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Gregory Dudek


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Email: dudek@cs.mcgill.ca
Home Page: http://www.cim.mcgill.ca/~dudek/
Office: MC419
Phone: +1-514-398-4325
Fax: +1-514-398-7348
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Research Description

Professor Dudek has an ongoing and established research interest in robotics and vision, and specificially in sensor-based mobile robotics. This is related to the use of visual cues to understand and interact with the environment, and, for example, to navigate and explore. This includes work on both aquatic and terrestrial robotic systems. A different research interest that exploits similar mathematical concepts deals with recommender systems on the web, that is to say systems that can model a user's behaviour and preferences and suggest new options to them based on these models.

More specifically, this includes research into the construction of maps (descriptions of space) using an underwater robot designed and fabricated at McGill, as well research into how objects are recognized by humans and how they can be recognized by machine systems. He is currently involved in a mobile robotics research program spanning sensor networks, path planning, map construction and environment visualization. A range of interdependent problems progressing from raw sensor data to high-level "semantic" reasoning are relevant. The techniques involved span variational calculus, neural networks and cognitive science.

Research Interests

Research Labs

Teaching

Selected Publications (click link in front of each publication to see bibtex in ASCII format)

[1] Sattar, J., Giguère, P., and Dudek, G. Sensor-based behavior control for an autonomous underwater vehicle. International Journal of Robotics Research (IJRR), 2008.
[2] Marinakis, D., and Dudek, G. ccam’s razor applied to network topology inference. IEEE Transactions on Robotics, April 2008, v. 24, n. 2, pp. 293-306.
[3] Torres-Méndez, L., and Dudek, G. Inter-image statistics for 3d environment modeling. International Journal of Computer Vision, August 2008, v. 79, n. 2, pp. 137-158. ISSN: 0920-5691.
[4] Sattar, J., Dudek, G., Chiu, O., Rekleitis, I., Giguère, P., Mills, A., Plamondon, N., Prahacs, C., Girdhar, Y., Nahon, M., and Lobos, J. Enabling autonomous capabilities in underwater robotics. Proceedings of the IEEE/RSJ International Conference on Intelligent Robot and Systems, (IROS), September 2008.
[5] Sattar, J., and Dudek, G. A boosting approach to visual servo-control of an underwater robot. Proceedings of the 11th International Symposium on Experimental Robotics (ISER), July 2008.
[6] Xu, A., Dudek, G., and Sattar, J. A natural gesture interface for operating robotic systems. International Conference of Robotics and Automation (ICRA), May 2008, pp. 3557-3563.
[7] Meger, D., Rekleitis, I., and Dudek, G. Heuristic search planning to reduce exploration uncertainty. RSJ International Conference on Intelligent Robots and Systems (IROS), September 2008, pp. 3382-3399.
[8] Sattar, J., Dudek, G., Chiu, O., Rekleitis, I., Giguère, P., Mills, A., Plamondon, N., Prahacs, C., Girdhar, Y., Nahon, M., and Lobos, J. Enabling autonomous capabilities in underwater robotics. RSJ International Conference on Intelligent Robots and Systems (IROS), September 2008, pp. 3628-3634.
[9] Dudek, G. Digital Television at Home. YID Books, 2008.
[10] Rao, M., Dudek, G., and Whitesides, S. Randomized algorithms for minimum distance localization. The International Journal of Robotics Research, 2007, v. 26, n. 9, pp. 917-933.
[11] Marinakis, D., and Dudek, G. Occam's razor applied to network topology inference. IEEE Transactions on Robotics, 2007. In Press.
[12] Johns, D., and Dudek, G. Urban horizon extraction and representation for position estimation using high-compact representations. Image and Vision Computing, 2007. In Press.
[13] Marinakis, D., and Dudek, G. Topology inference for a vision-based sensor network. Image and Vision Computing, 2007. In Press.
[14] Dudek, G., Giguere, P., Prahacs, C., Saunderson, S., Sattar, J., Torres-Mendez, L.-A., Jenkin, M., German, A., Hogue, A., Ripsman, A., Zacher, J., Milios, E., Liu, H., Zhang, P., Buehler, M., and Georgiades, C. Aqua: An amphibious autonomous robot. IEEE Computer, January 2007, v. 40, n. 1, pp. 45-63.
[15] Marinakis, D., Meger, D., Rekleitis, I., and Dudek, G. Hybrid inference for sensor network localization using a mobile robot. In Proceedings of the National Conference on Artificial Intelligence (AAAI), Vancouver, Canada. July 2007.
[16] Dudek, G., and Marinakis, D. Topological mapping with weak sensory data. In Proceedings of the National Conference on Artificial Intelligence (AAAI), Vancouver, Canada. July 2007.
[17] Dudek, G., Sattar, J., and and, A. X. A visual language for robot control and programming: A human-interface study. In Proceedings of the IEEE International Conference of Robotics and Automation (ICRA), Rome, Italy. April 2007, pp. 2507-2513.
[18] Marinakis, D., Giguere, P., and Dudek, G. Learning network topology from simple sensor data. In Presented at the 20th Canadian Conference on Artificial Intelligence, Montreal, Canada. May 2007.
[19] Marinakis, D., and Dudek, G. Topological mapping through distributed, passive sensors. In Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI07), Hyderabad, India. January 2007, pp. 2147-2152.
[20] Marinakis, D., Meger, D., Rekleitis, I., and Dudek, G. Markov chain monte-carlo inference for hybrid sensor network pose estimation. Proceedings of the Twenty-Second AAAI Conference on Artificial Intelligence (AAAI-07), July 2007, pp. 1089-1094.
[21] Sattar, J., Bourque, E., Giguere, P., and Dudek, G. Fourier tags: Smoothly degradable fiducial markers for use in human-robot interaction. In Proceedings of the Canadian Conference on Computer and Robot Vision (CRV06), Quebec City, Quebec. June 2006, pp. 22-29.

Last Update:   2013/08/05 09:04:19.124 GMT-4