RAD Publications

2013

• S. Albrecht, S. Ramamoorthy, Exploiting causality in the monitoring task of POMDP, Technical Report, University of Edinburgh, 2013.  
    Report
• S. Ramamoorthy, M.M.H. Mahmud, M. Hawasly, B. Rosman, Clustering Markov Decision Processes for continual transfer, Technical Report, University of Edinburgh, 2013.  
    Report
• S. Ramamoorthy, M.M.H. Mahmud, B. Rosman, P. Kohli, Latent-variable MDP models for adapting the interaction environment of diverse users, Technical Report, University of Edinburgh, 2013.  
    Report
• I. Havoutis, S. Ramamoorthy, Motion planning and reactive control on learnt skill manifolds, International Journal of Robotics Research, 2013.  
    Preprint
• J.D. Mankowitz, S. Ramamoorthy, BRISK-based visual landmark localisation for resource constrained robots, In Proc. RoboCup International Symposium, 2013.  
  
• A. Valtazanos, D.K. Arvind, S. Ramamoorthy, Using wearable inertial sensors for posture and position tracking in unconstrained environments through learned translation manifolds, ACM/IEEE Conference on Information Processing in Sensor Networks (IPSN), 2013.  
    Preprint
• A. Valtazanos, S. Ramamoorthy, Bayesian interaction shaping: learning to influence strategic interactions in mixed robotic domains, International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2013.  
    Preprint, video
• A. Valtazanos, S. Ramamoorthy, Evaluating the effects of limited perception on interactive decisions in mixed robotic environments, In Proc. ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2013.  
    Preprint, video
• S. Albrecht, S. Ramamoorthy, A game-theoretic model and best-response learning method for ad hoc coordination in multiagent systems (Extended Abstract), International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2013.  
  (The technical report, below, gives a more detailed account of the same material.) 
    Preprint
• S. Albrecht, S. Ramamoorthy, A game-theoretic model and best-response learning method for ad hoc coordination in multiagent systems, Technical Report, The University of Edinburgh, 2013.
    Report
  
• M.M.H. Mahmud, S. Ramamoorthy, Learning in non-stationary MDPs as transfer learning (Extended Abstract), International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2013.  
  (The technical report, below, gives a more detailed account of the same material.) 
    Preprint
• M. M. H. Mahmud, S. Ramamoorthy, Learning in non-stationary MDPs as transfer learning, Technical Report, The University of Edinburgh, 2013.
    Report
  
• M. Hawasly, S. Ramamoorthy, Lifelong learning of structure in the space of policies, In Proc. AAAI Spring Symposium on Lifelong Machine Learning, 2013.
    Preprint, Publisher's link

2012

• A. Valtazanos, D.K. Arvind, S. Ramamoorthy, Latent space segmentation for mobile gait analysis, ACM Transactions on Embedded Computing Systems. 
    Preprint
• B. Rosman, S. Ramamoorthy, What good are actions? Accelerating learning using learned action priors, In Proc. International Conference on Development and Learning (ICDL-EpiRob), 2012.  [Paper of Excellence Award]
    Preprint, Publisher's link
• S. Albrecht, S. Ramamoorthy, Comparative evaluation of MAL algorithms in a diverse set of ad hoc team problems, In Proc. International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2012.
    Preprint, Publisher's link, Bibtex
• M. Leonetti, L. Iocchi, S. Ramamoorthy, Induction and learning of finite-state controllers from simulation (Extended Abstract), In Proc. International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2012.
    Preprint, Publisher's link, Bibtex
• M. Hawasly, S. Ramamoorthy, Task variability in autonomous robots: Offline learning for online performance, In Proc. Int. Workshop on Evolutionary and Reinforcement Learning for Autonomous Robot Systems (ERLARS), 2012. 
    Preprint
• S. Ramamoorthy, A. Salamon, R. Santhanam, Macroscopes: models for collective decision making, In Proc. Collective Intelligence, 2012.
    Preprint, Publisher's link
• B. Rosman, S. Ramamoorthy, A multitask representation using reusable local policy templates, In Proc. AAAI Spring Symposium on Designing Intelligent Robots: Reintegrating AI, 2012.
    Preprint, Publisher's link

2011

• B. Rosman, S. Ramamoorthy, Learning spatial relationships between objects. International Journal of Robotics Research, 2011.
    Preprint, Publisher's link, Bibtex
• T. Larkworthy, S. Ramamoorthy, A characterization of the reconfiguration space of self-reconfiguring robotic systems. Robotica (Special Issue on Self-X Systems) Volume 29, Special Issue 1, pp. 73-85, 2011.
    Preprint, Publisher's link, Bibtex
• A. Valtazanos, S. Ramamoorthy, Intent inference and strategic escape in multi-robot games with physical limitations and uncertainty, In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
    Preprint, Publisher's link, Bibtex
• M. Leonetti, L. Iocchi, S. Ramamoorthy, Reinforcement learning through global stochastic search in N-MDPs, In Proc. European Conference on Machine Learning and Principles and Practice of Knowledge Discovery in Databases (ECML PKDD), 2011. 
    Preprint, Publisher's link, Bibtex
• M. Leonetti, L. Iocchi, S. Ramamoorthy, Learning finite state controllers from simulation, In Proc. European Workshop on Reinforcement Learning (EWRL-9), 2011.
    Workshop link
• A. Valtazanos, S. Ramamoorthy, Online motion planning for multi-robot interaction using composable reachable sets. In Proc. RoboCup International Symposium, 2011.
    Preprint
• A. Valtazanos, S. Ramamoorthy, NaOISIS: A 3-D behavioural simulator for the NAO humanoid robot. In Proc. RoboCup International Symposium, 2011.
    Preprint
• S. Ramamoorthy, Book review: "B. Øksendal, A. Sulem, Applied Stochastic Control of Jump Diffusions", J. Operational Research Society 62: 246 - 250, 2011.
    Preprint, Publisher's link, Bibtex

2010

• I. Havoutis, S.Ramamoorthy, Constrained geodesic trajectory generation on learnt skill manifolds. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010. [Finalist, RoboCup Best Paper Award]
    Preprint, Publisher's link
• E. Ho, T. Komura, S. Ramamoorthy, S. Vijayakumar, Controlling humanoid robots in topology coordinates. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
    Preprint, Publisher's link
• A. Valtazanos, D.K. Arvind, S. Ramamoorthy, Comparative study of segmentation of periodic motion data for mobile gait analysis. In Proc. Wireless Health Conference, 2010.
    Preprint, Publisher's link
• B. Rosman, S. Ramamoorthy, A game theoretic procedure for learning hierarchically structured strategies. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2010.
    Preprint, Publisher's link
• I. Havoutis, S. Ramamoorthy, Geodesic trajectory generation on learnt skill manifolds. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2010.
    Preprint, Publisher's link
• T. Larkworthy, S. Ramamoorthy, An efficient algorithm for self-reconfiguration planning in a modular robot. In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2010.
    Preprint, Publisher's link
• M. Leonetti, S. Ramamoorthy, A heuristic strategy for learning in partially observable and non-Markovian domains, In Proc. International Workshop on Evolutionary and Reinforcement Learning for Autonomous Robot Systems (ERLARS 2010).
     Preprint, Workshop link
• T. Larkworthy, S. Ramamoorthy, Graph minor analysis of reconfiguring state spaces, In Proc. Workshop on Modular Robotics: State of the Art, IEEE International Conference on Robotics and Automation, 2010.
    Workshop link

2009

• T. Larkworthy, G.M. Hayes, S. Ramamoorthy, General motion planning methods for self-reconfiguration planning. In Proc. Towards Autonomous Robotic Systems, 2009.
• I. Havoutis, S. Ramamoorthy, Motion synthesis through randomized exploration on submanifolds in configuration space. In J. Baltes et al. (Eds.): RoboCup 2009, Lecture Notes in Artificial Intelligence, Volume 5949, pp. 92-103. Springer Verlag, Heidelberg (2010).
    Preprint, Publisher's link
• S. Ramamoorthy, L. Wenzel, J. Nagle, B. Wang, M. Cerna, A differential geometric approach to discrete-coefficient filter design. In Proc. IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), 2009.
    Publisher's link, Bibtex
• I. Havoutis, S. Ramamoorthy, Geodesic trajectory generation on learnt skill manifolds, Modeling, Simulation and Optimization of Bipedal Walking Workshop, IEEE-RAS International Conference on Humanoid Robots, 7 Dec. 2009.
    Preprint, Workshop link
• H. Mlnařík, S. Ramamoorthy, R. Savani, Multi-strategy trading utilizing market regimes, Advances in Machine Learning for Computational Finance Workshop, London, 20-21 July 2009.
    Preprint, Workshop link, Slides and Video
    [Slightly modified presentation from the Stats in the Château workshop, whose proceedings are available as P. Alquier, E. Gautier, G. Stoltz (Eds.), Inverse Problems and High-Dimensional Estimation, Lecture Notes in Statistics Vol. 203, Springer 2011]

2008

• S. Ramamoorthy, R. Rajagopal, L. Wenzel, Efficient, incremental coverage of space with a continuous curve. Robotica (Special Issue on Geometry in Robotics), Vol. 26, pp. 503-512, 2008.
    Publisher's link, Bibtex
• R. Rajagopal, S. Ramamoorthy, L. Wenzel, H. Andrade, A rapid prototyping tool for embedded, real time hierarchical control systems. EURASIP Journal on Embedded Systems, Article ID 162747, 2008.
     Publisher's link
• S. Ramamoorthy, B.J. Kuipers, Trajectory generation for dynamic bipedal walking through qualitative model based manifold learning. In Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 359-366, 2008. [Finalist, Best Conference Paper Award - Top 4 from 661 Accepted Papers]
    Preprint
• S. Ramamoorthy, G.M. Hayes (Eds.), Towards Autonomous Robotic Systems (TAROS 2008), ISBN 978 1 906849 00 9.

2007

• S. Ramamoorthy, B.J. Kuipers, Qualitative hybrid control of dynamic bipedal walking. In G. S. Sukhatme, S. Schaal, W. Burgard and D. Fox (Eds.), Robotics : Science and Systems II, pp. 89-96, MIT Press, 2007.
• S. Ramamoorthy, R. Rajagopal, Q. Ruan, L. Wenzel, Low-discrepancy curves and efficient coverage of space. In S. Akella, N. Amato, W. Huang, B. Mishra (Eds.), Algorithmic Foundations of Robotics VII, Springer Tracts in Advanced Robotics, Springer Verlag, 2007.
• S. Ramamoorthy, Task encoding, motion planning and intelligent control using qualitative models. Ph.D. Dissertation, AI Lab Technical Report 07-342, The University of Texas at Austin, 2007. (Publisher's link)

2006 and earlier

• S. Ramamoorthy, B.J. Kuipers, L. Wenzel, Parametrization and computations in shape spaces with area and boundary invariants. In Proc. 16th Fall Workshop on Computational and Combinatorial Geometry, Nov. 10-11, 2006.
• S. Ramamoorthy, B.J. Kuipers, Dynamic bipedal walking on irregular terrain: An online adaptive algorithm, In A. Kuo (Ed.), In Proc. Dynamic Walking Workshop: Mechanics and Control of Human and Robot Locomotion, Ann Arbor, May 6-8, 2006.
• H. Subramanian, S. Ramamoorthy, P. Stone, B.J. Kuipers, Designing safe, profitable automated stock trading agents using evolutionary algorithms. In Proc. 8th Annual Conference on Genetic and Evolutionary Computation, pp. 1777-1784, 2006.
  [Link to the competition that initiated this research project.]
• S. Ramamoorthy, H.K. Subramanian, P. Stone, B.J. Kuipers, Safe strategies for autonomous financial trading agents: A qualitative multiple-model approach, Poster Spotlight, Machine Learning in Finance Workshop, Neural Information Processing Systems, December 9, 2005.
  [Term paper that initiated this line of research]
• S. Ramamoorthy, B.J. Kuipers, Controller synthesis using qualitative models and constraints. In J. de Kleer and K. Forbus (Eds.), Proc. 18th International Workshop on Qualitative Reasoning, pp. 41-50, 2004.
• S. Ramamoorthy, B.J. Kuipers, Qualitative heterogeneous control of higher order systems. In O. Maler and A. Pnueli (Eds.), Hybrid Systems: Computation and Control, Lecture Notes in Computer Science, Volume 2623, pp. 417-434, Springer Verlag, 2003.
  [Associated videos: Global Control, Recovery from Large Perturbation.]
• B.J. Kuipers, S. Ramamoorthy, Qualitative modeling and heterogeneous control of global system behavior. In C. J. Tomlin and M. R. Greenstreet (Eds.), Hybrid Systems: Computation and Control, Lecture Notes in Computer Science, Volume 2289, pp. 294-307, Springer Verlag, 2002.

Patents

• J.M. Lewis, M.D. Cerna, K.P. Gupton, J.C. Nagle, Y. Rao, S. Ramamoorthy, D.R. Schmidt, B.R. Weidman, L. Wenzel, N. Zhang, B. Wang, Approximating a system using an abstract geometrical space, US patent 8364446, January 29, 2013.
• S. Ramamoorthy, L. Wenzel, G.O. Morrow, M.L. Santori, J.C. Limroth, R. Kudukoli, R.E. Dye, Automatically generating a second graphical program based on a first graphical program, US patent 8205188, June 19, 2012.
• S. Ramamoorthy, L. Wenzel, G.O. Morrow, M.L. Santori, J.C. Limroth, R. Kudukoli, R.E. Dye, Converting a first graphical program into an intermediate abstract representation for new graphical program generation, US patent 8146007, March 27, 2012.
• D. Nair, M.S. Fisher, S.V. Kumar, B. Smyth, S. Ramamoorthy, Geometric pattern matching using dynamic feature combinations, US patent 7340089, March 4, 2008.
• S. Ramamoorthy, L. Wenzel, G.O. Morrow, M.L. Santori, J.C. Limroth, R. Kudukoli, R.E. Dye, System and method for programmatically generating a second graphical program based on a first graphical program, US patent 7340684, March 4, 2008. 
• L. Wenzel, S. Ramamoorthy, G.O. Morrow, M.L. Santori, J.C. Limroth, R. Kudukoli, R.E. Dye, System and method for programmatically generating a second graphical program based on a first graphical program, US patent 7043693, May 9, 2006.
• S. Ramamoorthy, J.S. Falcon, Automatic tuning of motion controllers using search techniques, US patent 7035694, April 25, 2006..