Autonomous Precision Pouring From Unknown Containers

Aas 08-239 Autonomous Navigation Algorithm for Precision Landing on Unknown Planetary Surfaces

A localization algorithm is developed to assist automated landing on unknown planetary surface. Classically, using a vision-sensor only, the vehicle states are subject to an observability issue. In order to overcome this problem, relative motion estimates were used as measurements in addition to image-plane data of the feature points. Using these data as measurements, a nonlinear least square e...

Autonomous Characterization of Unknown Environments

Key to the autonomous exploration of an unknown area, by a scientific robotic rover is the ability of the vehicle to autonomously recognize objects of interest and generalize about the region. This paper presents a Bayesian framework under which a mobile robot can learn how different classes of objects are distributed over a geographical region, using imperfect observations and non-random sampl...

Autonomous Localization in Unknown Environments

Over the last 20 years, navigation has almost become synonymous with satellite positioning, e.g. the Global Positioning System (gps). On land, sea or in the air, on the road or in a city, knowing ones position is a question of getting a clear line of sight to four or more satellites. Unfortunately, since the signals are extremely weak there are environments the gps signals cannot reach but wher...

IEEE TRANSACTIONS ON AUTONOMOUS MENTAL DEVELOPMENT A Behavior–Grounded Approach to Forming Object Categories: Separating Containers from Non-Containers

This paper introduces a framework that allows a robot to form a single behavior–grounded object categorization after it uses multiple exploratory behaviors to interact with objects and multiple sensory modalities to detect the outcomes that each behavior produces. Our robot observed acoustic and visual outcomes from 6 different exploratory behaviors performed on 20 objects (containers and non-c...

Autonomous Uav Precision Item Pickup