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Arturo Rankin, PhD
Member of Technical Staff

Autonomous Vehicles:
  1. L. Matthies, Y. Xiong, R. Hogg, D. Zhu, A. Rankin, B. Kennedy, M. Hebert, M. Maclachlan, R. Won, C. Frost, G. Sukhatme, M. McHenry, S. Goldberg, "A Portable Autonomous Urban Reconnaissance Robot," Proceedings of the Sixth International Conference on Intelligent Autonomous Systems, Venice, Italy, July 2000.
  2. C. Crane, S. Cunningham, D. Armstrong, A. Rankin, D. Novick, J. Wit, and J. Duffy, "Development of an Autonomous Navigation Teleremote Mapping System for Application to Heavy Construction Equipment," Proceedings of the 5th UK Mechatronics Forum International Conference, Guimaraes, Portugal, September 1996.
  3. S. Cunningham, C. Crane, D. Armstrong, A. Rankin, D. Novick, J. Wit, and J. Duffy, "Development and Tuning of an Autonomous Control System for Application to Heavy Construction Equipment," Proceedings of the 1996 International Symposium on Robotics and Manufacturing, Montpellier, France, May 1996.
  4. D. Armstrong, C. Crane, A. Rankin, R. Rogers, J. Wit, and D. Novick, "Navigation of an Autonomous Survey Vehicle for the Localization of Unexploded Ordnance," Proceedings of the Conference on Technical Assessment for Unmanned Ground Vehicles, Institute for Defense Analysis Document D-187, Alexandria, VA, October 1995, 343-357.
  5. C. Crane, D. Armstrong, and A. Rankin, "Autonomous Navigation of Heavy Construction Equipment," Robotics in Civil Engineering Special Issue of the Microcomputers in Civil Engineering Journal, Vol. 10, No. 5, 1995, 357-370.
  6. C. Crane, A. Rankin, D. Armstrong, J. Wit, and D. Novick, "An Evaluation of INS and GPS for Autonomous Navigation," Proceedings of the 2nd IFAC Conference on Intelligent Autonomous Vehicles, Espoo, Finland, 1995, 205-213.
  7. D. Armstrong, C. Crane, A. Rankin, A. Nease, and E. Brown, "Autonomous Location of Hazardous Waste and Unexploded Ordnance," Intelligent Automation and Soft Computing: Trends in Research, Development, and Applications, Vol. 1, Proceedings of the First World Automation Congress, Maui, Hawaii, August 1994, 263-268.
  8. A. Rankin, C. Crane, D. Armstrong, "Navigation of an Autonomous Robot Vehicle," Robotics for Challenging Environments, Proceedings of the ASCE Specialty Conference on Robotics for Challenging Environments, Albuquerque, NM, February 1994, 44-51.

Modeling and Simulation:
  1. A. Rankin, C. Crane, J. Duffy, "Modeling the Steering Behavior of an Autonomous Land Vehicle," Proceedings of the IASTED International Conference on Applied Modeling and Simulation, July 1997, 404-407.
  2. A. Rankin, C. Crane, J. Duffy, "Simulating the Motion of an Nonholonomic Robot and its Trailer," Proceedings of the 5th International Symposium on Advances in Robot Kinematics, Portoroz-Bernardin, Slovenia, June 1996, 277-286.

MS Thesis:
  1. A. Rankin, "Path Planning and Path Execution Software for an Autonomous Nonholonomic Robot Vehicle," MS Thesis, University of Florida, 1993.

Obstacle Detection and Traversability:
  1. A. Rankin, A. Huertas, L. Matthies, "Nighttime Negative Obstacle Detection for Off-Road Autonomous Navigation," SPIE Defense & Security Symposion: Unmanned Systems Technology IX Conference, April 2007.
  2. A. Rankin, A. Huertas, L. Matthies, "Evaluation of Stereo Vision Obstacle Detection Algorithms for Off-Road Autonomous Navigation," Proceedings of the 32nd AUVSI Symposium on Unmanned Systems, June 2005.
  3. A. Huertas, L. Matthies, A. Rankin, "Stereo-Vision Based Tree Traversability Analysis for Autonomous Off-Road Navigation," Proceedings of the IEEE Workshop on Applications of Computer Vision, Breckenridge, CO, January 2005.
  4. L. Matthies and A. Rankin, "Negative Obstacle Detection by Thermal Signature," Proceedings of the IEEE Conference on Intelligent Robots and Systems, Las Vegas, October 2003.
  5. A. Talukder, R. Manduchi, A. Rankin, L. Matthies, "Fast and Reliable Obstacle Detection and Segmentation for Cross-Country Navigation," Proceeding of the 2002 Intelligent Vehicles Conference, France, June 2002.
  6. A. Rankin, K. Owens, L. Matthies, T. Litwin, "Terrain Adaptive Gaze and Velocity Control for UGV Obstacle Detection," Proceedings of the 1998 AUVSI Conference, June 1998, 363-375.
  7. L. Matthies, T. Litwin, K. Owens, A. Rankin, K. Murphy, D. Coombs, J. Gilsinn, T. Hong, S. Legowik, M, Nashman, and B. Yoshimi, "Performance Evaluation of UGV Obstacle Detection with CCD/FLIR Stereo Vision and LADAR," Proceedings of the IEEE Workshop on Perception for Mobile Agents, Santa Barbara, CA, June 1998.

Path Planning and Following:
  1. R. Hogg, A. Rankin, S. Roumeliotis, M. McHenry, D. Helmick, C. Bergh, L. Matthies, "Algorithms and Sensors for Small Robot Path Following," Proceedings of the 2002 International Conference on Robotics and Automation, Washington D.C., May 2002.
  2. A. Rankin, C. Crane, D. Armstrong, "Evaluating a PID, Pure Pursuit, and Weighted Steering Controller for an Autonomous Land Vehicle," Proceedings of the SPIE Conference on Intelligent Robotics for Factory, Field, and Space, Vol 3210, October 1997, 1-12.
  3. A. Rankin and C. Crane, "A Multi-purpose Off-line Path Planner Based on an A* Search Algorithm," Proceedings of the ASME Design Engineering Technical Conferences, August 1996.
  4. A. Rankin, C. Crane, D. Armstrong, H. Brown, A. Nease, "Autonomous Path Planning Navigation System Used for Site Characterization," Proceedings of the SPIE 10th Annual AeroSense Symposium, Vol. 2738, Orlando, FL, April 1996, 176-186.
  5. A. Rankin and C. Crane, "Off-line Path Planning Using an A* Search Algorithm," Proceedings of Florida Recent Advances in Robotics, Gainesville, Florida, April 1994.

Ph. D. Dissertation:
  1. A. Rankin, "Development of Path Tracking Software for an Autonomous Steered-Wheeled Robotic Vehicle and Its Trailer," Ph.D. Dissertation, University of Florida, 1997.

Rovers and Landers:
  1. A. Trebi-Ollennu, A. Rankin, Y. Cheng, K. Tso, R. Deen, H. Aghazarian, E. Kulczycki, R. Bonitz, and L. Alkalai, "Instrument Deployment Testbed: For Planetary Surface Geophysical Exploration," Proceedings of the IEEE Aerospace Conference, March 2013.
  2. A. Trebi-Ollennu, K. S. Ali, A. L. Rankin, K. S. Tso, C. Assad, J. B. Matthews, R. G. Deen, D. A. Alexander, R. Toda, H. Manohara, M. Wolf, J. R. Wright, J. Yen, F. Hartman, R. G. Bonitz, and A. R. Sirota,"Lunar Surface Operations Testbed (LSOT)," Proceedings of the IEEE Aerospace Conference, March 2012.
  3. J. Carsten, A. Rankin, D. Ferguson, and A. Stentz, "Global Planning on the Mars Exploration Rovers: Software Integration and Surface Testing," Journal of Field Robotics, 26(4), April 2009, 337-357.
  4. S. Hayati, A. Rankin, W. Kim, P. Leger, S. Chien, and K. Ali, "Advanced Robotics Technology Infusion to the NASA Mars Exploration Rover (MER) Project," 6th IFAC Symposium on Intelligent Autonomous Vehicles, September 3-5, 2007.
  5. J. Carsten, A. Rankin, D. Ferguson, and A. Stentz, "Global Path Planning on-board the Mars Exploration Rovers," IEEE Aerospace Conference, March 2007.
  6. A. Trebi-Ollennu, A. L. Rankin, Y. Cheng, A. Ansar, J. L. Carsten, W. S. Kim, A. Huertas, I. A. Nesnas, and A. Diaz-Calderon, "Advances in Space Robotics Autonomy, in Computational Intelligence in Aerospace Sciences: Progress in Astronautics and Aeronautics," American Institute of Aeronautics and Astronautics, Volume 244, Chapter 10, Vasile and Becerra, Eds, 2014.

Sensing and Perception:
  1. A. Rankin, A. Huertas, L. Matthies, M. Bajracharya, C. Assad, S. Brennan, P. Bellutta, and G. Sherwin, "Unmanned Ground Vehicle Perception using Thermal Infrared Cameras," Proceedings of SPIE, Vol. 8045, April 2011.
  2. A. Rankin, M. Bajracharya, A. Huertas, A. Howard, B. Moghaddam, S. Brennan, A. Ansar, B. Tang, M. Turmon, and L. Matthies, "Stereo-vision based Perception Capabilities Developed during the Robotics Collaborative Technology Alliances program," Proceedings of SPIE, Vol. 7692, April 2010.
  3. A. Rankin, A. Huertas, L. Matthies, "Stereo Vision Based Terrain Mapping for Off-Road Autonomous Navigation," Proceedings of SPIE Vol. 7332, April 2009.
  4. A. Howard, L. H. Matthies, A. Huertas, M. Bajracharya and A. Rankin, "Detecting Pedestrian with Stereo Vision: Operation of Autonomous Ground Vehicles in Dynamic Environments," Proceedings of the International Symposium of Robotics Research, November 26-29, 2007.
  5. A. Rankin, C. Bergh, S. Goldberg, P. Bellutta, A. Huertas, L. Matthies, "Passive Perception System for Day/Night Autonomous Off-Road Navigation," Proceedings of the SPIE Defense & Security Symposium: Unmanned Ground Vehicle Technology VI Conference, March 2005, 343-358.
  6. R. Hogg, A. Rankin, M. McHenry, D. Helmick, C. Bergh, S. Roumeliotis, and L. Matthies, "Sensors and Algorithms for Small Robot Leader/Follower Behavior," Proceedings of the SPIE AeroSense Symposium. Orlando, April 2001.
  7. P. Bellutta, R. Manduchi, L. Matthies, K. Owens, A. Rankin, "Terrain Perception for Demo III," Proceedings of the 2000 Intelligent Vehicles Conference, Dearborn, MI, October 2000, 326-331.

Water and Mud Detection:
  1. A. Rankin and L. Matthies, "Passive Sensor Evaluation for Unmanned Ground Vehicle Mud Detection," Journal of Field Robotics, 27(4), July/August 2010, 473-491.
  2. A. Rankin, T. Ivanov, S. Brennan, "Methods for Evaluating the Performance of Unmanned Ground Vehicle Water Detection," International Journal of Intelligent Control and Systems (IJICS): special issue on Quantifying the Performance of Intelligent Systems, 16(2), June 2011, 37-48.
  3. A. Rankin, L. Matthies, and P. Bellutta, "Daytime Water Detection based on Sky Reflections," Proceedings of the International Conference on Robotics and Automation (ICRA), May 2011.
  4. A. Rankin and L. Matthies, "Daytime Water Detection Based on Color Variation," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2010.
  5. A. Rankin, T., Ivanov, and S. Brennan, "Evaluating the Performance of Unmanned Ground Vehicle Water Detection," Performance Metrics for Intelligent Systems Workshop (PerMIS), September 2010.
  6. A. Rankin and L. Matthies, "Daytime Mud Detection for Unmanned Ground Vehicle Autonomous Navigation," Proceedings of the 26th Army Science Conference, December 1-4, 2008.
  7. A. Rankin and L. Matthies, "Daytime Water Detection and Localization for Unmanned Ground Vehicle Autonomous Navigation," Proceedings of the 25th Army Science Conference, November 2006.
  8. A. Rankin, L. Matthies, A. Huertas, "Daytime Water Detection by Fusing Multiple Cues for Autonomous Off-Road Navigation," Proceedings of the 24th Army Science Conference, November 2004.

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