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The Malta Cistern Mapping Project: Underwater Robot Mapping and Localization within Ancient Tunnel Systems (with Cory White, Daniel Hiranandani, Christopher S. Olstad, Keith Buhagiar, and Timmy Gambin), Journal of Field Robotics (2010)

This paper documents the development of an underwater robot system enabled with several mapping and...

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Development of a systematic and practical methodology for the design of vehicles semi-active suspension control system (with Hamidreza Bolandhemmat and Farid Golnaraghi), Vehicle System Dynamics (2010)

In this paper, a novel systematic and practical methodology is presented for design of vehicle...

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Decentralized Robust Control of Robot Manipulators with Harmonic Drive Transmission and Application to Modular and Reconfigurable Serial Arms (with Z. Li and W. W. Melek), Robotica (2009)

In this paper, we propose a decentralized robust control algorithm for modular and reconfigurable robots...

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A Complete and Scalable Strategy for Coordinating Multiple Robots Within Roadmaps (with Mike Peasgood and John McPhee), IEEE Transactions on Robotics (2008)

This paper addresses the challenging problem of finding collision-free trajectories for many robots moving toward...

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Markov-Based Lane Positioning Using Intervehicle Communication (with Thanh-Son Dao, Keith Yu Kit Leung, and Jan Paul Huissoon), IEEE Transactions on Intelligent Transportation Systems (2007)

The majority of today's navigation techniques for intelligent transportation systems use global positioning systems (GPS)...

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Dynamics of Step-Climing with Deformable Wheels and Applications for Mobile Robotics (with Alexander Wilhelm, William Melek, Jan Huissoon, Gerd Hirzinger, Norbert Sporer, and Matthias Fuchs), Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems: San Diego, CA (2007)

Wheeled-mobile robots operating in human environments typically encounter small steps. Surmounting steps is normally not...

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Probabilistic Road Map Sampling Strategies for Multi-Robot Motion Planning, Robotics and Autonomous Systems (2005)

This paper presents a Probabilistic Road Map (PRM) motion planning algorithm to be queried within...

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Motion Planning for Formations of Mobile Robots (with T. D. Barfoot), Robotics and Autonomous Systems (2004)

This paper is concerned with planning the motion of mobile robots in formation, which means...

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Robotic System Sensitivity to Neural Network Learning Rate: Theory, Simulation, and Experiments (with James K. Mills), International Journal of Robotics Research (2000)

Selection of neural network learning rates to obtain satisfactory performance from neural network controllers is...

Conference Proceedings

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Multi-Robot Boundary Tracking with Phase and Workload Balancing (with Michael Boardman, Jeremy Edmonds, and Kyle Francis), IEEE/RSJ International Conference on Intelligent Robots and Systems Proceedings: Taipei, Taiwan (2010)

This paper discusses the use of a cooperative multiple robot system as applied to distributed...

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Enhanced Vehicle Identification Utilizing Sensor Fusion and Statistical Algorithms (with Stephane Roussel, Hemanth Porumamilla, Charles Birdsong, and Peter Schuster), 2009 ASME International Mechanical Engineering Congress and Exposition (IMECE2009) Proceedings: Lake Buena Vista, Florida (2009)

Several studies in the area of vehicle detection and identification involve the use of probabilistic...

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Altruistic Task Allocation despite Unbalanced Relationships within Multi-Robot Communities (with Ryan Morton and George A. Bekey), Proceedings of Institute of Electrical and Electronics Engineers (IEEE)/Robotics Society of Japan (RSJ) International Conference on Intelligent Robots and Systems, St. Louis, MO (2009)

Typical Multi-Robot Systems consist of robots cooperating to maximize global fitness functions. However, in some...

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Archaeology via Underwater Robots: Mapping and Localization within Maltese Cistern Systems (with Christopher S. Olstad, Keith Buhagiar, and Timmy Gambin), Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision: Hanoi, Vietnam (2008)

This paper documents the application of several underwater robot mapping and localization techniques used during...

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Altruistic Relationships for Optimizing Task Fulfillment in Robot Communities (with Ryan Morton and George A. Bekey), Distributed Autonomous Robot Systems 8 (2008)

This paper introduces the concept of a multi-robot community in which multiple robots must fulfill...

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Toward Systematic Approaches to Design and Implement Vehicles Semi-Active Control Systems (with Hamidreza Bolandhemmat and Farid Golnaraghi), Proceedings of the 2008 IEEE International Symposium on Industrial Electronics (2008)

In this paper a systematic while practical methodology has been presented for design of vehiclepsilas...

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Distributed Platoon Assignment and Lane Selection for Traffic Flow Optimization (with Thanh-Son Dao and Jan Paul Huissoon), Proceedings of the 2008 IEEE Intelligent Vehicles Symposium: Eindhoven, The Netherlands (2008)

This paper presents an approach to lane assignment for highway vehicles that increases traffic throughput...

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Realtime Experiments in Markov-Based Lane Position Estimation Using Wireless Ad-Hoc Network (with Thanh-Son Dao, Luke Ng, and Jan Paul Huissoon), Proceedings of the 2008 IEEE Intelligent Vehicles Symposium: Eindhoven, The Netherlands (2008)

This paper presents real-time experimental results for a new lane positioning system using Markov localization...

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Reinforcement Learning of Adaptive Longitudinal Vehicle Control for Dynamic Collaborative Driving (with Luke Ng and Jan P. Huissoon), Proceedings of the 2008 IEEE Intelligent Vehicles Symposium: Eindhoven, The Netherlands (2008)

Dynamic collaborative driving involves the motion coordination of multiple vehicles using shared information from vehicles...

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Localization in Urban Environments by Matching Ground Level Video Images with an Aerial Image (with Keith Yu Kit Leung and Jan P. Huissoon), Proceedings of the 2008 IEEE International Conference on Robotics and Automation: Pasadena, CA (2008)

This paper presents the design of a monocular vision based particle filter localization system for...

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Dynamics of Step-Climbing with Deformable Wheels and Applications for Mobile Robotics (with Alexander Wilhelm, William Melek, Jan Huissoon, Gerd Hirzinger, Norbert Sporer, and Matthias Fuchs), Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems: San Diego, CA (2007)

Wheeled-mobile robots operating in human environments typically encounter small steps. Surmounting steps is normally not...

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Optimized Lane Assignment Using Inter-Vehicle Communication (with Thanh-Son Dao and Jan Paul Huissoon), Proceedings of the 2007 IEEE Intelligent Vehicles Symposium: Istanbul, Turkey (2007)

This paper presents an approach to lane assignment for highway vehicles that increases traffic throughput...

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Autonomous Control for a Differential Thrust ROV (with Wei Wang), Proceedings of the 2007 International Symposium on Unmanned Untethered Submersible Technology (2007)

Smaller autonomous underwater vehicles that use differential thrust for surge and yaw motion control has...

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A Decentralized Reinforcement Learning Controller For Collaborative Driving (with Luke Ng and Jan P. Huissoon), Proceeings of the First IFAC Workshop on Multi-Vehicle Systems (2006)

Research in the collaborative driving domain strives to create control systems that coordinate the motion...

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Complete and Scalable Multi-Robot Planning in Tunnel Environments (with Mike Peasgood and John McPhee), Proceeings of the First IFAC Workshop on Multi-Vehicle Systems (2006)

This paper addresses the challenging problem of finding collision-free trajectories for many robots moving to...

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Co-operative Lane-Level Positioning Using Markov Localization (with Thanh-Son Dao, Keith Yu Kit Leung, and Jan Paul Huissoon), Proceedings of the 2006 IEEE Intelligent Transportation Systems Conference: Toronto, Canada (2006)

The majority of today's navigation techniques for intelligent transportation systems use Global Positioning Systems (GPS)...

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Development of a Microscopic Traffic Simulator for Inter-Vehicle Communication Application Research (with Keith Yu Kit Leung, Thanh-Son Dao, and Jan Paul Huissoon), Proceedings of the 2006 IEEE Intelligent Transportation Systems Conference: Toronto, Canada (2006)

This paper describes the development of a microscopic traffic simulator purposely designed for ITS researchers...

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A Genetic Algorithm Approach to Solve for Multiple Solutions of Inverse Kinematics Using Adaptive Niching and Clustering (with Saleh Tabandeh and William Melek), Proceedings of the 2006 IEEE Congress on Evolutionary Computation (2006)

Inverse kinematics is a nonlinear problem that may have multiple solutions. A Genetic Algorithm(GA) for...

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Autonomous Fish Tracking by ROV Using Monocular Camera (with Jun Zhou), Proceedings of the 3rd Canadian Conference on Computer and Robot Vision (2006)

This paper concerns the autonomous tracking of fish using a Remotely Operated Vehicle (ROV) equipped...

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Modeling and Simulation of the VideoRay Pro III Underwater Vehicle (with Wei Wang), Proceedings of OCEANS 2006 - Asia Pacific (2006)

Accurate modeling and simulation of underwater vehicles is essential for autonomous control. In this paper,...

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Towards Gaussian Multi-Robot SLAM for Underwater Robotics (with Dave Kroetsch), Proceedings of the 2005 International Symposium on Unmanned Untethered Submersible Technology (2005)

This paper presents initial steps towards developing autonomous navigation capabilities for cooperating underwater robots. Specifically,...

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Localization of Multiple Robots with Simple Sensors (with Mike Peasgood and John McPhee), Proceedings of the 2005 IEEE International Conference on Mechatronics & Automation: Niagra Falls, Canada (2005)

This paper presents a distributed particle filter algorithm for localizing multiple mobile robots that are...

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Motion Planning for Multiple Mobile Robots Using Dynamic Networks (with Stephen M. Rock and Jean-Claude Latombe), Proceedings of the 2003 IEEE International Conference on Robotics & Automation: Taipei, Taiwan (2003)

A new motion planning framework is presented that enables multiple mobile robots with limited ranges...

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Dynamic Networks for Motion Planning in Multi-Robot Space Systems (with Stephen M. Rock and Jean-Claude Latombe), Proceedings of the 7th International Symposium on Artificial Intelligence, Robotics and Automation in Space: i-SAIRAS 2003 (2003)