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Carl Wellington NREC Commercialization Specialist Associated center: NREC Email address: carl@wellington.name Office: NREC 224 Phone: (412) 681-7159 Mailing address: National Robotics Engineering Center 10 40th Street Pittsburgh, PA 15201 For more information, see my personal homepage.

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Research interests

I am interested in position estimation and control for outdoor vehicles.

This section last updated - May 2006.

Research interest keywords

control, field robotics, and sensor fusion

Current Projects

Autonomous Agricultural Spraying - We are developing ground-based vehicles for pesticide application.

UGCV PerceptOR Integrated - The UPI (UGCV PerceptOR Integrated) program integrates and enhances the results from UGCV and PerceptOR to increase the speed and autonomy of unmanned ground vehicles operating in complex terrain. By combining the inherent mobility of Spinner with advanced perception techniques including the use of learning and prior terrain data, the UPI program stresses system design across vehicle, sensors and software so that the strengths of one component compensate for the weaknesses of another.

Vehicle Safeguarding - The NREC designed, developed and tested a fully autonomous system capable of following pre-taught paths while detecting and avoiding obstacles.

Publications

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Learning a Terrain Model for Autonomous Navigation in Rough Terrain
  C. Wellington
  doctoral dissertation, tech. report CMU-RI-TR-05-59, Robotics Institute, Carnegie Mellon University, December, 2005. [Abstract]
  Download: pdf [16784 KB] copyrighted

• Interacting Markov Random Fields for Simultaneous Terrain Modeling and Obstacle Detection
  C. Wellington, A. Courville, and A. Stentz
  Proceedings of Robotics: Science and Systems, June, 2005. [Abstract]
  Download: pdf [3208 KB] copyrighted

• Online Adaptive Rough-Terrain Navigation in Vegetation
  C. Wellington and A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 1, April, 2004, pp. 96 - 101. [Abstract]
  Download: pdf [1916 KB] copyrighted

• Learning Predictions of the Load-Bearing Surface for Autonomous Rough-Terrain Navigation in Vegetation
  C. Wellington and A. Stentz
  International Conference on Field and Service Robotics, July, 2003, pp. 49-54. [Abstract]
  Download: pdf [3246 KB] copyrighted

• A System for Semi-Autonomous Tractor Operations
  A. Stentz, C. Dima, C. Wellington, H. Herman, and D. Stager
  Autonomous Robots, Vol. 13, No. 1, July, 2002, pp. 87-103. [Abstract]