Perception-Based Navigation for Mobile Robots

Kawamura, Kazuhiko
Wilkes, D Mitch
Koku, Ahmet Buğra
Keskinpala, Türker
In March 2002, the Naval Research Laboratory brought together leading researchers and government sponsors for a three-day workshop in Washington, D.C. on Multi-Robot Systems. The workshop began with presentations by various government program managers describing application areas and programs with an interest in multi­ robot systems. Government representatives were on hand from the Office of Naval Research, the Air Force, the Army Research Lab, the National Aeronau­ tics and Space Administration, and the Defense Advanced Research Projects Agency. Top researchers then presented their current activities in the areas of multi­ robot systems and human-robot interaction. The first two days of the workshop of1ocalizatio~. concentrated on multi-robot control issues, including the topics mapping, and navigation; distributed surveillance; manipulation; coordination and formations; and sensors and hardware. The third day was focused on hu­ man interactions with multi-robot teams. All presentations were given in a single-track workshop format. This proceedings documents the work presented by these researchers at the workshop. The invited presentations were followed by panel discussions, in which all participants interacted to highlight the challenges of this field and to develop possible solutions. In addition to the invited research talks, students were given an opportunity to present their work at poster sessions.


Collaborative interdisciplinary astrobiology research: a bibliometric study of the NASA Astrobiology Institute
TAŞKIN, ZEHRA; Aydınoğlu, Arsev Umur (2015-06-01)
This study aims to undertake a bibliometric investigation of the NASA Astrobiology Institute (NAI) funded research that was published between 2008 and 2012 (by teams of Cooperative Agreement Notice Four and Five). For this purpose, the study creates an inventory of publications co-authored through NAI funding and investigates journal preferences, international and institutional collaboration, and citation behaviors of researchers to reach a better understanding of interdisciplinary and collaborative astrobi...
Simulations and Experiments of EMFY-1 Electromagnetic Launcher
Ceylan, Doga; Karagoz, Mustafa; Cevik, Yasin; Yildirim, Baran; Polat, Hakan; Keysan, Ozan (Institute of Electrical and Electronics Engineers (IEEE), 2019-07-01)
ASELSAN Inc. has been conducting experimental research on electromagnetic launch technologies since 2014. The first prototype, EMFY-1, has 25 mm x 25 mm square bore and 3-m-length rails. In addition, two capacitor-based pulsed-power supplies (PPSs) with 1- and 4-MJ stored energy are built to supply launcher. During the design process of EMFY-1, a 3-D finite element (FE) model has been developed to simulate the electromagnetic and mechanical aspects of the railgun. This paper presents the simulation and expe...
Smart structures and their applications on active vibration control: Studies in the Department of Aerospace Engineering, METU
Şahin, Melin; Yaman, Yavuz; Nalbantoglu, Volkan; Ulker, Fatma Demet; Caliskan, Tarkan (Springer Science and Business Media LLC, 2008-08-01)
This work presents the theoretical and experimental studies conducted in Aerospace Engineering Department of Middle East Technical University on smart structures with particular attention given to the structural modelling characteristics and active suppression of in-vacuo vibrations. The smart structures considered in these analyses are finite and flat aluminium cantilever beam-like (called as smart beam) and plate-like (called as smart fin) structures with surface bonded lead-zirconate-titanate patches. Fi...
Application of pulsed laser deposition and laser-induced ion implantation for formation of semiconductor nano-crystallites
This work describes the application of laser ion source (LIS) for fabrication of semiconductor nanostructures, as well as relevant equipment completed and tested in the IPPLM for the EU STREP "SEMINANO" project and the obtained experimental results. A repetitive Pulse laser system of parameters: energy of similar to 0.8 J in a 3.5 ns-pulse, wavelength of 1.06 mu m, repetition rate of up to 10 Hz and intensity on the target of up to 10(11) W/cm(2), has been employed to produce Ge ions intended for ion implan...
Perception-based navigation for mobile robots
Kawamura, K; Wilkes, DM; Koku, Ahmet Buğra; Keskinpala, T (2002-03-01)
Ongoing research on multi-robot collaborative navigation conducted in the Intelligent Robotics Lab at Vanderbilt University is introduced. Range-free egocentric representations for navigation have been previously developed for a single robot. We refer to this method as perception-based navigation (PBN). This paper will show that the concept of PBN can be extended from a single robot to a group of robots to achieve collaborative navigation. One robot attempts to reach a target region by sharing its sensory i...
Citation Formats
K. Kawamura, D. M. Wilkes, A. B. Koku, and T. Keskinpala, Perception-Based Navigation for Mobile Robots. 2002, p. 234.