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Browsing MIT Open Access Articles by Author "Teller, Seth"

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Browsing MIT Open Access Articles by Author "Teller, Seth"

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  • Karaman, Sertac; Walter, Matthew R.; Perez, Alejandro; Frazzoli, Emilio; Teller, Seth (Institute of Electrical and Electronics Engineers, 2011-05)
    The Rapidly-exploring Random Tree (RRT) algorithm, based on incremental sampling, efficiently computes motion plans. Although the RRT algorithm quickly produces candidate feasible solutions, it tends to converge to a ...
  • Walter, Matthew R.; Friedman, Yuli; Antone, Matthew; Teller, Seth (Institute of Electrical and Electronics Engineers / IEEE Computer Society, 2010-06)
    This paper describes an algorithm enabling a human supervisor to convey task-level information to a robot by using stylus gestures to circle one or more objects within the field of view of a robot-mounted camera. These ...
  • Tellex, Stefanie A.; Kollar, Thomas Fleming; Dickerson, Steven R.; Walter, Matthew R.; Banerjee, Ashis; Teller, Seth; Roy, Nicholas (Association for the Advancement of Artificial Intelligence, 2011)
    In order for robots to engage in dialog with human teammates, they must have the ability to map between words in the language and aspects of the external world. A solution to this symbol grounding problem (Harnad, 1990) ...
  • Perez, Alejandro Tomas; Karaman, Sertac; Shkolnik, Alexander C.; Frazzoli, Emilio; Teller, Seth; Walter, Matthew R. (Institute of Electrical and Electronics Engineers (IEEE), 2011-12)
    A desirable property of path planning for robotic manipulation is the ability to identify solutions in a sufficiently short amount of time to be usable. This is particularly challenging for the manipulation problem due to ...
  • Walter, Matthew R.; Karaman, Sertac; Frazzoli, Emilio; Teller, Seth (Institute of Electrical and Electronics Engineers / Robotics Society of Japan, 2010-10)
    This paper addresses the problem of autonomous manipulation of a priori unknown palletized cargo with a robotic lift truck (forklift). Specifically, we describe coupled perception and control algorithms that enable the ...
  • Minkov, Einat; Charrow, Ben; Ledlie, Jonathan; Teller, Seth; Jaakkola, Tommi S. (Association for Computing Machinery, 2010-10)
    We demonstrate a method for collaborative ranking of future events. Previous work on recommender systems typically relies on feedback on a particular item, such as a movie, and generalizes this to other items or other ...
  • Huang, Albert S.; Moore, David; Antone, Matthew; Olson, Edwin B.; Teller, Seth (Springer Netherlands, 2009-03)
    This paper describes a system for detecting and estimating the properties of multiple travel lanes in an urban road network from calibrated video imagery and laser range data acquired by a moving vehicle. The system operates ...
  • Hemachandra, Sachithra Madhaw; Kollar, Thomas Fleming; Roy, Nicholas; Teller, Seth (IEEE Robotics & Automation Society, 2011-05)
    We describe a robotic tour-taking capability enabling a robot to acquire local knowledge of a human-occupied environment. A tour-taking robot autonomously follows a human guide through an environment, interpreting the ...
  • Teller, Seth; Huang, Albert S.; Koch, Olivier A.; Walter, Matthew R. (Institute of Electrical and Electronics Engineers (IEEE), 2010-07)
    Precise calibration of camera intrinsic and extrinsic parameters, while often useful, is difficult to obtain during field operation and presents scaling issues for multi-robot systems. We demonstrate a vision-based approach ...
  • Park, Jun-geun; Charrow, Ben; Curtis, Dorothy; Battat, Jonathan Alexander; Minkov, Einat; Hicks, Jamey; Teller, Seth; Ledlie, Jonathan (Association for Computing Machinery, 2010-06)
    Most current methods for 802.11-based indoor localization depend on surveys conducted by experts or skilled technicians. Some recent systems have incorporated surveying by users. Structuring localization systems "organically," ...
  • Huang, Albert S.; Olson, Edwin; Antone, Matthew; Fletcher, Luke; Moore, David; Teller, Seth; Leonard, John Joseph (Sage Publications, 2010-11)
    This paper describes a data set collected by MIT’s autonomous vehicle Talos during the 2007 DARPA Urban Challenge. Data from a high-precision navigation system, five cameras, 12 SICK planar laser range scanners, and a ...
  • Park, Jun-geun; Curtis, Dorothy; Teller, Seth; Ledlie, Jonathan (IEEE Communications Society, 2011-04)
    Many indoor localization methods are based on the association of 802.11 wireless RF signals from wireless access points (WAPs) with location labels. An “organic” RF positioning system relies on regular users, not dedicated ...
  • Huang, Albert S.; Teller, Seth (Institute of Electrical and Electronics Engineers, 2009-12)
    This paper describes an algorithm for estimating lane boundaries and curbs from a moving vehicle using noisy observations and a probabilistic model of curvature. The primary contribution of this paper is a curve model we ...
  • Walter, Matthew R.; Hemachandra, Sachithra Madhaw; Homberg, Bianca S.; Tellex, Stefanie; Teller, Seth (Robotics: Science and Systems, 2013-06)
    This paper proposes an algorithm that enables robots to efficiently learn human-centric models of their environment from natural language descriptions. Typical semantic mapping approaches augment metric maps with higher-level ...
  • Fletcher, Luke Sebastian; Teller, Seth; Olson, Edwin B.; Moore, David; Kuwata, Yoshiaki; How, Jonathan P.; Leonard, John Joseph; Miller, Isaac; Campbell, Mark; Huttenlocher, Dan; Nathan, Aaron; Kline, Frank-Robert (Springer Berlin / Heidleberg, 2009-11)
    Mid-way through the 2007 DARPA Urban Challenge, MIT’s autonomous Land Rover LR3 ‘Talos’ and Team Cornell’s autonomous Chevrolet Tahoe ‘Skynet’ collided in a low-speed accident, one of the first well-documented collisions ...
  • Correa, Andrew Thomas; Walter, Matthew R.; Fletcher, Luke; Glass, James R.; Teller, Seth; Davis, Randall (Institute of Electrical and Electronics Engineers (IEEE), 2010-04)
    We describe a multimodal framework for interacting with an autonomous robotic forklift. A key element enabling effective interaction is a wireless, handheld tablet with which a human supervisor can command the forklift ...
  • Kim, Been; Kaess, Michael; Fletcher, Luke; Leonard, John Joseph; Bachrach, Abraham Galton; Roy, Nicholas; Teller, Seth (Institute of Electrical and Electronics Engineers (IEEE), 2010-07)
    This paper describes a new algorithm for cooperative and persistent simultaneous localization and mapping (SLAM) using multiple robots. Recent pose graph representations have proven very successful for single robot mapping ...
  • Walter, Matthew R.; Friedman, Yuli; Antone, Matthew; Teller, Seth (Sage Publications, 2012-04)
    We describe a vision-based algorithm that enables a robot to robustly detect specific objects in a scene following an initial segmentation hint from a human user. The novelty lies in the ability to ‘reacquire’ objects over ...
  • Huang, Albert S.; Teller, Seth (Springer-Verlag, 2011-09)
    Lane estimation for autonomous driving can be formulated as a curve estimation problem, where local sensor data provides partial and noisy observations of spatial curves forming lane boundaries. The number of lanes to ...
  • Huang, Albert S.; Teller, Seth (Robotics: Science and Systems (RSS), 2010-06)
    Lane estimation for autonomous driving can be formulated as a curve estimation problem, where local sensor data provides partial and noisy observations of spatial curves. The number of curves to estimate may be initially ...
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