Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
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<strong>Session</strong> WedET8 Gemini 1 <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 15:00–16:00<br />
Search and Rescue – Modeling<br />
Chair Pedro Lima, Inst. Superior Técnico - Inst. for Systems and Robotics<br />
Co-Chair<br />
15:00–15:15 WedET8.1<br />
Multi-sensor ATTenuation Estimation (MATTE):<br />
Signal-strength prediction for teams of robots<br />
Johannes Strom and Edwin Olson<br />
Computer Science and Engineering<br />
University of Michigan USA<br />
Attenuation estimate<br />
after exploration mission<br />
15:30–15:45 WedET8.3<br />
A Markov semi-supervised clustering approach<br />
and its application in topological map extraction<br />
Ming Liu and Francis Colas and Francois Pomerleau<br />
and Roland Siegwart<br />
Autonomous Systems Lab, ETH Zurich, Switzerlandr<br />
• Propose a semi-supervised<br />
clustering approach by k-NN<br />
reasoning<br />
• Compared with related semisupervised<br />
algorithms on two-ring<br />
dataset<br />
• Topological segmentation by<br />
human sparse input using the<br />
proposed clustering model<br />
15:15–15:30 WedET8.2<br />
Robust Acoustic Source Localization of<br />
Emergency Signals from Micro Air Vehicles<br />
Meysam Basiri 1,2 , Felix Schill 1 , Pedro Lima 2 and Dario Floreano 1<br />
1. Laboratory of Intelligent Systems,<br />
Ecole Polytechnique Federale de Lausanne, Switzerland<br />
2. Institute for Systems and Robotics,<br />
Instituto Superior Técnico, Lisboa, Portugal<br />
• Sound source localization system for<br />
micro air vehicles capable of localizing<br />
narrow band sound sources on the<br />
ground.<br />
• Two types of acoustic information (Time<br />
delay of arrival and Doppler shift) and<br />
vehicle dynamics are used in a particle<br />
filter.<br />
• Potential application in search and<br />
rescue missions to locate people with<br />
emergency whistles or personal alarms is<br />
experimentally demonstrated to be<br />
feasible and effective.<br />
15:45–16:00 WedET8.4<br />
Search-theoretic and Ocean Models for<br />
Localizing Drifting Objects<br />
Joses Yau<br />
Oceanography Department, Naval Postgraduate School, USA<br />
Timothy H. Chung<br />
Systems Engineering Department, Naval Postgraduate School, USA<br />
• Improve the probability of detecting a<br />
near-surface, drifting object over time<br />
using a UAV<br />
• Integrate ocean models, i.e., idealized<br />
current flows, and search models, i.e.,<br />
expanding area and discrete myopic<br />
search<br />
• Conduct experimental design for extensive<br />
simulation studies to identify significant<br />
factors for improved search<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–168–<br />
Simulated expanding area for<br />
search of a drifting object in<br />
idealized surface current flow