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Past projects, Howie Choset

Autonomous Extra-vehicular Robotic Camera - Aercam is a flying soccer-ball sized spacecraft with a camera allowing remote inspection of the future space station and the Space Shuttle.	Bridge Inspection with Serpentine Robots - We are developing motion planning strategies to use serpentine robots to perform bridge inspection.
Controlled Coverage for Auto-Body Painting - Speeding up of the paint spray-gun path programming by automation, achieving uniform coverage.	Coverage Path Planning in the Plane: Exact Cellular Decompositions - Incremental construction of exact cellular decompositions that are formulated in terms of critical points of Morse functions.
Localization with Mobile Robots	Mechatronics - Encoding our motion planning algorithms into small hardware platforms.
Mini Bone-Attached Robotic System - This research seeks to develop a novel computer-assisted and robotic tool that will enable fewer and minimally invasive surgical techniques for orthopaedic surgery.	Mobile Robot Platform Design - Mechanical design of a differential drive mechanism for outdoor coverage.
Modular Distributed Manipulator System - An array of cells, each of which can induce a vectored force to an object resting on the cell. The cells collectively transport and manipulate objects resting on the array.	Probabilistic Coverage - Recognition of mine patterns using statistical methods.
Retract-like structures for Euclidian Spaces - Sensor based motion planning using hierarchical Voronoi graphs.	Sensor Based Coverage of Unknown Planar Environments - Sensor based coverage of unknown environments using exact cellular decompositions.
The Arc Transversal Median - Improving the azimuth resolution of conventional Polaroid ultrasonic sensors by using intersection arcs, filtering the intersections, and then taking the median results in a 10-fold improvement in azimuth resolution.	Vacuum Cleaning Robots - We are developing an inexpensive vacuum cleaner robot.
Visual Localization - The visual localization system is being developed to give a mobile robot the ability to locate its own position. The system exploits a CCD camera with colored landmarks and yields a robust and accurate localization performance.