simmons, R. Goodwin, K. Haigh, S. Koenig and J. Sullivan

Conference Paper, First International Conference on Autonomous Agents, pp. 235 - 242, February, 1997
Sensor-Based Planning with the Freespace Assumption
Sven Koenig and Y. Smirnov

Conference Paper, Proceedings of the International Conference on Robotics and Automation (ICRA '97), January, 1997
Xavier: Experience with a Layered Robot Architecture
Reid Simmons, R. Goodwin, K. Haigh, S. Koenig, Joseph O'Sullivan and Manuela Veloso

Conference Paper, Agents '97, January, 1997
The Curvature-Velocity Method for Local Obstacle Avoidance
Reid Simmons

Conference Paper, International Conference on Robotics and Automation, April, 1996
Active Learning on Non-Stationary Functions
Jeff Schneider

Conference Paper, Working Notes of the AAAI Fall Symposium on Active Learning, January, 1996
Exploiting Model Uncertainty Estimates for Safe Dynamic Control Learning
Jeff Schneider

Conference Paper, Neural Information Processing Systems 9, January, 1996
Passive Distance Learning for Robot Navigation
Sven Koenig and Reid Simmons

Conference Paper, Proceedings ofthe Thirteenth International Conference on Machine Learning (ICML), pp. 266 - 274, January, 1996
Robot Navigation with Markov Models: A Framework for Path Planning and Learning with Limited Computational Resources
Sven Koenig, Richard Goodwin and Reid Simmons

Conference Paper, Proceedings of the International Workshop on Reasoning with Uncertainty in Robotics, December, 1995
Probabilistic Robot Navigation in Partially Observable Environments
Reid Simmons and Sven Koenig

Conference Paper, Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI '95), pp. 1080 - 1087, July, 1995
Memory-based Stochastic Optimization
Andrew Moore and Jeff Schneider

Conference Paper, Neural Information Processing Systems 8, January, 1995
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