Communications of the ACM
Object-oriented systems analysis: a model-driven approach
Object-oriented systems analysis: a model-driven approach
Object-oriented modeling and design
Object-oriented modeling and design
The Earth Mover's Distance as a Metric for Image Retrieval
International Journal of Computer Vision
Vision for Mobile Robot Navigation: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence
Refining Initial Points for K-Means Clustering
ICML '98 Proceedings of the Fifteenth International Conference on Machine Learning
Programming robots with state diagrams
Journal of Computing Sciences in Colleges
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We present a system for detecting chemical anomaly and to track the anomaly to its source. The chemical sensors are mounted on mobile robots. We describe navigating through medium and close proximity environments through a behavior-based approach, which can be represented through subsumption architecture approach. In this paradigm different robot behaviors compete for the actuators that make the robot act in the world. Further, these behaviors are driven by sensory data received through sensors and analyzed. In our case we support three competing behaviors that will be arbitrated: 1) navigation of indoor spaces through visual landmark recognition, 2) confined spaces navigation through close proximity sensors, and 3) airborne chemical and / or ground trail following.