1. Monash University Dept Research Forum 2004 1 Active Sensing for Mobile and Humanoid Robots - Lindsay Kleeman Active Sensing for Mobile and Humanoid Robots Lindsay Kleeman Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University, Australia Research Funded by the Australian Research Council Discovery Project DP0210359 ARC Centre for Perceptive and Intelligent Machines in Complex Environments

2. Monash University Dept Research Forum 2004 2 Active Sensing for Mobile and Humanoid Robots - Lindsay Kleeman Contents u Advanced Sonar u Humanoid Tracking Experiments

3. Monash University Dept Research Forum 2004 3 Active Sensing for Mobile and Humanoid Robots - Lindsay Kleeman Advanced Sonar Sensors DSP sonars sensors Mobile robot travels at speeds up to 1 metre/sec. Sonar sensors can track acoustic reflectors from angle measurements. Sonar can scan back and Forth building a map

4. Monash University Dept Research Forum 2004 4 Active Sensing for Mobile and Humanoid Robots - Lindsay Kleeman Target Tracking - Moving Target

5. Monash University Dept Research Forum 2004 5 Active Sensing for Mobile and Humanoid Robots - Lindsay Kleeman Target Tracking - Moving Robot

6. Monash University Dept Research Forum 2004 6 Active Sensing for Mobile and Humanoid Robots - Lindsay Kleeman On-the-fly Sonar Classification Two transmitters fire nearly simultaneously to classify into planes, corners and edges. Mirror image Reversed imageImage independent of transmitter position

7. Monash University Dept Research Forum 2004 7 Active Sensing for Mobile and Humanoid Robots - Lindsay Kleeman Autonomous Exploration

8. Monash University Dept Research Forum 2004 8 Active Sensing for Mobile and Humanoid Robots - Lindsay Kleeman Sonar SLAM

9. Monash University Dept Research Forum 2004 9 Active Sensing for Mobile and Humanoid Robots - Lindsay Kleeman SLAM with Loops

10. Monash University Dept Research Forum 2004 10 Active Sensing for Mobile and Humanoid Robots - Lindsay Kleeman SLAM with Loops

11. Monash University Dept Research Forum 2004 11 Active Sensing for Mobile and Humanoid Robots - Lindsay Kleeman Simultaneous Localisation and Mapping (SLAM) u Difficulties with classic Kalman Filter Soln: –computation per step and memory scales as n 2, n=number map features –association problem –kidnapped robot –loop closing –multi-sensor fusion with inconsistency, noise.. u Future research to study these problems.

12. Monash University Dept Research Forum 2004 12 Active Sensing for Mobile and Humanoid Robots - Lindsay Kleeman Metalman in action …. Geoff Taylor’s PhD work…

13. Monash University Dept Research Forum 2004 13 Active Sensing for Mobile and Humanoid Robots - Lindsay Kleeman Metalman likes rice … hard and uncooked.