| This page serves two purposes: to organize my research path, and to allow others to build on the work deposited here. Each general topic lists relevant documents, their authors, and my personal rating of the utility of the paper. Ratings are from 1 - 10, with 10 as highest and 5 as average. Details about each paper are available through the link. Papers are in no particular order. |
| Paper Title | Author | Features |
Rating
|
| Adaptive Road Following using Self-Supervised Learning and Reverse Optical Flow | Lieb, Lookingbill, Thrun (Stanford) | Assume on road. Use reverse optical flow to find similar road patterns |
8
|
| Team TerraMax and the DARPA grand challenge: a general overview | Ozguner,Redmill, Broggi | Sensor fusion not well described. Uses "personality" in rule based logic. |
5
|
| Multiple Vehicle Detection and Tracking in Hard Real Time | Betke, Haritaoglu, Davis | Fork process to track cars |
7
|
| Qualitative and quantitative car tracking from a range image sequence | Zhao, Thorpe (CMU) | Ladar image and lots of math to predict motion |
7
|
| Preplanning for high performance autonomous traverse of desert terrain exploiting a priori knowledge to optimize speeds and to detail paths | Gutierrez, Galatali, Gonzalez, Urmson, Whittaker (CMU) | How the cheaters cheated with preplanning |
-1
|
| The BATmobile: Towards a Bayesian Automated Taxi | Forbes, Huang, Kanazawa, Russell | Complicated network structure solves wide variety of problems. |
8
|
| Paper Title | Author | Features |
Rating
|
| The Vector Field Histogram - Fast Obstacle Avoidance for Mobile Robots | Borenstein, Koren | Sonar sensors generate repulsive fields in polar coordinates |
7
|
| Stochastic Performance Modeling And Evaluation Of Obstacle Detectability With Imaging Range Sensors | Matthies, Grandjean | Quantiatively evaluate sensor requirements based on projected accuracy |
6
|
| Real-time obstacle Avoidance Using Central Flow Divergence and Peripheral Flow | Coombs, Herman, Hong, Nashman | Strong paper on intuitive concept, but very sensitive to vibation and computationally expensive |
7
|
| Paper Title | Author | Features |
Rating
|
| A Computational Approach to Edge Detection | Canny | Finding edges in a scene, reducing noise and increasing localization |
6
|
| Using real-time stereo vision for mobile robot navigation | Murray, Little | Stereo vision produces discrepancy matrix of points, identifying obstacles |
8
|
| Model-Based Object Tracking in Monocular Image Sequences of Road Traffic Scenes | Koller, Daniilidis, Nagel | Good paper tracking vehicles in parking lot, using vehicle templates, velocity models |
7
|
| Stereo Vision and Rover Navigation Software for Planetary Exploration | Goldberg, Maimone, Matthies | Good optimization functions for stereo vision, GESTALT Navigation System intuitive |
6
|
| Interactive Volume Rendering Using Multi-Dimensional Transfer Functions and Direct Manipulation Widgets | Kniss, Kindlmann, Hansen | ||
| What Went Where | Willis, Agarwal, Belongie | ||
| Multiple Center of Projection Images | Rademacher, Bishop | ||
| Frame-rate Multi-body Tracking for Surveillance | Boult et al | Finds moving bodies in static scene, good problem but not useful for in a jeep |
7
|
| Paper Title | Author | Features |
Rating
|
| A Behavior-Based System For Off-Road Navigation | Langer, Rosenblatt, Herbert | Excellant article! Behavior programming, 3 steps to navigation |
10
|
| DAMN: A Distributed Architecture for Mobile Navigation | Rosenblatt | Describes several different behavioral control methods. Detailed voting weight scheme. |
8
|
| The Anatomy of a Context Aware Application | Harter, Hopper, Steggles, Ward, Webster | localization and telemetry of humans as they move through sensory environments |
2 - n/a
|
| Mars microrover navigation: Performance evaluation and enhancement | L. Matthies | Proof of concept of autonomous vehicles, moving slow |
6
|
| The CLARAty architecture for robotic autonomy | Volpe, Nesnas, Estlin, Mutz,. Petras and H. Das | Good idea, poor implementation for reusable robotic infrastructure |
6
|
| Paper Title | Author | Features |
Rating
|
| Map Learning and High-Speed Navigation in RHINO | Thrun et al (CMU) | Survey of CMU's robotics navigation program, from sensors to algorithms to maps. Must Read! |
9
|
| Mobile Robot Exploration and Map-Building with Continuous Localization | Yamauchi, Schultz, Adams | Frontier edges define regions to explore |
6
|
| Integrating Grid-Based and Topological Maps for Mobile Robot Navigation | Thrun, Bucken | Detailed integration topo and grid maps |
6
|
| Mobile Robot Navigation: The CMU System | Goto, Stentz | writeup | |
| Mobile Robot Positioning - Sensors and Techniques | Borenstein, Everett, Feng, Wehe | writeup | |
| Indexing the Positions of Continuously Moving Objects | Saltenis, Jensen, Leutenegger, Lopez | Store only velocity parameters, not position in R-tree for efficient update and query |
5
|
| Data Structures for Mobile Data | Basch, Guibas, Hershberger | "Kinetization" = transforming static data structure into struct for moving data |
7
|
| Optimal and Efficient Path Planning for Partially-Known Environments | Stentz | Great algorithm dynamically updating A* - the standard for maps + sensor fusion - not us |
9
|
| The Focussed D* Algorithm for Real-Time Replanning | Stentz | Optimize the D* paper just above by reducing the number of states to recalculate |
8
|
| Book Title | Author | Features |
Rating
|
| Tuxedo Park | Conant | Leadership in the Second World War |
7
|
| Mobile Robots: From Inspiration to Implementation | Jones, Flynn, Seiger | Basic approach to robotics, simple to read |
8
|
| Paper Title | Author | Features |
Rating
|
| Controlling Vibration with Magnetorheological Fluid Damping | Carlson | writeup | |
| A Review of 20 Years of Range Sensor Development | Blais | writeup |