Alan O'Connor

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— A novel curvature-based steering control law is introduced to produce the obstacle avoidance behavior for unicycle type robots traveling (flying) at constant speed. Different methods of curvature estimation from noisy range data are explored and compared via experiments. Performance of the obstacle avoidance algorithm is investigated through simulations(More)
Prospective right hemidiaphragm navigator (NAV) is commonly used in free-breathing coronary MRI. The NAV results in an increase in acquisition time to allow for resampling of the motion-corrupted k-space data. In this study, we are presenting a joint prospective-retrospective NAV motion compensation algorithm called compressed-sensing motion compensation(More)
—This paper considers the problem of passive local-ization of a RF emitter by exploiting the multipath interaction of the signal with the environment, as occurs in urban settings. The feasibility of localizing using times-of-arrival (TOA) of multipath components is examined. The primary contribution is a method to correctly associate measured TOA with(More)
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