Showing papers by "William Whittaker published in 1986"
01 Feb 1986
TL;DR: The Terregator, short for Terrestrial Navigator, is a mobile robot capable of operating in the real world outdoors equipped with a sonar ring, a color camera, and the ERIM laser range finder.
Abstract: 1 . Introduction This paper provides an overview of the Autonomous Land Vehicle (ALV) Project at CMU. The goal of the CMU ALV Project is to build vision and intelligence for a mobile robot capable of operating in the real world outdoors. We are attacking this on a number of fronts: building appropriate research vehicles, exploiting high. speed experimental computers, and building software for reasoning about the perceived world. Research topics includes: • Construction of research vehicles • Perception systems to perceive the natural outdoor scenes by means of multiple sensors including cameras (color, stereo, and motion), sonar sensors, and a 3D range finder • Path planning for obstacle avoidance Use of topological and terrain map • System architecture to facilitate the system integration • Utilization of parallel computer architectures Our current research vehicle is the Terregator built at CMU which is equipped with a sonar ring, a color camera, and the ERIM laser range finder. Its initial task is to follow roads and sidewalks in the park and on the campus, and avoid obstacles such as trees, humans, and traffic cones. 2. Vehicle, Sensors, and Host Computers The primary vehicle of the AMU ALV Project has been the Terregator, designed and built at CMU. The Terregator, short for Terrestrial Navigator, is designed to provide a clean separation between the vehicle itself and its sensor payload. As shown in
105 citations
27 Jun 1986
TL;DR: This paper presents a speculative framework that embodies multiple robots carrying out construction tasks, and explains how the framework enhances modeling, interpretation, and strategic and tactical planning.
Abstract: This paper presents a speculative framework that embodies multiple robots carrying out construction tasks. We first discuss the nature of construction tasks and the need for multiple automatons. We then present the major elements of our framework: host, automatons, and human interfaces. Finally, we explain how the framework enhances modeling, interpretation, and strategic and tactical planning.
4 citations
01 Jan 1986
TL;DR: In this article, the imaging and sizing of buried pipes in soil or steel rods in concrete has wide utility, and accurate detection of embedded reinforcement is useful to enforce the correct placement of steel in new concrete, and even more important in assessing as-built structures.
Abstract: The imaging and sizing of buried pipes in soil or steel rods in concrete has wide utility. The accurate detection of embedded reinforcement is useful to enforce the correct placement of steel in new concrete, and is even more important in assessing as-built structures. Rebar mapping is essential in post-construction operations such as coring and anchor emplacement in nuclear power plants. Pipe mapping is invaluable to the excavation and repair of utility distribution systems.
2 citations