Tucker Balch's Publications

This is not a complete list. Please see my CV for a comprehensive listing of my publications.

Ph.D. Thesis

• Behavioral Diversity in Learning Robot Teams, Balch, T., Ph.D. Thesis, College of Computing, Georgia Institute of Technology, December, 1998.

Books

• Designing Robot Behavior, Balch, T., MIT Press, under contract.

• Robot Teams: From Diversity to Polymorphism, Balch, T. and Parker, L. (eds), AK Peters, under contract.

• RoboCup-2000: Robot Soccer World Cup IV Stone, P., Balch, T., Kraetzschmar, G. (eds), Springer-Verlag, in press.

• Hierarchic social entropy: an information theoretic measure of robot team diversity , Balch, T., Autonomous Robots, July 2000.

• Behavior-based formation control for multiagent robot teams, Balch, T. and Arkin, R.C., IEEE Transactions on Robotics and Automation, December, 1998.

• AuRA: Principles and practice in review, Arkin, R.C. and Balch, T., Journal of Experimental and Theoretical Artificial Intelligence, 9(1997)175-189, 1997.

• Communication in reactive multiagent robotic systems Balch, T. and Arkin, R.C., Autonomous Robots, 1(1): 27-52, 1995.

• Io, Ganymede and Callisto - a multiagent robot trash-collecting team Balch, T., Boone, G., Collins, T., Forbes, H., MacKenzie, D. and Santamaria, J., AI Magazine, 16(2): 39-53, 1995.

• Profile of a winner: Georgia Tech (a review of our winning multi-robot entry in the AAAI-97 Mobile Robot Competition), Balch, T., AI Magazine, Fall, 1998.

• Fast obstacle detection via triangulation of light spots, Matthies, L., Balch, T. and Wilcox, B., NASA Tech Briefs, 21(3): 52, 1997.

• Guest Editorial, Balch, T. and Parker, L. Autonomous Robots Special Issue on Heterogeneous Multi-Robot Systems, July 2000.

• The AAAI-99 mobile robot competition and exhibition, Meeden, L., Balch, T. (and others), AI Magazine, Summer, 2000.

• The CMU MultiRobot Lab, Balch, T., Robotics and Machine Perception, vol. 9, no. 1, March, 2000.

• The AAAI-98 mobile robot exhibition, Haigh, K., Balch, T., {\it AI Magazine}, Spring, 2000.

• On the Directional Correlation of Axial Rotation in Inverted Felines and Planetary Spin: Coriolis Revisited, Donahoo, M., Boone, G., Balch, T., Journal of Irreproducible Results, to appear.

• Grid-based Navigation for Mobile Robots, Balch, T., The Robotics Practitioner, 2(1), 1996.

• CMU Hammerheads, (a description of our robot team entry in RoboCup-2000), in RoboCup-2000: Robot Soccer World Cup VI, Stone, P., Balch, T. and Kraetzschmar, G. (eds), in press.

• Hierarchic social entropy: an information theoretic measure of robot team diversity , in Robot Teams: From Diversity to Polymorphism, Balch, T. and Parker, L. (eds), in preparation. (also published as journal article).

• Cooperative Multiagent Robotic Systems Arkin, R.C. and Balch, T., in Artificial Intelligence and Mobile Robots , D. Kortenkamp, R.P. Bonasso, and R. Murphy (eds), MIT Press, 1998.

• Communication and coordination in reactive robotic teams, Arkin, R.C. and Balch, T., in Coordination Theory and Collaboration Technology, Olsen, G. (ed), in press.

• Integrating RL and behavior-based control for soccer, Balch, T., RoboCup-97: Proceedings of the First Robot World Cup Soccer Games and Conferences , Springer-Verlag, 1998. (note: also appears in IJCAI-97 Workshop proceedings).

• JavaSoccer, Balch, T., RoboCup-97: Robot Soccer World Cup I, Springer-Verlag, 1998.

• Automatically Tracking and Analyzing the Behavior of Live Insect Colonies Balch, T., Khan, Z., and Veloso, M. Autonomous Agents, Montreal, 2001.

• Distributed Sensor Fusion for Object Position Estimation by Multi-Robot Systems, Stroupe, A., Martin, M. and Balch, T., IEEE International Conference on Robotics and Automation (ICRA-2001), Seoul, 2001.

• Behavior-Based Control of a Non-Holonomic Robot in Pushing Tasks, Emery, R. and Balch, T., IEEE International Conference on Robotics and Automation (ICRA-2001), Seoul, 2001.

• Fast and inexpensive color image segmentation for interactive robots, Bruce, J., Balch, T. and Veloso, M. IROS-2000, to appear. (similar version presented at WIRE-2000 workshop).

• Social potentials for scalable multirobot formations, Balch, T. and Hybinette, M., IEEE International Conference on Robotics and Automation (ICRA-2000), San Francisco, 2000.

• Behavior-based coordination of large-scale robot formations, Balch, T. and Hybinette, M., International Conference on Multiagent Systems (ICMAS-2000), Boston, 2000.

• Vision-Servoed Localization and Behaviors for an Autonomous Quadruped Legged Robot, Manuela M. Veloso, Elly Winner, Scott Lenser, James Bruce, and Tucker Balch, AIPS-2000.

• Integrating information, planning, and execution monitoring agents, Veloso, M., Balch, T., and Lenser, S., Autonomous Agents, Barcelona, 2000.

• Vision servoed localization and behavior-based planning for an autonomous quadruped legged robot, Veloso, M., Winner, E., Lenser, S, Bruce, J. and Balch, T., AIPS-00, 2000.

• The impact of diversity on performance in multi-robot foraging, Balch, T., Agents '99, Seattle, WA, May, 1999.

• The impact of diversity on performance in robot foraging, Balch, T., Autonomous Agents, Seattle, WA, May, 1999.

• Teaming Up: Georgia Tech's multi-robot competition teams, Collins, T. and Balch, T. Proc. AAAI-97, 1997.

• Fast Optical Hazard Detection for Planetary Rovers using Multiple Spot Laser Triangulation, Matthies, L., Balch, T. and Wilcox B., IEEE International Conference on Robots and Automation, 1997.

• Motor Schema-based Formation Control for Multiagent Robot Teams, Balch, T. and Arkin R.C., International Conference on Multiagent Systems, San Francisco, April, 1995.

• Avoiding the past: a simple but effective strategy for reactive navigation , Balch, T. and Arkin R.C., International Conference on Robotics and Automation, 1993.

• Communication of behavioral state in multiagent retrieval tasks, Arkin, R.C., Balch, T. and Nitz, E, IEEE International Conference on Robots and Automation, Atlanta, May, 1993.

• Progress in RoboCup Soccer Research in 2000, in Proceedings of the 2000 International Symposium on Experimental Robotics M. Asada, A. Birk, E. Pagello, M. Fujita, I. Noda, S. Tadokoro, D. Duhaut, P. Stone, M. Veloso, T. Balch, H. Kitano, B.~Thomas

• Fast and cheap color vision on commodity hardware, Bruce, J., Balch, T. and Veloso, M. Workshop on Interactive Robotics and Entertainment, Pittsburgh, April, 2000.

• Behavioral diversity as multiagent cooperation, Balch, T., SPIE '99 Workshop on Multiagent Systems, Boston, 1999.

• Reward and diversity in multirobot foraging, Balch, T.R. IJCAI-99 Workshop on Agents Learning About, From and With other Agents.

• JavaBots, Balch, T., Video Proceedings of the AAAI-98 Mobile Robot Exhibition, Madision, WI, July, 1998.

• Integrating robotics research with JavaBots, Balch, T. and Ram, A. Working Notes of the AAAI 1998 Spring Symposium, Stanford, CA., 1998.

• Robots move: Position paper on simulation, Balch, T., Working Notes of the AAAI 1998 Spring Symposium, Stanford, CA., 1998.

• Integrating RL and behavior-based control for soccer, Balch, T., 1997 IJCAI Workshop on RoboCup, 1997.

• Design and implementation of a teleautonomous hummer, Bentivegna, D.C., Ali, K.S., Arkin, R.C., Balch, T., Proc. SPIE Conference on Mobile Robots XII, Pittsburgh, 1997.

• Learning Roles: Behavioral Diversity in Robot Teams, Balch, T., 1997 AAAI Workshop on Multiagent Learning, 1997.

• Social Entropy: a New Metric for Learning Multi-robot Teams, Balch, T., Proc. 10th International FLAIRS Conference (FLAIRS-97), 1997.

• Lightweight rovers for Mars science exploration and sample return, Schenker, P., Sword, L., Ganino, A., Bickler, D., Hickey, G., Brown, D., Baumgartner, E., Matthies, L., Wilcox, B., Balch, T.R., Aghazarian, H. and Garret, M.S., Proc. Intelligent Robotics and Computer Vision XVI, SPIE Proc. 3208, Pittsburgh, PA, Oct. 14-17, 1997.

• Lessons learned in the implementation of a multi robot trash-collecting team, Balch, T., AAAI Spring Symposium, Stanford, CA, 1995.

• Dynamic Scheduling for Obstacle Avoidance in Mobile Robots, Balch, T., Forbes, H., and Schwan, K. Proc. 6th EUROMICRO Workshop on Real-time Systems, Vaesteraas, Sweden, June, 1994.

• Making a Clean Sweep: Behavior Based Vacuuming, MacKenzie, D. and Balch, T., AAAI Fall Symposium: Instantiating Real-World Agents, Raleigh, NC, pp. 93-98, 1993.

• Buzz, An instantiation of a schema-based reactive robotic system, Arkin, R.C., Balch, T., Collins, T., Henshaw, A., MacKenzie, D., Nitz, E., Rodriguez, R., and Ward, K., Proc. International Conference on Intelligent Autonomous Systems: IAS-3 , Pittsburg, PA., pp. 418-427, 1993.

• Taxonomies of multirobot task and reward, Balch, T., 1998.

• Clay: Integrating Motor Schemas and Reinforcement Learning, Balch, T., College of Computing Tech Report GIT-CC-97-11, 1997.

• Westinghouse High School Initiative, invited talk on intelligent machines and robotics, Pittsburgh, PA, January, 2000.

• Smithsonian Institution, invited demonstration of soccer robots, December, 2000.

• CMU VASC Seminar, Control of large-scale robot teams, Pittsburgh, PA 1999.

• AAAI-98 Robot competition workshop, invited panelist, Madison, WI, July, 1998.

• Multi-robot foraging: cooperation, communication and learning, Royal Institute of Technology, Stockholm, Sweden, June, 1998.

• Behavioral diversity in learning robot teams, CMU Reinforcement Learning Seminar, Pittsburgh, PA, 1997.

• The Georgia Tech robot competition team, AAAI Robot Competition Forum, Seattle, WA, 1994.