Filters








7 Hits in 0.53 sec

Autonomous River Exploration [chapter]

Sezal Jain, Stephen Nuske, Andrew Chambers, Luke Yoder, Hugh Cover, Lyle Chamberlain, Sebastian Scherer, Sanjiv Singh
<span title="">2015</span> <i title="Springer International Publishing"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/lirc5icuifhy7ln5rynpn4ak2e" style="color: black;">Springer Tracts in Advanced Robotics</a> </i> &nbsp;
Mapping a rivers course and width provides valuable information to help understand the ecology, topology and health of a particular environment. Such maps can also be useful to determine whether specific surface vessels can traverse the rivers. While rivers can be mapped from satellite imagery, the presence of vegetation, sometimes so thick that the canopy completely occludes the river, complicates the process of mapping. Here we propose the use of a micro air vehicle flying under the canopy to
more &raquo; ... create accurate maps of the environment. We study and present a system that can autonomously explore rivers without any prior information, and demonstrate an algorithm that can guide the vehicle based upon local sensors mounted on board the flying vehicle that can perceive the river, bank and obstacles. Our field experiments demonstrate what we believe is the first autonomous exploration of rivers by an autonomous vehicle. We show the 3D maps produced by our system over runs of 100-450 meters in length and compare guidance decisions made by our system to those made by a human piloting a boat carrying our system over multiple kilometers.
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-319-07488-7_7">doi:10.1007/978-3-319-07488-7_7</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/4ttdcgpay5gr7hi2mjnjv5zk5i">fatcat:4ttdcgpay5gr7hi2mjnjv5zk5i</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20150304035559/http://www.araa.asn.au/fsr/fsr2013/papers/pap153s2.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/e7/09/e7099888a9f3dfe8662b29dbc34618902aa2aea9.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-319-07488-7_7"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> springer.com </button> </a>

Infrastructure-free shipdeck tracking for autonomous landing

Sankalp Arora, Sezal Jain, Sebastian Scherer, Stephen Nuske, Lyle Chamberlain, Sanjiv Singh
<span title="">2013</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/nytnrt3gtzbixld5r6a4talbky" style="color: black;">2013 IEEE International Conference on Robotics and Automation</a> </i> &nbsp;
Shipdeck landing is one of the most challenging tasks for a rotorcraft. Current autonomous rotorcraft use shipdeck mounted transponders to measure the relative pose of the vehicle to the landing pad. This tracking system is not only expensive but renders an unequipped ship unlandable. We address the challenge of tracking shipdeck without additional infrastructure on the deck. We present two methods based on video and lidar that are able to track the shipdeck starting at a considerable distance
more &raquo; ... rom the ship. This redundant sensor design enables us to have two independent tracking systems. We show the results of the tracking algorithms in 3 different environments, 1. field testing results on actual helicopter flights, 2. in simulation with a moving shipdeck for lidar based tracking and 3. in laboratory using an occluded and moving scaled model of a landing deck for camera based tracking. The complimentary modalities allow shipdeck tracking under varying conditions.
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2013.6630595">doi:10.1109/icra.2013.6630595</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icra/AroraJSNCS13.html">dblp:conf/icra/AroraJSNCS13</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/6syocynt7ncnriuns35w56zcxu">fatcat:6syocynt7ncnriuns35w56zcxu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20150905103108/http://www.ri.cmu.edu/pub_files/2013/5/arora_icra_2013.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/8e/e2/8ee2f1486106c7d717a5843d20bbb963cc991afe.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2013.6630595"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Robust Autonomous Flight in Constrained and Visually Degraded Environments [chapter]

Zheng Fang, Shichao Yang, Sezal Jain, Geetesh Dubey, Silvio Maeta, Stephan Roth, Sebastian Scherer, Yu Zhang, Stephen Nuske
<span title="">2016</span> <i title="Springer International Publishing"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/lirc5icuifhy7ln5rynpn4ak2e" style="color: black;">Springer Tracts in Advanced Robotics</a> </i> &nbsp;
University, 5000 Forbes Ave, Pittsburgh, PA, 15213, USA. 2 Northeastern University, Shenyang, Liaoning, 110819, China. 3 Zhejiang University, Hangzhou, Zhejiang, 310027, China. e-mail: {zhengf,shichaoy,sezal  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-319-27702-8_27">doi:10.1007/978-3-319-27702-8_27</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/n4cfvooq5bfizfusti2se4jkwm">fatcat:n4cfvooq5bfizfusti2se4jkwm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170829030418/http://www.ri.cmu.edu/pub_files/2015/6/FSR_2015_submission_34.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/c3/a0/c3a02f90fea5e1b551862876d8c5f73e7eb89454.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-319-27702-8_27"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> springer.com </button> </a>

Robust multi-sensor fusion for micro aerial vehicle navigation in GPS-degraded/denied environments

Andrew Chambers, Sebastian Scherer, Luke Yoder, Sezal Jain, Stephen Nuske, Sanjiv Singh
<span title="">2014</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/lotzoejqpjhmjn2kywwcxlndie" style="color: black;">2014 American Control Conference</a> </i> &nbsp;
State estimation for Micro Air Vehicles (MAVs) is challenging because sensing instrumentation carried on-board is severely limited by weight and power constraints. In addition, their use close to and inside structures and vegetation means that GPS signals can be degraded or all together absent. Here we present a navigation system suited for use on MAVs that seamlessly fuses any combination of GPS, visual odometry, inertial measurements, and/or barometric pressure. We focus on robustness against
more &raquo; ... real-world conditions and evaluate performance in challenging field experiments. Results demonstrate that the proposed approach is effective at providing a consistent state estimate even during multiple sensor failures and can be used for mapping, planning, and control.
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/acc.2014.6859341">doi:10.1109/acc.2014.6859341</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/amcc/ChambersSYJNS14.html">dblp:conf/amcc/ChambersSYJNS14</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ezkvcqxfsfhq5k3uw44yquacge">fatcat:ezkvcqxfsfhq5k3uw44yquacge</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170705143155/http://www.ri.cmu.edu/pub_files/2014/6/acc-paper-small.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/55/8c/558cf35f0f434399721321d72b8079893dc21c1b.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/acc.2014.6859341"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Autonomous Exploration and Motion Planning for an Unmanned Aerial Vehicle Navigating Rivers

Stephen Nuske, Sanjiban Choudhury, Sezal Jain, Andrew Chambers, Luke Yoder, Sebastian Scherer, Lyle Chamberlain, Hugh Cover, Sanjiv Singh
<span title="2015-06-08">2015</span> <i title="Wiley"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/hozy4uxohvhslew6ka2x3ecogy" style="color: black;">Journal of Field Robotics</a> </i> &nbsp;
A novel exploration algorithm [originally presented in Jain et al. (2013) ] that enables truly autonomous exploration of rivers using a multivariate cost map.  ...  EXPLORATION ALGORITHM The key aim of our exploration algorithm [originally presented in Jain et al. (2013) ] is to find goal points to pass to the motion planning algorithm (SPARTAN-lite-Section 6) for  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1002/rob.21596">doi:10.1002/rob.21596</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/4l6gkiw7jvamhocpjye2k7roxi">fatcat:4l6gkiw7jvamhocpjye2k7roxi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180413113950/http://stephennuske.com:80/pdf/nuske_jfr_2015.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/63/d3/63d3e6751c04752b1593f5ddcff72819dd9dc02e.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1002/rob.21596"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> wiley.com </button> </a>

Infrastructure-free Shipdeck Tracking for Autonomous Landing

Sankalp Arora, Sezal Jain, Sebastian Scherer, Stephen Nuske, Lyle J. Chamberlain, Sanjiv Singh
<span title="2018-06-29">2018</span>
Shipdeck landing is one of the most challenging tasks for a rotorcraft. Current autonomous rotorcraft use shipdeck mounted transponders to measure the relative pose of the vehicle to the landing pad. This tracking system is not only expensive but renders an unequipped ship unlandable. We address the challenge of tracking shipdeck without additional infrastructure on the deck. We present two methods based on video and lidar that are able to track the shipdeck starting at a considerable distance
more &raquo; ... rom the ship. This redundant sensor design enables us to have two independent tracking systems. We show the results of the tracking algorithms in 3 different environments, 1. field testing results on actual helicopter flights, 2. in simulation with a moving shipdeck for lidar based tracking and 3. in laboratory using an occluded and moving scaled model of a landing deck for camera based tracking. The complimentary modalities allow shipdeck tracking under varying conditions.
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1184/r1/6555173.v1">doi:10.1184/r1/6555173.v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/2vzkzvhbijfoxnyiktvchqjqmm">fatcat:2vzkzvhbijfoxnyiktvchqjqmm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200220075503/https://s3-eu-west-1.amazonaws.com/pstorage-cmu-348901238291901/12037412/file.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/70/e7/70e723d27c5fbddaeeddd32958b21307f71f59d2.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1184/r1/6555173.v1"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Kuşak-Yol projesi ve Türkiyenin Orta Asya hedefleri

TANER ZORBAY
<span title="2019-01-01">2019</span> <i title="Cappadocia Journal of Area Studies (CJAS), Cappadocia University"> Cappadocia Journal of Area Studies (CJAS), Cappadocia University </i> &nbsp;
Öte yandan projenin küresel güçler arasında yeni bir güç savaşına yol açması da mümkün olabilir (Jain 2007) .  ...  yeniden öğrenmek isteyen Orta Asya cumhuriyetlerine, din adamı, dini yayınlar ve/ya okullar ve merkezler kanalıyla etki etmek çabasının pek çok örneği bu dönemde yaşanmıştır (Birand ve Yalçın 2005 , Sezal  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.38154/cjas.21">doi:10.38154/cjas.21</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/fbrzev5forgc7ofs3tqzwlubmm">fatcat:fbrzev5forgc7ofs3tqzwlubmm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200507135905/http://cjas.kapadokya.edu.tr/Makaleler/1261620491_Zorbay-Kusak-Yol%20projesi.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/23/8e/238ebdd7cdfd1b19c84c13567ace5355906b49dc.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.38154/cjas.21"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>