Been Kim

Multiple relative pose graphs for robust cooperative mapping

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 and localization. Among these methods, incremental smoothing and mapping (iSAM) gives an exact incremental solution to the SLAM problem by solving a full nonlinear optimization problem in real-time. In this paper, we present a novel extension to iSAM to facilitate online multi-robot mapping based on multiple pose graphs. Our main contribution is a relative formulation of the relationship between multiple pose graphs that avoids the initialization problem and leads to an efficient solution when compared to a completely global formulation. The relative pose graphs are optimized together to provide a globally consistent multi-robot solution. Efficient access to covariances at any time for relative parameters is provided through iSAM, facilitating data association and loop closing. The performance of the technique is illustrated on various data sets including a publicly available multi-robot data set. Further evaluation is performed in a collaborative helicopter and ground robot experiment.

Inferring team task plans from human meetings: a generative modeling approach with logic-based prior

We aim to reduce the burden of programming and deploying autonomous systems to work in concert with people in time-critical domains such as military field operations and disaster response. Deployment plans for these operations are frequently negotiated on-the-fly by teams of human planners. A human operator then translates the agreed-upon plan into machine instructions for the robots. We present an algorithm that reduces this translation burden by inferring the final plan from a processed form of the human teams planning conversation. Our hybrid approach combines probabilistic generative modeling with logical plan validation used to compute a highly structured prior over possible plans, enabling us to overcome the challenge of performing inference over a large solution space with only a small amount of noisy data from the team planning session. We validate the algorithm through human subject experimentations and show that it is able to infer a human teams final plan with 86% accuracy on average. We also describe a robot demonstration in which two people plan and execute a first-response collaborative task with a PR2 robot. To the best of our knowledge, this is the first work to integrate a logical planning technique within a generative model to perform plan inference.

Learning about meetings

Most people participate in meetings almost every day, multiple times a day. The study of meetings is important, but also challenging, as it requires an understanding of social signals and complex interpersonal dynamics. Our aim in this work is to use a data-driven approach to the science of meetings. We provide tentative evidence that: (i) it is possible to automatically detect when during the meeting a key decision is taking place, from analyzing only the local dialogue acts, (ii) there are common patterns in the way social dialogue acts are interspersed throughout a meeting, (iii) at the time key decisions are made, the amount of time left in the meeting can be predicted from the amount of time that has passed, (iv) it is often possible to predict whether a proposal during a meeting will be accepted or rejected based entirely on the language (the set of persuasive words) used by the speaker.