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Carnegie Mellon Robotics Institute

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		Chuck Thorpe Adjunct Faculty, RI Email: Office: NSH 4000B   Mailing address: Carnegie Mellon University Robotics Institute 5000 Forbes Avenue Pittsburgh, PA 15213

Past Projects
		Ambler We are developing the Ambler, a six-legged walking robot that addresses the challenges of exploring rugged terrains, acquiring samples, and avoiding dangerous situations.
		CTA Robotics This project adresses the problems of scene interpretation and path planning for mobile robot navigation in natural environment.
		Distributed Architecture for Mobile Navigation (DAMN) The Distributed Architecture for Mobile Navigation (DAMN) is a behavior-based architecture similar in spirit to the Subsumption Architecture.
		Grid based Approach for Navigation by Evidence Storage and Histogram Analysis (GANESHA) Grid based navigation
		Intelligent Diabetes Assistant We are working to create an intelligent assistant to help patients and clinicians work together to manage diabetes at a personal and social level. This project uses machine learning to predict the effect that patient specific behaviors have on blood glucose.
		No Hands Across America! (NHAA) Vehicle drives across the United States
		Position Estimation We estimate the position of a robot based on the position of natural landmarks in images.
		Rapidly Adapting Lateral Position Handler (RALPH) adaptive steering
		Run-Off-Road The Run Off Road Collision Countermeasures program assists drivers by monitoring the vehicle's position in the lane while a person drives.
		Sensor Friendly Highways
		Side Collision Warning System for Transit Buses To develop a warning system which helps a driver of a transit bus to avoid side collisions with pedestrians, other vehicles, or stationary objects.
		Simulated Highways for Intelligent Vehicle Algorithms (SHIVA) SHIVA is a microsimulation of a highway environment, designed specifically for testing intelligent vehicle tactical algorithms.
		Simultaneous Localization and Mapping with Detection, Tracking, and Classification of Moving Objects We are developing the algorithms to solve Simultaneous Localization and Mapping (SLAM) and Detection, Tracking and Classification of Moving Objects (DTCMO) problems for both indoor and outdoor applications.
		Supervised TeleRobotics using Incremental Polyhedral-Earth geometry (STRIPE) Teleoperating vehicles over low bandwidth links.
		Tactical Mobile Robotics As part of the DARPA Tactial Mobile Robotics program, we are developing techniques for semi-autonomous navigation of a small robot in urban environments.
		Transit Bus Collision Warning Systems Research and integration of side and front collision warning systems for transit buses.
		Unmanned Ground Vehicles Developing autonomous navigation capabilities for mobile robots driving in complex, unstructured outdoor terrain.