Now showing items 1-16 of 16

    • Behavior-Based Robot Navigation on Challenging Terrain: A Fuzzy Logic Approach 

      Seraji, Homayoun; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2002-06)
      This paper presents a new strategy for behavior-based navigation of field mobile robots on challenging terrain, using a fuzzy logic approach and a novel measure of terrain traversability. A key feature of the proposed ...
    • Enhancing Fuzzy Robot Navigation Systems by Mimicking Human Visual Perception of Natural Terrain Traversability 

      Howard, Ayanna M.; Tunstel, Edward; Edwards, Dean; Carlson, Alan (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-07)
      This paper presents a technique for learning to assess terrain traversability for outdoor mobile robot navigation using human-embedded logic and real-time perception of terrain features extracted from image data. The ...
    • Fuzzy Image Processing in Sun Sensor 

      Mobasser, Sohrab; Liebe, Carl Christian; Howard, Ayanna M. (Georgia Institute of Technology, 2003-06)
      Sun sensors are widely used in spacecraft attitude determination subsystems to provide a measurement of the sun vector in spacecraft coordinates. At the Jet Propulsion Laboratory, California Institute of Technology, there ...
    • Fuzzy Image Processing in Sun Sensor 

      Mobasser, Sohrab; Liebe, Carl Christian; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-12)
      Sun sensors are widely used in spacecraft attitude determination subsystems to provide a measurement of the Sun vector in spacecraft coordinates. At the Jet Propulsion Laboratory, California Institute of Technology, there ...
    • Fuzzy Rule-Based Reasoning for Rover Safety and Survivability 

      Tunstel, Edward; Howard, Ayanna M.; Seraji, Homayoun (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-05)
      Operational safety and health monitoring are critical matters for autonomous field mobile robots such as planetary rovers operating on challenging terrain. The paper describes relevant rover safety and health issues and ...
    • Fuzzy-Logic Based Selection of Surface Feature Observations for Small Body Proximity Operations 

      Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-07)
      In this paper, we discuss the development of an autonomous system capable of maintaining surface feature references within sensor view by recommending spacecraft trajectory adjustments based on predefined criteria. The ...
    • An intelligent terrain-based navigation system for planetary rovers 

      Howard, Ayanna M.; Seraji, Homayoun (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-12)
      A fuzzy logic framework for onboard terrain analysis and guidance towards traversable regions. An onboard terrain-based navigation system for mobile robots operating on natural terrain is presented. This system utilizes a ...
    • A Novel Information Fusion Methodology for Intelligent Terrain Analysis 

      Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2002-05)
      This paper presents a novel information fusion methodology for intelligent terrain analysis. In our application, we define information as terrain characteristics derived from sensor data extracted from on-board spacecraft ...
    • Real-Time Assessment of Terrain Traversability for Autonomous Rover Navigation 

      Howard, Ayanna M.; Seraji, Homayoun (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2000-11)
      This paper presents a novel technique for real-time measurement of terrain characteristics and incorporation of this information into the navigation strategy of an autonomous mobile robot. The proposed methodology utilizes ...
    • A Real-Time Autonomous Rover Navigation System 

      Howard, Ayanna M.; Seraji, Homayoun (Georgia Institute of Technology, 2000-06)
      To enable real-time autonomous navigation, a mobile robot is equipped with on-board processing power, image-processing algorithms, and a fuzzy computation engine that allow the rover to safely navigate to a designated goal ...
    • A Rule-Based Fuzzy Safety Index for Landing Site Risk Assessmen 

      Howard, Ayanna M.; Seraji, Homayoun (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2002-06)
      This paper presents a fuzzy rule-based safety index that quantifies the ease-of-landing a spacecraft on a planetary surface based on sensor-derived measurements of terrain characteristics. These characteristics include, ...
    • A Rule-Based Fuzzy Traversability Index for Mobile Robot Navigation 

      Howard, Ayanna M.; Seraji, Homayoun; Tunstel, Edward (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-05)
      This paper presents a rule-based fuzzy traversability index that quantifies the ease-of-traversal of a terrain by a mobile robot based on real-time measurements of terrain characteristics retrieved from imagery data. These ...
    • Rule-based reasoning and neural network perception for safe off-road robot mobility 

      Tunstel, Edward; Howard, Ayanna M.; Seraji, Homayoun (Georgia Institute of TechnologyWiley-Blackwell, 2002-09)
      Operational safety and health monitoring are critical matters for autonomous field mobile robots such as planetary rovers operating on challenging terrain. This paper describes relevant rover safety and health issues and ...
    • A Self-Contained Traversability Sensor for Safe Mobile Robot Guidance in Unknown Terrain 

      Howard, Ayanna; Tunstel, Edward (Georgia Institute of TechnologySpringer Verlag, 2004-09)
      Autonomous mobile robots capable of intelligent behavior must operate with minimal human interaction, have the capability to utilize local resources, and routinely make closed-loop decisions in real-time based on sensor ...
    • Terrain-Based Navigation of Planetary Rovers: A Fuzzy Logic Approach 

      Seraji, Homayoun; Howard, Ayanna M.; Tunstel, Edward (Georgia Institute of TechnologyCanadian Space Agency, 2001-06)
      This paper presents a new strategy for autonomous navigation of eld mobile robots on hazardous natural terrain using a fuzzy logic approach and a novel mea- sure of terrain traversability. The navigation strategy is comprised ...
    • Upper Limb Rehabilitation and Evaluation of Children Using a Humanoid Robot 

      Brooks, Douglas Antwonne; Howard, Ayanna (Georgia Institute of TechnologyAssociation for Computing Machinery, 2009-11)
      This paper discusses a preliminary approach to matching child movements with robotic movements for the purpose of evaluating child upper limb rehabilitation exercises. Utilizing existing algorithms termed Motion History ...