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Full-Text Articles in Robotics
A Kinect-Based System For Automatic Recording Of Some Pigeon Behaviors, Damian Lyons, James Macdonall, Kelly Cunningham
A Kinect-Based System For Automatic Recording Of Some Pigeon Behaviors, Damian Lyons, James Macdonall, Kelly Cunningham
Faculty Publications
Contact switches and touch screens are the state of the art for recording pigeons’ pecking behavior. Recording other behavior, however, requires a different sensor for each behavior, and some behaviors cannot easily be recorded. We present a flexible and inexpensive image-based approach to detecting and counting pigeon behaviors that is based on the Kinect sensor from Microsoft. Although the system is as easy to set up and use as the standard approaches, it is more flexible because it can record behaviors in addition to key pecking. In this article, we show how both the fast, fine motion of key pecking …
Verifying And Validating Multirobot Missions, Damian M. Lyons, Ronald C. Arkin, Shu Jiang, Dagon Harrington, Tsung-Ming Liu
Verifying And Validating Multirobot Missions, Damian M. Lyons, Ronald C. Arkin, Shu Jiang, Dagon Harrington, Tsung-Ming Liu
Faculty Publications
We have developed an approach that can be used by mission designers to determine whether or not a performance guarantee for their mission software, when carried out under the uncertain conditions of a real-world environment, will hold within a threshold probability. In this paper we demonstrate its utility for verifying multirobot missions, in particular a bounding overwatch mission.
Getting It Right The First Time: Verification Of Behavior-Based Multirobot Missions, Damian M. Lyons, Ronald C. Arkin, Shu Jiang, Dagon Harrington, Matthew O'Brien
Getting It Right The First Time: Verification Of Behavior-Based Multirobot Missions, Damian M. Lyons, Ronald C. Arkin, Shu Jiang, Dagon Harrington, Matthew O'Brien
Faculty Publications
No abstract provided.
Leveraging Area Bounds Information For Autonomous Multi-Robot Exploration, Tsung-Ming Liu, Damian M. Lyons
Leveraging Area Bounds Information For Autonomous Multi-Robot Exploration, Tsung-Ming Liu, Damian M. Lyons
Faculty Publications
In this paper we propose an approach, the Space-Based Potential Field (SBPF) approach, to controlling multiple robots for area exploration missions that focus on robot dispersion. The SBPF method is based on a potential field approach that leverages knowledge of the overall bounds of the area to be explored. This additional information allows a simpler potential field control strategy for all robots but which nonetheless has good dispersion and overlap performance in all the multi-robot scenarios while avoiding potential minima. Both simulation and robot experimental results are presented as evidence.
Getting It Right The First Time: Verification Of Autonomous Behavior-Based Multirobot Missions, Ronald C. Arkin, Damian M. Lyons
Getting It Right The First Time: Verification Of Autonomous Behavior-Based Multirobot Missions, Ronald C. Arkin, Damian M. Lyons
Faculty Publications
No abstract provided.
Eliminating Mutual Views In Fusion Of Ranging And Rgb-D Data From Robot Teams Operating In Confined Areas, Damian M. Lyons, Karma Shrestha
Eliminating Mutual Views In Fusion Of Ranging And Rgb-D Data From Robot Teams Operating In Confined Areas, Damian M. Lyons, Karma Shrestha
Faculty Publications
We address the problem of fusing laser and RGB-Data from multiple robots operating in close proximity to one another. By having a team of robots working together, a large area can be scanned quickly, or a smaller area scanned in greater detail. However, a key aspect of this problem is the elimination of the spurious readings due to the robots operating in close proximity. While there is an extensive literature on the mapping and localization aspect of this problem, our problem differs from the dynamic map problem in that it involves at one kind of transient map feature, robots viewing …