Controlling Your TV with Gestures (2010)
Ming-yu Chen, Lily Mummert, Padmanabhan Pillai, Alex Hauptmann, Rahul Sukthankar
Vision-based user interfaces enable natural interaction modalities such as gestures. Such interfaces require computationally intensive video processing at low latency. We demonstrate an application...
A Tale of Two Planners: Modular Robotic Planning with LDP (2010)
Michael De Rosa, Seth Copen Goldstein, Peter Lee, Padmanabhan Pillai, Jason Campbell
Abstract — LDP (Locally Distributed Predicates) is a distributed, high-level language for programming modular reconfigurable robot systems (MRRs). In this paper we present the implementation of two...
Jason Campbell, Padmanabhan Pillai, Padmanabhan Pillai, Collective Actuation
Modular robot designers confront inherent tradeoffs between size and power. Smaller, more numerous modules increase the adaptability of a given volume or mass of robot, allowing the aggregate robot...
Programming Modular Robots with Locally Distributed Predicates (2009)
Michael De Rosa, Padmanabhan Pillai, Jason Campbell, Seth Copen Goldstein, Peter Lee
Abstract — We present a high-level language for programming modular robotic systems, based on locally distributed predicates (LDP), which are distributed conditions that hold for a connected...
A Language for Large Ensembles of Independently Executing Nodes (2009)
Michael P. Ashley-rollman, Peter Lee, Seth Copen Goldstein, Padmanabhan Pillai, Jason D. Campbell
Abstract. We address how to write programs for distributed computing systems in which the network topology can change dynamically. Examples of such systems, which we call ensembles, include...
Distributed Localization of Modular Robot Ensembles (2009)
Stanislav Funiak, Michael P. Ashley-rollman, Seth Copen Goldstein, Padmanabhan Pillai, Jason D. Campbell
Abstract — Internal localization, the problem of estimating relative pose for each module (part) of a modular robot is a prerequisite for many shape control, locomotion, and actuation algorithms....
Distributed Localization of Modular Robot Ensembles (2009)
Stanislav Funiak, Michael P. Ashley-rollman, Seth Copen Goldstein, Padmanabhan Pillai, Jason D. Campbell
Abstract — Internal localization, the problem of estimating relative pose for each module (part) of a modular robot is a prerequisite for many shape control, locomotion, and actuation algorithms....
Michael De Rosa, Seth Goldstein, Peter Lee, Jason Campbell, Padmanabhan Pillai, Seth Goldstein, ...
Distributed systems frequently exhibit properties of interest which span multiple entities. These properties cannot easily be recognized from any single entity, but can be readily detected by...
Programming Modular Robots with Locally Distributed Predicates (2009)
Michael De Rosa, Seth Goldstein, Peter Lee, Padmanabhan Pillai, Jason Campbell
Abstract — We present a high-level language for programming modular robotic systems, based on locally distributed predicates (LDP), which are distributed conditions that hold for a connected...
Declarative Programming for Modular Robots (2008)
Michael P. Ashley-rollman, Michael De Rosa, Siddhartha S. Srinivasa, Padmanabhan Pillai, Seth Copen Goldstein, Jason Campbell
Abstract — Because of the timing, complexity, and asynchronicity challenges common in modular robot software we have recently begun to explore new programming models for modular robot ensembles. In...
Internal Localization of Modular Robot Ensembles (2008)
Stanislav Funiak, Padmanabhan Pillai, Jason Campbell, Seth Copen Goldstein
Abstract — The determination of the relative position and pose of every robot in a modular robotic ensemble is a necessary preliminary step for most modular robotic tasks. Localization is...
Integrated Debugging of Large Modular Robot Ensembles (2008)
Benjamin D. Rister, Jason Campbell, Padmanabhan Pillai, Todd C. Mowry
Abstract — Creatively misquoting Thomas Hobbes, the process of software debugging is nasty, brutish, and all too long. This holds all the more true in robotics, which frequently involves...
Jason Campbell, Phillip B. Gibbons, Suman Nath, Padmanabhan Pillai, Srinivasan Seshan, Rahul Sukthankar, ...
OTHER INTELLECTUAL PROPERTY RIGHT. Intel products are not intended for use in
Ashish Deshpande, Siddhartha S. Srinivasa, Padmanabhan Pillai
Abstract — Modular robotic systems with no fixed mechanical contacts have the ability to adopt and reconfigure very rapidly, but are very difficult to control dynamically. Moving module solely with...
EMERALDS: a small-memory real-time microkernel (2008)
Khawar M. Zuberi Y, Padmanabhan Pillai, Kang G. Shin
EMERALDS (Extensible Microkernel for Embedded, ReALtime, Distributed Systems) is a real-time microkernel designed for small-memory embedded applications. These applications must run on slow...
Declarative Programming for Modular Robots (2008)
Michael P. Ashley-rollman, Michael De Rosa, Siddhartha S. Srinivasa, Padmanabhan Pillai, Seth Copen Goldstein, Jason Campbell
Abstract — Because of the timing, complexity, and asynchronicity challenges common in modular robot software we have recently begun to explore new programming models for modular robot ensembles. In...
Vision—Applications General Terms (2008)
Larry Huston, Jason Campbell, Rahul Sukthankar, Padmanabhan Pillai
U.S.A. U.S.A. This paper describes an application that enables quick reconstruction of interconnected events, sparsely captured by one or more surveillance cameras. Unlike related efforts, our...
ABSTRACT IrisNet: An Internet-Scale Architecture for Multimedia Sensors (2008)
Jason Campbell, Phillip B. Gibbons, Suman Nath, Padmanabhan Pillai, Srinivasan Seshan, Rahul Sukthankar
Most current sensor network research explores the use of extremely simple sensors on small devices called motes and focuses on overcoming the resource constraints of these devices. In contrast, our...
EMERALDS: a small-memory real-time microkernel (2007)
Khawar M. Zuberi Y, Padmanabhan Pillai, Kang G. Shin
Distributed Systems) is a real-time microkernel designed for small-memory embedded applications. These applications must run on slow (15–25MHz) processors with just 32–128 kbytes of memory,...
A modular robotic system using magnetic force effectors (2007)
Brian T. Kirby, Burak Aksak, Jason D. Campbell, James F. Hoburg, Todd C. Mowry, Padmanabhan Pillai, ...
Abstract — One of the primary impediments to building ensembles of modular robots is the complexity and number of mechanical mechanisms used to construct the individual modules. As part of the...
Meld: A declarative approach to programming ensembles (2007)
Michael P. Ashley-rollman, Seth Copen Goldstein, Peter Lee, Todd C. Mowry, Padmanabhan Pillai
Abstract — This paper presents Meld, a programming language for modular robots, i.e., for independently executing robots where inter-robot communication is limited to immediate neighbors. Meld is a...
Declarative programming for modular robots (2007)
Michael P. Ashley-rollman, Michael De Rosa, Siddhartha S. Srinivasa, Padmanabhan Pillai, Seth Copen Goldstein, Jason Campbell
Abstract — Because of the timing, complexity, and asynchronicity challenges common in modular robot software we have recently begun to explore new programming models for modular robot ensembles. In...
Michael De Rosa, Seth Goldstein, Peter Lee, Jason Campbell, Padmanabhan Pillai
Abstract — We describe a novel shape formation algorithm for ensembles of 2-dimansional lattice-arrayed modular robots, based on the manipulation of regularly shaped voids within the lattice...
A 3D fax machine based on claytronics (2006)
Padmanabhan Pillai, Jason Campbell
Abstract — This paper presents a novel application of modular robotic technology. Many researchers expect manufacturing technology will allow robot modules to be built at smaller and smaller...
Leveraging limited autonomous mobility to frame attractive group photos (2005)
Jason Campbell, Padmanabhan Pillai
Abstract- Robot photographers have appeared in a variety of novelty settings over the past few years and typically have exploited rudimentary image-content-based approaches to identifying potential...
Jason Campbell, Padmanabhan Pillai, Seth Copen Goldstein
This paper describes a novel approach to powering a radical type of microrobot. Our long-term aim is to enable the construction of ensembles of millions of coordinated nearspherical, submillimeter...
Catoms: Moving robots without moving parts (2005)
Brian Kirby, Jason Campbell, Burak Aksak, Padmanabhan Pillai, James Hoburg, Todd Mowry, ...
We demonstrate modular robot prototypes developed as part of the Claytronics Project (Goldstein et al. 2005). Among the novel features of these robots (“catoms”) is their ability to reconfigure...
Energy-aware operating system design. (2004)
Dissertation (Ph.D.)--University of Michigan.
Sprint-and-Halt Scheduling for Energy Reduction in (2003)
Real-Time Systems With, Padmanabhan Pillai, Kang G. Shin
Mobile computing platforms are performing increasingly complex and computationally intensive tasks. To help lengthen useful battery life, these platforms often incorporate some form of hardware...
Improving wait-free algorithms for interprocess communication in embedded real-time systems (2002)
Hai Huang, Padmanabhan Pillai, Kang G. Shin
Concurrency management is a basic requirement for interprocess communication in any multitasking system. This usually takes the form of lock-based or other blocking algorithms. In real-time and/or...
Real-time dynamic voltage scaling for low-power embedded operating systems (2001)
Padmanabhan Pillai, Kang G. Shin
In recent years, there has been a rapid and wide spread of nontraditional computing platforms, especially mobile and portable computing devices. As applications become increasingly sophisticated and...
Real-time dynamic voltage scaling for low-power embedded operating systems (2001)
Padmanabhan Pillai, Kang G. Shin
In recent years, there has been a rapid and wide spread of nontraditional computing platforms, especially mobile and portable computing devices. As applications become increasingly sophisticated and...
Real-time dynamic voltage scaling for low-power embedded operating systems (2001)
Padmanabhan Pillai, Kang G. Shin
In recent years, there has been a rapid and wide spread of nontraditional computing platforms, especially mobile and portable computing devices. As applications become increasingly sophisticated and...
Real-time dynamic voltage scaling for low-power embedded operating systems (2001)
Padmanabhan Pillai, Kang G. Shin
In recent years, there has been a rapid and wide spread of nontraditional computing platforms, especially mobile and portable computing devices. As applications become increasingly sophisticated and...
EMERALDS-OSEK: A Small Real-Time Operating System for Automotive Control and Monitoring (1999)
Khawar M. Zuberi, Padmanabhan Pillai, Kang G. Shin
Increasingly, microcontrollers are being used in automotive systems to handle sophisticated control and monitoring activities. As applications become more sophisticated, their design and development...
EMERALDS: A Small-Memory Real-Time Microkernel (1999)
Khawar M. Zuberi, Padmanabhan Pillai, Kang G. Shin
EMERALDS (Extensible Microkernel for Embedded, ReALtime, Distributed Systems) is a real-time microkernel designed for small-memory embedded applications. These applications must run on slow...