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Modular Robotics and Intelligent Imaging for Unmanned Systems Chung-Hao Chen*

Summary: Modular Robotics and Intelligent Imaging for Unmanned Systems
Chung-Hao Chen*
, Chang Cheng, David Page, Andreas Koschan, Mongi Abidi
Imaging, Robotics, and Intelligent Systems Laboratory
Department of Electrical & Computer Engineering
The University of Tennessee, Knoxville, TN 37996
The Imaging, Robotics, and Intelligent Systems (IRIS) Laboratory at the University of Tennessee is currently
developing a modular approach to unmanned systems to increase mission flexibility and aid system interoperability for
security and surveillance applications. The main focus of the IRIS research is the development of sensor bricks where
the term brick denotes a self-contained system that consists of the sensor itself, a processing unit, wireless
communications, and a power source. Prototypes of a variety of sensor bricks have been developed. These systems
include a thermal imaging brick, a quad video brick, a 3D range brick, and a nuclear (gamma ray and neutron) detection
bricks. These bricks have been integrated in a modular fashion into mobility platforms to form functional unmanned
systems. Research avenues include sensor processing algorithms, system integration, communications architecture,
multi-sensor fusion, sensor planning, sensor-based localization, and path planning. This research is focused towards
security and surveillance applications such as under vehicle inspection, wide-area perimeter surveillance, and high-
value asset monitoring. This paper presents an overview of the IRIS research activities in modular robotics and includes
results from prototype systems.
Keywords: modular architecture, navigation planning, sensor brick, multimodal data fusion


Source: Abidi, Mongi A. - Department of Electrical and Computer Engineering, University of Tennessee


Collections: Computer Technologies and Information Sciences