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This paper describes a structured light-based sensor for hazard avoidance in planetary environments. The system presented here can also be used in terrestrial applications constrained by reduced onboard power and computational complexity and low illumination conditions. The sensor consists on a calibrated camera and laser dot projector system. The onboard hazard avoidance system determines the position...
The virtual bumper is a safeguarding mechanism for autonomous and remotely operated robots to conservatively avoid collisions even in the face of sensor uncertainty. In this paper we take a new approach to the virtual bumper system by applying a powerful but rarely examined statistical test. By using a modified version of Wald's sequential probability ratio test, we demonstrate that we can reduce...
Positioning is a key task in most field robotics applications but can be very challenging in GPS-denied or high-slip environments. A common tactic in such cases is to position visually, and we present a visual odometry implementation with the unusual reliance on optical mouse sensors to report vehicle velocity. Using multiple kilometers of data from a lunar rover prototype,we demonstrate that, in...
The use of teams of small unmanned aircraft in real-world rapid-response missions is fast becoming a reality. One such application is search and detection of an evader in urban areas. This paper draws on results in graph-based pursuit-evasion, developing mappings from these abstractions to primitive motions that may be performed by aircraft, to produce search strategies providing guaranteed capture...
Geolocation of a ground object or target of interest from live video is a common task required of small and micro unmanned aerial vehicles (SUAVs and MAVs) in surveillance and rescue applications. However, such vehicles commonly carry low-cost and light-weight sensors providing poor bandwidth and accuracy whose contribution to observations is nonlinear, resulting in poor geolocation performance by...
Geolocation of a ground object or target of interest from live video is a common task required of small and micro unmanned aerial vehicles (SUAVs and MAVs) in surveillance and rescue applications. However, such vehicles commonly carry low-cost and light-weight sensors providing poor bandwidth and accuracy whose contribution to observations is nonlinear, resulting in poor geolocation performance by...
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