Recent Paper List

07/07/08 -- A Robust Method of Localization and Mapping Using Only Range
Authors: J. Djugash, and S. Singh Presenter: Joe D. Details: This will be a practice talk for ISER 2008.

06/23/08 -- Distributed probabilistic methods for target tracking from UAVs
Authors: J. Capitan, D. Mantecon, P. Soriano, and A. Ollero Presenter: Jesus Capitan Fernandez Details: Jesus Capitan Fernandez is on exchange from the University of Seville and will be working with our group over the summer. He will present an overview of his work in distributed probabilistic methods for target tracking from UAVs.

06/16/08 -- Proofs and Experiments in Scalable, Near-Optimal Search by Multiple Robots
Authors: G. Hollinger, S. Singh Presenter: Geoff H. Details: This will be a practice talk for RSS 2008.

06/09/08 -- Localization and Tracking with Radio
Authors: Presenter: Sanjiv S. Details: This will report on work that Joe Djugash, Geoff Hollinger and Ben Grocholsky have been doing. I'll also do my brief "5 Steps of Good Research" talk.

06/02/08 -- Planning in Information Space for a Quadrotor Helicopter in a GPS-denied Environment
Authors: R. He, S. Prentice, and N. Roy Presenter: Brad Hamner Details: This paper won the Best Paper award at ICRA 2008.

04/28/08 -- Detection and Tracking of Low Observable Targets
Authors: Dey and Chris's Work Presenter: Dey D. Details: I shall be presenting on a couple of algorithmic approaches used to detect small and low-observable targets amongst clutter and noisy data. The work is an ongoing part of the Sense and Avoid project where we are working to enable UAVs navigate autonomously using vision.

04/21/08 -- First Steps Toward Generation of Relative Depth Map From Monocular Camera
Authors: Young-Woo's recent work Presenter: Young-Woo Seo Details: The presentation will cover some preliminary work on a simple perception mechanism that generates a relative depth map from monocular cameras.

02/18/08 -- Tracking Hidden Agents Through Shadow Information Spaces
Authors: Jingjin Yu, Steven M. LaValle Presenter: Geoff H. Details: I will be talking about a new ICRA08 paper by Steve LaValle's student on tracking targets with minimal sensor input. I want to try to fit this research into the larger tracking and coordinated search literature and discuss some of the advantages and disadvantages of this approach. I think it will be an interesting discussion.

02/11/08 -- Assembly Planning
Authors: Fred H. Presenter: Fred H. Details: Fred will be presenting his thesis work on the topic of assembly planning.

01/14/07 -- Recent work on optical flow techniques for state estimation and navigation

Authors: < See below > Presenter: Michael D. Details: Below are three relevant/interesting papers: Biomimetic Visual Sensing and Flight Control Barrows, Chahl, & Srinivasan ftp://ftp.centeye.com/pub/UAVS02.pdf Obstacle and Terrain Avoidance for Miniature Unmanned Aerial Vehicles Griffiths, Saunders, & Curtis http://www.ee.byu.edu/faculty/beard/papers/preprints/GriffithsSCMB05.pdf Techniques for Evaluating Optical Flow for Visual Odometry in Extreme Terrain Campbell, Sukthankar, & Nourbakhsh http://www.cs.cmu.edu/~illah/PAPERS/iros2004-finalcr-visualodometry.pdf

12/17/2007 -- MonoSLAM: Real-Time Single Camera SLAM
Authors: Andrew J. Davison, Ian D. Reid, Nicholas D. Molton, Olivier Stasse Presenter: Pras V. Details: I'll be presenting a broad review of recent vision-based SLAM research, and my personal experiences implementing it for a class project. Most of what I'll be covering is summarized in Andrew Davison's recent paper.

12/03/07 -- Description of the UAV/UGV System

Authors: From the ACFR Group Presenter: Ben G. Details: I'll present pieces of three recent papers from ACFR that demonstrate components of the system I'm putting together for a current UAV/UGV collaboration project. The following papers offer: 1) Decentralized estimation and control that minimizes estimate uncertainty 2) Human operator interaction 3) Better detail on decentralized global control schemes 1) Bryson2007 2) Kaupp2006 3) Mathews2007.

11/26/07 -- Cooperative Exploration with Multiple Robots using Low Bandwidth Communication
Authors: Daniel Meier, Cyrill Stachniss and Wolfram Burgard Presenter: Joe D. Details: I'll be presenting some work on robot exploration, addressing some of the challenges associated with it and some possible solutions.

11/12/07 -- Survey of Vision based Fiducials
Authors: N/A Presenter: Sanjiv S. Details: The question I will ask is what makes a good fiducial that can be used to detect relative pose. I will provide some examples from the literature of what people have used todate. Below are two papers to look at: 1) BriggsICRA2000 2) zhangFiducialComp

10/29/07 -- A Time-Dependent Hamilton-Jacobi Formulation of Reachable Sets for
Authors: Ian M. Mitchell, Alexandre M. Bayen and Claire J. Tomlin Presenter: Chris G. Details: It\'s extensions to hybrid systems is also discussed: \"Level Set Methods for Computation in Hybrid Systems\" by Ian Mitchell and Claire J. Tomlin.

10/22/07 -- Utility of a Sensor Platform Capable of Aerial and Terrestrial Locomotion
Authors: R.J. Bachmann, F.J. Boria, P.G. Ifju, R.D. Quinn, J.E. Kline, R. Vaidyanathan Presenter: Lyle C. Details: A paper on a small fixed-wing mav that can also walk around on whegs.

10/15/07 -- Range from Single Image
Authors: A. Ng et. al. Presenter: Sebastian S. Details: A unique feature vector (based on scale and location in image) is used to learn depth information against ground truth from laser range scanner.

09/24/07 -- Review of Simulators
Authors: Presenter: Brad H. Details: A review of several different simulators will be presented to provide an opportunity to think about establishing a standard for simulators within the group.

09/17/07 -- Seth's summer work at Johnson Space Center
Authors: Presenter: Seth K. Details: This work is relevant to the navigation group as it includes both sensing and planning for navigational purposes.

09/10/07 -- Active Policy Learning for Robot Planning and Exploration under Uncertainty
Authors: R. Martinez-Cantin, N. de Freitas, A. Doucet, and J. Castellanos Presenter: Geoff H. Details: This paper has receding horizon planning, partially observable