DARPA Mobile Autonomous Robot Software (MARS) Program

Staff

• Leslie Pack Kaelbling, Principal Investigator
• Terran Lane (now at University of New Mexico)
• Bill Smart (now at Washington University, St. Louis)
• Kurt Steinkraus
• Selim Temizer
• Georgios Theocharous
• Kevin Murphy

Technical Project Pages

• Practical Reinforcement Learning
• Optical-Flow-Based Robot Navigation
• Planning Techniques for Large Markov Decision Processes
• Adaptive Intelligent Mobile Robots

Publications

• William D. Smart and Leslie Pack Kaelbling, "Practical Reinforcement Learning in Continuous Spaces," Proceedings of the Sixteenth International Conference on Machine Learning, 2000. (PostScript)
• Terran Lane and Leslie Pack Kaelbling, "Toward Hierarchical Decomposition for Planning in Uncertain Environments," Workshop on Planning under Uncertainty and Incomplete Information. At the 2001 International Joint Conference on Artificial Intelligence (IJCAI-2001), 2001. (PDF)
• Selim Temizer and Leslie Pack Kaelbling, "Holonomic Planar Motion from Non-Holonomic Driving Mechanisms: The Front Point Method," Proceedings of Photonics Boston, Intelligent Systems and Advanced Manufacturing 2001 (Mobile Robots XVI), 2001.
• Terran Lane and Leslie Pack Kaelbling, "Approaches to Macro Decompositions of Large Markov Decision Process Planning Problems," Proceedings of Photonics Boston, Intelligent Systems and Advanced Manufacturing 2001 (Mobile Robots XVI), 2001.
• Terran Lane and Leslie Pack Kaelbling, "Nearly Deterministic Abstractions of Markov Decision Processes," Proceedings of the Eighteenth National Conference on Artificial Intelligence, 2002. (PDF)
• William D. Smart and Leslie Pack Kaelbling, "Effective Reinforcement Learning for Mobile Robots," Proceedings of the IEEE International Conference on Robotics and Automation, 2002. (PDF)
• Georgios Theocharous, Kevin Murphy, Leslie Pack Kaelbling "Representing hierarchical POMDPs as DBNs for multi-scale robot localization" , RUR'03 (IJCAI workshop on Reasoning with Uncertainty in Robotics) .(Postscript)

Program documents

• Technical Proposal (postscript)
• Slides from July, 1999 kickoff meeting (powerpoint)
• Quad chart from August, 1999 (powerpoint)
• Slides from January, 2000 meeting (powerpoint)
• Slides from May, 2000 meeting (powerpoint)
• Poster from May, 2000 meeting (powerpoint)
• Quad chart from July, 2000 (powerpoint)
• Poster from March, 2001 meeting (powerpoint)
• Slides from March, 2001 meeting (powerpoint)
• Quad chart from July, 2001 (powerpoint)
• Slides from February, 2002 meeting (powerpoint)
• Slides from September, 2002 meeting (powerpoint)
• Slides from April, 2003 meeting (powerpoint)