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42 results on '"Cowley, Anthony A."'

1. Any Way You Look At It: Semantic Crossview Localization and Mapping with LiDAR

Author

Miller, Ian D., Cowley, Anthony, Konkimalla, Ravi, Shivakumar, Shreyas S., Nguyen, Ty, Smith, Trey, Taylor, Camillo Jose, and Kumar, Vijay

Subjects
Computer Science - Robotics
Abstract

Currently, GPS is by far the most popular global localization method. However, it is not always reliable or accurate in all environments. SLAM methods enable local state estimation but provide no means of registering the local map to a global one, which can be important for inter-robot collaboration or human interaction. In this work, we present a real-time method for utilizing semantics to globally localize a robot using only egocentric 3D semantically labelled LiDAR and IMU as well as top-down RGB images obtained from satellites or aerial robots. Additionally, as it runs, our method builds a globally registered, semantic map of the environment. We validate our method on KITTI as well as our own challenging datasets, and show better than 10 meter accuracy, a high degree of robustness, and the ability to estimate the scale of a top-down map on the fly if it is initially unknown., Comment: Published in the IEEE Robotics and Automation Letters and presented at the IEEE 2021 International Conference on Robotics and Automation. See https://www.youtube.com/watch?v=_qwAoYK9iGU for accompanying video

Published
2022
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2. UPSLAM: Union of Panoramas SLAM

Author

Cowley, Anthony, Miller, Ian D., and Taylor, Camillo Jose

Subjects
Computer Science - Robotics
Abstract

We present an empirical investigation of a new mapping system based on a graph of panoramic depth images. Panoramic images efficiently capture range measurements taken by a spinning lidar sensor, recording fine detail on the order of a few centimeters within maps of expansive scope on the order of tens of millions of cubic meters. The flexibility of the system is demonstrated by running the same mapping software against data collected by hand-carrying a sensor around a laboratory space at walking pace, moving it outdoors through a campus environment at running pace, driving the sensor on a small wheeled vehicle on- and off-road, flying the sensor through a forest, carrying it on the back of a legged robot navigating an underground coal mine, and mounting it on the roof of a car driven on public roads. The full 3D maps are built online with a median update time of less than ten milliseconds on an embedded NVIDIA Jetson AGX Xavier system.

Published
2021

3. Mine Tunnel Exploration using Multiple Quadrupedal Robots

Author

Miller, Ian D., Cladera, Fernando, Cowley, Anthony, Shivakumar, Shreyas S., Lee, Elijah S., Jarin-Lipschitz, Laura, Bhat, Akhilesh, Rodrigues, Neil, Zhou, Alex, Cohen, Avraham, Kulkarni, Adarsh, Laney, James, Taylor, Camillo Jose, and Kumar, Vijay

Subjects
Computer Science - Robotics
Abstract

Robotic exploration of underground environments is a particularly challenging problem due to communication, endurance, and traversability constraints which necessitate high degrees of autonomy and agility. These challenges are further exacerbated by the need to minimize human intervention for practical applications. While legged robots have the ability to traverse extremely challenging terrain, they also engender new challenges for planning, estimation, and control. In this work, we describe a fully autonomous system for multi-robot mine exploration and mapping using legged quadrupeds, as well as a distributed database mesh networking system for reporting data. In addition, we show results from the DARPA Subterranean Challenge (SubT) Tunnel Circuit demonstrating localization of artifacts after traversals of hundreds of meters. These experiments describe fully autonomous exploration of an unknown Global Navigation Satellite System (GNSS)-denied environment undertaken by legged robots., Comment: Accompanying video: https://www.youtube.com/watch?v=jGXuOCHKC8E

Published
2019

5. Information Based Exploration with Panoramas and Angle Occupancy Grids

Author

Mox, Daniel, Cowley, Anthony, Hsieh, M. Ani, Taylor, C. J., Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Groß, Roderich, editor, Kolling, Andreas, editor, Berman, Spring, editor, Frazzoli, Emilio, editor, Martinoli, Alcherio, editor, Matsuno, Fumitoshi, editor, and Gauci, Melvin, editor

Published
2018
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7. Trends in Component-Based Robotics

Author

Brugali, Davide, Brooks, Alex, Cowley, Anthony, Côté, Carle, Domínguez-Brito, Antonio C., Létourneau, Dominic, Michaud, Françis, Schlegel, Christian, Siciliano, Bruno, editor, Khatib, Oussama, editor, Groen, Frans, editor, and Brugali, Davide, editor

Published
2007
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9. Proton-induced pre-equilibrium composite-particle emission

Author

Cowley Anthony

Subjects
Physics, QC1-999
Abstract

The reaction mechanism of proton-induced composite particle pre-equilibrium emission as an intrinsic part a statistical multistep process was confirmed long ago. Nevertheless, until fairly recently it was still not clear how pickup and knockout processes compete in the multistep sequence to produce a composite ejectiles. An overview of results and conclusions based on recent (p,α) studies at incident energies from 65 to 200 MeV are presented and evaluated. It is shown how analyzing power is a valuable observable for unravelling the details of the reaction mechanism. Future avenues of investigation are discussed.

Published
2018
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12. Mine Tunnel Exploration Using Multiple Quadrupedal Robots

Author

Miller, Ian D., primary, Cladera, Fernando, additional, Cowley, Anthony, additional, Shivakumar, Shreyas S., additional, Lee, Elijah S., additional, Jarin-Lipschitz, Laura, additional, Bhat, Akhilesh, additional, Rodrigues, Neil, additional, Zhou, Alex, additional, Cohen, Avraham, additional, Kulkarni, Adarsh, additional, Laney, James, additional, Taylor, Camillo Jose, additional, and Kumar, Vijay, additional

Published
2020
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13. Navigation in Depth Images

Author

Cowley, Anthony and Cowley, Anthony

Abstract

The ability to faithfully represent and reason about fine geometric detail enables robot motion and manipulation planning in confined or cluttered spaces. However, the capacity to represent fine detail with accuracy and precision can limit scalability by inducing overhead commensurate with expressivity. This thesis describes a technique for building large scale atlases of inter-connected, high detail maps by constructing a pose graph whose nodes are annotated with wide-angle panoramic depth images. These images are fast to build and update, efficiently represent fine geometric detail, and provide a natural structuring mechanism by which to decompose a large map into loosely-coupled pieces. We demonstrate simultaneous localization and mapping indoors and outdoors, with the sensor carried by a walking human, a running human, a walking quadrupedal robot, a wheeled robot, a flying quadcopter, and an automobile on public roads. Tracking is maintained by a spinning lidar sensor with a 32° vertical field of view while undergoing instantaneous rolling rotations of greater than 80°/s. The environments considered range from caves and tunnels, to dense forests, to cluttered lab spaces. The mapper proves itself capable of identifying loop closures over kilometers-long traversals with metric errors of less than one percent. Additionally, mapper performance is evaluated in the context of embedded GPUs, and demonstrated to run substantially faster than real time, while requiring storage on the order of 100 kilobytes-per-meter-traveled to retain detailed maps with a large spatial extent.

Published
2020

16. Proton-induced pre-equilibrium composite-particle emission.

Author

Arsenyev, N., Bezbakh, A., Rogov, I., Shneidman, T., Vdovin, A., and Cowley, Anthony

Subjects
ECONOMIC equilibrium, COMPOSITE particles (Nuclear particles), EMISSIONS (Air pollution), NUCLEAR reactions, NUCLEAR models
Abstract

The reaction mechanism of proton-induced composite particle pre-equilibrium emission as an intrinsic part a statistical multistep process was confirmed long ago. Nevertheless, until fairly recently it was still not clear how pickup and knockout processes compete in the multistep sequence to produce a composite ejectiles. An overview of results and conclusions based on recent (p,α) studies at incident energies from 65 to 200 MeV are presented and evaluated. It is shown how analyzing power is a valuable observable for unravelling the details of the reaction mechanism. Future avenues of investigation are discussed. [ABSTRACT FROM AUTHOR]

Published
2018

17. Mapping with depth panoramas

Author

Taylor, Camillo J., primary, Cowley, Anthony, additional, Kettler, Rafe, additional, Ninomiya, Kai, additional, Gupta, Mayank, additional, and Niu, Boyang, additional

Published
2015
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18. UCLA International Conference: “Few Particle Problems in the Nuclear Interaction” August 1972

Author

Afnan, Iraj R., primary, Allas, Richard G., additional, Amado, Ralph D., additional, Antolkovic, B., additional, Arman, Moosa, additional, Aslanides, Elie A., additional, Avishai, Yshai, additional, Bacher, R.F., additional, Ali, M., additional, Alt, Erwin O., additional, Amaldi, Ugo, additional, Anzelon, George A., additional, Arvieux, Jacques, additional, Aviles, Joseph B., additional, Axen, David A., additional, Baer, Helmut W., additional, Ballot, Jean-Louis, additional, Barnes, Peter D., additional, Baumann, Paule, additional, Beard, G., additional, Victor, Exec., additional, Belyaev, Vladimir B., additional, Beregi, Peter, additional, Berggren, Tore K.H., additional, Beurtey, R., additional, Bhasin, Vidya S., additional, Bonbright, Daniel I., additional, Barbini, Roberto, additional, Barrett, Bruce R., additional, Beam, John E., additional, Beer, George A., additional, Benn, Joachim E., additional, Blair, Ian M., additional, Bertsch, George, additional, Bhakar, Balram Singh, additional, Birchall, James, additional, Bondelid, R.O., additional, Bonner, Billy E., additional, Boyard, Jean-Louis, additional, Brady, Thomas J., additional, Breunlich, Wolfgang H., additional, Brown, Gerald, additional, Brown, Virginia R., additional, Cameron, John M., additional, Cernigoi, Cesare, additional, Chemarin, Michel, additional, Chemtob, Marc, additional, Bosco, Bernardino, additional, Brady, F.Paul, additional, Brayshaw, David D., additional, Brolley, John E., additional, Brown, Ronald E., additional, Brückmann, Hanno, additional, Carlson, Richard F., additional, Chang, Chia-Cheh, additional, Cheng, Vianney K., additional, Ciftan, Mikael, additional, Clement, David M., additional, Cole, Robert K., additional, Conzett, Homer E., additional, Costa, Sergio, additional, Cramer, John G., additional, Cujec, Bibiana, additional, Day, Benjamin D., additional, Delacroix, Etienne A., additional, De Swart, Johan J., additional, Ebenhoh, W., additional, Eisenberg, J., additional, Cohen, Harold L., additional, Comiso, Josefino C., additional, Cooper, Larry R., additional, Cowley, Anthony A., additional, Crowe, Kenneth M., additional, Davis, Jay C., additional, de Botton, Nico, additional, De La Ripelle, M.F., additional, Didelez, Jean-Pierre, additional, Edgington, John A., additional, Eisenstein, Robert A., additional, El Baz, Edgard, additional, Eramzhyan, Roudolf A., additional, Ferreira, Erasmo, additional, Fiedeldey, Harry H., additional, Frascaria, Robert, additional, Furic, M., additional, Gemmeke, Hartmut, additional, Gignoux, Claude, additional, Glodis, Paul F., additional, Goulard, Gisele, additional, Epstein, Martin B., additional, Fiarman, Sidney, additional, Forster, H.H., additional, Frois, Bernard A., additional, Gal, Avraham, additional, Gibson, Benjamin F., additional, Glavish, Hilton F., additional, Gorodetzky, Philippe, additional, Guaraldo, Carlo, additional, Greenless, George W., additional, Griss, Martin L., additional, Gruebler, Willi E., additional, Haase, Ernst L., additional, Hadjimichael, E., additional, Hall, James E., additional, Heiss, Peter, additional, Hennell, Michael A., additional, Hofstadter, Robert, additional, Hussein, Mahir S., additional, Gregoire, Ghislain, additional, Gross, Franz L., additional, Gugelot, P.C., additional, Haddock, Roy P., additional, Halbert, Melvyn L., additional, Harms, Edward A., additional, Henley, Ernest M., additional, Holmgren, Harry D., additional, Huffman, Arthur H., additional, Hu, Chi-Yu, additional, Ingram, C.H., additional, Jain, Mahavir, additional, Jarmie, Nelson, additional, Jones, Garth, additional, Karlsson, B.R., additional, Kilian, Kurt, additional, Kim, Yeong E., additional, King, Nicholas S.P., additional, Kok, Lambrecht P., additional, Kremer, Peter, additional, Jackson, Daphne F., additional, Jacquot, Claude, additional, Johansson, Arne, additional, Jonanovich, Jovan, additional, Kharchenko, V.F., additional, Kim, C.C., additional, Kisslinger, L., additional, Kluge, Wolfgang, additional, Komarov, V.V., additional, Laget, Jean-Marc, additional, Lambert, James M., additional, Langevin-Joliot, H., additional, Lehman, Elliot Stephen, additional, Levin, Frank S., additional, Liou, Ming-kung, additional, Lodhi, M.A.K., additional, Mack, Gunther, additional, Margaziotis, Demitrius J., additional, McCarthy, Ian E., additional, McKee, James S.C., additional, Mett, N.P., additional, Lang, Lang, additional, Langworthy, James B., additional, Leung, K.C., additional, Lim, T.K., additional, Locher, Milan P., additional, Lynen, Uli, additional, Makino, Motoji, additional, Pierre, Marmier, additional, McDonald, F. Alan, additional, McMillan, Malcolm, additional, Meyerhof, Walter E., additional, Michelotti, Leo P., additional, Miller, Charles A., additional, Moazed, Cyrus, additional, Morlet, Marcel, additional, Moszkowski, Steven A., additional, Nakamura, Hiroshi, additional, Nixon, Gary D., additional, Noyes, H. Pierre, additional, Oberhummer, Heinz, additional, Ohlsen, Gerald G., additional, Miljanic, Duro, additional, Mitra, A.N., additional, Moravcsik, Michael J., additional, Munch, Stephan X., additional, Nagatani, K., additional, Narboni, Philippe R., additional, Noble, Julian V., additional, Nunberg, Paolo, additional, O'Connell, James S., additional, Paic, G., additional, Petersen, Edward L., additional, Phillips, Gerald C., additional, Pieper, Steven C., additional, Piragino, Guido, additional, Primakoff, Henry, additional, Radvanyi, Pierre C., additional, Remler, Edward A., additional, Riska, Dan Olof, additional, Robertson, Lyle P., additional, Rogers, Joel G., additional, Rosen, Louis, additional, Phillips, Anthony C., additional, Picciotto, Charles E., additional, Pniewski, Jerzy, additional, Priou, Maurice P., additional, Reid, Roderick V., additional, Richardson, J.Reginald, additional, Roberts, David J., additional, Rodney, William S., additional, Romero, J.L., additional, Roy, Rene, additional, Saavedra, Igor, additional, Salzman, Gary C., additional, Sandhu, H.S., additional, Sauer, Peter U., additional, Saylor, Dwight P., additional, Schmid, Erich W., additional, Seitaro, Nakamura, additional, Shanley, Paul E., additional, Sharma, Tilak C., additional, Sherif, Helmy S., additional, Salomon, Martin, additional, Sandhas, Werner, additional, Sasakawa, Tatuya, additional, Saxon, David S., additional, Schick, Lee H., additional, Scrimaglio, Renato, additional, Seki, Seiji, additional, Shannon, Darwin L., additional, Shcherbakov, Yuri A., additional, Shively, Frank T., additional, Signell, Peter S., additional, Simonius, Markus, additional, Slaus, Ivo, additional, Slobodrian, Maria L.V.L., additional, Sobel, Michael I., additional, Sood, P.C., additional, Stephenson, Gerard J., additional, Sundquist, Bo, additional, Tagesen, Siegfried, additional, Thomann, Christoph E., additional, Simmons, James E., additional, Sitenko, A.G., additional, Sloan, I.H., additional, Slobodrian, Rodolfo, additional, Sober, Daniel I., additional, Spencer, James E., additional, Strottman, Daniel, additional, Sunier, Jules W., additional, Thiessen, Henry A., additional, Thompson, Gary, additional, Tin, Edmund S., additional, Tomas, Peter, additional, Treado, P.A., additional, Truoel, Peter, additional, Tzara, Christophe, additional, van Dantzig, René, additional, van Wageningen, Riek, additional, Vergados, Jannis D., additional, von Witsch, Wolfram H., additional, Wagner, Gerhard J., additional, Watson, John W., additional, Tjon, John A., additional, Tombrello, Thomas A., additional, True, William W., additional, Turchinetz, William E., additional, Ung-Thi, Tuyet-Anh, additional, van Oers, W.T.H., additional, Verba, John W., additional, Vogel, Petr, additional, Wapstra, Aaldert H., additional, Weidenmuller, Hans A., additional, Weiss, Morton S., additional, Werren, David, additional, Wielinga, Robert, additional, Willmes, Henry, additional, Wong, Chun W., additional, Yanabu, Takuji, additional, Young, John C., additional, Zeitnitz, Bernhard, additional, Zupancic, C., additional, Weneser, Joseph, additional, Westlund, Wayne A., additional, Wilkinson, Denys H., additional, Wolfe, David M., additional, Wright, Byron T., additional, Yuasa, Toshiko, additional, Zeiger, Enrique M., additional, and Zingl, H., additional

Published
1972
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20. Trends in Component-Based Robotics

Author

Brugali, Davide, primary, Brooks, Alex, additional, Cowley, Anthony, additional, Côté, Carle, additional, Domínguez-Brito, Antonio C., additional, Létourneau, Dominic, additional, Michaud, Françis, additional, and Schlegel, Christian, additional

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25. Modular Programming Techniques for Distributed Computing Tasks

Author

MOORE SCHOOL OF ELECTRICAL ENGINEERING PHILADELPHIA PA GRASP LAB, Cowley, Anthony, Hsu, Hwa-Chow, Taylor, Camillo J., MOORE SCHOOL OF ELECTRICAL ENGINEERING PHILADELPHIA PA GRASP LAB, Cowley, Anthony, Hsu, Hwa-Chow, and Taylor, Camillo J.

Abstract

This paper describes design patterns used in developing a software platform for mobile robot teams engaged in distributed sensing and exploration tasks. The goal of the system presented is to minimize redundancy throughout the development and execution pipelines by exploring the application of a strong type system to both the collaborative development process and runtime behaviors of mobile sensor platforms. The solution we have implemented addresses both sides of this equation simultaneously by providing a system for self-describing inputs and outputs that facilitates code reuse among human developers and autonomous agents. This well-defined modularity allows us to treat executable code libraries as atomic elements that can be automatically shared across the network. In this fashion, we improve the performance of our development team by addressing software framework usability and the performance and capabilities of sensor networks engaged in distributed data processing. This framework adds robust design templates and greater communication flexibility onto a component system similar to TinyOS and NesC while avoiding the development effort and overhead required to field a full-fledged web services or Jini-based infrastructure. The software platform described herein has been used to field collaborative teams of UGVs and UAVs in exploration and monitoring scenarios., Presented at the Performance Metrics for Intelligent Systems Workshop, held in Gaithersburg, MD on 24-26 August 2004. Published in the Proceedings of the Performance Metrics for Intelligent Systems Workshop, August 2004. The original document contains color images.

Published
2004

35. Adaptive teams of autonomous aerial and ground robots for situational awareness

Author

Hsieh, M. Ani, primary, Cowley, Anthony, additional, Keller, James F., additional, Chaimowicz, Luiz, additional, Grocholsky, Ben, additional, Kumar, Vijay, additional, Taylor, Camillo J., additional, Endo, Yoichiro, additional, Arkin, Ronald C., additional, Jung, Boyoon, additional, Wolf, Denis F., additional, Sukhatme, Gaurav S., additional, and MacKenzie, Douglas C., additional

Published
2007
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41. Reaction Cross Sections for Protons on 12C, 40Ca, 90Zr, and 208Pb at Energies between 80 and 180 MeV.

Author

Lantz, Mattias, Jacobs, Mkhululi N., Auce, Agris, Carlson, Richard F., Cowley, Anthony A., Förtsch, Siegfried V., Hillhouse, Gregory C., Ingemarsson, Anders, Johansson, Roger, Lawrie, Kobus J., Shachno, Matthew J., Smit, Frederick D., Stander, Anton, Steyn, Gideon F., Tibell, Gunnar, and van Zyl, J. J.

Subjects
PROTONS, NEUTRON cross sections, NUCLEAR cross sections, NUCLEAR reactions, COLLISIONS (Nuclear physics), COLLISIONS (Physics), NUCLEAR physics, PHYSICS
Abstract

Results of reaction cross-section measurements on 12C, 40Ca, 90Zr, and 208Pb at incident proton energies between 80 and 180 MeV are presented. The experimental procedure is described and the results are compared with earlier measurements and predictions using macroscopic and microscopic models. © 2005 American Institute of Physics [ABSTRACT FROM AUTHOR]

Published
2005
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42. Maintaining network connectivity and performance in robot teams.

Author

Hsieh, M. Ani, Cowley, Anthony, Kumar, Vijay, and Taylor, Camillo J.

Subjects
COMMUNICATION education, ROBOTICS, SURVEILLANCE detection, AERIAL surveys, SURVEYS, RECONNAISSANCE operations, ELECTRONIC surveillance
Abstract

In this paper, we present an experimental study of strategies for maintaining end-to-end communication links for tasks such as surveillance, reconnaissance, and target search and identification, where team connectivity is required for situational awareness. Our main contributions are threefold: (a) We present the construction of a radio signal strength map that can be used to plan multi-robot tasks, and also serve as useful perceptual information. We show how a nominal model of an urban environment obtained by aerial surveillance, is used to generate strategies for exploration. (b) We present reactive controllers for communication link maintenance; and (c) we consider the differences between monitoring signal strength versus data throughput. Experimental results, obtained using our multi-robot testbed in three representative urban environments are presented with each of our main contributions. © 2008 Wiley Periodicals, Inc. [ABSTRACT FROM AUTHOR]

Published
2008
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