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This work aims to promote reliability and integrity in autonomous perceptual systems, with a focus on outdoor unmanned ground vehicle (UGV) autonomy. For this purpose, a comprehensive UGV system, comprising many different exteroceptive and proprioceptive sensors has been built. The first contribution of this work is a large, accurately calibrated and synchronised, multi-modal data-set, gathered in...
The design of a hierarchical planning system in which each level operates in parallel and communicates asynchronously is presented. It is shown that this parallel hierarchical replanner is both reactive, and as close to optimal over all information in the state space as is possible given finite computational power. A comparison with three other hierarchical methods is presented, which demonstrates...
This paper investigates the appropriateness of various features and classifiers to an interest classification task. The data for the task is obtained from various exhibitions of the Fish-Bird artwork. A number of features from the dataset are calculated and described, based on psychology literature on human motion. These features are used in both a Dynamic Bayesian Network classifier, and a Conditional...
This paper presents a comparative analysis of a number of different components within a navigation filter. A discussion of how different sensors, mathematical models, and algorithms impact the performance of a navigation system is presented. The different components were implemented using a generic navigation filter architecture, the All-Source Navigation Filter. This architecture has been designed...
This article presents personal observations on the nature of interdisciplinary collaboration drawn from a four-year, art-science collaboration between media artist and researcher Mari Velonaki and roboticists David Rye, Steve Scheding, and Stefan Williams at the Australian Centre for Field Robotics at the University of Sydney. During the four-year period, the team worked on several projects, including...
This paper describes the development of millimetre- wave frequency modulated continuous wave radar visualization systems for mining applications. The implementations and performance verifications of the radar sensor for range and 3D profiling in underground and surface mines are presented in applications ranging from cavity, stope fill and ore-pass monitoring to dragline and rope shovel environmental...
This paper describes the development of millimetre-wave frequency modulated continuous wave radar visualization systems for mining applications. The implementations and performance verifications of the radar sensor for range and 3D profiling in underground and surface mines are presented in applications ranging from cavity, stope fill and ore-pass monitoring to dragline and rope shovel environmental...
This paper describes a new methodology for calculating the translational and rotational offsets of a range sensor to a reference coordinate frame on the platform to which it is affixed. The technique consists of observing an environment of known or partially known geometry, from which the offsets are determined by minimizing the error between the sensed data and the known structure. Analytic results...
Understanding the vehicle-terrain interaction is essential for autonomous and safe operations of skid-steering unmanned ground vehicles (UGVs). This paper presents a comprehensive analysis of the dynamic processes involved in this interaction, using the vehicle kinetics and the theory of terramechanics to derive systematically shear displacement, reaction force, and load distribution for a wheel....
This paper presents the application of a millimetre wave radar technology to environment mapping in surface mining. Sensor requirements for ranging and surface profiling in shovel and dragline operations were determined based on machines performance requirements. Frequency modulated continuous wave (FMCW) technique was selected to achieve the correct range resolution while fast Fourier techniques...
This paper examines the background and application of millimetre wave radar technology to control and direct the material mix introduced to refill large underground voids. In addition it documents the use of radars for surface mine visualisation to produce images of the bucket fill on large rope shovels and on draglines to help reconcile dig volumes and to specify dig and fill surface profiles.
Position information P obtained from standard global positioning system (GPS) receivers is known to be corrupted with colored (time-correlated) noise. To make effective use of GPS information in a navigation system it is essential to model this colored noise and to incorporate additional sensing to de-correlate and eliminate its effect. In this paper frequency domain techniques are employed to generate...
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