Marc W. McConley

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A technique is presented for creating continuously parameterized classes of feasible system trajectories. These classes, which are useful for higher-level vehicle motion planners, follow directly from a small collection of userprovided example motions. A dynamically feasible trajectory interpolation algorithm generates a continuous family of vehicle(More)
As the field of autonomous robotics continues to mature, the ability for robots to operate reliably in the presence of noise and incomplete information is becoming increasingly critical. State estimation techniques such as the Kalman filter explicitly model sensor noise and incomplete information by computing a probability distribution over the possible(More)
The gyroscope calibration problem is addressed for the Inertial Pseudo Star Reference Unit. A nonlinear scale factor error is described by two gyro error states (an amplitude and a decay constant) which enter the dynamics in a nonlinear fashion. A comparison is made between the extended Kalman filter (EKF) and the maximum likelihood system identification(More)
Segmentation of anatomic structures of the human brain from Magnetic Resonance (MR) images is important for assessing treatment efficacy, screening for anomalies, and improving our understanding of human development. The labor-intensive nature of manual segmentation, however, makes such a technique viable only in selected cases. In this paper, we present a(More)
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