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
Contingency-Tolerant Robot Motion Planning and Control
TL;DR: A contingency-tolerant motion plan- ning and control system that combines a "lesser-commitment" planner with an "intelligent" controller and produces a set of paths, called a "channel", rather than a single path, in order to let the controller have more free- dom of clioicc.
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Massively parallel, adaptive, color image processing for autonomous road following
Todd Jochem,Shumeet Baluja +1 more
TL;DR: A single instruction, multiple data (SIMD) machine was used to develop simple and efficient parallel algorithms, largely based on connectionist techniques, which can process every pixel in the incoming 30 frame/second, color video image stream.
Proceedings ArticleDOI
Optimized route network graph as map reference for autonomous cars operating on German autobahn
TL;DR: Various enhancements to the Route Network Definition File Format (RNDF) are introduced to form a digital map graph called RND-FGraph, which is well suited to map almost any urban transportation infrastructure.
Journal ArticleDOI
An active omni-directional range sensor for mobile robot navigation
In-Soo Joung,Hyungsuck Cho +1 more
TL;DR: The experimental results show that the proposed sensor system has the best potential for object recognition and navigation of a mobile robot in an unknown environment.
Proceedings ArticleDOI
Behavior-based Intelligent Robot In Dynamic Indoor Environments
TL;DR: In this paper, a behavior-based architecture with three groups of clustered agents is proposed to realize both efficiency in attaining the mission of the robot and robustness against various kinds or failures that may occur in a dynamic environment.
References
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Journal ArticleDOI
Pattern Classification and Scene Analysis.
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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.