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The Tropism System Cognitive Architecture provides an intuitive formalism for colonies of agents, either hardware or software. We present a fine-grained implementation of the architecture on a colony of software agents for the interpretation of human tactile gestures for robotic trajectory specification and modification. The fine-grained nature of the(More)
— We present a novel terrain classification technique both for effective, autonomous locomotion over natural, unknown terrains and for the qualitative analysis of terrains for exploration and mapping. Our straightforward approach requires a single camera with little processing of visual information. Specifically, we derived gait bounce and gait roll(More)
In this paper, we describe a novel routing mechanism to create a low power, high-bandwidth Wireless Video Sensor Network (WVSN) for miniature distributed robots in urban search and rescue (USAR) applications. WVSN features: 1) high-bandwidth, high-quality lossless images, 2) low power, and 3) low la-tency of data traffic. Traditional proactive network(More)
This paper presents a novel technique for camera tampering detection. It is implemented in real-time and was developed for use in surveillance and security applications. This method identifies camera tampering by detecting large differences between older frames of video and more recent frames. A buffer of incoming video frames is kept and three different(More)
We present the design of a modular tactile sensor and actuator system for observing human demonstrations of contact tasks. The system consists of three interchangeable parts: an intrinsic tactile sensor for measuring net force/ torque, an extrinsic tactile sensor for measuring contact distributions , and a tactile actuator for displaying tactile(More)