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PerceptOR (NREC) (NRECPerceptOR) Head: Anthony (Tony) Stentz Contact: Anthony (Tony) Stentz (tony+@cmu.edu) Mailing address: National Robotics Engineering Consortium 10 40th Street Pittsburgh, PA 15201 Associated center: NREC For more information, see this project's homepage.

This page last updated - January 1999.

Project Description

As part of DARPA's PerceptOR program, an NREC-led team has developed a novel semi-autonomous unmanned ground vehicle (UGV) that includes a dedicated unmanned air vehicle - a "Flying Eye" - that flies ahead of the UGV to detect holes and other hazards before the onboard UGV sensors would otherwise be able to detect them. The improved obstacle sensing due to dual, well-separated views and the optimized route planning enabled by the Flying Eye's reconnaissance increase autonomous speed by decreasing the risk of the vehicle being disabled or trapped and decreasing the need for both operator intervention and communications bandwidth.

Personnel [Past Members]

	Name	Title	Email Address
	Omead Amidi	Senior Systems Scientist	omead.amidi@cs.cmu.edu
	Michael W Bode	Senior Robotics Engineer	bode@rec.ri.cmu.edu
	Todd J Dudek	Helicopter Design and Safety Engineer	tdudek@cs.cmu.edu
	Michael Happold	Sr. Commercialization Specialist	happ@rec.ri.cmu.edu
	Herman Herman	Principal NREC Commercialization Special	h.herman@cs.cmu.edu
	Alonzo Kelly	Associate Professor	alonzo@ri.cmu.edu
	James M Ketterer	Technician III	jk5n@andrew.cmu.edu
	Eric Kratzer	Robotics Engineer	ekratzer@rec.ri.cmu.edu
	James Ryan Miller	Commercialization Specialist	jmce+@ri.cmu.edu
	Aaron Christopher Morris	Postdoctoral Fellow	acmorris@andrew.cmu.edu
	Thomas Pilarski	NREC Commercialization Specialist	temp@rec.ri.cmu.edu
	Peter Rander	Senior Commercialization Specialist	rander@cs.cmu.edu
	Anthony (Tony) Stentz	Research Professor/Assoc Dir NREC	tony+@cmu.edu
	Randon Warner	NREC Commercialization Specialist	randyw@rec.ri.cmu.edu

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.

• Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments
  A. Kelly, A. Stentz, O. Amidi, M.W. Bode, D. Bradley, A. Diaz-Calderon, M. Happold, H. Herman, R. Mandelbaum, T. Pilarski, P. Rander, S. Thayer, N.M. Vallidis, and R. Warner
  The International Journal of Robotics Research, Vol. 25, No. 5-6, May, 2006, pp. 449-483. [Abstract]
  Download: pdf [847 KB] copyrighted

• A Study of Polynomial Curvature Clothoid Paths for Motion Planning for Car-like Robots
  M. Pivtoraiko
  tech. report CMU-RI-TR-04-68, Robotics Institute, Carnegie Mellon University, December, 2004. [Abstract]
  Download: pdf [387 KB] copyrighted

• Vegetation Detection for Mobile Robot Navigation
  D. Bradley, S. Thayer, A. Stentz, and P. Rander
  tech. report CMU-RI-TR-04-12, Robotics Institute, Carnegie Mellon University, February, 2004. [Abstract]
  Download: pdf [1561 KB] copyrighted

• Real-Time, Multi-Perspective Perception for Unmanned Ground Vehicles
  A. Stentz, A. Kelly, P. Rander, H. Herman, O. Amidi, R. Mandelbaum, G. Salgian, and J. Pedersen
  Proc. of AUVSI Unmanned Systems Symposium 2003, July, 2003. [Abstract]
  Download: pdf [302 KB] copyrighted

• Integrated Air/Ground Vehicle System for Semi-Autonomous Off-Road Navigation
  A. Stentz, A. Kelly, H. Herman, P. Rander, O. Amidi, and R. Mandelbaum
  Proc. of AUVSI Unmanned Systems Symposium 2002, July, 2002. [Abstract]
  Download: pdf [531 KB] copyrighted

• Stereo perception on an off-road vehicle
  A. Rieder, B. Southall, G. Salgian, R. Mandelbaum, H. Herman, P. Rander, and A. Stentz
  IEEE 2002 Intelligent Vehicle Symposium, Vol. 1, June, 2002, pp. 221 - 226. [Abstract]
  Download: pdf [680 KB] copyrighted