Browsing 08 Information and Computing Sciences by Author "Huang, Shoudong"

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Browsing 08 Information and Computing Sciences by Author "Huang, Shoudong"

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  • Hu, Gibson; Huang, Shoudong; Dissanayake, Gamini (IEEE, 2009)
    This paper presents an efficient and reliable algorithm for autonomous robots to build large-scale three dimensional maps by combining small local submaps. The algorithm is a generalization of our recent work on two ...
  • Leung, Cindy; Huang, Shoudong; Dissanayake, Gamini (IEEE, 2006)
    Active SLAM poses the challenge for an autonomous robot to plan efficient paths simultaneous to the SLAM process. The uncertainties of the robot, map and sensor measurements, and the dynamic and motion constraints need to ...
  • Huang, Shoudong; James, Matthew; Nesic, Dragan; Dower, Peter (Pergamon-Elsevier Science Ltd, 2005)
    The input-to-state stability (ISS) property for systems with disturbances has received considerable attention over the past decade or so, with many applications and characterizations reported in the literature. The main ...
  • Wang, Zhan; Huang, Shoudong; Dissanayake, Gamini (IEEE, 2005)
    In this paper, we propose a new algorithm for SLAM that makes use of a state vector consisting of quantities that describes the relative locations among features. In contrast to previous relative map strategies, the new ...
  • Wang, Zhan; Huang, Shoudong; Dissanayake, Gamini (Springer, 2007)
    The main contribution of this paper is the reformulation of the simultaneous localization and mapping (SLAM) problem for mobile robots such that the mapping and localization can be treated as two concurrent yet separated ...
  • Hu, Gibson; Huang, Shoudong; Dissanayake, Gamini (IEEE, 2010)
    In recent SLAM (simultaneous localization and mapping) literature, Pose Only optimization methods have become increasingly popular. This is greatly supported by the fact that these algorithms are computationally more ...
  • Huang, Shoudong; Lai, Yingwu; Frese, Udo; Dissanayake, Gamini (IEEE, 2010)
    Most people believe SLAM is a complex nonlinear stimation/optimization problem. However, recent research shows that some simple iterative methods based on linearization can sometimes provide surprisingly good solutions to ...
  • Huang, Shoudong; James, Matthew; Nesic, Dragan; Dower, Peter (IEEE, 2004)
  • Behrens, Michael; Huang, Shoudong; Dissanayake, Gamini (IEEE, 2010)
    In many mobile robotic manipulation tasks it is desirable to interact with the robots surroundings without actually grasping the object being manipulated. Non-prehensile manipulation allows a robot to interact in situations ...
  • Fang, Gu; Dissanayake, Gamini; Kwok, Ngai; Huang, Shoudong (The Institute of Electrical and Electronic Engineers Inc, 2005)
    The main contribution of this paper is an algorithm for integrating motion planning and simultaneous localisation and mapping (SLAM). Accuracy of the maps and the robot locations computed using SLAM is strongly dependent ...
  • Lau, Haye; Huang, Shoudong; Dissanayake, Gamini (IEEE, 2006)
    We consider a search for a target moving within a known indoor environment partitioned into interconnected regions of varying sizes. The knowledge of target location is described as a probability distribution over the ...
  • Huang, Shoudong; Wang, Zhan; Dissanayake, Gamini (Publication Committee of IROS 2004, 2004)
    This paper provides a technique for minimal time robot motion control in the estimation-theoretic based simultaneous localizations and map building (SLAM) problem. We consider the scenario that the robot needs to go to a ...
  • Liu, Minjie; Huang, Shoudong; Dissanayake, Gamini; Kodagoda, Sarath (IEEE, 2010)
    This paper presents a statistically consistent SLAM algorithm where the environment is represented using a collection of B-Splines. The use of B-Splines allow environment to be represented without having to extract specific ...