Publications

@Article{Schwesinger2016,
author="Schwesinger, Dylan
and Shariati, Armon
and Montella, Corey
and Spletzer, John",
title="A smart wheelchair ecosystem for autonomous navigation in urban environments",
journal="Autonomous Robots",
year="2016",
pages="1--20",
abstract="In this paper, we present a system level approach to smart wheelchair system (SWS) navigation in urban environments. The proposed SWS ecosystem has two primary components: a mapping service which generates large-scale landmark maps, and the SWS vehicle itself, which is a client of the mapping service. The SWS prototype integrates 3D LIDAR/imaging systems which provide robust perception in unstructured, outdoor environments. It also leverages these same sensors for map-based localization. In demonstrating the efficacy of the approach, the SWS navigated autonomously over a distance of more than 12 km in a representative urban environment without once losing localization, and without the use of GPS.",
issn="1573-7527",
doi="10.1007/s10514-016-9549-1",
url="http://dx.doi.org/10.1007/s10514-016-9549-1"
}


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