Centre for Intelligent Systems

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Centre for Intelligent Systems

• Seminar 13th June 2006, 3.30pm
• Intelligent Robotics Sketch of the Domain plus
  Case Studies
• Professor Ray Jarvis
• Intelligent Robotics Research Centre
• Centre for Perceptive and Intelligent Machines in
  Complex Environments

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• Jarvis, R.A. and Patrick, E.A. Clustering Using a
  Similarity Measure Based on Shared Near
  Neighbours, IEEE Transactions on Electronic
  Computers, Vol.C-22, No.11, November 1973, pp.
  1025-1034.
• Jarvis, R.A. On the Identification of the Convex
  Hull of a Finite Set of Points in the Plane,
  Information Processing Letters 2 (1973),
  pp.18-21.
• Jarvis, R.A. Adaptive Global Search by the
  Process of Competitive Evolution, IEEE
  Transactions on Systems, Man and Cybernetics,
  SMC5, May 1975, pp.297-311.
• Jarvis, R.A. A Perspective on Range Finding
  Techniques for Computer Vision, IEEE Transactions
  on Pattern Analysis and Machine Intelligence.
  Vol. PAMI-5, No.2., March 1983, pp.122-139.
• Jarvis, R.A. A Laser Time-of-Flight Range Scanner
  for Robotic Vision, IEEE Transactions on Pattern
  Analysis and Machine Intelligence, PAMI - 5, NO.
  5, Sept. 1983, pp.505-512.
• Jarvis, R.A. On Distance Transform Based
  Collision-Free Path Planning for Robot Navigation
  in Known, Unknown and Time-Varying Environments,
  invited chapter for a book entitled 'Advanced
  Mobile Robots' edited by Professor Yuan F. Zang
  World Scientific Publishing Co. Pty. Ltd. 1994,
  pp. 3-31.
• Jarvis, R.A. Video Plane Robot Swarms, selected
  as one of ten papers from European Robotics and
  Intelligent Systems Conf. Malagar, Spain, 22-26
  Aug. 1994, pp. 401-416, for publication in
  special issue of the Robotics and
  Computer-Integrated Manufacturing international
  journal.

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Intelligent Robotics
Action
Perception
Reasoning
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Autonomous Robot Navigation
Localisation
Motion Control
Environmental Mapping
Path Planning
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Localisation Methodologies

• Tracks on Floor
• Odometry
• Beacons
• Natural Landmarks
• Global Positioning Systems

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Environmental Mapping

• Video Cameras
• Standard,
• Panoramic,
• Stereopsis
• Laser Range Finders 2D and 3D
• Ultrasound
• Radar
• Aerial Photography

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Path Planning

• Potential Fields
• A Tree Search
• Distance Transforms
• Delaunney Tesselation
• Rapidly Exploring Random Trees

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Covert Robotics

• Dark Path Algorithm
• Distance Transfer Gaussians
• Pursuit Games
• Search and Rescue Strategies

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Case Studies

• MD15 Tracked Vehicle
• Marsokhod Martian Rover
• Mattracks 4 Wheel Drive Farm Bike
• 40 foot Boom Lift
• Semi-Autonomous Wheelchair
• Segway Robot
• Sony Humanoids
• Centre of Disparity Tracking