-
John Anderson.
A Generic Distributed Simulation System for Intelligent Agent Design and Evaluation.
In Proceedings of the 10th International Conference on AI, Simulation, and Planning in High Autonomy Systems,
Tucson, AZ,
pages 36-44,
March 2000.
@inproceedings{sim2000,
author = {John Anderson},
title = {A Generic Distributed Simulation System for Intelligent Agent Design and Evaluation},
booktitle = {Proceedings of the 10th International Conference on AI, Simulation, and Planning in High Autonomy Systems},
year = {2000},
pages = {36-44},
address = {Tucson, AZ},
month = {March},
pdf = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/dgensim.pdf}
}
-
John Anderson.
Agent Breadth in a Tool for Distributed Multi-Agent System Development.
In Proceedings of the OOPSLA Workshop on Experiences with Autonomous Mobile Objects and Agent-Based Systems,
Minneapolis, MN,
October 2000.
@inproceedings{oopsla2001,
author = {John Anderson},
title = {Agent Breadth in a Tool for Distributed Multi-Agent System Development},
booktitle = {Proceedings of the OOPSLA Workshop on Experiences with Autonomous Mobile Objects and Agent-Based Systems},
year = {2000},
address = {Minneapolis, MN},
month = {October},
pdf = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/oopsla.pdf}
}
-
Jacky Baltes.
A Benchmark Suite for Mobile Robots.
In Proceedings of IROS-2000,
November 2000.
IEEE.
Abstract: |
This paper describes a benchmark suite for mobile robots that provides quantitative measurements of a mobile robot's ability to perform specific tasks. Guidelines for the design of benchmark tests were derived from other areas faced with the problem of evaluating complex systems. The benchmarks test the control and accuracy of the path and trajectory tracking, the static path planning, and the dynamic path planning ability of a mobile robot. A set of metrics that provide important information about a mobile robot's performance are also presented. These benchmarks could also be used as simple games. Their inclusion in robotic games will lead to an increased opportunity fo researchers to evaluate their work without having to buy expensive or special purpose equipment. |
@inproceedings{baltes00:_bench_suite_mobil_robot,
author = {Jacky Baltes},
title = {A Benchmark Suite for Mobile Robots},
booktitle = {Proceedings of IROS-2000},
year = 2000,
month = {November},
organization = {IEEE},
abstract = {This paper describes a benchmark suite for mobile robots that provides quantitative measurements of a mobile robot's ability to perform specific tasks. Guidelines for the design of benchmark tests were derived from other areas faced with the problem of evaluating complex systems. The benchmarks test the control and accuracy of the path and trajectory tracking, the static path planning, and the dynamic path planning ability of a mobile robot. A set of metrics that provide important information about a mobile robot's performance are also presented. These benchmarks could also be used as simple games. Their inclusion in robotic games will lead to an increased opportunity fo researchers to evaluate their work without having to buy expensive or special purpose equipment.},
pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes00:_bench_suite_mobil_robot.pdf}
}
-
Jacky Baltes.
Practical Camera and Colour Calibration for Large Rooms.
In Manuela Veloso,
Enrico Pagello,
and Hiroaki Kitano, editors,
RoboCup-99: Robot Soccer World Cup III,
New York,
pages 148-161,
2000.
Springer Verlag.
[Slides]
Abstract: |
This paper describes a practical method for calibrating the geometry and colour information for cameras surveying large rooms. To calibrate the geometry, we use a semi-automatic system to assign real world to pixel coordinates. This information is the input to the Tsai camera calibration method. Our system uses a two stage process in which easily recognizable objects (squares) are used to sort the individual data points and to find missing objects. Fine object features (corners) are used in a second step to determine the object's real world coordinates. An empirical evaluation of the system shows that the average and maximum errors are sufficiently small for our domain. Objects are recognized through coloured spots. The colour calibration uses six thresholds (Three colour ranges (Red, Green, and Blue) and three colour differences (Red - Green, Red - Blue, Green - Blue)). This paper describes a fast threshold comparison routine. |
Annotation: |
Description of our camera and colour calibration |
@inproceedings{baltes00:_pract_camer_colour_calib_large_rooms,
author = {Jacky Baltes},
title = {Practical Camera and Colour Calibration for Large Rooms},
booktitle = {RoboCup-99: Robot Soccer World Cup III},
pages = {148-161},
year = 2000,
editor = {Manuela Veloso and Enrico Pagello and Hiroaki Kitano},
address = {New York},
publisher = {Springer Verlag},
annote = {Description of our camera and colour calibration},
isbn = {ISBN-3-540-41043-0},
abstract = {This paper describes a practical method for calibrating the geometry and colour information for cameras surveying large rooms. To calibrate the geometry, we use a semi-automatic system to assign real world to pixel coordinates. This information is the input to the Tsai camera calibration method. Our system uses a two stage process in which easily recognizable objects (squares) are used to sort the individual data points and to find missing objects. Fine object features (corners) are used in a second step to determine the object's real world coordinates. An empirical evaluation of the system shows that the average and maximum errors are sufficiently small for our domain. Objects are recognized through coloured spots. The colour calibration uses six thresholds (Three colour ranges (Red, Green, and Blue) and three colour differences (Red - Green, Red - Blue, Green - Blue)). This paper describes a fast threshold comparison routine. },
pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes00:_pract_camer_colour_calib_large_rooms.pdf},
slides = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes00:_pract_camer_colour_calib_large_rooms_slides.pdf}
}
-
Jacky Baltes.
Subsumption-Based Control for Mobile Robots in Dynamic Environments.
In Proceedings of ICARCV,
2000.
[Slides]
Abstract: |
This paper describes an architecture for path planning and control of car-like mobile robots. The method is based on a subsumption architecture with four individual behaviors: approach, steer, turn, and progress. The coordination of these simple behaviors results in a robust control architecture for mobile robots that performed well when compared to other control methods. The controller also results in simplifying the requirements on the path planner. |
Annotation: |
Description of our controller for 2000. Mainly based on a Ben's work |
@inproceedings{baltes00:_subsum_based_contr_mobil_robot_dynam_envir,
author = {Jacky Baltes},
title = {Subsumption-Based Control for Mobile Robots in Dynamic Environments},
booktitle = {Proceedings of ICARCV},
year = 2000,
annote = {Description of our controller for 2000. Mainly based on a Ben's work},
abstract = {This paper describes an architecture for path planning and control of car-like mobile robots. The method is based on a subsumption architecture with four individual behaviors: approach, steer, turn, and progress. The coordination of these simple behaviors results in a robust control architecture for mobile robots that performed well when compared to other control methods. The controller also results in simplifying the requirements on the path planner.},
pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes00:_subsum_based_contr_mobil_robot_dynam_envir.pdf},
slides = {http://aaalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes00:_subsum_based_contr_mobil_robot_dynam_envir_slides.pdf}
}
-
Jacky Baltes and Nicholas Hildreth.
Adaptive Path Planning System for Highly Dynamic Environments.
In Proceedings of ICARCV,
2000.
Annotation: |
Description of our adaptive path planner |
@inproceedings{baltes00:_adapt_path_plann_system_highl_dynam_envir,
author = {Jacky Baltes and Nicholas Hildreth},
title = {Adaptive Path Planning System for Highly Dynamic Environments},
booktitle = {Proceedings of ICARCV},
year = 2000,
annote = {Description of our adaptive path planner}
}
-
Jacky Baltes,
Nicholas Hildreth,
and David Maplesdon.
All Botz.
In Manuela Veloso,
Enrico Pagello,
and Hiroaki Kitano, editors,
RoboCup-99: Robot Soccer World Cup III,
New York,
pages 653-656,
2000.
Springer.
Abstract: |
This paper discusses some important features, which make the All Botz, the University of RoboCup team, a very unique team. In particular, the use of cheap hardware and the design of the video server. |
Annotation: |
Description of our RoboCup Team |
@inproceedings{baltes00:_all_botz,
author = {Jacky Baltes and Nicholas Hildreth and David Maplesdon},
title = {All Botz},
booktitle = {RoboCup-99: Robot Soccer World Cup III},
pages = {653-656},
year = 2000,
editor = {Manuela Veloso and Enrico Pagello and Hiroaki Kitano},
address = {New York},
publisher = {Springer},
annote = {Description of our RoboCup Team},
isbn = {ISBN-3-540-41043-0},
abstract = {This paper discusses some important features, which make the All Botz, the University of RoboCup team, a very unique team. In particular, the use of cheap hardware and the design of the video server. },
pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/robocup99-3.pdf}
}
-
Jacky Baltes and Yuming Lin.
Path-tracking Control of Non-holonomic Car-like Robots Using Reinforcement Learning.
In Manuela Veloso,
Enrico Pagello,
and Hiroaki Kitano, editors,
RoboCup-99: Robot Soccer World Cup III,
New York,
pages 162-173,
2000.
Springer.
Abstract: |
This paper investigates the use of reinforcement learning in solving the path-tracking problem for car-like robots. The reinforcement learner uses a case-based function approximator, to extend the standard reinforcement learning paradigm to handle continuous states. The learned controller performs comparable to the best traditional control functions in both simulation and also in practical driving. |
Annotation: |
Description of Yuming's MSc thesis work. A reinforcement learning controller using a case based reasoning system to deal with a a continuous control space |
@inproceedings{baltes00:_path_contr_non_car_robot,
author = {Jacky Baltes and Yuming Lin},
title = {Path-tracking Control of Non-holonomic Car-like Robots Using Reinforcement Learning},
booktitle = {RoboCup-99: Robot Soccer World Cup III},
pages = {162-173},
year = 2000,
editor = {Manuela Veloso and Enrico Pagello and Hiroaki Kitano},
address = {New York},
publisher = {Springer},
annote = {Description of Yuming's MSc thesis work. A reinforcement learning controller using a case based reasoning system to deal with a a continuous control space},
isbn = {ISBN-3-540-41043-0},
abstract = {This paper investigates the use of reinforcement learning in solving the path-tracking problem for car-like robots. The reinforcement learner uses a case-based function approximator, to extend the standard reinforcement learning paradigm to handle continuous states. The learned controller performs comparable to the best traditional control functions in both simulation and also in practical driving. },
pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes00:_path_contr_non_car_robot.pdf}
}
-
Yuhua Zhou and Jacky Baltes.
Ferret: An Intelligent Assistant for Internet Searching.
In Proceedings of the Pacific Rim Conference on AI,
2000.
Abstract: |
This paper describes the design and implementation of Ferret, an information-seeking assistant that helps a user find information on the World Wide Web. It analyzes and automatically clusters the returned pages from a search engine. |
@inproceedings{zhou00:_ferret,
author = {Yuhua Zhou and Jacky Baltes},
title = {Ferret: An Intelligent Assistant for Internet Searching},
booktitle = {Proceedings of the Pacific Rim Conference on AI},
year = 2000,
abstract = {This paper describes the design and implementation of Ferret, an information-seeking assistant that helps a user find information on the World Wide Web. It analyzes and automatically clusters the returned pages from a search engine.},
pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/zhou00_ferret.pdf}
}