Journal ArticleDOI
Vision and navigation for the Carnegie-Mellon Navlab
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TLDR
A distributed architecture articulated around the CODGER (communication database with geometric reasoning) knowledge database is described for a mobile robot system that includes both perception and navigation tools.Citations
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Proceedings ArticleDOI
Stadtpilot: Driving autonomously on Braunschweig's inner ring road
TL;DR: An approach for the comprehensive treatment of path-planned sections is shown that realizes complex and precise autonomous driving maneuvers in a real urban environment and is observed as the first major success of the “Stadtpilot”-Project.
Journal ArticleDOI
Mobile robot navigation in a partially structured static environment, using neural predictive control
TL;DR: A multilayer perceptron is used to implement the model-based predictive controller for mobile robot navigation when unexpected static obstacles are present in the robot environment, allowing real-time implementation and also eliminating the need for high-level data sensor processing.
Dissertation
Shared user-computer control of a robotic wheelchair system
Holly A. Yanco,Rodney A. Brooks +1 more
TL;DR: Customization of the user interface for two different access methods: eye tracking, an uncommon access method for a wheelchair, and single switch scanning, which is considered the driving method of last resort on standard powered wheelchairs are described.
Patent
Vehicular control system
John P. Drummond,Hassel J. Savard,Kenneth Schofield,Sean Joshua Fletcher,Kenneth L. Schierbeek +4 more
TL;DR: In this paper, a vehicular control system comprises a rearview mirror assembly and a microcontroller, and the microcontroller is operable to control the reflectivity of the variable reflectivity electro-optic mirror element.
Proceedings ArticleDOI
Homography-based visual servo tracking control of a wheeled mobile robot
TL;DR: A visual servo tracking controller is developed in this paper for a monocular camera system mounted on an underactuated wheeled robot (WMR) subject nonholonomic motion constraints (i.e., the camera-in-hand problem).
References
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Journal ArticleDOI
Pattern Classification and Scene Analysis.
Book
Pattern classification and scene analysis
Richard O. Duda,Peter E. Hart +1 more
TL;DR: In this article, a unified, comprehensive and up-to-date treatment of both statistical and descriptive methods for pattern recognition is provided, including Bayesian decision theory, supervised and unsupervised learning, nonparametric techniques, discriminant analysis, clustering, preprosessing of pictorial data, spatial filtering, shape description techniques, perspective transformations, projective invariants, linguistic procedures, and artificial intelligence techniques for scene analysis.
Book
A robust layered control system for a mobile robot
TL;DR: A new architecture for controlling mobile robots is described, building a robust and flexible robot control system that has been used to control a mobile robot wandering around unconstrained laboratory areas and computer machine rooms.
Journal ArticleDOI
A robust layered control system for a mobile robot
TL;DR: In this paper, a new architecture for controlling mobile robots is described, which is made up of asynchronous modules that communicate over low-bandwidth channels, each module is an instance of a fairly simple computational machine.
Journal ArticleDOI
A visual navigation system for autonomous land vehicles
A M Waxman,J. LeMoigne,Larry S. Davis,B. Srinivasan,Todd R. Kushner,Eli Liang,T. Siddalingaiah +6 more
TL;DR: A modular system architecture has been developed to support visual navigation by an autonomous land vehicle that consists of vision modules performing image processing, three-dimensional shape recovery, and geometric reasoning, as well as modules for planning, navigating, and piloting.