/research/ en-gb This site is Copyright protected and registered. tarek@nospam.com (Tarek Taha) tarek@nospam.com (Tarek Taha) Wed, 08 Sep 2010 14:31:25 -0400 Wed, 08 Sep 2010 14:31:25 -0400 http://backend.userland.com/rss e107 (http://e107.org) 60 http://www.tarektaha.com/research/download.php?view.37 Conference Proceedings tataha@nospam.com (Tarek Taha) Tue, 25 Mar 2008 09:37:17 -0400 http://www.tarektaha.com/research/download.php?view.37 http://www.tarektaha.com/research/download.php?view.36 e107 Plugins tarek@nospam.com (Tarek Taha) Fri, 18 Jan 2008 08:43:28 -0500 http://www.tarektaha.com/research/download.php?view.36 http://www.tarektaha.com/research/download.php?view.35 of assistance required during use. Recent research has seen a move towards more intelligent systems that focus on forecasting users’ intentions based on current and past actions. However, these predictions have been typically limited to locations immediately surrounding the wheelchair. The key contribution of the work presented here is the ability to predict the users’ intended destination at a larger scale, that of a typical office arena. The systems relies on minimal user input - obtained from a standard wheelchair joystick - in conjunction with a learned Partially Observable Markov Decision Process (POMDP), to
estimate and subsequently drive the user to his destination. The projection is constantly being updated, allowing for true user platform integration. This shifts users’ focus from fine motor skilled control to coarse control broadly intended to convey
intention. Successful simulation and experimental results on a real wheelchair robot demonstrate the validity of the approach.]]> Conference Proceedings tataha@nospam.com (Tarek Taha) Thu, 20 Dec 2007 09:10:31 -0500 http://www.tarektaha.com/research/download.php?view.35 http://www.tarektaha.com/research/download.php?view.34 Electric wheelchairs give otherwise immobile people the freedom of movement, they significantly increase independence and dramatically increase quality of life. However the physical control systems of such wheelchair can be prohibitive for some users; for example, people with severe tremors. Several assisted wheelchair platforms have been developed in the past to assist such users. Algorithms that assist specific behaviors such as door − passing, follow − corridor, or avoid − obstacles have been successful. Recent research has seen a move towards systems that predict the users intentions, based on the users input. These predictions have been typically limited to locations immediately surrounding the wheelchair. This paper presents a new assisted wheelchair driving system with large scale intelligent intention recognition based on POMDPs (Partially Observable Markov Decision Processes). The systems acts as an intelligent agent/decision-maker, it relies on minimal user input; to predict the users intention and then autonomously drives the user to his destination. The prediction is constantly being updated as new user input is received allowing for true user/system integration. This shifts the users focus from fine motor-skilled control to coarse control intended to convey intention.]]> Conference Proceedings tataha@nospam.com (Tarek Taha) Thu, 20 Dec 2007 09:00:18 -0500 http://www.tarektaha.com/research/download.php?view.34 http://www.tarektaha.com/research/download.php?view.33 a time efficient one step path planning algorithm for navigating a large robotic platform in indoor environments. The planner,
which has been proved to compare favourably to currently available path planning algorithms such as Randomly-exploring Random Trees (RRTs) and Probabilistic Road Maps (PRMs) in known static conditions, is enhanced here with a modified Variable Speed Force Field (V SF2) mechanism to accommodate for dynamic changes of the environment. The basic concept of the modified DV SF2 is to generate a continually changing parameterized familiy of virtual force fields for the robot based on characteristics such as location, travelling speed, heading and dimension of all the objects present in the vicinity, static and dynamic. The interactions among the repulsive forces associated with the various obstacles provide a natural way for local collision avoidance and situational awareness. This is harnessed here by locally modifying the planned behaviour of the moving platform in real time, whilst preserving as much as possible the optimised nature of the global path. Furthermore, traversability of the path is continually monitored by the global planner to trigger a complete re-planning from the robot’s current location in the case of major changes to the environment, most notably when the path is completely blocked by an obstacle. Overall, a complete solution to the navigational problem in partially known cluttered environments is provided.]]> Conference Proceedings tataha@nospam.com (Tarek Taha) Thu, 20 Dec 2007 09:00:05 -0500 http://www.tarektaha.com/research/download.php?view.33 http://www.tarektaha.com/research/download.php?view.27 wiki for more information. This is the first release of the driver and i haven't really tested it well enough. If you find any bugs or problems please report them to the bug tracker.
]]> Robotics Software tarek@nospam.com (Tarek Taha) Wed, 07 Nov 2007 10:42:45 -0500 http://www.tarektaha.com/research/download.php?view.27 http://www.tarektaha.com/research/download.php?view.26 bug tracker. More information is available in the wiki.]]> Robotics Software tarek@nospam.com (Tarek Taha) Wed, 19 Sep 2007 12:45:47 -0400 http://www.tarektaha.com/research/download.php?view.26 http://www.tarektaha.com/research/download.php?view.24 bug tracker.]]> Robotics Software tarek@nospam.com (Tarek Taha) Wed, 19 Sep 2007 12:31:55 -0400 http://www.tarektaha.com/research/download.php?view.24 http://www.tarektaha.com/research/download.php?view.23 Please report any bugs to bug tracker.]]> Robotics Software tataha@nospam.com (Tarek Taha - Jonathan Paxman) Tue, 28 Aug 2007 14:45:18 -0400 http://www.tarektaha.com/research/download.php?view.23