Research

I just graduated from Georgia Institute of Technology (Gerorgia Tech) with Ph.D. in Computer Science,
specialized in Intelligent Systems and Robotics.
I am a research scientist at Intelligent Automation Inc., working on a DARPA funded robotics project.
At Georgia Tech, I worked in Mobile Robot Lab, which is directed by Prof. Ronald Arkin,
for numerous research projects as a graduate research assistant (GRA). [More]
After working with real robots, I started having deeper appreciation on how remarkably animals deal with navigational tasks.
For example, a honeybee. The little bug can find the way home from a very distant randomly arrived food source.
 It can also transfer this spatial information to other honeybees.
That's hard for a robot to do!
For mammals, the scientists agree that the hippocampus is the part where the "cognitive map" is formed.
Inspired by this, I came up with a method of how a robot can localize with respect to its "cognitive map". [More]
This work was extended as my Ph.D. dissertation.
I was trying to determine how episodic memories can be utilized by a robot to accomplish anticipation and improvisation.
The dissertation is now available here.

 

List of Publications

  • Summary:
     ◊  Ph.D. dissertation related: [1], [2], [9], [11]
    ◊      Multi-robot mission specification related: [3], [4], [5], [7], [10], [12], [15]
    ◊      Usability studies: [6], [10]
    ◊      Field results: [3], [14]
    ◊  CBR related: [4], [5], [6], [10], [12]
    ◊  POMDP related: [2]
    ◊      Sensor-fusion related: [8]
    ◊      Cognitive science related: [9], [11], [13]

  • The PDF versions available from Georgia Tech Mobile Robot Lab website.

  1. Y. Endo, Countering Murphy's Law: the Use of Anticipation and Improvisation via an Episodic Memory in Support of Intelligent Robot Behavior,  Ph.D. Dissertation, College of Computing, Georgia Institute of Technology, Atlanta, 2008. [PDF]

  2. Y. Endo, "Anticipatory Robot Control for a Partially Observable Environment Using Episodic Memories," presented at IEEE Int'l Conf. Robotics and Automation, Pasadena, Calif., 2008. [PDF]

  3. M. Hsieh, A. Cowley, J. Keller, L. Chaimonwicz, B. Grocholsky, V. Kumar, C. Taylor, Y. Endo, R. C. Arkin, B. Jung, D. Wolf, G. Sukhatme, and D. Mackenzie, "Adaptive Teams of Autonomous Aerial and Ground Robots or Situational Awareness," J. Field Robotics, vol. 4, 2007, pp. 991-1014. [PDF]

  4. P. Ulam, Y. Endo, A. R. Wagner, and R. C. Arkin, "Integrated Mission Specification and Task Allocation for Robot Teams - Design and Implementation," Proc. IEEE Int'l Conf. Robotics and Automation, 2007, pp. 4428-4435. [PDF]

  5. A. R. Wagner, Y. Endo, P. Ulam, and R. C. Arkin, "Multi-robot User Interface Modeling," in Distributed Autonomous Robotic Systems 7, M. Gini and R. Voyles, eds., Springer, Tokyo, 2006. [PDF]

  6. L. Moshkina, Y. Endo, and R. C. Arkin, "Usability Evaluation of an Automated Mission Repair Mechanism for Mobile Robot Mission Specification," Proc. ACM SIGCHI/SIGART Conf. Human-Robot Interaction, 2006, pp. 57-63. [PDF]

  7. Georgia Tech Mobile Robot Laboratory, MissionLab: User Manual for MissionLab 7.0. College of Computing, Georgia Institute of Technology, Atlanta, Ga, 2006. [PDF]

  8. Y. Endo, P. D. Ulam, R. C. Arkin, T. Balch, and M. D. Powers, "An Empirical Evaluation of Context-Sensitive Pose Estimators in an Urban Outdoor Environment," Georgia Institute of Technology, Technical Report GIT-GVU-05-13, 2005. [PDF]

  9. Y. Endo, "Anticipatory and Improvisational Robot via Recollection and Exploitation of Episodic Memories," Proc. 2005 AAAI Fall Symp.: From Reactive to Anticipatory Cognitive Embodied Systems, 2005, pp. 57-64. [PDF]

  10. Y. Endo, D. C. MacKenzie, and R. C. Arkin, "Usability Evaluation of High-Level User Assistance for Robot Mission Specification," IEEE Trans. Systems, Man, and Cybernetics, vol. 34, 2004, pp. 168-180. [PDF]

  11. Y. Endo and R. C. Arkin, "Anticipatory Robot Navigation by Simultaneously Localizing and Building a Cognitive Map," Proc. Int'l Conf. Intelligent Robots and Systems 2003, pp. 460-466. [PDF]

  12. R. C. Arkin, Y. Endo, B. Lee, D. MacKenzie, and E. Martinson, "Multistrategy Learning Methods for Multirobot Systems," Proc. Int'l Workshop on Multi-Robot Systems, 2003, pp. 137-150. [PDF]

  13. Y. Endo and R. C. Arkin, "Implementing Tolman's Schematic Sowbug: Behavior-based Robotics in the 1930s," Proc. IEEE Int'l Conf. Robotics and Automation, 2001, pp. 477- 484. [PDF]

  14. T. R. Collins, R. C. Arkin, M. J. Cramer, and Y. Endo, "Field Results for Tactical Mobile Robot Missions," presented at Unmanned Systems 2000, Orlando, Fla., 2000. [PDF]

  15. R. C. Arkin, T. R. Collins, and Y. Endo, "Tactical Mobile Robot Mission Specification and Execution," Proc. Mobile Robots XIV, 1999, pp. 150-163. [PDF]

  16. Y. Endo, Design and Implementation of a High Speed Mobile Robot for Testing a Neural Network Crash Avoidance System,  M.S. Thesis, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, 1998. [PDF]

◄ back to main