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ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE2011), Washington, DC; 08/2011
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ABSTRACT: This paper presents a novel modular methodology for predicting a lost person's (motion) behavior for autonomous coordinated multirobot wilderness search and rescue. The new concept of isoprobability curves is introduced and developed, which represents a unique mechanism for identifying the target's probable location at any given time within the search area while accounting for influences such as terrain topology, target physiology and psychology, clues found, etc. The isoprobability curves are propagated over time and space. The significant tangible benefit of the proposed target-motion prediction methodology is demonstrated through a comparison to a nonprobabilistic approach, as well as through a simulated realistic wilderness search scenario.
IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics: a publication of the IEEE Systems, Man, and Cybernetics Society 05/2011; 41(5):1287-98. · 3.01 Impact Factor
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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011; 01/2011
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Journal of Intelligent and Robotic Systems. 01/2010; 59:367-398.
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IEEE Conference on Automation Science and Engineering, CASE 2010, Toronto, ON, Canada, 21-24 August, 2010; 01/2010
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Journal of Intelligent and Robotic Systems. 01/2009; 54:567-593.
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ABSTRACT: This paper presents a novel agent-based method for the dynamic coordinated selection and positioning of active-vision cameras for the simultaneous surveillance of multiple objects-of-interest as they travel through a cluttered environment with a-priori unknown trajectories. The proposed system dynamically adjusts not only the orientation but also the position of the cameras in order to maximize the system's performance by avoiding occlusions and acquiring images with preferred viewing angles. Sensor selection and positioning are accomplished through an agent-based approach. The proposed sensing-system reconfiguration strategy has been verified via simulations and implemented on an experimental prototype setup for automated facial recognition. Both simulations and experimental analyses have shown that the use of dynamic sensors along with an effective online dispatching strategy may tangibly improve the surveillance performance of a sensing system.
IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics) 03/2007; 37(1):190-8. · 3.08 Impact Factor
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ABSTRACT: This correspondence presents a novel online trajectory-planning method for the autonomous robotic interception of moving targets in the presence of dynamic obstacles, i.e., position and velocity matching (also referred to as rendezvous). The proposed time-optimal interception method is a hybrid algorithm that augments a novel rendezvous-guidance (RG) technique with the velocity-obstacle approach, for obstacle avoidance, first reported by Fiorini and Shiller. The obstacle-avoidance algorithm itself could not be used in its original form and had to be modified to ensure that the online planned path deviates minimally from the one generated by the RG algorithm. Extensive simulation and experimental analyses, some of which are reported in this correspondence, have clearly demonstrated the tangible time efficiency of the proposed interception method.
IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics) 01/2007; 36(6):1432-41. · 3.08 Impact Factor
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IEEE Transactions on Robotics. 01/2007; 23:753-762.
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Robotica. 01/2007; 25:479-492.
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ABSTRACT: In manufacturing, information acquired through integrated sensors can be used to increase flexibility, reliability, and accuracy
of autonomous robotic systems. Furthermore, use of such sensors, as a means by which to implement flexible automation, can
potentially diminish costs by reducing the need for customized and complex tooling often needed in non-programmable automation.
Robotic sensors can be categorized into three groups: medium-range and short-range proximity sensors (typically, for object
recognition and/or position/orientation estimation) and contact sensors (typically, for force/torque measurements). This chapter
focuses on the use of medium-range sensors; more specifically, the objective is the review of the state-of-the-art in autonomous
active sensor networks.
02/2006: pages 267-288;
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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, October 9-15, 2006, Beijing, China; 01/2006
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Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, April 18-22, 2005, Barcelona, Spain; 01/2005
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Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, April 18-22, 2005, Barcelona, Spain; 01/2005
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J. Field Robotics. 01/2005; 22:779-793.
