Author name cluster

Patrick Rowe

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

4 papers

1 author row

ICRA Conference 2019 Conference Paper

Detection and Reconstruction of Wires Using Cameras for Aircraft Safety Systems

Adam Stambler
Gary Sherwin
Patrick Rowe

We extend the ability of cameras to perceive obstacles for aircraft safety systems by enabling 3d sensing of free hanging wires. Our algorithm exploits the specialized 2d and 3d structure of wires to exceed state of the art performance in 2d sensing and 3d location estimation of wire obstacles. In 2d, a new neural network architecture, Deep Wire CNN, directly predicts the location of wire line segments in the image. In 3d, the detections are tracked and triangulated as the aircraft flies in order to estimate the wire's location. Our triangulation uses a new formulation of wire reconstruction as the estimation of the wire's vertical plane. Together these advancements enable real-time detections of wire hazards at ranges of over 1km. The system performance is evaluated on prior image level wire detection datasets and we introduce a new public dataset in order to evaluate full system results on over 40 approaches to power lines from a manned helicopter.

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ICRA Conference 2013 Conference Paper

Bimanual haptic teleoperation for discovering and uncovering buried objects

Hanns Tappeiner
Roberta L. Klatzky
Patrick Rowe
Jorgen Pedersen
Ralph L. Hollis

We describe an experimental system for the evaluation of teleoperation performance. The system was used in two experiments where operators were assigned the task of discovering a buried object while minimizing contact forces. The studies i) demonstrated the advantage of haptic feedback in the discovery task, and ii) compared different methods for haptic feedback, including our new bimanual method, Touch and Guide in Tandem (TAGIT). Results show that TAGIT enables the effective workspace of the teleoperator to be expanded while minimizing forces from exploration and contact, reducing their variability, and reducing task completion times.

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IROS Conference 1998 Conference Paper

A robotic excavator for autonomous truck loading

Anthony Stentz
John Bares
Sanjiv Singh
Patrick Rowe

Excavators are used for the rapid removal of soil and other materials in mines, quarries, and construction sites. The automation of these machines offers promise for increasing productivity and improving safety. To date, most research in this area has focused on selected parts of the problem. In this paper we present a system that completely automates the truck loading task. The excavator uses two scanning laser rangefinders to recognize and localize the truck, measure the soil face, and detect obstacles. The excavator's software decides where to dig in the soil, where to dump in the truck, and how to quickly move between these points while detecting and stopping for obstacles. The system was fully implemented and was demonstrated to load trucks as fast as human operators.

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IROS Conference 1997 Conference Paper

Parameterized scripts for motion planning

Patrick Rowe
Anthony Stentz

Presents an approach for real time planning and execution of the motions of complicated robotic systems. The approach is motivated by the observation that a robot's task can be described as a series of simple steps, or a script. The script is a general template which encodes knowledge for a class of tasks and is fitted to a specific instance of a task. The script receives information about its environment in the form of parameters, which it uses to bind variables in the template and allows it to deal with the current task conditions. Changes or variations in the robot's environment can be easily handled with this parameterized script approach. New tasks for the robot to perform can be added in the form of subscripts, which could handle exceptional cases. We apply this approach to the task of autonomous excavation, and demonstrate its validity on an actual hydraulic excavator. We obtain good results, with the autonomous system approaching the performance of an expert human operator.

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