Chung H. Hsieh

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We consider a motion planning method based on cooperative biological swarming models with virtual attractive and repulsive potentials (VARP). We derive a map between the model and fan speeds for the Kelly, a second order vehicle on the Caltech Multi Vehicle Wireless Testbed. The motion planning map results leads to the development and implementation of a(More)
This paper describes the second generation of an economical cooperative control testbed described in [C. H. Hsieh et al Proc. Am. Cont. Conf., 2006]. The original car-based vehicle is improved with on-board range sensing, limited on board computing, and wireless communication, while maintaining economic feasibility and scale. A second, tankbased platform,(More)
This paper demonstrates the testbed implementation of a simple algorithm for cooperatively locating and following environmental boundary in two-dimensional space. The algorithm alternates between clockwise and counterclockwise motion along circular paths. By switching the orientation of rotation upon crossing the boundary, a vehicle is able to continue(More)
This paper describes the design of an economical cooperative control testbed using 1/64 size micro-car vehicles. The vehicles have similar motion constraints to those found in common kinematic models for UAVs. We demonstrate the practical use of this testbed for algorithm validation by implementing a recently proposed UAV-routing algorithm [J. J. Enright et(More)
This paper describes the third generation of an economical cooperative control testbed, last described in (Leung et al., 2007). The new testbed vehicles are improved with powerful on-board computing, upgraded and expanded on-board sensing, and enhanced wireless communication, while maintaining economic feasibility and scale. The new hardware allows for(More)
This paper discusses a greedy decentralized cooperative search algorithm and its implementation and results on the Caltech Multi-Vehicle Wireless Testbed (MVWT). The algorithm uses inter-vehicle communication as a performance accelerator and is robust against vehicle loss. Testbed vehicles search a list of spatial targets. Two different types of vehicles(More)
Reaction, coordination and speed ability are essential for success in a variety of sports. Nerve conduction velocity (NCV) is related to all of these abilities. Previous studies had investigated power and endurance type athletes, but there is less research in athletes who are skilled in coordinated lower extremity movements requiring more neural adaptation(More)
The moment invariants are used as a feature space for pattern recognition. Shape and texture representation is a fundamental issue in the newly emerging multimedia applications. This work addresses the problem of retrieval in case of rotation, shape, resizing, and translation of an image in the content based image retrieval system. A modified Zernike moment(More)
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