Papers by Sarath Kodagoda
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), 2000
Line Model based on minimizing an appropriate Energy function. Experimental results are presented... more Line Model based on minimizing an appropriate Energy function. Experimental results are presented to demonstrate the effectiveness of the combined Laser and Vision strategy for road-edge and lane boundary detection.
Ubiquitous computing (UC) has been an important stream in distributed computing, which is nowaday... more Ubiquitous computing (UC) has been an important stream in distributed computing, which is nowadays recognized as an attractive vision in ambient intelligence (AmI) technologies and home robotic systems. This paper, focusing on our work on the application of field programmable gate array (FPGA) in mobile robotics, presents a prototypical computing node of a ubiquitous robot (Ubibot) for indoor multiple robot coordination. The hardware based FGPA designs such as colour discrimination, object tracking, relative distance estimation, and robotic steering manoeuvre are integrated into a single chip. This hardware design, based on the system-on-programmable chip concept, will demonstrate the feasibility of an AmI environment for real-time processing with lower power consumption.
... Paper: Language: English: FPGA-Based Relative Distance Estimation for Indoor Robot Control Us... more ... Paper: Language: English: FPGA-Based Relative Distance Estimation for Indoor Robot Control Using Monocular Digital Camera. Ying-Hao Yu * , Chau Vo-Ky ** , Sarath Kodagoda * , and Quang Phuc Ha *. ... Conf. Robotics and Biomimetics, Hong Kong, pp. 670-675, 2005. ...
... ax by cz dxy exz fyz gx hy iz + + + + + o The Activity, Mobility and Complexity features whic... more ... ax by cz dxy exz fyz gx hy iz + + + + + o The Activity, Mobility and Complexity features which were derived by Hjorth [1970] to describe time domain signal For the purpose of comparison, we use the following features extracted as candidate features from 2D range data. ...
Conventional Occupancy Grid (OG) map which contains occupied and unoccupied cells can be enhanced... more Conventional Occupancy Grid (OG) map which contains occupied and unoccupied cells can be enhanced by incorporating semantic labels of places to build semantic grid map. Map with semantic information is more understandable to humans and hence can be used for efficient communication, leading to effective human robot interactions. This paper proposes a new approach that enables a robot to explore an indoor environment to build an occupancy grid map and then perform semantic labeling to generate a semantic grid map. Geometrical information is obtained by classifying the places into three different semantic classes based on data collected by a 2D laser range finder. Classification is achieved by implementing logistic regression as a multi-class classifier, and the results are combined in a probabilistic framework. Labeling accuracy is further improved by topological correction on robot position map which is an intermediate product, and also by outlier removal process on semantic grid map...
Lecture Notes in Computer Science, 1999
The primary focus is on the development of an intelligent control scheme, which is insensitive to... more The primary focus is on the development of an intelligent control scheme, which is insensitive to parametric uncertainty, load and parameter fluctuations and most importantly amenable for real time implementation. In this paper, we present an effective uncoupled direct fuzzy PD/PI control scheme for an outdoor AGV, which is a converted electrically powered golf-car. The controller performance is assessed against
Lecture Notes in Computer Science, 2001
Fuzzu logic control is a relatively new technology and hence it needs rigorous comparative experi... more Fuzzu logic control is a relatively new technology and hence it needs rigorous comparative experimental analyses with ither well-established conventional control schemes. Further, fuzzy controller stability analysis is a major hindrance for its popularity among control engineers. It this paper, stable fuzzy variable structure systems or Sliding Mode Controllers (SMC) and fuzzy PD/PID controllers for steer and drive contol of
Lecture Notes in Computer Science, 1999
In this paper we present a systematic procedure for the synthesis of stable and robust fuzzy PD/P... more In this paper we present a systematic procedure for the synthesis of stable and robust fuzzy PD/PID controllers for robot manipulators from a variable structure systems standpoint. For linear systems and certain classes of non-linear systems variable structure systems theory has been used as a basis for synthesizing so-called fuzzy sliding mode controllers (FSMC)[1]. Variable structure systems theory has also been shown to be useful for understanding the effectiveness and stability of direct fuzzy PD controllers [2]. In this paper we will present a systematic method to exploit these two complementary roles of variable structure systems theory in order to guide the design and analysis of fuzzy PD/PID controllers for the class of non-linear systems characterized by robot dynamics.
Sixth International Conference of Information Fusion, 2003. Proceedings of the, 2003
Road detection and tracking is very useful in the synthesis of driver assistance and intelligent ... more Road detection and tracking is very useful in the synthesis of driver assistance and intelligent transportation systems. In this paper a methodology is proposed based on the extended Kalman filer for robust road curb detection and tracking using a combination of onboard active and passive sensors. The problem is formulated as detecting and tracking a maneuvering target in clutter using onboard sensors on a moving platfbrm. The primary sensors utilized are a dimensional SICK laser scanner, five encoders and a gyroscope, together with an image sensor (CCD camera). Compared to the active 20 laser scanner the CCD camera is capable of providing observations over an extended horizon, thus making available much useful information about the curb trend, which is exploited in mainly the laser based tracking algorithm. The advantage of the proposed image enhanced laser detectionhracking method, over laser alone detectionhracking, is illustrated using simulations and its robustness to varied road curvatures, branching, tums and scenarios, is demonstrated through experimental results.
IEEE Transactions on Control Systems Technology, 2015
ABSTRACT This brief addresses the issue of monitoring physical spatial phenomena of interest usin... more ABSTRACT This brief addresses the issue of monitoring physical spatial phenomena of interest using information collected by a resource-constrained network of mobile, wireless, and noisy sensors that can take discrete measurements as they navigate through the environment. We first propose an efficient novel optimality criterion for designing a sampling strategy to find the most informative locations in taking future observations to minimize the uncertainty at all unobserved locations of interest. This solution is proven to be within bounds. The computational complexity of this proposition is shown to be practically feasible. We then prove that under a certain condition of monotonicity property, the approximate entropy at resulting locations obtained by our proposed algorithm is within 1-(1/e) of the optimum, which is then utilized as a stopping criterion for the sampling algorithm. The criterion enables the prediction results to be within user-defined accuracies by controlling the number of mobile sensors. The effectiveness of the proposed method is illustrated using a prepublished data set.
13th International Conference on Control, Automation, Robotics and Vision, ICARCV 2014
Human context is the most natural explanation why
objects are placed and arranged in a particula... more Human context is the most natural explanation why
objects are placed and arranged in a particular order in an indoor
environment. Usually humans arrange objects in order to support
their intended activities in a given environment. However most
common approaches for robotic object search involve modelling
object-object relationships. In this paper, we hypothesize such
relationships are centered around humans and brings human
context to object search by modelling human-object relationships
as an affordance map. It identifies location in a 3D map which
support a particular affordance using virtual human models.
Therefore our approach does not require to observe real humans
in the scene. The affordance map together with object-human-
robot relationship are then used to infer the search strategy of
the robot. We tested our algorithm by using a mobile robot that
actively searched for the object “computer monitors” in an office
environment and recorded promising results
2014 13th International Conference on Control Automation Robotics & Vision (ICARCV), 2014
ABSTRACT This paper proposes a data driven machine learning model for spatial prediction of hydro... more ABSTRACT This paper proposes a data driven machine learning model for spatial prediction of hydrogen sulfide (H2S) in a gravity sewer system. The gaseous H2S in the overhead of the gravity sewer is modelled using a Gaussian Process with a new covariance function due to constraints of sewer boundaries. The covariance function is proposed based on the distance between two locations computed along the lengths of the sewer network. A mutual information based strategy is used to choose the best k sensor measurements and their locations from among n potential sensor observations and their locations. This provably NP-hard combinatorial sensor selection problem is addressed by maximizing the mutual information between the selected locations and the locations that are not selected or do not have any sensor deployments. A proof-of-concept study was carried out comparing the spatial prediction of H2S with a complex model currently used by Sydney Water. The proposed approach is shown to be effective in both modelling and predicting the H2S spatial concentrations in sewers as well as identifying optimal number of H2S sensors and their locations for a required level of prediction accuracy.
2006 International Conference on Information and Automation, 2006
Map building and obstacle detection are basic tasks in mobile robot navigation. In this paper we ... more Map building and obstacle detection are basic tasks in mobile robot navigation. In this paper we present a probability based solution for map building which utilizes time of flight information from an ultrasonic sensor. In contrast to most of the available map building systems, this uses a single ultrasonic sensor, mounted on a rotating shaft. Discrete sonar observations taken at
Proceedings of the Second International Workshop on Robot Motion and Control. RoMoCo'01 (IEEE Cat. No.01EX535), 2001
Context-awareness' could be one of the most desired fundamental abilities that a robot should hav... more Context-awareness' could be one of the most desired fundamental abilities that a robot should have when sharing a workspace with humans coworkers. Arguably, a robot with appropriate context-awareness could lead to a better human robot interaction. In this paper, we address the problem of combining contextawareness with robotic path planning. Our approach is based on affordance-map, which involves mapping latent human actions in a given environment by looking at geometric features of the environment. This enables us to learn human context in an given environment without observing real human behaviours which themselves are a non-trivial task to detect. Once learned, affordance-map allows us to assign an affordance cost value for each grid location of the map. These cost maps are later used to develop a context-aware global path planning strategy by using the well known A* algorithm. The proposed method was tested in a real office environment and proved our algorithm is capable of moving a robot in a path that minimises the distractions to human co-workers.
Consumer neuroscience addresses marketing relevant problems through the integration and applicati... more Consumer neuroscience addresses marketing relevant problems through the integration and application of neuroscientific theories, concepts, findings and methods to the research discipline of consumer behavior. The key contribution of this paper is to complement the advancement of traditional consumer research through the investigation of the patterns of interdependency between the Electroencephalogram (EEG) signals from the different brain regions while participants undertook a choice task designed to elicit preferences for a marketing product (crackers). Specifically, the task required participants to choose their preferred crackers described by shape (square, triangle, round), flavor (wheat, dark rye, plain) and topping (salt, poppy, no topping). We analyze the Electroencephalogram (EEG) signals collected from the different brain regions using the commercially available 14 channel Emotiv EPOC wireless EEG headset and relate the EEG data to the specific choice options with a Tobii X60 eye tracker. Fifteen participants were recruited for this experiment and were shown 57 choice sets; each choice set described three choice options.
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Papers by Sarath Kodagoda
objects are placed and arranged in a particular order in an indoor
environment. Usually humans arrange objects in order to support
their intended activities in a given environment. However most
common approaches for robotic object search involve modelling
object-object relationships. In this paper, we hypothesize such
relationships are centered around humans and brings human
context to object search by modelling human-object relationships
as an affordance map. It identifies location in a 3D map which
support a particular affordance using virtual human models.
Therefore our approach does not require to observe real humans
in the scene. The affordance map together with object-human-
robot relationship are then used to infer the search strategy of
the robot. We tested our algorithm by using a mobile robot that
actively searched for the object “computer monitors” in an office
environment and recorded promising results
objects are placed and arranged in a particular order in an indoor
environment. Usually humans arrange objects in order to support
their intended activities in a given environment. However most
common approaches for robotic object search involve modelling
object-object relationships. In this paper, we hypothesize such
relationships are centered around humans and brings human
context to object search by modelling human-object relationships
as an affordance map. It identifies location in a 3D map which
support a particular affordance using virtual human models.
Therefore our approach does not require to observe real humans
in the scene. The affordance map together with object-human-
robot relationship are then used to infer the search strategy of
the robot. We tested our algorithm by using a mobile robot that
actively searched for the object “computer monitors” in an office
environment and recorded promising results