1. John Anderson. Providing a Broad Spectrum of Agents in Spatially-Explicit Simulation Models. In Randy Gimblett, editor, Integrating GIS and Agent based modeling techniques for Understanding Social and Ecological Processes, chapter 2, pages 21-58. Oxford University Press, May 2001.
   

   @incollection{gb,
   author = {John Anderson},
   editor = {Randy Gimblett},
   title = {Providing a Broad Spectrum of Agents in Spatially-Explicit Simulation Models},
   booktitle = {Integrating GIS and Agent based modeling techniques for Understanding Social and Ecological Processes},
   publisher = {Oxford University Press},
   year = {2001},
   chapter = {2},
   pages = {21-58},
   month = {May},
   pdf = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/chapter.pdf} 
   }
   




2. Jacky Baltes and Nicholas Hildreth. Adaptive Path Planner for Highly Dynamic Environments. In Peter Stone, Tucker Balch, and Gerhard Kraetszchmar, editors, RoboCup-2000: Robot Soccer World Cup IV, pages 76-85. Springer Verlag, Berlin, 2001. Abstract:

   This paper describes adaptive path planning, a novel approach to path planning for car-like mobile robots. Instead of creating a new plan from scratch, whenever changes in the environment invalidate the current plan, the adaptive path planner attempts to adapt the old plan to the new situation. The paper proposes an efficient representation for path that is easily amendable to adaptation. Associated with the path planner is a set of repair strategies. These repair strategies are local methods to fix a plan to compensate for object movement in the domain. The repair strategies are specific and have a high probability of being able to fix a plan. An empirical evaluation shows that adaptive path planning is suitable to highly dynamic domains, such as \RoboCup. Adaptive path planning reduces the cumulative planning time by a factor of $2.7$ compared to Bicchi's planner. At the same time, the quality of the plans generated by the adaptive path planner were similar to those generated by Bicchi's planner.

   
   

   @incollection{baltes01:_adapt_path_plann_highl_dynam_envir,
   title = {Adaptive Path Planner for Highly Dynamic Environments},
   author = {Jacky Baltes and Nicholas Hildreth},
   booktitle = {{R}obo{C}up-2000: Robot Soccer World Cup {IV}},
   editor = {Peter Stone and Tucker Balch and Gerhard Kraetszchmar},
   publisher = {Springer Verlag},
   address = {Berlin},
   year = 2001,
   pages = {76--85},
   abstract = {This paper describes adaptive path planning, a novel approach to path planning for car-like mobile robots. Instead of creating a new plan from scratch, whenever changes in the environment invalidate the current plan, the adaptive path planner attempts to adapt the old plan to the new situation. The paper proposes an efficient representation for path that is easily amendable to adaptation. Associated with the path planner is a set of repair strategies. These repair strategies are local methods to fix a plan to compensate for object movement in the domain. The repair strategies are specific and have a high probability of being able to fix a plan. An empirical evaluation shows that adaptive path planning is suitable to highly dynamic domains, such as \RoboCup. Adaptive path planning reduces the cumulative planning time by a factor of $2.7$ compared to Bicchi's planner. At the same time, the quality of the plans generated by the adaptive path planner were similar to those generated by Bicchi's planner.},
   pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes01:_adapt_path_plann_highl_dynam_envir.pdf} 
   }
   

1. John Anderson. Natural Integration of External Advice in an Architecture for Real-Time Intelligent Agents. In Proceedings of the IASTED International Conference on Artificial Intelligence and Soft Computing (ASC2001), Cancun, MX, pages 377-382, May 2001.
   

   @inproceedings{asc2001,
   author = {John Anderson},
   title = {Natural Integration of External Advice in an Architecture for Real-Time Intelligent Agents},
   booktitle = {Proceedings of the IASTED International Conference on Artificial Intelligence and Soft Computing (ASC2001)},
   year = {2001},
   pages = {377-382},
   address = {Cancun, MX},
   month = {May} 
   }
   




2. Jacky Baltes. Camera Calibration of Rectangular Textures. In Proceedings of the Robot Vision Workshop, Auckland, New Zealand, February 2001. Centre for Imaging Technology and Robotics. [Slides] Abstract:

   This paper describes a practical method for the camera calibration given a single image of a regular texture. This paper uses the calibration of images of skyscrapers as an example. The paper introduces two algorithms for the assignment of real world coordinates to feature points. The first algorithm selects five closely connected feature points and determines the orientation of the rectangular pattern. The second algorithm iteratively sorts the feature points and assigns real world coordinates to them. Lastly, the Tsai camera calibration algorithm is used to compute the camera parameters.

   Annotation:

   Description of application of our matching points algorithm to calibration of rectangular patterns

   
   

   @inproceedings{baltes01:_camer_calib_rectan_textur,
   author = {Jacky Baltes},
   title = {Camera Calibration of Rectangular Textures},
   booktitle = {Proceedings of the Robot Vision Workshop},
   year = 2001,
   address = {Auckland, New Zealand},
   month = {February},
   organization = {Centre for Imaging Technology and Robotics},
   annote = {Description of application of our matching points algorithm to calibration of rectangular patterns},
   abstract = {This paper describes a practical method for the camera calibration given a single image of a regular texture. This paper uses the calibration of images of skyscrapers as an example. The paper introduces two algorithms for the assignment of real world coordinates to feature points. The first algorithm selects five closely connected feature points and determines the orientation of the rectangular pattern. The second algorithm iteratively sorts the feature points and assigns real world coordinates to them. Lastly, the Tsai camera calibration algorithm is used to compute the camera parameters. },
   pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes01:_camer_calib_rectan_textur.pdf},
   slides = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes01:_camer_calib_rectan_textur_slides.pdf} 
   }
   




3. Jacky Baltes. Horus: Object Orientation and ID Without Additional Markers. In Proceedings of the Robot Vision Workshop, Auckland, New Zealand, February 2001. [Slides] Abstract:

   This paper describes a novel approach to detecting orientation and identity of robots using a global vision system. Instead of additional markers, the original shape of the robot is used to determine an orientation using a general Hough transform. In addition the movement history as well as the command history are used to calculate the quadrant of the orientation as well as the identity of the robot. An empirical evaluation shows that the performance of the new video server is at least as good as that of a traditional approach using additional coloured markers.

   
   

   @inproceedings{baltes01:_horus,
   author = {Jacky Baltes},
   title = {Horus: Object Orientation and ID Without Additional Markers},
   booktitle = {Proceedings of the Robot Vision Workshop},
   year = 2001,
   month = {February},
   address = {Auckland, New Zealand},
   abstract = {This paper describes a novel approach to detecting orientation and identity of robots using a global vision system. Instead of additional markers, the original shape of the robot is used to determine an orientation using a general Hough transform. In addition the movement history as well as the command history are used to calculate the quadrant of the orientation as well as the identity of the robot. An empirical evaluation shows that the performance of the new video server is at least as good as that of a traditional approach using additional coloured markers. },
   pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes01:_horus.pdf},
   slides = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes01:_horus_slides.pdf} 
   }
   




4. Jacky Baltes and Nicholas Hildreth. RoboCup99: A Student's Perspective. In Proceedings of the Robot Vision Workshop, February 2001. [Slides] Abstract:

   One of the reasons for organizing robotic games is that they allow researchers to evaluate their systems and approaches on a level playing field. This evaluation is important in a quickly developing field such as robotics with few real world applications. This paper investigates through a case-study how much participating at the RoboCup-99 competition has benefited a MSc. student at the University of Auckland. Although the participation was certainly stimulating, its influence on the research was indirect. The paper makes a number of suggestions that will make it easier to quantitatively evaluate research at these competitions and thus influence research more directly.

   
   

   @inproceedings{baltes01:_roboc,
   author = {Jacky Baltes and Nicholas Hildreth},
   title = {RoboCup99: A Student's Perspective},
   booktitle = {Proceedings of the Robot Vision Workshop},
   year = 2001,
   month = {February},
   abstract = {One of the reasons for organizing robotic games is that they allow researchers to evaluate their systems and approaches on a level playing field. This evaluation is important in a quickly developing field such as robotics with few real world applications. This paper investigates through a case-study how much participating at the RoboCup-99 competition has benefited a MSc. student at the University of Auckland. Although the participation was certainly stimulating, its influence on the research was indirect. The paper makes a number of suggestions that will make it easier to quantitatively evaluate research at these competitions and thus influence research more directly.},
   pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes01:_roboc.pdf},
   slides = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes01:_roboc_slides.pdf} 
   }
   




5. Tim Groner and John Anderson. Efficient Multi-Robot Localization and Navigation Through Passive Cooperation. In Proceedings of the 2001 International Conference on Artificial Intelligence (IC-AI'2001, regular session), Las Vegas, NV, pages 84-89, June 2001.
   

   @inproceedings{groner,
   author = {Tim Groner and John Anderson},
   title = {Efficient Multi-Robot Localization and Navigation Through Passive Cooperation},
   booktitle = {Proceedings of the 2001 International Conference on Artificial Intelligence (IC-AI'2001, regular session)},
   year = {2001},
   pages = {84-89},
   address = {Las Vegas, NV},
   month = {June} 
   }
   

1. Jacky Baltes. Toy Electronics, May 2001. Note: Invited tutorial at the conference for Artificial Intelligence and Soft Computing. Abstract:

   The tutorial describes the initial steps in the development of a robotic platform that can be used for many experiments into AI. The system uses remote controlled cars as platforms and is thus inexpensive and easily available. A standard framegrabber and video camera are used to provide vision information to the processor. The tutorial will lesson the learning curve for people by describing efficient methods for image processing and control. This methods have been developed by the All Botz in the previous years and have proven their effectiveness in many games and demonstrations. Effectively, this will provide participants with solutions to the low level problems associated with soccer playing robots. Therefore, the participants of the tutorial will be able to build their own team in short time and to use it to test higher level AI and Soft Computing methods.

   
   

   @misc{baltes01:_toy_elect,
   author = {Jacky Baltes},
   title = {Toy Electronics},
   note = {Invited tutorial at the conference for Artificial Intelligence and Soft Computing},
   month = {May},
   year = 2001,
   abstract = {The tutorial describes the initial steps in the development of a robotic platform that can be used for many experiments into AI. The system uses remote controlled cars as platforms and is thus inexpensive and easily available. A standard framegrabber and video camera are used to provide vision information to the processor. The tutorial will lesson the learning curve for people by describing efficient methods for image processing and control. This methods have been developed by the All Botz in the previous years and have proven their effectiveness in many games and demonstrations. Effectively, this will provide participants with solutions to the low level problems associated with soccer playing robots. Therefore, the participants of the tutorial will be able to build their own team in short time and to use it to test higher level AI and Soft Computing methods.},
   pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes01:_toy_elect.tar.gz} 
   }
   

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