Nikhil Deshpande

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—Autonomous mobile robots (AMRs) operating in unknown environments face twin challenges: 1) localization and 2) efficient directed navigation. This paper describes a two-tiered approach to solving these challenges: 1) by developing novel wireless-sensor-network (WSN)-based localization methods and 2) by using WSN–AMR interaction for navigation. The goal is(More)
— We propose that robot perception is enabled by means of a common sensorimotor semantics arising from a set of symmetry theories (expressed as symmetry detectors and parsers) embedded a priori in each robot. These theories inform the production of structural representations of sensorimotor processes, and these representations, in turn, permit perceptual(More)
Reinforcement learning, in general, has not been totally successful at solving complex real-world problems which can be described by nonlinear functions. However, temporal difference learning is a type of reinforcement learning algorithm that has been researched and applied to various prediction problems with promising results. This paper discusses the(More)
The colossal amount of digitized information available has resulted in overloading users who need to navigate this information for their routine requirements. Information filtering deals with monitoring text streams to detect patterns and retrieval of documents by searching for patterns over stored data. Although information filtering systems and search(More)
— Robot manipulator designs are increasingly fo-cused on low cost approaches, especially those envisioned for use in unstructured environments such as households, office spaces and hazardous environments. The cost of angular sensors varies based on the precision offered. For tasks in these environments, millimeter order manipulation errors are unlikely to(More)
—This paper extends the novel research for event localization and target-directed navigation using a deployed wireless sensor network (WSN) [4]. The goal is to have an autonomous mobile robot (AMR) navigate to a target-location by: (i) producing an artificial magnitude distribution within the WSN-covered region, and (ii) having the AMR use the(More)
• Efficient WSN-assisted AMR navigation by only 1 modality, received signal strength. • Novel use of standard artificial potential field for way-point estimation. • Introducing implicit surfaces for inter-node pseudogradient interpolation in WSN. • Novel use of standard particle filtering for RSS-based WSN-node bearing estimation. • Extensive simulation and(More)