Clustering Sensor Data for Terrain Identification using a Windowless Algorithm
Philippe Giguère, Ph.D.
Supervisor: Gregory Dudek
Computer Science
Mobile Robotics Lab


Centre for Intelligent Machines

Status

Since april 2010, I am an assistant professor at the Département d'informatique et de génie logiciel at Université Laval. My new web site is here.

Research Interests

keywords: mobile robotics, machine learning, artificial perception, locomotion in unstructured environment, tactile sensing.

I'm currently involved doing research with the AQUA underwater robot project. The robot itself is based on an earlier design called RHex. It's a nifty design inspired by one of nature's most resilient creature: the cockroach! Click here for a non-official list of underwater robots out there.

Resume

Click here for a copy of my resume or my academic resume in french.

Code

You will find a Firewire IIDC Dragonfly Pointgrey matlab function here.


Publications

Journal Papers:

1.
 Clustering sensor data for autonomous terrain identification using time-dependency
Philippe Giguere and Gregory Dudek.
In Autonomous Robots, March 2009, pp. 171-186.
pdf
2.
 Sensor-Based Behavior Control for an Autonomous Underwater Vehicle
Junaed Sattar, Philippe Giguere and Gregory Dudek.
International Journal of Robotics Research (IJRR). Volume 28, No. 6, June 2009, pp. 701-713.




Refereed Conference Papers:

1.
 Unsupervised Learning of Terrain Appearance for Automated Coral Reef Exploration
Philippe Giguere, Gregory Dudek, Christopher Prahacs, Nicolas Plamondon and Katrine Turgeon.
In Proceedings of the Sixth Canadian Conference on Computer and Robot Vision (CRV), Kelowna, British Columbia, Canada. May 2009. To appear.
pdf
2.
 Surface Identification Using Simple Contact Dynamics for Mobile Robots
Philippe Giguere and Gregory Dudek.
IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 12-17, 2009. To appear.
pdf
3.
 Clustering Sensor Data for Terrain Identification using a Windowless Algorithm
Philippe Giguere and Gregory Dudek.
In Proceedings of the Robotics Science and System (RSS), Zurich, Switzerland, June 2008, pp. 25-32.
 PowerPoint
or
Animations
 pdf
 source
code
4.
 Enabling Autonomous Capabilities in Underwater Robotics
Junaed Sattar, Gregory Dudek, Olivia Chiu, Ioannis Rekleitis, Alec Mills, Philippe Giguere, Nicolas Plamondon, Chris Prahacs, Yogesh Girdhar, Meyer Nahon and John-Paul Lobos.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2008, pp. 3628-3634.



5.
 Fourier tags: Smoothly degradable fiducial markers for use in human-robot interaction.
Junaed Sattar, Eric Bourque, Gregory Dudek and Philippe Giguere.
In the Proceedings of the Fourth Canadian Conference on Computer and Robot Vision (CRV), Montreal, Quebec, Canada. May 2007, pp 165-174.
pdf
6.
 Learning Network Topology from Simple Sensor Data
Dimitri Marinakis, Philippe Giguere, and Gregory Dudek.
Presented at the 20th Canadian Conference on Artificial Intelligence, Montreal, Canada, May, 2007. pp 417-428.
pdf
7.
 Sensor Based Behavior Control for an Autonomous Underwater Vehicle
Gregory Dudek, Philippe Giguere and Junaed Sattar.
In Proceedings of the International Symposium on Experimental Robotics (ISER), Rio de Janeiro, Brazil, July, 2006. pp 312-317.

pdf
8.
 Environment Identification for a Running Robot Using Inertial and Actuator Cues
Philippe Giguere, Gregory Dudek, Chris Prahacs and Shane Saunderson
In Proceedings of the Robotics Science and System (RSS), Philadelphia, U.S.A, August, 2006. pp 271-278.

pdf
9.
 Characterization and Modeling of Rotational Responses for an Oscillating Foil Underwater Robot
Philippe Giguere, Gregory Dudek and Chris Prahacs
Presented at the IEEEE/RSJ/GI International Conference on Intelligent Robots and Systems (IROS), Beijing, China, October, 2006. pp. 3000-3005.
pdf
10.
 A Visual Servoing System for an Aquatic Swimming Robot
Junaed Sattar, Philippe Giguere, Gregory Dudek and Chris Prahacs.
In Proceedings of IEEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edmonton, Alberta, Canada; pages 2071-2076. 2005.
pdf
11.
 A Visually Guided Swimming Robot
Gregory Dudek, Michael Jenkin, Chris Prahacs, Andrew Hogue, Junaed Sattar, Philippe Giguere, Andrew German, Hui Liu, Shane Saunderson, Arlene Ripsman, Saul Simhon, Luz Abril Torres-Mendez, Evangelos Milios, Pifu Zhang and Ioannis Rekleitis.
In Proceedings of IEEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edmonton, Alberta, Canada; pages 1749-1754. 2005.
pdf

Others:
Aqua: An Amphibious Autonomous Robot.
Gregory Dudek, Philippe Giguere, Chris Prahacs, Shane Saunderson, Junaed Sattar, and Luz-Abril Torres-Mendez, McGill University, Michael Jenkin, Andrew German, Andrew Hogue, Arlene Ripsman, and Jim Zacher, York University, Evangelos Milios, Hui Liu, and Pifu Zhang, Dalhousie University, Martin Buehler, Boston Dynamics, Christina Georgiades, MathWorks.
IEEE Computer Magazine, Volume 40, Number 1, January 2007.  pp. 46-53.
Gone Swimmin'


notes for the AQUA project.