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"Search Methodologies for Node Recovery in Robotic Swarms" accepted for publication at MED 2011

A paper entitled "Search Methodologies for Node Recovery in Robotic Swarms" by Goncalo Martins, myself, and Kimon Valanvanis has been accepted for publication at the 19th Mediterranean Conference on Control and Automation (MED 2011).

The conference website is:

Slides are attached.

110621_MED11.pdf817.6 KB

Allistair Moses to present at SPIE Defense, Security and Sensing on April 28, 2011

Ph.D. student Allistair Moses will present a paper, entitled "UAV-borne X-band Radar for MAV Collision Avoidance" co-authored by Allistair, myself, Dr. Michail Kontitsis and Dr. Kimon Valavanis, at the SPIE Defense, Security and Sensing conference in Orlando, FL on April 28, 2011.

Abstract (Slides attached):

Increased use of Miniature (Unmanned) Aerial Vehicles (MAVs) is
coincidentally accompanied by a notable lack of sensors suitable for
enabling further increases in levels of autonomy and consequently,
integration into the National Airspace System (NAS). The majority of
available sensors suitable for MAV integration are based on infrared
detectors, focal plane arrays, optical and ultrasonic rangefinders,
etc. These sensors are generally not able to detect or identify other
MAV-sized targets and, when detection is possible, considerable
computational power is typically required for successful
identification. Furthermore, performance of visual-range optical
sensor systems can suffer greatly when operating in the conditions
that are typically encountered during search and rescue, surveillance,
combat, and most common MAV applications. However, the addition of a
miniature radar system can, in consort with other sensors, provide
comprehensive target detection and identification capabilities for
MAVs. This trend is observed in manned aviation where radar systems
are the primary detection and identification sensor system. Within
this document a miniature, lightweight X-Band radar system for use on
a miniature (710mm rotor diameter) rotorcraft is described. We
present analyses of the performance of the system in a realistic
scenario with two MAVs. Additionally, an analysis of MAV navigation
and collision avoidance behaviors is performed to determine the effect
of integrating radar systems into MAV-class vehicles.

SPIE 8045-30 Allistair Moses.pdf1.43 MB

James Balasalle successfully defended his MS Thesis: Memory Access Patterns for Cellular Automata Using GPGPUs

The abstract of his thesis:

Today's graphical processing units have hundreds of individual processing cores that
can be used for general purpose computation of mathematical and scientific c problems.
Due to their hardware architecture, these devices are especially e ffective when solving
problems that exhibit a high degree of spatial locality. Cellular automata use small,
local neighborhoods to determine successive states of individual elements and therefore,
provide an excellent opportunity for the application of general purpose GPU
computing. However, the GPU presents a challenging environment because it lacks
many of the features of traditional CPUs, such as automatic, on-chip caching of data.
To fully realize the potential of a GPU, specialized memory techniques and patterns
must be employed to account for their unique architecture. Several techniques are
presented which not only dramatically improve performance, but, in many cases, also
simplify implementation. Many of the approaches discussed relate to the organization
of data in memory or patterns for accessing that data, while others detail methods of
increasing the computation to memory access ratio. The ideas presented are generic,
and applicable to cellular automata models as a whole. Example implementations
are given for several problems, including the Game of Life and Gaussian blurring,
while performance characteristics, such as instruction and memory accesses counts,
are analyzed and compared. A case study is detailed, showing the e effectiveness of
the various techniques when applied to a larger, real-world problem. Lastly, the reasoning
behind each of the improvements is explained, providing general guidelines for
determining when a given technique will be most and least e effective.

"An Empirical Evaluation of Assertions as Oracles" accepted for publication at ICST 2011

"An Empirical Evaluation of Assertions as Oracles" by Kavir Shrestha and myself has been accepted at the International Conference on Software Testing (ICST 2011):

Publication details will be updated as soon as they are ready.

Journal article "Enabling Intelligent Unmanned Vehicles Through XMOS Technology" to be published.

A journal article entitled "Enabling Intelligent Unmanned
Vehicles Through XMOS Technology" by Goncalo Martins, Allistair
Moses, myself and Kimon Valavanis is to be published in the SCS
journal Journal of Defense Modeling and Simulation (JDMS).

Please click here
for full information about the publication.