Now showing items 1-12 of 12

    • 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 ...
    • 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 ...
    • Information Propagation Applied to Robot-Assisted Evacuation 

      Robinette, Paul; Vela, Patricio A.; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-05)
      Inspired by large fatality rates due to fires in crowded areas and the increasing presence of robots in dangerous emergency situations, we have implemented a model of information propagation among evacuees. Information ...
    • Information Propagation Applied to Robot-Assisted Evacuation 

      Robinette, Paul; Vela, Patricio A.; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-05)
      Inspired by large fatality rates due to fires in crowded areas and the increasing presence of robots in dangerous emergency situations, we have implemented a model of information propagation among evacuees. Information ...
    • 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 ...
    • 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 ...
    • 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 ...
    • Realization of the Sensor Web Concept for Earth Science Using Mobile Robotic Platforms 

      Howard, Ayanna M.; Smith, Brian Stephen; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-03)
      In this paper, we discuss the realization of a robotic mobile sensor network that allows for controlled reconfiguration of sensor assets in a decentralized manner. The motivation is to allow the construction of a new system ...
    • 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 ...
    • Safe Navigation on Hazardous Terrain 

      Seraji, Homayoun; Howard, Ayanna M.; Tunstel, Edward (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-05)
      This paper presents a new strategy for autonomous navigation of field mobile robots on hazardous natural terrain using a fuzzy logic approach and a measure of terrain traversability. The navigation strategy comprises three ...
    • 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 ...
    • A Single Camera Terrain Slope Estimation Technique for Natural Arctic Environments 

      Smith, Brian Stephen; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-05)
      Arctic regions present one of the harshest environments on earth for people or mobile robots, yet many important scientific studies, particularly those involving climate change, require measurements from these areas. For ...