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— We present a motion planner for autonomous highway driving that adapts the state lattice framework pioneered for planetary rover navigation to the structured environment of public roadways. The main contribution of this paper is a search space representation that allows the search algorithm to systematically and efficiently explore both spatial and(More)
— On-road motion planning for autonomous vehicles is in general a challenging problem. Past efforts have proposed solutions for urban and highway environments individually. We identify the key advantages/shortcomings of prior solutions, and propose a novel two-step motion planning system that addresses both urban and highway driving in a single framework.(More)
— This paper describes two experimental testbeds which focus on real time verification and validation of semi-autonomous cooperative control. RoboFlag is an experimental and real time simulation of a capture the flag game using robots. The SeaScan is a long endurance UAV designed for military and commercial applications. For each testbed, details of(More)
This paper considers coordinated transmission for interference mitigation and power allocation in a correlated two-user two-hop multi-input multioutput (MIMO) relay system. The proposed transmission scheme utilizes statistical channel state information (CSI) (e.g., transmit correlation) to minimize the cochannel interference (CCI) caused by the relay. To(More)
Alzheimer's disease is a progressive neurodegenerative disease clinically characterized by dementia and neurobehavioral deterioration. Hippocampal neurons are vulnerable to injury induced by Alzheimer's disease. The immediate early gene c-Fos has been used as a marker of neuronal activity. In the present study, we investigated the effects of treadmill(More)
In the present study, the effects of maternal swimming during pregnancy on the short-term memory ability, hippocampal neurogenesis, and brain-derived neurotrophic factor (BDNF) mRNA expression of rat pups were investigated. After confirming their pregnancy, the pregnant rats were divided into two groups: the control group and the swimming group. From the(More)
In this paper we present algorithms for automatically generating a road network description from aerial imagery. The road network inforamtion (RNI) produced by our algorithm includes a composite topoloigical and spatial representation of the roads visible in an aerial image. We generate this data for use by autonomous vehicles operating on-road in urban(More)
This paper presents a cooperative decentralized path-planning algorithm for a group of autonomous agents that provides guaranteed collision-free trajectories in real-time. The algorithm is robust with respect to arbitrary delays in the wireless traffic, possible sources being transmission time and error correction. Agents move on reserved areas which are(More)