I would like to thank many people who have helped me on the path towards this dissertation. I could not have completed this dissertation without their support. I am extremely grateful to my advisor, Prof. Gaurav Sukhatme, for his guidance, help, and encouragement. His inspiring guidance and broad knowledge led me to the completion of this research. I’m very fortunate to have the chance to work with him. I would also like to thank Prof. Maja Matarić for insightful comments on my research, and for helping me join the robotics research group. I would like to extend my grateful thanks to other committee members, Prof. Kwan Min Lee, Prof. Milind Tambe, and Prof. Isaac Cohen, for their comments, remarks and suggestions that significantly improved the quality of my dissertation. Acknowledgments are also due to all fellow students and colleagues in the USC Robotics Research Laboratory for their ideas and comments on my research, technical assistance at various stages during the dissertation, and most importantly their friendship. I feel extremely lucky to be a member of this wonderful group. Lastly, but not least, I would like to thank my family and friends in Korea for their support and patience during these years
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