CURRENT PROJECTS

1. Distributed Estimation and Active Sensing with Mobile Robot Networks
• Performance Characterization of Cooperative Localization and SLAM
• Performance Characterization of Cooperative Localization and Tracking
• Multi-robot SLAM with Unknown Initial Correspondence
• Determining the Robot-to-Robot Relative Pose using Range only Measurements
• Optimal Sensing Strategies for Mobile Robot Formations
• Optimal Motion Strategies for Distributed Range only Tracking
• Adaptive Sensing for Plume Tracking
2. Coupled Vision and Inertial Navigation for Pin Point Landing
• Pin-Point Landing based on Mapped Landmark Observations
• Vision-Aided Inertial Navigation
• Sensor Calibration and Alignment
3. Estimation within the CLARAty Architecture
4. 3D Localization for Mars Rovers
5. Simultaneous Localization and Mapping
6. Autonomous Stair Climbing
7. An Indoor Localization Aid for the Visually Impaired

RESEARCH PLATFORMS

1. Packbot
2. Helicopter
3. White Cane
4. Pioneer Robots

DEMONSTRATIONS

1. SSR-RC Spring Symposium,Tampa, FL (Mar. 21-22 2005)

PRESENTATIONS

1. Conference Presentations

OUTREACH ACTIVITIES

1. K-12 education

MEDIA COVERAGE

1. Pioneer Press, Twin Cities, MN, Sunday May 15, 2005, "Tech firms reach out for research", by Leslie Brooks Suzukamo.

PAST PROJECTS

1. Weighted Laser Scan Matching
2. Safe and Precise Landing
3. Mars Exploration Rover
4. Navigation on Slopes
5. Tactical Mobile Robot
6. Collision Detection
7. Fault Detection and Identification for Mobile Robots
8. Leg Detection