Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

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