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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.

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.

Name - Title <Email Address>
• [Home] 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>
• [Home] 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>
• [Home] 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>
• [Home] Peter Rander - Senior Commercialization Specialist <rander@cs.cmu.edu>
• [Home] Anthony (Tony) Stentz - Research Professor/Assoc Dir NREC <tony+@cmu.edu>
• Randon Warner - NREC Commercialization Specialist <randyw@rec.ri.cmu.edu>

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