Yang Gu

I am a PhD student in the Computer Science Department of Carnegie Mellon University. My advisor is Manuela Veloso. I am from China and in spring 2003 I received my master degree at Beijing Institute of Technology.

 

Contact Information

Office:
3702 Wean Hall
(412) 268-8911
(412) 268-5576 (Fax)

Lab: Field Robotics Center, Newell Simon Hall

Address:
Computer Science Department
Carnegie Mellon University
Pittsburgh, PA 15213-3891

I am looking for jobs now! (resume)

Research

CORAL The CORAL group covers a wide range of project activities ranging from robots through to simulated agents, learning and planning. We research on the scientific and engineering challenges of creating teams of intelligent agents in complex, dynamic, and uncertain environments, in particular adversarial environments, such as robot soccer. Our passion is to research on robots that
Cooperate, Observe the world, Reason, Act, and Learn!

Robotic Soccer Problem solving in complex domains often involves multiple agents, dynamic environments, and the need for learning from feedback and previous experience. Robotic soccer is an example of such complex tasks for which multiple agents need to collaborate in an adversarial environment to achieve specific objectives. Robotic soccer offers a challenging research domain to investigate a large spectrum of issues of relevance to the development of complete autonomous agents.

  • RoboCup is an international research and education initiative. It is an attempt to foster AI and intelligent robotics research by providing a standard problem where wide range of technologies can be integrated and examined, as well as being used for integrated project-oriented education. For this purpose, RoboCup chose to use soccer game as a primary domain, and organizes RoboCup:(The Robot World Cup Soccer Games and Conferences). In order for a robot team to actually perform a soccer game, various technologies must be incorporated including: design principles of autonomous agents, multi-agent collaboration, strategy acquisition, real-time reasoning, robotics, and sensor-fusion. RoboCup is a task for a team of multiple fast-moving robots under a dynamic environment. RoboCup also offers a software platform for research on the software aspects of RoboCup.
  • RoboCup Simulation Two teams of 11 eleven virtual agents each play with each other, based on a computer simulator that provides a realistic simulation of soccer robot sensors and actions. Each agent is a separate process that sends the simulation server communication and motion commands regarding the player it represents, and receives back information about its state, including the (noisy and partial) sensor observations of the surrounding environment.

SegwayRMP We are now working with the Segway RMP platform, a 'roboticized' Segway provided to us by Segway.

Publications

Yang Gu. Effective Motion Tracking Using Known and Learned Actuation Models. Ph.D. Thesis. July, 2008. (pdf)

Yang Gu and Manuela Veloso. Effective Multi-Model Motion Tracking Using Action Models. In International Journal of Robotics Research. (accepted July, 2008) (pdf)

Yang Gu and Manuela Veloso. Learning Tactic-Based Motion Models with Fast Particle Smoothing. In Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA'08). Pasadena, California, May 19-23, 2008. (pdf)

Yang Gu and Manuela Veloso. Joint parameter-state estimation in multiple switching dynamic models. In Proceedings of the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA'07). Jacksonsville, FL, June 20--23, 2007. (pdf)

Yang Gu and Manuela Veloso. Effective team-driven multi-model motion tracking with communication. In Proceedings of the IEEE/RSJ 2006 International Conference on Intelligent Robots and Systems (IROS'06). Beijing, China, October 2006. (pdf)

Yang Gu and Manuela Veloso. Multi-Model Tracking Using Team Actuation Models. In Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA'06). Orlando, Florida, May 15-19, 2006. (pdf)

Yang Gu and Manuela Veloso. Multi-model motion tracking under multi-agent actuators, In Proceedings of the Fifth International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS'06). Hakodate, Japan, May 2006. (pdf)

Yang Gu and Manuela Veloso. Effective team-driven multi-model motion tracking, In Proceedings of the 2006 Conference on Human-Robot Interaction (HRI'06). Salt Lake City, UT, March 2006. (pdf)

Brenna Argall, Brett Browning, Yang Gu and Manuela Veloso. The First Segway Soccer Experience: Towards Peer-to-Peer Human-Robot Teams. In Proceedings of the 2006 Conference on Human-Robot Interaction (HRI'06). Salt Lake City, UT, March 2006. (pdf)

Brenna Argall, Yang Gu, Brett Browning and Manuela Veloso. The First Segway Soccer Experience: Towards Peer-to-Peer Human-Robot Teams. Technical Report CMU-CS-05-161, Computer Science Department, CMU, 2005. (pdf)

Yang Gu. Tactic-Based Motion Modelling and Multi-Sensor Tracking. In Proceedings of Twentieth National Conference on Artificial Intelligence (AAAI'05) , pp 1274-1279, Pittsburgh, PA, 2005. (pdf)
Courses
Teaching Assistant
Links
last update: July, 2008