Publications

In this work, we describe multi-layered analyses of a high-resolution broad-area LADAR data set in support of expeditionary activities. High-level features are extracted from the LADAR data, such as the presence and location of buildings and cars, and then these features are used to populate a GIS (geographic information system) tool. We also apply line-of-sight (LOS) analysis to develop a path-planning module. Finally, visualization is addressed and enhanced with a gesture-based control system that allows the user to navigate through the enhanced data set in a virtual immersive experience. This work has operational applications including military, security, disaster relief, and task-based robotic path planning.

We designed and constructed a system that includes aircraft, ground vehicles, and throwable sensors to search a semiforested region that was partially covered by foliage. The system contained 4 radio-controlled (RC) trucks, 2 aircraft, and 30 SensorMotes (throwable sensors). We also investigated communications links, search strategies, and system architecture. Our system is designed to be low-cost, contain a variety of sensors, and distributed so that the system is robust even if individual components are lost.