Browsing by Author "Taha Tarek"

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Browsing by Author "Taha Tarek"

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  • An Adaptive Manoeuvring Strategy for Mobile Robots in Cluttered Dynamic Environments 
    Valls Miro Jaime; Taha Tarek; Wang Dalong; Dissanayake Gamini (Indescience Publishers, 2008)
    A novel method which combines an optimised global path planner with a real-time sensor-based collision avoidance mechanism to accommodate for dynamic changes in the environment (e.g., people) is presented. The basic concept ...
  • Capacitive Object Ranging and Material Type Classifying Sensor 
    Kirchner Nathan; Liu Dikai; Taha Tarek; Paul Gavin (University of Technology, Sydney, 2007)
    This paper presents modifications made to the Adaptive Capacitive Sensor for Obstacle Ranging (ACSOR) [1] that have enabled the sensor to provide material type data for an object in the sensing field. The ACSOR, previously ...
  • An efficient path planner for large mobile platforms in cluttered environments 
    Valls Miro Jaime; Taha Tarek; Liu Dikai (The Institute of Electrical and Electronic Engineers Inc (IEEE), 2006)
    This paper presents a one step smooth and efficient path planning algorithm for navigating a large robotic platform in known cluttered environments. The proposed strategy, based on the generation of a novel search space, ...
  • An efficient strategy for robot navigation in cluttered environments in the presence of dynamic obstacles 
    Taha Tarek; Wang Dalong; Valls Miro Jaime; Dissanayake Gamini; Liu Dikai (University of Technology, Sydney, 2007)
    A novel method which combines an optimised global path planner with real-time sensor-based collision avoidance capabilities in order to avoid moving obstacles (e.g. people) in a complex environment is presented. The ...
  • Intention driven assistive wheelchair navigation 
    Taha Tarek; Valls Miro Jaime; Dissanayake Gamini (Technical Report 470, University of Hertfordshire, 2008)
    This paper presents an intelligent decision-making agent to assist wheelchair users in their daily navigation activities. The system has the ability to predict the users¿ intended destination at a larger scale, that of a ...
  • POMDP-Based Long-Term User Intention Prediction for Wheelchair Navigation 
    Taha Tarek; Valls Miro Jaime; Dissanayake Gamini (IEEE, 2008)
    This paper presents an intelligent decision-making agent to assist wheelchair users in their daily navigation activities. Several navigational techniques have been successfully developed in the past to assist with specific ...
  • A POMDP Framework for Modelling Human Interaction with Assistive Robots 
    Taha Tarek; Valls Miro Jaime; Dissanayake Gamini (IEEE, 2011)
    This paper presents a framework for modelling the interaction between a human operator and a robotic device, that enables the robot to collaborate with the human to jointly accomplish tasks. States of the system are captured ...
  • Sampling based time efficient path planning algorithm for mobile platforms 
    Taha Tarek; Valls Miro Jaime; Dissanayake Gamini (IET (Institution of Engineering and Technology), 2006)
    In this paper we present a time efficient one step path planning algorithm for navigating a large robotic platform in indoor environments. The proposed strategy, based on the generation of a novel search space [1], ...
  • Simultaneous Material Type Classification And Mapping Data Acquisition Using A Laser Range Finder 
    Kirchner Nathan; Taha Tarek; Liu Dikai; Paul Gavin (University of Technology, Sydney, 2007)
    This paper presents a method for single sensor simultaneous derivation of three-dimensional mapping data and material type data for use in an autonomous sandblasting system. A Hokuyo laser range finder's firmware has been ...
  • Wheelchair driver assistance and intention prediction using POMDPs 
    Taha Tarek; Valls Miro Jaime; Dissanayake Gamini (The Institute of Electrical and Electronic Engineers Inc (IEEE), 2007)
    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 ...