Matthew W. McDaniel

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To operate autonomously in forested terrain, unmanned ground vehicles (UGVs) must be able to identify the load-bearing surface of the terrain (i.e. the ground) and obstacles in the environment. To travel long distances, they must be able to track their position even Report Documentation Page Form Approved OMB No. 0704-0188 Public reporting burden for the(More)
To operate autonomously in forested environments, unmanned ground vehicles (UGVs) must be able to identify the load-bearing surface of the terrain (i.e. the ground). This paper presents a novel two-stage approach for identifying ground points from 3-D point clouds sensed using LIDAR. The first stage, a local height-based filter, discards most of the(More)
As an important conventional monomer compound, the biological production of styrene carries significant promise with respect to creating novel sustainable materials. Since end-product toxicity presently limits styrene production by previously engineered Escherichia coli, in situ product removal by both solvent extraction and gas stripping were explored as(More)
Shengyan Zhou and Junqiang Xi Department of Mechanical Engineering, Beijing Institute of Technology, Haidian, Beijing 100081, China e-mail: zhousy@mit.edu, xijunqiang@hotmail.com Matthew W. McDaniel and Takayuki Nishihata Robotic Mobility Group, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139 e-mail: mcdaniel@mit.edu Phil Salesses(More)
To operate autonomously, unmanned ground vehicles (UGVs) must be able to identify the loadbearing surface of the terrain (i.e. the ground) and obstacles. Current sensing techniques work well for structured environments such as urban areas, where the roads and obstacles are usually highly predictable and well-defined. However, autonomous navigation on(More)
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