Ayanna M. Howard

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This paper presents a new strategy for behavior-based navigation of field mobile robots on challenging terrain, using a fuzzy logic approach and a novel measure of terrain traversability. A key feature of the proposed approach is real-time assessment of terrain characteristics and incorporation of this information in the robot navigation strategy. Three(More)
This paper presents a novel tiered sensor fusion methodology for real-time terrain safety assessment. A combination of active and passive sensors, specifically, radar, lidar, and camera, operate in three tiers according to their inherent ranges of operation. Low-level terrain features (e.g. slope, roughness) and high-level terrain features (e.g. hills,(More)
The majority of manipulation systems are designed with the assumption that the objects’being handled are rigid and do not deform when grasped. This paper addresses the problem of robotic grasping and manipulation of 3-D deformable objects, such as rubber balls or bags filled with sand.‘ Specifically, we have developed a generalized learning algorithm for(More)
Inspired by large fatality rates due to fires in crowded areas and the increasing presence of robots in dangerous emergency situations, we have implemented a model of information propagation among evacuees. Information about the locations of exits and the relative confidence of the individual in the location of the exit disseminated through a simulated(More)
In this paper, we focus on the problem of maximizing system performance for future space exploration missions involving both human and robot agents. One of the main challenges in human-robot interaction scenarios is determining which tasks are best done with either human, robotic systems, or in collaboration with each. Such partitioning of the task space(More)
Virtual reality (VR) surgical training can be a potentially useful method for improving practicing surgical skills. However, the current literature on VR training has not discussed the efficacy of VR systems that are useful outside of the training facility. As such, the goal of this study is to evaluate the benefits of using a low-cost VR simulation system(More)
This paper presents a technique for learning to assess terrain traversability for outdoor mobile robot navigation using human-embedded logic and real-time perception of terrain features extracted from image data. The methodology utilizes a fuzzy logic framework and vision algorithms for analysis of the terrain. The terrain assessment and learning(More)