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FRONT MATTER: VOLUME 6561

Front Matter: Volume 6561
Proceedings of SPIE
Proc. SPIE Vol. 6561, 656101 (May. 10, 2007)
Abstract     Full Text:  [  PDF (369 kB)  ]  (14 pages)

PERCEPTION

Rapid high-confidence intelligent interior mapping
David Roberts, Dirk Warnaar, Alberico Menozzi, Soheil Saadat, and Steve Snarski
Proc. SPIE Vol. 6561, 656102 (May. 2, 2007)
Abstract     Full Text:  [  PDF (1252 kB)  ]  (12 pages)

Night-time negative obstacle detection for off-road autonomous navigation
Arturo L. Rankin, Andres Huertas, and Larry H. Matthies
Proc. SPIE Vol. 6561, 656103 (May. 2, 2007)
Abstract     Full Text:  [  PDF (530 kB)  ]  (12 pages)

On-the-move independently moving target detection
Garbis Salgian, Jiangjian Xiao, Supun Samarasekera, and Rakesh Kumar
Proc. SPIE Vol. 6561, 656104 (May. 2, 2007)
Abstract     Full Text:  [  PDF (956 kB)  ]  (10 pages)

The Army Research Laboratory (ARL) synchronous impulse reconstruction (SIRE) forward-looking radar
Marc Ressler, Lam Nguyen, Francois Koenig, David Wong, and Gregory Smith
Proc. SPIE Vol. 6561, 656105 (May. 2, 2007)
Abstract     Full Text:  [  PDF (2111 kB)  ]  (12 pages)

Detection, tracking, and avoidance of moving objects from a moving autonomous vehicle
Elias J. Rigas, Barry Bodt, and Richard Camden
Proc. SPIE Vol. 6561, 656106 (May. 2, 2007)
Abstract     Full Text:  [  PDF (582 kB)  ]  (12 pages)

A new SMART sensing system for aerospace structures
David C. Zhang, Pin Yu, Shawn Beard, Peter Qing, Amrita Kumar, and Fu-Kuo Chang
Proc. SPIE Vol. 6561, 656107 (Apr. 27, 2007)
Abstract     Full Text:  [  PDF (515 kB)  ]  (10 pages)

Precise visual navigation using multi-stereo vision and landmark matching
Zhiwei Zhu, Taragay Oskiper, Supun Samarasekera, and Rakesh Kumar
Proc. SPIE Vol. 6561, 656108 (May. 2, 2007)
Abstract     Full Text:  [  PDF (808 kB)  ]  (12 pages)

Angularly sensitive wide field of view micro-sensor construction and new processing paradigm: task oriented optical processing
Jerome B. Franck
Proc. SPIE Vol. 6561, 656109 (May. 2, 2007)
Abstract     Full Text:  [  PDF (716 kB)  ]  (9 pages)

Terrain perception for robot navigation
Robert E. Karlsen and Gary Witus
Proc. SPIE Vol. 6561, 65610A (May. 2, 2007)
Abstract     Full Text:  [  PDF (1043 kB)  ]  (11 pages)

Daredevil: ultra-wideband radar sensing for small UGVs
Brian Yamauchi
Proc. SPIE Vol. 6561, 65610B (May. 2, 2007)
Abstract     Full Text:  [  PDF (736 kB)  ]  (9 pages)

Non-GPS navigation with the personal dead-reckoning system
Lauro Ojeda and Johann Borenstein
Proc. SPIE Vol. 6561, 65610C (May. 2, 2007)
Abstract     Full Text:  [  PDF (557 kB)  ]  (11 pages)

A UAV routing and sensor control optimization algorithm for target search
Gaemus E. Collins, James R. Riehl, and Philip S. Vegdahl
Proc. SPIE Vol. 6561, 65610D (May. 2, 2007)
Abstract     Full Text:  [  PDF (430 kB)  ]  (13 pages)

GOVERNMENT PROGRAMS

Intelligent unmanned vehicle systems suitable for individual or cooperative missions
Matthew O. Anderson, Mark D. McKay, and Derek C. Wadsworth
Proc. SPIE Vol. 6561, 65610E (May. 2, 2007)
Abstract     Full Text:  [  PDF (3728 kB)  ]  (12 pages)

Perception and mobility research at Defence R&D Canada for UGVs in complex terrain
Michael Trentini, Jack Collier, Blake Beckman, Bruce Digney, and Isabelle Vincent
Proc. SPIE Vol. 6561, 65610F (May. 2, 2007)
Abstract     Full Text:  [  PDF (461 kB)  ]  (9 pages)

Cohort: critical science
Bruce L. Digney
Proc. SPIE Vol. 6561, 65610G (May. 2, 2007)
Abstract     Full Text:  [  PDF (1824 kB)  ]  (10 pages)

SAFETY

Objective test and performance measurement of automotive crash warning systems
S. Szabo, R. J. Norcross, and J. A. Falco
Proc. SPIE Vol. 6561, 65610J (May. 2, 2007)
Abstract     Full Text:  [  PDF (361 kB)  ]  (8 pages)

Micro UAV collision avoidance
John Merchant and Frank Pope
Proc. SPIE Vol. 6561, 65610K (May. 2, 2007)
Abstract     Full Text:  [  PDF (681 kB)  ]  (8 pages)

Layered mode selection logic control with fuzzy sensor fusion network
Traig Born and Andrew Wright
Proc. SPIE Vol. 6561, 65610L (May. 2, 2007)
Abstract     Full Text:  [  PDF (281 kB)  ]  (12 pages)

The effect of collision avoidance for autonomous robot team formation
Mark H. Seidman and Shanchieh J. Yang
Proc. SPIE Vol. 6561, 65610M (May. 2, 2007)
Abstract     Full Text:  [  PDF (318 kB)  ]  (11 pages)

Toward safe navigation in urban environments
Cang Ye
Proc. SPIE Vol. 6561, 65610N (May. 2, 2007)
Abstract     Full Text:  [  PDF (1158 kB)  ]  (12 pages)

Simulating and testing autonomous behaviour in multiple airborne sensor systems
Moira I. Smith, Marcel L. Hernandez, and Matthew Cooper
Proc. SPIE Vol. 6561, 65610O (May. 2, 2007)
Abstract     Full Text:  [  PDF (1270 kB)  ]  (12 pages)

HUMAN ROBOT INTERFACE

Supervised autonomy for robotic inspection
Kevin L. Moore, Johnny Mollerup Larsen, and Martin Stampe Qvistgaard
Proc. SPIE Vol. 6561, 65610P (May. 2, 2007)
Abstract     Full Text:  [  PDF (451 kB)  ]  (11 pages)

Integration of an intelligent systems behavior simulator and a scalable soldier-machine interface
Tony Johnson, Chris Manteuffel, Benjamin Brewster, and Terry Tierney
Proc. SPIE Vol. 6561, 65610Q (May. 2, 2007)
Abstract     Full Text:  [  PDF (579 kB)  ]  (11 pages)

Experiments in augmented teleoperation for mobile robots: I
Gary Witus, Shawn Hunt, and R. Darrin Ellis
Proc. SPIE Vol. 6561, 65610R (May. 2, 2007)
Abstract     Full Text:  [  PDF (287 kB)  ]  (10 pages)

Results from a long-term study of a portable field robot in urban terrain
Carl Lundberg, Roger Reinhold, and Henrik I. Christensen
Proc. SPIE Vol. 6561, 65610S (May. 2, 2007)
Abstract     Full Text:  [  PDF (226 kB)  ]  (10 pages)

Modular robotic intelligence system based on fuzzy reasoning and state machine sequencing
B. Sights, G. Ahuja, G. Kogut, E. B. Pacis, H. R. Everett, D. Fellars, and S. Hardjadinata
Proc. SPIE Vol. 6561, 65610T (May. 2, 2007)
Abstract     Full Text:  [  PDF (379 kB)  ]  (11 pages)

Layered autonomous overwatch: the necessity and feasability of multiple unmanned systems in combat support
Simon Monckton, Bruce Digney, Greg Broten, and Steve Penzes
Proc. SPIE Vol. 6561, 65610U (May. 2, 2007)
Abstract     Full Text:  [  PDF (710 kB)  ]  (12 pages)

An agent-based approach to decluttering the interfaces of multi-UAV command and control systems
Stephen O'Hara and Nathan Dwyer
Proc. SPIE Vol. 6561, 65610W (May. 2, 2007)
Abstract     Full Text:  [  PDF (899 kB)  ]  (11 pages)

Stereo-vision based 3D modeling for unmanned ground vehicles
Stephen Se and Piotr Jasiobedzki
Proc. SPIE Vol. 6561, 65610X (May. 2, 2007)
Abstract     Full Text:  [  PDF (1042 kB)  ]  (12 pages)

A scalable soldier-machine interface for human-robotic interaction
Brian A. Samples
Proc. SPIE Vol. 6561, 65610Y (May. 2, 2007)
Abstract     Full Text:  [  PDF (1237 kB)  ]  (9 pages)

EXTREME MOBILITY

Heading stabilization and anti-rollover for Chaos
Matthew Berkemeier, Eric Poulson, and Sidney L. King
Proc. SPIE Vol. 6561, 656112 (May. 2, 2007)
Abstract     Full Text:  [  PDF (238 kB)  ]  (11 pages)

OmniTread OT-4 serpentine robot: new features and experiments
Johann Borenstein and Malik Hansen
Proc. SPIE Vol. 6561, 656113 (May. 2, 2007)
Abstract     Full Text:  [  PDF (884 kB)  ]  (12 pages)

Fuel-cell powered unmanned ground vehicle
Jay S. Meldrum, Christopher A. Green, Geoffrey D. Gwaltney, Scott A. Bradley, Jason M. Keith, and Thomas F. Podlesak
Proc. SPIE Vol. 6561, 656117 (May. 2, 2007)
Abstract     Full Text:  [  PDF (570 kB)  ]  (11 pages)

Pendulum walker
Paul Muench and Alexander Marecki
Proc. SPIE Vol. 6561, 656118 (May. 2, 2007)
Abstract     Full Text:  [  PDF (411 kB)  ]  (12 pages)

Towards solving the mobility issues of unmanned ground vehicles
Siddharth Odedra, Stephen D. Prior, and Mehmet Karamanoglu
Proc. SPIE Vol. 6561, 656119 (May. 2, 2007)
Abstract     Full Text:  [  PDF (740 kB)  ]  (9 pages)

SELF-ORGANIZING COLLABORATIVE ISR ROBOTIC TEAMS I: JOINT SESSION WITH CONFERENCE 6578

A man portable hybrid UAV/UGV system
Pavlo Rudakevych and Brian Yamauchi
Proc. SPIE Vol. 6561, 65611B (May. 2, 2007)
Abstract     Full Text:  [  PDF (353 kB)  ]  (10 pages)

Multi-UAV autonomous collaborative behaviors for convoy protection
Y.-L. Chen, M. Peot, J. Lee, V. Sundareswaran, and T. Altshuler
Proc. SPIE Vol. 6561, 65611C (May. 2, 2007)
Abstract     Full Text:  [  PDF (329 kB)  ]  (9 pages)

Development of a GPS/INS/MAG navigation system and waypoint navigator for a VTOL UAV
Oliver Meister, Ralf Mönikes, Jan Wendel, Natalie Frietsch, Christian Schlaile, and Gert F. Trommer
Proc. SPIE Vol. 6561, 65611D (May. 2, 2007)
Abstract     Full Text:  [  PDF (1186 kB)  ]  (10 pages)

SELF-ORGANIZING COLLABORATIVE ISR ROBOTIC TEAMS II: JOINT SESSION WITH CONFERENCE 6578

Deployable reconnaissance from a VTOL UAS in urban environments
Shane Barnett, John Bird, Andrew Culhane, Adam Sharkasi, and Charles Reinholtz
Proc. SPIE Vol. 6561, 65611E (May. 2, 2007)
Abstract     Full Text:  [  PDF (1842 kB)  ]  (11 pages)

Structural characteristics via SLDV for a class of morphing micro-air-vehicles
Edward C. Diggs, Onur Bilgen, Andrew Kurdila, Kevin Kochersburger, Dan Inman, and Joe Vignola
Proc. SPIE Vol. 6561, 65611F (May. 2, 2007)
Abstract     Full Text:  [  PDF (1855 kB)  ]  (14 pages)

Towards distributed ATR using subjective logic combination rules with a swarm of UAVs
Stephen O'Hara, Michael Simon, and Qiuming Zhu
Proc. SPIE Vol. 6561, 65611G (May. 2, 2007)
Abstract     Full Text:  [  PDF (519 kB)  ]  (10 pages)

Detection and tracking of objects in an image sequence captured by a VTOL-UAV
Natalie Frietsch, Oliver Meister, Christian Schlaile, Jan Wendel, and Gert F. Trommer
Proc. SPIE Vol. 6561, 65611H (May. 2, 2007)
Abstract     Full Text:  [  PDF (1761 kB)  ]  (12 pages)

An intelligent algorithm for unmanned aerial vehicle surveillance
Ashish Bhargave, Barry Ambrose, Freddie Lin, and Manthos Kazantzidis
Proc. SPIE Vol. 6561, 65611I (May. 2, 2007)
Abstract     Full Text:  [  PDF (773 kB)  ]  (8 pages)

Fault tolerant cooperative control for UAV rendezvous problem subject to actuator faults
T. Jiang, N. Meskin, E. Sobhani-Tehrani, K. Khorasani, and C. A. Rabbath
Proc. SPIE Vol. 6561, 65611J (May. 2, 2007)
Abstract     Full Text:  [  PDF (383 kB)  ]  (12 pages)

Vision-based sensing for autonomous in-flight refueling
D. Scott, M. Toal, and J. Dale
Proc. SPIE Vol. 6561, 65611K (May. 2, 2007)
Abstract     Full Text:  [  PDF (761 kB)  ]  (10 pages)

STANDARDS, METRICS, AND ARCHITECTURES

Urban search and rescue robot performance standards: progress update
Adam Jacoff and Elena Messina
Proc. SPIE Vol. 6561, 65611L (May. 2, 2007)
Abstract     Full Text:  [  PDF (2484 kB)  ]  (12 pages)

USARSim: a RoboCup virtual urban search and rescue competition
Stephen Balakirsky, Chris Scrapper, Stefano Carpin, and Mike Lewis
Proc. SPIE Vol. 6561, 65611M (May. 2, 2007)
Abstract     Full Text:  [  PDF (568 kB)  ]  (11 pages)

Characterizing unmanned system autonomy: contextual autonomous capability and level of autonomy analyses
Hui-Min Huang, Kerry Pavek, Mark Ragon, Jeffry Jones, Elena Messina, and James Albus
Proc. SPIE Vol. 6561, 65611N (May. 2, 2007)
Abstract     Full Text:  [  PDF (512 kB)  ]  (9 pages)

Driver aggressivity analysis within the prediction in dynamic environments (PRIDE) framework
C. Schlenoff, Z. Kootbally, and R, Madhavan
Proc. SPIE Vol. 6561, 65611O (May. 2, 2007)
Abstract     Full Text:  [  PDF (1190 kB)  ]  (12 pages)

A time-slotted on-demand routing protocol for mobile ad hoc unmanned vehicle systems
J. Hope Forsmann, Robert E. Hiromoto, and John Svoboda
Proc. SPIE Vol. 6561, 65611P (May. 2, 2007)
Abstract     Full Text:  [  PDF (302 kB)  ]  (11 pages)

Performance evaluation of a 3D imaging system for vehicle safety
Alan M. Lytle, Sandor Szabo, Gerry Cheok, Kamel Saidi, and Rick Norcross
Proc. SPIE Vol. 6561, 65611Q (May. 2, 2007)
Abstract     Full Text:  [  PDF (484 kB)  ]  (9 pages)

INTELLIGENT BEHAVIORS AND LEARNING I

Terrain aware inversion of predictive models for high-performance UGVs
Alonzo Kelly, Thomas Howard, and Colin Green
Proc. SPIE Vol. 6561, 65611R (May. 2, 2007)
Abstract     Full Text:  [  PDF (706 kB)  ]  (10 pages)

Amphibious modular robotic astrobiology
Mark Yim, Babak Shirmohammadi, and David Benelli
Proc. SPIE Vol. 6561, 65611S (May. 2, 2007)
Abstract     Full Text:  [  PDF (1529 kB)  ]  (11 pages)

Symbolic perception-based autonomous driving in dynamic environments using 4D/RCS
M, Foedisch, R. Madhavan, and C. Schlenoff
Proc. SPIE Vol. 6561, 65611T (May. 2, 2007)
Abstract     Full Text:  [  PDF (350 kB)  ]  (12 pages)

INTELLIGENT BEHAVIORS AND LEARNING II

Mobile robots traversability awareness based on terrain visual sensory data fusion
Amir Shirkhodaie
Proc. SPIE Vol. 6561, 65611U (May. 2, 2007)
Abstract     Full Text:  [  PDF (706 kB)  ]  (12 pages)

Sensor fusion for intelligent behavior on small unmanned ground vehicles
G. Kogut, G. Ahuja, B. Sights, E. B. Pacis, and H. R. Everett
Proc. SPIE Vol. 6561, 65611V (May. 2, 2007)
Abstract     Full Text:  [  PDF (333 kB)  ]  (10 pages)

Utilizing simulation technologies in the development of autonomous platforms
Offer Har and Taly Shintel
Proc. SPIE Vol. 6561, 65611W (May. 2, 2007)
Abstract     Full Text:  [  PDF (353 kB)  ]  (12 pages)

World representations for unmanned vehicles
Gregory S. Broten, Simon P. Monckton, David Mackay, and Jack Collier
Proc. SPIE Vol. 6561, 65611X (May. 2, 2007)
Abstract     Full Text:  [  PDF (1556 kB)  ]  (12 pages)

Modeling aerodynamic coefficients for autonomous trajectory planning of aerial vehicles using neural network approach
Peng Xu, Kalyan Vadakkeveedu, Ajay Verma, and Richard J. Mayer
Proc. SPIE Vol. 6561, 65611Y (May. 2, 2007)
Abstract     Full Text:  [  PDF (918 kB)  ]  (12 pages)

Real time prediction and diagnostics for unmanned ground vehicle (UGV) mobility
Holger M. Jaenisch, James W. Handley, and Michael L. Hicklen
Proc. SPIE Vol. 6561, 65611Z (May. 2, 2007)
Abstract     Full Text:  [  PDF (366 kB)  ]  (12 pages)

POSTER SESSION

Component based open middleware architecture for autonomous navigation system
Myung Kil Ahn, Yong Woon Park, and Tae Young Jee
Proc. SPIE Vol. 6561, 656120 (May. 2, 2007)
Abstract     Full Text:  [  PDF (3437 kB)  ]  (8 pages)

Avionics sensor simulation and prototype design workstation using COTS reconfigurable computing technology
James Falasco
Proc. SPIE Vol. 6561, 656124 (May. 2, 2007)
Abstract     Full Text:  [  PDF (677 kB)  ]  (6 pages)

Integration of the Fido explosives detector onto the PackBot EOD UGV
Pavlo Rudakevych, Steve Clark, and Jeremy Wallace
Proc. SPIE Vol. 6561, 656125 (May. 2, 2007)
Abstract     Full Text:  [  PDF (1298 kB)  ]  (11 pages)

Optimal steering of a mobile robot
Gerald Cook
Proc. SPIE Vol. 6561, 656127 (May. 2, 2007)
Abstract     Full Text:  [  PDF (190 kB)  ]  (12 pages)