This is a cross-section showing selected publications across my career.
A more comprehensive and up-to-date list including on-line versions is on the
publication list by topic
and there is also lab list (not up to date)
mobile robotics lab publications page.
-
Prediction of 5G traffic on edge-based compute elements by using transfer learing with a
new techniq we call Similarity-based Elastic Weight Consolidation.
One for All: Traffic Prediction at Heterogeneous 5G Edge with Data-Efficient Transfer Learning, IEEE Globecom 2021.
This was awarded a best-paper award at GlobeCom 2021.
- Our paper "Generating adversarial driving scenarios in high-fidelity simulators", looks at using
adversarial methods to allow autonomous driving agents to improve.
The paper was an
early example of the developing trend to develop more robust agents
by making the environment part of the learning cycyle.
-
Efficient methods for drivers to meet one another or passengers.
Fast and Efficient Rendezvous in Street Networks.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'16).
- Searching for novelty is video, and using it to navigate a swimming robot to maximize the
stuff that is observed. Autonomous
Adaptive Underwater Exploration using Online Topic Modeling with Yogesh my student and Philippe (from Laval University).
This combines an automated search for novelty with the behavior of our amphibious robot. A journal version can
also be found in the Intl Journal of Robotics Research in 2013.
- Human-robot
interaction (HRI) and dialog
is a key aspect of robotics and the student author (Junead) is now professor at the University of Minnesota. This 2011 paper
is an eraly step in validating HRI methods.
-
Graphical state space programming, from 2011-2009, (GSSP) material and executable code.
A generic framework for developing light weight robot controllers.
- Our first work on visual barcodes that serve as fiducial targets with variable resolution.
We call them Fourier tags.
A more recent paper on this looks at
elaborating it with an enhanced payload
and greater robustness.
- With Dimitri Marinakis looked at
at
inferring the topology of
sensor networks using very sparse event information. A more recent paper one this is
our 2010 article in the IEEE Transactions on Robotics.
- A preliminary paper on our older
recommender system work. It's notable feature was a relatively large user-generated tag base for recommendation, a very usualy feature especailly at that time.
- Work that compares PCA to landmark-based posed
estimation schemes, with Rob Sim:
Comparing image-based localization methods (IJCAI 2003).
- Work on using visual landmarks for pose estimation.
We have look at several variants of this and the following
CVPR 2001 paper (postscript, gz)
uses generative models.
- Initial work on reconstruction of depth images from intensity data
with Luz-Abril Torres Mendez, from
the proc. IEEE Workshop of Applications of Computer Vision 2002
(PDF file). (Starting paper, see
newer
papers for better results.)
- With Yiannis Rekleitis and Evangelos Milios, we
looked at using multiple robots to reduce errors during mapping.
This paper is
Multi-Robot Collaboration for Robust Exploration
(this link is for a PDF reprint from the
Annals of Mathematics and Artificial Intelligence, 2001).
- An ICCV 1999
paper on learning landmarks for pose estimation (gzipped postscript).
- A Taxonomy
for Multi-Agent Robotics. Combines a taxonomy, some new results,
and a survey of existing work. A preprint of this article can
be found as a PDF file (an older journal article that was retreaded and
updated for the book Robot Teams: From Diversity to Polymorphism, T. Balch and
L. E. Parker (Eds.), 2002).
- Global
localization: Localizing a Robot with Minimum Travel, with Kathleen
Romanik and Sue Whitesides, SIAM J. Comput, 27, 2, April
1998, pp. 583-604. (300 KB).
- Localization
from sonar models, with Paul
MacKenzie, compressed postscript.
- Just-in-time
sensing from sonar and laser data, ICRA 1996. with Rekleitis
and Freedman.
- Work
on the classification and use of sonar landmarks, with Simon
Lacroix who did a postdoc at McGill, IROS 1997 (postscript).
- Computing
``shape texture'' for recognition (compressed postscript).
- 2-D shape-from-darkness and how hidden surfaces can be recovered.
Langer,
Dudek, Zucker, IROS 1995 (postcript).
- Multi-robot
exploration, with Rekleitis and Milios, ICRA 1996 (compressed
postscript).
- 3-D shape-from-darkness using iterative ``carving'' and arbitrary
light source directions. Daum
and Dudek, CVPR 1998.
See lots more at the
mobile robotics lab publications page (www.cim.mcgill.ca/~mrl).
