Accession Number : ADA300745

Title :   Quarterly Progress Report for Contract N00014-93-1-1235, August 1994-October 1994 (Yale University, New Haven, Connecticut).

Descriptive Note : Quarterly rept.,

Corporate Author : YALE UNIV NEW HAVEN CT DEPT OF COMPUTER SCIENCE

Personal Author(s) : McDermott, Drew

PDF Url : ADA300745

Report Date : OCT 1994

Pagination or Media Count : 6

Abstract : During this period, we made substantial progress on visual tracking for our mobile robotic system, and upgraded our tracking system framework. We have begun construction of a navigation system for our mobile robot based entirely on visual tracking. During this period, we developed SSD-based tracking systems, and used those systems to demonstrate robot motion along a pre-defined path. This demonstration included automated selection of features to track and tracking of features in realtime as the robot moved. We are currently working on extending the system capabilities, optimizing the tracking functions, and "robustifying" the tracking methods. We have extended our tracking system framework in a number of ways. Earlier versions of the tracking system required tracking networks to be strictly heirarchical. This made it difficult to share features among different system components requiring visual feedback. The new system eases this heirarchical requirement, making it possible to have more fully interconnected networks. We have also developed a typing system for trackers, making it possible to define generical geometric and logical constructions independent of the implementation of the tracking components. These modifications have substantially simplified the construction of visual servoing systems. We continue to build a library of plans and transformations for our work on sensor-guided planning. The current work focusses on getting the necessary body of planning knowledge to carry out our main experiments. For this purpose we are implementing failure models for additional kinds of execution failures and plan revision rules indexed by these failures.

Descriptors :   *ROBOTICS, *OPTIMIZATION, *VISUAL SURVEILLANCE, METHODOLOGY, AUTOMATION, MODELS, NETWORKS, ROBOTS, FAILURE, MOTION, TRACKING, NAVIGATION, PLANNING, FEEDBACK, MOBILE, TABLES(DATA), VISION, CONNECTICUT, LIBRARIES, SELECTION.

Subject Categories : Cybernetics
      Military Intelligence

Distribution Statement : APPROVED FOR PUBLIC RELEASE