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Proceedings Paper

Integrated mobile robotic system for environmental mapping and object localization
Author(s): Christopher S. Gourley; Scott M. Thayer; Mohan M. Trivedi
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Paper Abstract

Many applications require the ability to navigate a mobile robotic platform through environments containing unknown obstacles. For example, many old nuclear reactors being decommissioned have no plans or models of the details of what is inside them. Sending humans into such unknown and hazardous environments is both costly and dangerous. Therefore, a robot that can go safely into these areas, knowing little or nothing about what it will encounter, is needed. This paper describes a system being developed that can be used either telerobotically, using graphical interfaces, or autonomously, with supervision capabilities through the interfaces. The system starts with little or no knowledge base and adds to it as it moves through the environment. The experiments described utilize a unique mobile robotic testbed including a wheeled robot integrated with ultrasonic range sensors, infrared proximity sensors, and CCD cameras controlled through VME based hardware.

Paper Details

Date Published: 1 March 1994
PDF: 7 pages
Proc. SPIE 2244, Knowledge-Based Artificial Intelligence Systems in Aerospace and Industry, (1 March 1994); doi: 10.1117/12.169388
Show Author Affiliations
Christopher S. Gourley, Univ. of Tennessee/Knoxville (United States)
Scott M. Thayer, Univ. of Tennessee/Knoxville (United States)
Mohan M. Trivedi, Univ. of Tennessee/Knoxville (United States)


Published in SPIE Proceedings Vol. 2244:
Knowledge-Based Artificial Intelligence Systems in Aerospace and Industry
Wray Buntine; Doug H. Fisher, Editor(s)

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