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In unstructured, unknown, and dynamic environments, planning systems cannot generate a plan a priori that can be expected to perform reasonably in the face of such uncertainty, nor can they anticipate all contingencies that may arise; instead, decision-making must be based on current information and state at all times, proceeding in a data-driven manner,(More)
Data association is the process of relating features observed in the environment to features viewed previously or to features in a map. Correct feature association is essential for mobile robot navigation as it allows the robot to determine its location relative to the features it observes. This paper presents a graph theoretic method that is applicable to(More)
In this paper, we describe a core system for autonomous navigation in outdoor natural terrain. The system consists of three parts: a perception module which processes range images to identify untraversable regions of the terrain, a local map management module which maintains a representation of the environment in the vicinity of the vehicle, and a planning(More)
We present a system for behavior-based control of an autonomous underwater vehicle for the purpose of inspection of coral reefs, a task currently performed by divers holding a video camera while following a rope. Using sonar and vision-based approaches, behaviors have been developed for guiding the robot along its intended course, for maintaining a constant(More)
This paper describes the autonomous navigation and control of an undersea vehicle using a vehicle control architecture based on the Distributed Architecture for Mobile Navigation and a terrain-aided navigation technique based on simultaneous localisation and map building. Development of the low-speed platform models for vehicle control and the theoretical(More)
In this paper, we report on experiments with a core system for autonomous navigation in outdoor natural terrain. The system consists of three parts: a perception module which processes range images to identify untraversable regions of the terrain, a local map management module which maintains a representation of the environment in the vicinity of the(More)
A new means of action selection via utility fusion is introduced as an alternative to both sensor fusion and command fusion. Distributed asynchronous behaviors indicate the utility of various possible states and their associated uncertainty. A centralized arbiter then combines these utilities and probabilities to determine the optimal action based on the(More)
A framework for underwater navigation by combining raw information from different sensors into a single scene description is presented. It is shown that features extracted from such a description are more robust than those extracted from an individual sensor. These descriptions are then combined from many consecutive scenes to form the basis of a new method(More)
We present a system for behavior-based control of an autonomous underwater vehicle for the purpose of inspection of coral reefs, a task currently performed by divers holding a video camera while following a rope. Using sonar and vision-based approaches, behaviors have been developed for guiding the robot along its intended course, for maintaining a constant(More)