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Publications from 2002
Journal Articles/Book Chapters
  1. Jacky Baltes. 4 Stooges. In A. Birk, S. Coradeschi, and S. Tadokoro, editors, RoboCup 2001: Robot Soccer World Cup V, volume 2377 of Lecture Notes on AI, pages 559-562. Springer-Verlag, Berlin, 2002.
    @incollection{baltes4stooges,
    author = {Jacky Baltes},
    title = {4 Stooges},
    booktitle = {RoboCup 2001: Robot Soccer World Cup V},
    publisher = {Springer-Verlag},
    year = 2002,
    editor = {A. Birk and S. Coradeschi and S. Tadokoro},
    volume = 2377,
    series = {Lecture Notes on AI},
    pages = {559-562},
    address = {Berlin} 
    }
    


Conference Articles
  1. John Anderson, Brian Tanner, and Ryan Wegner. Peer Reinforcement in Homogeneous and Heterogeneous Multi-Agent Learning. In Proceedings of the IASTED International Conference on Artificial Intelligence and Soft Computing (ASC2002), Banff, AB, pages 13-18, July 2002.
    @inproceedings{PR,
    author = {John Anderson and Brian Tanner and Ryan Wegner},
    title = {Peer Reinforcement in Homogeneous and Heterogeneous Multi-Agent Learning},
    booktitle = {Proceedings of the IASTED International Conference on Artificial Intelligence and Soft Computing (ASC2002)},
    address = {Banff, AB},
    year = {2002},
    pages = {13-18},
    month = {July},
    pdf = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/peerreinforcement.pdf} 
    }
    


  2. John Anderson, Ryan Wegner, and Brian Tanner. Exploiting Opportunities through Dynamic Coalitions in Robotic Soccer. In Proceedings of the AAAI International Workshop on Coalition Formation in Dynamic Multiagent Environments, Edmonton, AB, July 2002.
    @inproceedings{simsoccer,
    author = {John Anderson and Ryan Wegner and Brian Tanner},
    title = {Exploiting Opportunities through Dynamic Coalitions in Robotic Soccer},
    booktitle = {Proceedings of the AAAI International Workshop on Coalition Formation in Dynamic Multiagent Environments},
    year = {2002},
    month = {July},
    address = {Edmonton, AB} 
    }
    


  3. John Anderson and Alfred Wurr. Dimensions of Teleautonomy in Mobile Agents. In Proceedings of the IASTED International Conference on Artificial Intelligence and Soft Computing (ASC2002), Banff, AB, pages 1-6, July 2002.
    @inproceedings{withalf,
    author = {John Anderson and Alfred Wurr},
    title = {Dimensions of Teleautonomy in Mobile Agents},
    booktitle = {Proceedings of the IASTED International Conference on Artificial Intelligence and Soft Computing (ASC2002)},
    year = {2002},
    pages = {1-6},
    address = {Banff, AB},
    month = {July},
    pdf = {http://aalab.cs.umanitoba.ca/%7eandersj/Publications/pdf/telebreadth.pdf} 
    }
    


  4. Jacky Baltes. Doraemon: Object Orientation and Id without Additional Markers. In 2nd IFAC Conference on Mechatronic Systems, December 2002. American Automatic Control Council.
    @inproceedings{baltes02:_doraem,
    author = {Jacky Baltes},
    title = {Doraemon: Object Orientation and Id without Additional Markers},
    booktitle = {2nd IFAC Conference on Mechatronic Systems},
    year = {2002},
    month = {December},
    organization = {American Automatic Control Council} 
    }
    


  5. Jacky Baltes. Efficient Image Processing for Increased Resolution and Color Correctness of CMOS Image Sensors. In RoboCup-01: Robot Soccer World Cup V, 2002. Springer.
    Abstract:
    This paper describes fast demosaicing methods to quadruple the resolution of a CMOS camera. The resulting increase in accuracy in camera calibration and object detection is important for local vision robots, especially those that use computer vision as their only source of information about the state of the world. The paper describes two methods for demosaicing: interpolation and variance demosaicing. A comparison of three sample views is shown to demonstrate the increased resolution and the difference between the interpolation and variance demosaicing methods. Both demosaicing methods work well. Variance demosaicing performs better around edges in the image, but is computationally more expensive.

    @inproceedings{baltes02:_effic_image_proces_increas_resol,
    author = {Jacky Baltes},
    title = {Efficient Image Processing for Increased Resolution and Color Correctness of CMOS Image Sensors},
    booktitle = {RoboCup-01: Robot Soccer World Cup V},
    year = 2002,
    publisher = {Springer},
    abstract = {This paper describes fast demosaicing methods to quadruple the resolution of a CMOS camera. The resulting increase in accuracy in camera calibration and object detection is important for local vision robots, especially those that use computer vision as their only source of information about the state of the world. The paper describes two methods for demosaicing: interpolation and variance demosaicing. A comparison of three sample views is shown to demonstrate the increased resolution and the difference between the interpolation and variance demosaicing methods. Both demosaicing methods work well. Variance demosaicing performs better around edges in the image, but is computationally more expensive.},
    pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes02:_effic_image_proces_increas_resol.pdf} 
    }
    


  6. Jacky Baltes. Efficient Localization for Mobile Robots. In Proceedings of the 2002 FIRA World Congress, 2002. Federation of International Robot-soccer Association.
    @inproceedings{baltes02:_effic_local_mobil_robot,
    author = {Jacky Baltes},
    title = {Efficient Localization for Mobile Robots},
    booktitle = {Proceedings of the 2002 FIRA World Congress},
    year = 2002,
    organization = {Federation of International Robot-soccer Association} 
    }
    


  7. Jacky Baltes. Localization for Mobile Robots Using Lines. In Proceedings of the Seventh International Conference on Control, Automation, Robotics and Vision (ICARCV), December 2002.
    @inproceedings{baltes02:_local_mobil_robot_using_lines,
    author = {Jacky Baltes},
    title = {Localization for Mobile Robots Using Lines},
    booktitle = {Proceedings of the Seventh International Conference on Control, Automation, Robotics and Vision (ICARCV)},
    year = 2002,
    month = {December} 
    }
    


  8. Jacky Baltes. Strategy Selection, Goal Generation, and Role Assignment in a Robotic Soccer Team. In Proceedings of the Seventh International Conference on Control, Automation, Robotics and Vision (ICARCV), 2002.
    @inproceedings{baltes02:_strat_selec_goal_gener_role,
    author = {Jacky Baltes},
    title = {Strategy Selection, Goal Generation, and Role Assignment in a Robotic Soccer Team},
    booktitle = {Proceedings of the Seventh International Conference on Control, Automation, Robotics and Vision (ICARCV)},
    year = 2002 
    }
    


  9. Jacky Baltes. YueFei: Object Orientation and Id without Additional Markers. In RoboCup-01: Robot Soccer World Cup V, New York, 2002. Springer.
    Abstract:
    This paper describes a novel approach to detecting orientation and identity of robots using a global vision system. Instead of additional markers, the 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. The identity of the robot is determined by correlating the motion of the robot with the command history. 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{baltes02:_yuefei,
    author = {Jacky Baltes},
    title = {YueFei: Object Orientation and Id without Additional Markers},
    booktitle = {RoboCup-01: Robot Soccer World Cup V},
    year = 2002,
    address = {New York},
    publisher = {Springer},
    pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes02:_yuefei.pdf},
    abstract = {This paper describes a novel approach to detecting orientation and identity of robots using a global vision system. Instead of additional markers, the 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. The identity of the robot is determined by correlating the motion of the robot with the command history. 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.} 
    }
    


  10. Jacky Baltes and John Anderson. A Pragmatic Approach to Robot Rescue: The Keystone Fire Brigade. In William D. Smart, Tucker R. Balch, and Holly A. Yanco, editors, AAAI Mobile Robot Competition, volume WS-02-18 of AAAI Technical Report, pages 38-43, 2002. AAAI Press.
    @inproceedings{baltes02:_pragm_approac_robot_rescue,
    author = {Jacky Baltes and John Anderson},
    title = {A Pragmatic Approach to Robot Rescue: The Keystone Fire Brigade},
    booktitle = {AAAI Mobile Robot Competition},
    pages = {38-43},
    year = 2002,
    editor = {William D. Smart and Tucker R. Balch and Holly A. Yanco},
    volume = {WS-02-18},
    series = {AAAI Technical Report},
    publisher = {AAAI Press},
    isbn = {1-57735-176-2} 
    }
    


  11. Jacky Baltes and Patrick Lam. Development of Walking Gaits for a Small Humanoid Robot. In Proceedings of the 2002 FIRA World Congress, 2002. Federation of International Robot-soccer Association.
    @inproceedings{baltes02:_devel_walkin_gaits_small_human_robot,
    author = {Jacky Baltes and Patrick Lam},
    title = {Development of Walking Gaits for a Small Humanoid Robot},
    booktitle = {Proceedings of the 2002 FIRA World Congress},
    year = 2002,
    organization = {Federation of International Robot-soccer Association} 
    }
    


  12. Jacky Baltes and Yong Joo Park. Comparison of Several Machine Learning Techniques in Pursuit-Evasion Games. In RoboCup-01: Robot Soccer World Cup V, New York, 2002. Springer.
    Abstract:
    This paper describes the results of an empirical evaluation comparing the performance of five different algorithms in a pursuit and evasion game. The pursuit and evasion game was played using two robots. The task of the pursuer was to catch the other robot (the evader). The algorithms tested were a random player, the optimal player, a genetic algorithm learner, a k-nearest neighbor learner, and a reinforcement learner. The k-nearest neighbor learner performed best overall, but a closer analysis of the results showed that the genetic algorithm suffered from an exploration-exploitation problem.

    @inproceedings{baltes02:_compar_sever_machin_learn_techn,
    author = {Jacky Baltes and Yong Joo Park},
    title = {Comparison of Several Machine Learning Techniques in Pursuit-Evasion Games},
    booktitle = {RoboCup-01: Robot Soccer World Cup V},
    year = 2002,
    address = {New York},
    publisher = {Springer},
    abstract = {This paper describes the results of an empirical evaluation comparing the performance of five different algorithms in a pursuit and evasion game. The pursuit and evasion game was played using two robots. The task of the pursuer was to catch the other robot (the evader). The algorithms tested were a random player, the optimal player, a genetic algorithm learner, a k-nearest neighbor learner, and a reinforcement learner. The k-nearest neighbor learner performed best overall, but a closer analysis of the results showed that the genetic algorithm suffered from an exploration-exploitation problem.},
    pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/baltes02:_compar_sever_machin_learn_techn.pdf} 
    }
    


  13. Patrick Lam and Jacky Baltes. Development of Walking Gaits for a Small Humanoid Robot. In Proceedings of the International Conference on Artificial Intelligence and Soft Computing, 2002. IASTED, Acta Press.
    @inproceedings{lam02:_devel_walkin_gaits_small_human_robot,
    author = {Patrick Lam and Jacky Baltes},
    title = {Development of Walking Gaits for a Small Humanoid Robot},
    booktitle = {Proceedings of the International Conference on Artificial Intelligence and Soft Computing},
    year = 2002,
    organization = {IASTED},
    publisher = {Acta Press} 
    }
    


  14. Andrew Thomson and Jacky Baltes. Mobile Robot Path Tracking Using Visual Servoing. In Proceedings of the International Conference on Vision Computing New Zealand, Auckland, New Zealand, November 2002. [Slides]
    Abstract:
    This paper describes a path tracking controller for mobile robots using visual servoing. A highly efficient algorithm suitable for cheap and low power micro-processor is described. The algorithm uses a highly focused search in the image to approximate the offset and gradient of the path. These features are determined solely by a sweep through two rows of the image. An empirical evaluation shows that the algorithm is efficient and robustness. Furthermore, the empirical evaluation investigates the relationship between the average error and the look ahead distance as well as the weighting between the offset and gradient information.

    @inproceedings{thomson02:_mobil_robot_path_track_using_visual_servoin,
    author = {Andrew Thomson and Jacky Baltes},
    title = {Mobile Robot Path Tracking Using Visual Servoing},
    booktitle = {Proceedings of the International Conference on Vision Computing New Zealand},
    year = 2002,
    address = {Auckland, New Zealand},
    month = {November},
    abstract = {This paper describes a path tracking controller for mobile robots using visual servoing. A highly efficient algorithm suitable for cheap and low power micro-processor is described. The algorithm uses a highly focused search in the image to approximate the offset and gradient of the path. These features are determined solely by a sweep through two rows of the image. An empirical evaluation shows that the algorithm is efficient and robustness. Furthermore, the empirical evaluation investigates the relationship between the average error and the look ahead distance as well as the weighting between the offset and gradient information.},
    pdf = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/thomson02:_mobil_robot_path_track_using_visual_servoin.pdf},
    slides = {http://aalab.cs.umanitoba.ca/%7ejacky/Publications/pdf/thomson02:_mobil_robot_path_track_using_visual_servoin_slides.pdf} 
    }
    



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