• LIDAR OUTGOING LASER ENERGY MEASUREMENT SYSTEM

      Reagan, John; Gibbons, Jasper; Moss, David; University of Arizona (International Foundation for Telemetering, 2004-10)
      A flexible system has been designed to accurately measure and average the outgoing laser energy of a micro-pulse LIDAR unit (MPL). This system incorporates specifically designed analog measurement circuitry interfaced with a microcontroller, allowing researchers to manage experiments from a personal computer. The final system produces a linearly proportional response between an incident laser energy input and the analog and digital circuitry’s output, accurate to within 0.1%. Custom designed algorithms allow the system to average the energy measured in a series of pulses. Each series can range on the order of tens of thousands of pulses.
    • AN OPEN ARCHITECTURE AND MIDDLEWARE FOR COLLECTIVE ROBOT TEAMS

      Marefat, Michael; Reagan, John; Lesmeister, Micah; Elhourani, Theodore; University of Arizona (International Foundation for Telemetering, 2004-10)
      In this paper we propose an open multi-robot architecture that dramatically reduces the time to deployment and increases the utility value to the mainstream non-technical user. We describe a multi-robot behavior-based coordination architecture and argue its suitability in the context of general-purpose robot teams operating in dynamic and unpredictable environments. We then formalize and describe a command fusion module for the coordination of high-level behaviors of the system. The command fusion module is interfaced to our middle-ware/compiler that generates behavior selection tips from a user specified abstract description of a scenario. Finally, we utilize an example search and rescue scenario to illustrate the overall process and give preliminary results of the experiments performed on actual robots.
    • RESOURCE ALLOCATION IN SENSOR NETWORKS USING DISTRIBUTED CONSTRAINT OPTIMIZATION

      Marefat, Michael; Reagan, John; Chachra, Sumit; Elhourani, Theodore; The University of Arizona (International Foundation for Telemetering, 2004-10)
      Several algorithms have been proposed for solving constraint satisfaction and the more general constraint optimization problem in a distributed manner. In this paper we apply two such algorithms to the task of dynamic resource allocation in the sensor network domain using appropriate abstractions. The aim is to effectively track multiple targets by making the sensors coordinate with each other in a distributed manner, given a probabilistic representation of tasks (targets). We present simulation results and compare the performance of the DBA and DSA algorithms under varying experimental settings.