Cooperative Wall-climbing Robots for Surveillance and Target Tracking

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Leveraging prior work and expertise of two PIs (Dr. Xiao in robotics and control , Dr. Zhu in computer vision ), we propose to develop a modular, reconfigurable, wall-climbing robotic system and to investigate intelligent control methods and vision algorithms to control and coordinate a team of such robots to perform various defense, security, and inspection missions. First, the modeling of individual wall-climber module, as well as the cooperative relationship of a group of such robots will be developed. Second, intelligent control methods will be designed to effectively coordinate the robot team to achieve a common goal (e.g., self-deployment, dynamic view planning, and object tracking, etc.) in a fault tolerant fashion. Third, based on our previous research in computer vision, new vision algorithms for scene understanding, object tracking and localization will be developed by taking advantage the climbing feature of multiple wall-climbers in 3-D environments.

Related Publications
  1. Y. Feng, Z. Zhu, J. Xiao, Self-Localization of a Heterogeneous Multi-Robot Team in Constrained 3D Space, IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 29 - Nov 2, 2007, San Diego, CA, USA.
  2. Y. Feng, Z. Zhu, J. Xiao, Heterogeneous Multi-Robot Localization in Unknown 3D Space, the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, China, October 9 - 15, 2006
  3. Z. Zhu, D. R. Karuppiah, E. M. Riseman and A. R. Hanson, Keep Smart, Omnidirectional Eyes on You - Adaptive Panoramic Stereo Vision for Human Tracking with Cooperative Mobile RobotsRobotics and Automation Magazine, Special Issue on Panoramic Robots, vol 14, no 11, December 2004, pp 69-78.
  4. Z. Zhu, E. M. D. Karuppiah, Riseman, A. R. Hanson, Dynamic Mutual Calibration and View Planning for Cooperative Mobile Robots with Panoramic Virtual Stereo Vision, Computer Vision and Image Understanding, Volume 95, Issue 3 , September 2004, Pages 261-286 (CVIU online link)
  5. J.  Xiao, A. Calle, J. Ye and Z. Zhu, A Mobile Robot Platform with DSP-based Controller and Omnidirectional Vision System, IEEE Int. Conf. on Robotics and Biomimetics,  Aug 22-26, 2004, Shengyang, China.

Professor Jizhong Xiao, Department of electrical Engineering, The City College of New York


Yi Feng,  Department of Computer Science, The CUNY Graduate Center

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