Contact Dr. Cang Ye

Phone:(501) 683-7284

Google Voice: (501) 237-1818

Fax: (501) 569-8020   

Email: cxye@ualr.edu

Laboratory

Dept. of Systems Engineering

ETAS 523, 2801 S. University Ave

Little Rock, AR 72204

Office

Dept. of Systems Engineering

EIT 532, 2801 S. University Ave

Little Rock, AR 72204

2016 Dr. Ye's  LAB. ALL RIGHTS RESERVED.

Intelligent Autonomous Systems Laboratory

College of Engineering & Information Technology

University of Arkansas at Little Rock

Home Research Openings Teaching Group News Links

Publications & Patents

Chapters in Book

  1. C. Ye, "Data processing in current 3D robotic perception systems," chapter in Contemporary Issues in System Science and Engineering, IEEE/Wiley, 2015, pp. 767-796.
  2. C. Ye and D. W. Wang, "Behavior learning and behavior fusion in autonomous navigation of mobile robots," chapter in Mobile Robots: New Research, Nova Science Publishers, Inc., New York, 2005, pp. 221-258.


Papers Under Review

  1. C. Ye and Xiangfei Qian, "3D Object Recognition of a Robotic Navigation Aid for the Visually Impaired," IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2016. (in the third round review)
  2. H. Zhang and C. Ye, "An Indoor Wayfinding System based on Geometric Features Aided Graph SLAM for the Visually Impaired," IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2016. (in the second round review)
  3. M. R. Afsar1, M. Wadsworth, T. Shen, H. Zhang, C. Ye, X. Shen, "A Motorized Robotic Walker for Human Walking Assistance," submitted to 2017 Design of Medical Devices Conference.


Peer Reviewed Papers

  1. B-D Camera Based Walking Pattern Recognition by Support Vector Machines for a Smart Rollator, to appear in International Journal of Intelligent Robotics and Applications, 2016.
  2. C. Ye, S. Hong, and A. Tamjidi, "6-DOF Pose Estimation of a Robotic Navigation Aid by Tracking Visual and Geometric Features," IEEE Transactions on Automation Science and Engineering, vol. 12, no. 4, pp. 1169-1180, 2015.
  3. C. Ye and G. M. Hegde, "Plane Segmentation of 3D Time-of-Flight Camera's Range Data by Normalized Cuts for Navigating a Tracked Robot," International Journal of Intelligent Control and System, vol. 20, no. 1, pp. 9-15, 2015.
  4. X. Qian and C. Ye, "NCC-RANSAC: A Fast Plane Extraction Method for 3D Range Data Segmentation," IEEE Transactions on Cybernetics, vol. 44, no. 12, pp. 2771-2783, 2014.
  5. G. M. Hegde, C. Ye, C. J. Robinson, A. Stroupe, and E. Tunstel, "Computer-Vision-Based Wheel Sinkage Estimation for Robot Navigation on Lunar Terrain," IEEE/ASME Transactions on Mechatronics, vol. 18, no. 4, pp. 1346-1356, 2013.
  6. A. Tamjidi and C. Ye, "6-DOF pose estimation of an autonomous car by visual feature correspondence and tracking," International Journal of Intelligent Control and Systems, vol. 117, no. 3, pp. 94-101, 2012.
  7. C. Ye and G. M. Hegde, "Robust Edge Extraction of Swissranger SR-3000 Range Images by Singular Value Decomposition Filtering and Hough Transform," International Journal of Intelligent Control and Systems, vol. 15, no. 4, pp. 41-48, 2010.
  8. G. M. Hegde and C. Ye, "Singular value decomposition filter: an effective method to enhance the SwissRanger SR-3000's range images," International Journal of Intelligent Control and System, vol. 13, no. 4, pp. 242- 250, 2008.
  9. C. Ye and E. Tunstel, "Guest editorial: advances in field robotics and intelligent systems," International Journal of Intelligent Control and System, vol. 13, no. 1, pp. 1-2, 2008.
  10. C. Ye and W. F. Xie, "Enhancing Mobile Robot Navigation in Urban Environments by a Polar Traversability Index," International Journal of Intelligent Control and Systems, vol. 13, no. 1, pp. 37-45, 2008.
  11. C. Ye, "Navigating a mobile robot by a traversability field histogram," IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics, vol. 37, no. 2, pp. 361-372, 2007.
  12. H. YAO, W. F. Xie, and C. Ye, "A Composite Approach to Adaptive Neural Networks Control of Unknown Flexible Joint Robots", International Journal of Intelligent Control and Systems, Vol. 12, No. 3, pp. 245- 253, 2007.
  13. C. Ye, "A method for mobile robot obstacle negotiation," International Journal of Intelligent Control and Systems, vol. 10, no. 3, pp. 188-200, 2005.
  14. C. Ye and J. Borenstein, "A novel filter for terrain mapping with laser rangefinders," IEEE Transactions on Robotics, vol. 20, no. 5, pp. 913-921, 2004.
  15. C. Ye, N. H. C. Yung, and D. W. Wang, "A fuzzy controller with supervised learning assisted reinforcement learning algorithm for obstacle avoidance,"  IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics, vol. 33, no. 1, pp. 17-27, 2003.
  16. C. Ye and D. W. Wang, "A novel navigation method for autonomous mobile vehicles," Journal of Intelligent and Robotic Systems, vol. 32, no. 4, pp.361-388, 2001.
  17. N. H. C. Yung and C. Ye, "An intelligent mobile vehicle navigator based on fuzzy logic and reinforcement learning," IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics, vol. 29, no. 2, pp. 314-321, 1999.
  18. E. K. Teoh, S. W. Wijerupage, D. W. Wang, P. B. Arjuna, R. S. K. Kodagoda, Z. Lu, C. Ye, and C. Tan, "Development of a test-bed for outdoor AGV research," The EEE Journal of NTU, 2001.
  19. H. Zhang and C. Ye, "An Indoor Wayfinding Method for Robotic Navigation Aids," accepted to 2016 IEEE International Conference on Robotics and Biomimetics.(Selected for Award Finalist)
  20. C. Ye and Y. Zhao, "An EKF-SLAM Method with Filter Consistency Test for Mobile Robots using a 3D Camera,"  Proceedings of IEEE International Conference on Robotics and Biomimetics, 2015.
  21. H. Zhang and C. Ye, "An RGB-D Camera based Walking Pattern Detection Method for Smart Rollators," Proceedings of the 11th International Symposium on Visual Computing, 2015.
  22. C. Ye, S. Hong, and X. Qian, "A Co-Robotic Cane for Blind Navigation," Proceedings of IEEE International Conference on Systems, Man, and Cybernetics, San Diego, CA, 2014.
  23. S. Hong and C. Ye, "A Pose Graph based Visual SLAM Algorithm for Robot Pose Estimation," Proceedings of World Automation Congress, Big Island, HI, 2014.
  24. X. Qian and C. Ye, "3D Object Recognition by Geometric Context and Gaussian-Mixture-Model-Based Plane Classification," Proceedings of IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014, pp. 3910-3915.
  25. S. Hong and C. Ye, "A Fast Egomotion Estimation Method based on Visual Feature Tracking and Iterative Closest Point," Proceedings of IEEE International Conference on Networking, Sensing and Control, 2014. (received Best Student Paper Finalist Award)
  26. A. Tamjidi, C. Ye, and S. Hong, "6-DOF pose estimation of a portable navigation aid for the visually impaired," Proceedings of the IEEE International Symposium on Robotic and Sensors Environments, 2013, pp. 178-183. (received Best Student Paper Award)
  27. X. Qian and C. Ye, "NCC-RANSAC: A Fast Plane Extraction Method for Navigating a Smart Cane for the Visually Impaired," Proceedings of the IEEE International Conference on Automation Science and Engineering, 2013, pp. 267-273.
  28. S. Hong, C. Ye, M. Bruch, and R. Halterman, "Performance evaluation of a pose estimation method based on the Swissranger SR4000," Proceedings of the IEEE International Conference on Mechatronics and Automation, 2012, pp. 499-504.
  29. A. Tamjidi and C. Ye, "A pose estimation algorithm for UGVs in GPS denied environments," Proceedings of the SPIE Defense, Security, and Sensing Symposium, Unmanned Systems Technology XIV, Baltimore, MD, 2012.
  30. G. M. Hegde and C. Ye, "A recursive planar feature extraction method for 3D range data segmentation," Proceedings of IEEE International Conference on Systems, Man, and Cybernetics, Anchorage, AK, 2011.
  31. C. Ye, "Navigating a Portable Robotic Device by a 3D Imaging Sensor," Proceedings of the IEEE Sensors Conference, Big Island, HI, 2010, pp. 1005-1010.
  32. G. M. Hegde, C. J. Robinson, C. Ye, A. Stroupe, and E. Tunstel, "Computer Vision Based Wheel Sinkage Detection for Robotic Lunar Exploration Tasks," Proceedings of the IEEE International Conference on Mechatronics and Automation, Xi'an, China, 2010, pp. 1777-1782. (received Toshio Fukuda Best Paper Award in Mechatronics)
  33. G. M. Hegde, C. Ye, and G. T. Anderson, "Robust planar feature extraction from swissranger SR-30000 range images by an extended normalized cuts method," Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Taipei, China, 2010, pp. 1190-1195.
  34. C. Ye and M Bruch, "A visual odometry method based on the SwissRanger SR-4000,"  Proceedings of the Unmanned Systems Technology XII Conference at the 2012 SPIE Defense, Security, and Sensing Symposium, Orlando, FL.
  35. G. M. Hegde and C. Ye, "Extraction of planar features from Swissranger SR-3000 range images by a clustering method using normalized cuts," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, 2009, pp. 4034-4039.
  36. C. Ye and G. M. Hegde, "Robust edge extraction for SwissRanger SR-3000 range images," Proceedings of the IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009, pp. 2437-2442.
  37. Y. Okubo1, C. Ye, and J. Borenstein, "Characterization of the Hokuyo 2-D laser rangefinder for mobile robot obstacle negotiation," Proceedings of the SPIE Defense and Security Symposium, Unmanned Systems Technology IX, Orlando, FL, 2009.
  38. C. Ye, "Mixed pixels removal of a laser rangefinder for mobile robot 3-D terrain mapping," Proceedings of the IEEE International Conference on Information and Automation, Zhangjiajie, China, 2008, pp. 1153-1158.
  39. G. M. Hegde and C. Ye "SwissRanger SR-3000 range images enhancement by a singular value decomposition filter," Proceedings of the IEEE International Conference on Information and Automation, Zhangjiajie, China, 2008, pp. 1626-1631.
  40. C. Ye, "Toward safe navigation in urban environments," Proceedings the SPIE Defense and Security Symposium, Unmanned Systems Technology IX, Orlando, FL, 2007.
  41. C. Ye, "Polar Traversability Index: A Measure of Terrain Traversal Property for Mobile Robot Navigation in Urban Environments," Proceedings of IEEE International Conference on Systems, Man, and Cybernetics, Montreal, Canada, 2007, pp. 2342-2347.
  42. H. Yao, W. F. Xie, and C. Ye, "A Composite Approach to Adaptive Neural Networks Control of Unknown Flexible Joint Robots", Proceedings of the International Conference on Dynamics, Instrumentation and Control, Queretaro, Mexico, August 13-16, 2006.
  43. A. Chodos, J. Herr, J. Irrer, S. McKee, H. A. Neal, and C. Ye, "A web lecture capture system with robotic speaker tracking,"  Proceedings of the International Conference on Computing in High Energy and Nuclear Physics, Mumbai, India, 2006.
  44. C. Ye and J. Borenstein, "A method for mobile robot navigation on rough terrain," Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA, 2004, pp. 3863-3869.
  45. C. Ye and J. Borenstein, "T-transformation: a new traversability analysis method for terrain navigation,"  Proceedings of the SPIE Defense and Security Symposium, Unmanned Ground Vehicle Technology VI, Orlando, FL, 2004.
  46. C. Ye and J. Borenstein, "Obstacle avoidance for the segway robotic mobility platform," Proceedings of the American Nuclear Society International Conference on Robotics and Remote Systems for Hazardous Environments, Gainesville, FL, March 28-31, 2004, pp. 107-114.
  47. C. Ye and J. Borenstein, "A new terrain mapping method for mobile robots obstacle negotiation," Proceedings of the SPIE International Symposium on Aerospace/Defense Sensing, Simulation, and Controls, Orlando, FL, 2003.
  48. C. Ye and J. Borenstein, "Characterization of a 2-D laser scanner for mobile robot obstacle negotiation," Proceedings of the IEEE International Conference on Robotics and Automation, Washington DC, 2002, pp. 2512-2518.
  49. C. Ye and D. W. Wang, "Novel behavior fusion method for the navigation of mobile robots," Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, Nashville, TN, 2001, pp. 3526-3531.
  50. N. H. C. Yung and C. Ye, "Avoidance of moving obstacles through behavior fusion and motion prediction," Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, San Diego, CA, 1998, pp. 3424-3429.
  51. N. H. C. Yung and C. Ye, "An adaptive fuzzy approach to obstacle avoidance," Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, San Diego, CA, 1998, pp. 3418-3423.
  52. C. Ye and N. H. C. Yung, "Vehicle navigation strategy based on behavior fusion," Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, Orlando, FL, 1997, pp. 3698-3703.
  53. N. H. C. Yung and C. Ye, "Expectations-an autonomous mobile vehicle simulator," Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, Orlando, FL, 1997, pp. 2290-2295.
  54. N. H. C. Yung, C. Ye & F. P. Fong, "Road vehicle navigation through virtual world simulation," Proceedings of the IEEE International Conference on Intelligent Transportation Systems, Boston, MA, 1997, pp. 479-484.
  55.  N. H. C. Yung and C. Ye, "An intelligent navigator for mobile vehicles," Proceedings of the International Conference on Neural Information Processing, Hong Kong, 1996, pp. 948-953.
  56. N. H. C. Yung and C. Ye, "A self-learning fuzzy navigation of mobile vehicles," Proceedings of the International Conference on Signal Processing, Beijing, China, 1996, pp. 1465-1468.


Patents

  1. H. Neal, C. Ye, J. Herr, and J. Irrer, "Position tracking system," US Patent (8,031,227). The patented technology has been licensed to Vaddio and resulted in its Auto Track camera tracking systems
  2. C. Ye, "Portable Robotic Device," US Patent (9,155,675).