A novel CMOS Variable Gain Amplifier (VGA) with high frequency and high dynamic range is proposed... more A novel CMOS Variable Gain Amplifier (VGA) with high frequency and high dynamic range is proposed. It has a controllable gain range from 4 5 d B to +45dB by external control voltage as well as enhanced operating frequency up to ZOOMHz. It is fabricated in 0 . 3 5~ CMOS technology with the core area of 5 8 0~ x 6 6 0 p . It consumes only 10.8mA at 3.3Vsupply voltage.
Target tracking performance can be improved by using multiple robot trackers, but this requires a... more Target tracking performance can be improved by using multiple robot trackers, but this requires a coordinated motion strategy among the robots. We propose an algorithm based on treating the densities of robots and targets as properties of the environment in which they are embedded. By suitably manipulating these densities a control law for each robot is proposed. The proposed algorithm has been tested through intensive simulations and a realrobot experiment. First, two different versions of the approach were evaluated by studying the performance change as the communication range among robots varies. The results showed that our treatment of the coordination problem is effective and efficient. Second, the developed system was tested on two Segway RMP robots, and the behaviors of the robots in a cooperative tracking experiment provide evidence that the proposed method controls multiple robots appropriately according to the target distribution change.
In this paper, we report on the integration challenges of the various component technologies deve... more In this paper, we report on the integration challenges of the various component technologies developed towards the establishment of a framework for deploying an adaptive system of heterogeneous robots for urban surveillance. In our integrated experiment and demonstration, aerial robots generate maps that are used to design navigation controllers and plan missions for the team. A team of ground robots constructs a radio signal strength map that is used as an aid for planning missions. Multiple robots establish a mobile, ad-hoc communication network that is aware of the radio signal strength between nodes and can adapt to changing conditions to maintain connectivity. Finally, the team of aerial and ground robots is able to monitor a small village, and search for and localize human targets by the color of the uniform, while ensuring that the information from the team is available to a remotely located human operator. The key component technologies and contributions include (a) mission specification and planning software; (b) exploration and mapping of radio signal strengths in an urban environment; (c) programming abstractions and composition of controllers for multi-robot deployment; (d) cooperative control strategies for search, identification, and localization of targets; and (e) three-dimensional mapping in an urban setting.
A novel CMOS Variable Gain Amplifier (VGA) with high frequency and high dynamic range is proposed... more A novel CMOS Variable Gain Amplifier (VGA) with high frequency and high dynamic range is proposed. It has a controllable gain range from 4 5 d B to +45dB by external control voltage as well as enhanced operating frequency up to ZOOMHz. It is fabricated in 0 . 3 5~ CMOS technology with the core area of 5 8 0~ x 6 6 0 p . It consumes only 10.8mA at 3.3Vsupply voltage.
Target tracking performance can be improved by using multiple robot trackers, but this requires a... more Target tracking performance can be improved by using multiple robot trackers, but this requires a coordinated motion strategy among the robots. We propose an algorithm based on treating the densities of robots and targets as properties of the environment in which they are embedded. By suitably manipulating these densities a control law for each robot is proposed. The proposed algorithm has been tested through intensive simulations and a realrobot experiment. First, two different versions of the approach were evaluated by studying the performance change as the communication range among robots varies. The results showed that our treatment of the coordination problem is effective and efficient. Second, the developed system was tested on two Segway RMP robots, and the behaviors of the robots in a cooperative tracking experiment provide evidence that the proposed method controls multiple robots appropriately according to the target distribution change.
In this paper, we report on the integration challenges of the various component technologies deve... more In this paper, we report on the integration challenges of the various component technologies developed towards the establishment of a framework for deploying an adaptive system of heterogeneous robots for urban surveillance. In our integrated experiment and demonstration, aerial robots generate maps that are used to design navigation controllers and plan missions for the team. A team of ground robots constructs a radio signal strength map that is used as an aid for planning missions. Multiple robots establish a mobile, ad-hoc communication network that is aware of the radio signal strength between nodes and can adapt to changing conditions to maintain connectivity. Finally, the team of aerial and ground robots is able to monitor a small village, and search for and localize human targets by the color of the uniform, while ensuring that the information from the team is available to a remotely located human operator. The key component technologies and contributions include (a) mission specification and planning software; (b) exploration and mapping of radio signal strengths in an urban environment; (c) programming abstractions and composition of controllers for multi-robot deployment; (d) cooperative control strategies for search, identification, and localization of targets; and (e) three-dimensional mapping in an urban setting.
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