Given a mapped environment, we formulate the problem of visually tracking and following an evader... more Given a mapped environment, we formulate the problem of visually tracking and following an evader using a probabilistic framework. In this work, we consider a non-holonomic robot with a limited visibility depth sensor in an indoor environment with obstacles. The mobile robot that follows the target is considered a pursuer and the agent being followed is considered an evader. We propose a probabilistic framework for both the pursuer and evader to achieve their conflicting goals. We introduce a smart evader that has information about the location of the pursuer. The goal of this variant of the evader is to avoid being tracked by the pursuer by using the visibility region information obtained from the pursuer, to further challenge the proposed smart pursuer. To validate the efficiency of the framework, we conduct several experiments in simulation by using Gazebo and evaluate the success rate of tracking an evader in various environments with different pursuer to evader speed ratios. Th...
International Journal of Prognostics and Health Management, 2021
Acute injury to aged individuals represents a significant challenge to the global healthcare comm... more Acute injury to aged individuals represents a significant challenge to the global healthcare community as these injuries are frequently treated in a reactive method due to the infeasibility of frequent visits to the hospital for biometric monitoring. However, there is potential to prevent a large number of these cases through passive, at-home monitoring of multiple physiological parameters related to various causes that are common to aged adults in general. This research strives to implement wearable devices, ambient “smart home” devices, and minimally invasive blood and urine analysis to test the feasibility of implementation of a multitude of research-level (i.e. not yet clinically validated) methods simultaneously in a “smart system”. The system comprises measures of balance, breathing, heart rate, metabolic rate, joint flexibility, hydration, and physical performance functions in addition to lab testing related to biological aging and mechanical cell strength. A proof-of-concept...
Given a mapped environment, we formulate the problem of visually tracking and following an evader... more Given a mapped environment, we formulate the problem of visually tracking and following an evader using a probabilistic framework. In this work, we consider a non-holonomic robot with a limited visibility depth sensor in an indoor environment with obstacles. The mobile robot that follows the target is considered a pursuer and the agent being followed is considered an evader. We propose a probabilistic framework for both the pursuer and evader to achieve their conflicting goals. We introduce a smart evader that has information about the location of the pursuer. The goal of this variant of the evader is to avoid being tracked by the pursuer by using the visibility region information obtained from the pursuer, to further challenge the proposed smart pursuer. To validate the efficiency of the framework, we conduct several experiments in simulation by using Gazebo and evaluate the success rate of tracking an evader in various environments with different pursuer to evader speed ratios. Th...
International Journal of Prognostics and Health Management, 2021
Acute injury to aged individuals represents a significant challenge to the global healthcare comm... more Acute injury to aged individuals represents a significant challenge to the global healthcare community as these injuries are frequently treated in a reactive method due to the infeasibility of frequent visits to the hospital for biometric monitoring. However, there is potential to prevent a large number of these cases through passive, at-home monitoring of multiple physiological parameters related to various causes that are common to aged adults in general. This research strives to implement wearable devices, ambient “smart home” devices, and minimally invasive blood and urine analysis to test the feasibility of implementation of a multitude of research-level (i.e. not yet clinically validated) methods simultaneously in a “smart system”. The system comprises measures of balance, breathing, heart rate, metabolic rate, joint flexibility, hydration, and physical performance functions in addition to lab testing related to biological aging and mechanical cell strength. A proof-of-concept...
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