Steven J. Spencer — accepted AI-conference papers

2021

Decentralized Classification with Assume-Guarantee Planning

Steven Carr, Jesse Quattrociocchi, Suda Bharadwaj, Steven J. Spencer, Anup Parikh, Carol C. Young +3

IROS 2021poster

We study the problem of decentralized classification conducted over a network of mobile sensors. We model the multiagent classification task as a hypothesis testing problem where each sensor has to almost surely find the true hypothesis from a finite set of candidate hypotheses. Each sensor makes no…

Cited by 0 Source ↗Scholar ↗

2020

Autonomous Detection and Assessment with Moving Sensors

Steven J. Spencer, Anup Parikh, Daniel R. McArthur, Carol C. Young, Timothy J. Blada, Jonathon E. Slightam +1

IROS 2020poster

Current approaches to physical security suffer from high false alarm rates and frequent human operator involvement, despite the relative rarity of real-world threats. We present a novel architecture for autonomous adaptive physical security called autonomous detection and assessment with moving sens…

Cited by 7 Source ↗Scholar ↗

2017

Synthetic Fiber Capstan Drives for Highly Efficient, Torque Controlled, Robotic Applications

Anirban Mazumdar, Steven J. Spencer, Clinton Hobart, Jeffrey G. Dabling, Timothy Blada, Kevin Dullea +2

RA-L 2017

This paper describes the design and performance of a synthetic rope on sheave drive system. This system uses synthetic ropes instead of steel cables to achieve low weight and a compact form factor. We demonstrate how this system is capable of 28-Hz torque control bandwidth, 95% efficiency, and quiet

Cited by 22 Source ↗Scholar ↗