Research
I am a fifth year PhD student at the Robotics Institute. My advisors are Katia Sycara and Illah Nourbakhsh. My current research is in facilitating heterogeneous multirobot teamwork, particularly in the urban search and rescue domain. I am a member of a joint Carnegie Mellon/University of Pittsburgh search and rescue robotics team, RAPTOR (Robots, Agents, and People Team: Operation Rescue).
My current research is a declarative framework for robot coordination in domains in which robots have some knowledge of the environment and the goals but may need to utilize heterogeneous capabilities and work together on a goal. By modeling the problem as a constraint optimization problem we are able to find the optimal schedule, measure plans against the optimal, and intelligently replan to handle unexpected events.
Thesis proposal document and slides are now available.
Research Goals:
To build robots to operate in uncertain environments
To enable robots to plan in this environment in real time
To create teams of robots to work together to accomplish a goal
To enable robots to interact with other robots and humans in symbiosis
Publications
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M. Koes, K. Sycara, and I.
Nourbakhsh. "A Constraint Optimization Framework for Fractured Robot Teams",
in Proceedings of the Fifth International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), Hakodate, Japan, May 2006. (pdf) (Bibtex)
- M. Koes, I. Nourbakhsh, and K. Sycara. "Constraint Optimization Coordination Architecture for Search and Rescue Robotics", in Proceedings of ICRA 2006, Orlando, FL, May 2006, pp. 3977-3982. (pdf) (Bibtex)
- M. Koes, K. Sycara, and I. Nourbakhsh. "The Best Laid Plans of Robots and Men," in Proceedings of the AAAI Spring Symposium on Distributed Plan and Schedule Management, Stanford, CA, AAAI Press, March, 2006, pp. 49-56. (pdf) (Bibtex)
- M. Koes, I. Nourbakhsh, and K. Sycara. "Heterogeneous Multirobot Coordination with Spatial and Temporal Constraints," in Proceedings of the Twentieth National Conference on Artificial Intelligence (AAAI), AAAI Press, June, 2005, pp. 1292-1297. (pdf) (Bibtex)
- J. Wang, M. Lewis, S. Hughes, M. Koes, and S. Carpin. "Validating USARsim for use in HRI research" in Proceedings of the 49th Annual Meeting of the Human Factors and Ergonomics Society, September, 2005, pp. 457-461. (pdf) (Bibtex)
- I. Nourbakhsh, K. Sycara, M. Koes, M. Yong, M. Lewis, and S. Burion. "Human-Robot Teaming for Search and Rescue" in IEEE Pervasive Computing: Mobile and Ubiquitous Systems, January, 2005, pp. 72-78. (pdf) (Bibtex)
- M. Berna-Koes, I. Nourbakhsh, and K. Sycara. "Communication Efficiency in Multi-Agent Systems", in Proceedings of ICRA 2004, New Orleans, LA, May 2004. (pdf) (Bibtex)
- M. Berna, B. Sellner, B. Lisien, S. Thrun, G. Gordon, and F. Pfennig. "A learning algorithm for localizing people based on wireless signal strength that uses labeled and unlabeled data" in Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence (IJCAI), 2003, 2003. (pdf) (Bibtex)
- M. Koes, I. Nourbakhsh, and K. Sycara. "Constraint Optimization Coordination Architecture for Search and Rescue Robotics", in Proceedings of ICRA 2006, Orlando, FL, May 2006, pp. 3977-3982. (pdf) (Bibtex)