Now showing items 1-20 of 38

    • A 3D Virtual Environment for Exploratory Learning in Mobile Robot Control 

      Howard, Ayanna M.; Paul, Wesley (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2005-10)
      This paper discusses a virtual environment that enables human agents to develop the skills necessary to control a mobile robot through the implementation of exploratory learning practices. The interface connects the human ...
    • Adapting Human Leadership Approaches for Role Allocation in Human-Robot Navigation Scenarios 

      Howard, Ayanna M.; Cruz, Gerardo (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-07)
      In this paper, we propose to examine the practices of leadership defined in human relationships and model their use in maximizing performance for human-robot interaction scenarios. This process involves first defining the ...
    • An Adaptive Learning Methodology for Intelligent Object Detection in Novel Imagery Data, 

      Howard, Ayanna; Padgett, Curtis (Georgia Institute of TechnologyElsevier, 2003-03)
      The process of robustly identifying targets embedded in a cluttered image scene is a difficult task to accomplish. Such an application must deal with rotation, scaling, and lighting variants of the target as well as handle ...
    • Approximate Reasoning for Safety and Survivability of Planetary Rovers 

      Tunstel, Edward; Howard, Ayanna M. (Georgia Institute of TechnologyElsevier, 2003-02)
      Operational safety and health monitoring are critical matters for autonomous planetary rovers operating on remote and challenging terrain. This paper describes rover safety issues and presents an approximate reasoning ...
    • 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 ...
    • Bridging the Gap between Space Robotics Research and Robotics Education 

      Howard, Ayanna; Graham, Eva (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2004-03)
      The focus of Jet Propulsion Laboratory’s Office of Communication and Education is to engage the public through the implementation of innovative approaches such as informal and formal education methods, science outreach, ...
    • 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 ...
    • A generalized approach to real-time pattern recognition in sensed data 

      Howard, Ayanna M.; Padgett, Curtis (Georgia Institute of TechnologyElsevier, 1999-12)
      Many applications that focus on target detection in an image scene develop algorithms specific to the task at hand. These algorithms tend to be dependent on the type of input data used in the application and thus generally ...
    • Global and Regional Path Planners for Integrated Planning and Navigation 

      Howard, Ayanna; Seraji, Homayoun; Werger, Barry (Georgia Institute of TechnologyWiley-Blackwell, 2005-12)
      This paper presents a hierarchical strategy for field mobile robots that incorporates path planning at different ranges. At the top layer is a global path planner that utilizes gross terrain characteristics, such as hills ...
    • A Human-Robot Mentor-Protégé Relationship to Learn Off-Road Navigation Behavior 

      Howard, Ayanna M.; Werger, Barry; Seraji, Homayoun (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2005-10)
      In this paper, we present an approach to transfer human expertise for learning off-road navigation behavior to an autonomous mobile robot. The methodology uses the concept of humanized intelligence to combine principal ...
    • An Integrated Sensing Approach for Entry, Descent, and Landing of a Robotic Spacecraft 

      Howard, Ayanna; Jones, Brandon M.; Serrano, Navid (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-01)
      We present an integrated sensing approach for enabling autonomous landing of a robotic spacecraft on a hazardous terrain surface; this approach is active during the spacecraft descent profile. The methodology incorporates ...
    • Integrating Terrain Maps into a Reactive Navigation Strategy 

      Howard, Ayanna M.; Werger, Barry; Seraji, Homayoun (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2003-09)
      This paper presents a new method for integrating terrain maps into a reactive navigation strategy of field mobile robots operating on rough terrain. The method incorporates the Regional Traversability Map, a fuzzy map ...
    • Intelligent Target Detection in Hyperspectral Imagery 

      Howard, Ayanna M.; Padgett, Curtis; Brown, Kenneth (Georgia Institute of Technology, 1999-03)
      Many applications that use hyperspectral imagery focus on detection and recognition of targets that occupy a portion of a hyperspectral pixel. We address the problem of sub-pixel target detection by evaluating individual ...
    • 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 ...
    • Mars exploration rover performance as a baseline for flight Rover autonomy technology assessment 

      Tunstel, Edward; Howard, Ayanna M.; Maimone, Mark; Trebi-Ollennu, Ashitey (Georgia Institute of TechnologyEuropean Space Agency, 2005-09)
      Technology assessments rely on performance metrics to establish a basis for rating technologies. Metrics are also used to measure relative merit of similar technologies to state-of-the-art technology. Functional performance ...
    • A Methodology to Assess Performance of Human-Robotic Systems in Achievement of Collective Tasks 

      Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2005-08)
      In this paper, we present a methodology to assess system performance of human-robotic systems in achievement of collective tasks such as habitat construction, geological sampling, and space exploration. The methodology ...
    • A Methodology to Determine Impact of Robotic Technologies on Space Science Mission 

      Howard, Ayanna M.; Lincoln, William; Manvi, Ramachandra; Guillermo, Rodriguez; Weisbin, Charles R.; Drummond, Mark (Georgia Institute of Technology, 2004-06)
      This paper presents a new method for evaluating relative strengths and impact of robotic technologies utilized for space exploration missions. The method uses a three tiered process involving mission analysis, technology ...