Publications of Tom Duckett

Journal Articles

• Per Munkevik, Gunnar Hall and Tom Duckett,
  A Computer Vision System for Appearance-Based Descriptive Sensory Evaluation of Meals
  Journal of Food Engineering, to appear.
   
• Per Munkevik, Gunnar Hall and Tom Duckett,
  Quality Control of Meal Component by Appearance-Based Novelty Detection
  Industries alimentaires et agricoles, to appear.
   
• Udo Frese, Per Larsson and Tom Duckett
  A Multilevel Relaxation Algorithm for Simultaneous Localisation and Mapping
  IEEE Transactions on Robotics,
  Vol. 21, No. 2, pp. 196-207, April 2005.
   
• Achim Lilienthal and Tom Duckett,
  Experimental Analysis of Gas-Sensitive Braitenberg Vehicles
  RSJ Journal of Advanced Robotics,
  Vol. 18, No. 8, pp. 817-834, 1 December 2004.
   
• Grzegorz Cielniak and Tom Duckett,
  People Recognition by Mobile Robots
  Journal of Intelligent and Fuzzy Systems,
  Vol. 15, No. 1, pp. 21-27, 2004.
   
• Achim Lilienthal and Tom Duckett,
  Building Gas Concentration Gridmaps with a Mobile Robot
  Robotics and Autonomous Systems,
  Vol. 48, No. 1, pp. 3-16, 31 August 2004.
   
• Tom Duckett, Stephen Marsland and Jonathan Shapiro,
  Fast, On-line Learning of Globally Consistent Maps
  Autonomous Robots,
  Vol. 12, No. 3, pp. 287-300, 2002.
   
• Stephen Marsland, Ulrich Nehmzow and Tom Duckett,
  Learning to Select Distinctive Landmarks for Mobile Robot Navigation
  Robotics and Autonomous Systems,
  Vol. 37, No. 4, pp. 241-260, 2001.
   
• Tom Duckett and Ulrich Nehmzow,
  Mobile Robot Self-Localisation Using Occupancy Histograms and a Mixture of Gaussian Location Hypotheses
  Robotics and Autonomous Systems,
  Vol. 34, Nos. 2-3, pp. 119-130, 2001.
   
• Tom Duckett and Ulrich Nehmzow,
  Mobile Robot Self-Localisation and Measurement of Performance in Middle-Scale Environments
  Robotics and Autonomous Systems,
  Vol. 24, Nos. 1-2, pp. 57-69, 1998.
   

Conference Proceedings

• Martin Magnusson and Tom Duckett,
  A Comparison of 3D Registration Algorithms for Autonomous Underground Mining Vehicles
  Proc. 2nd European Conference on Mobile Robots (ECMR),
  Ancona, Italy, September 7-10, 2005.
   
• Grzegorz Cielniak, André Treptow and Tom Duckett,
  Quantitative Performance Evaluation of A People Tracking System on a Mobile Robot
  Proc. 2nd European Conference on Mobile Robots (ECMR),
  Ancona, Italy, September 7-10, 2005.
   
• André Treptow, Grzegorz Cielniak and Tom Duckett,
  Comparing Measurement Models for Tracking People in Thermal Images on a Mobile Robot
  Proc. 2nd European Conference on Mobile Robots (ECMR),
  Ancona, Italy, September 7-10, 2005.
   
• Hashem Tamimi, Henrik Andreasson, André Treptow, Tom Duckett and Andreas Zell,
  Localization of Mobile Robots with Omnidirectional Vision using Particle Filter and Iterative SIFT
  Proc. 2nd European Conference on Mobile Robots (ECMR),
  Ancona, Italy, September 7-10, 2005.
   
• André Treptow, Grzegorz Cielniak and Tom Duckett,
  Active People Recognition Using Thermal and Grey Images on a Mobile Security Robot
  Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
  Edmonton, Alberta, Canada, August 2-6, 2005.
   
• Martin Magnusson, Tom Duckett, Rolf Elsrud, and Lars-Erik Skagerlund
  3D Modelling for Underground Mining Vehicles
  Proceedings of SimSafe 2005 : modeling and simulation for public safety
  Linköping, Sweden, May 30, 2005.
   
• Peter Biber and Tom Duckett,
  Dynamic Maps for Long-Term Operation of Mobile Service Robots
  Proceedings of Robotics: Science and Systems I
  Cambridge, MA, June 8-11, 2005.
   
• Peter Biber, Sven Fleck, Florian Busch, Michael Wand, Tom Duckett and Wolfgang Strasser,
  3D Modeling of Indoor Environments by a Mobile Platform with a Laser Scanner and Panoramic Camera
  Proc. 13th European Signal Processing Conference (EUSIPCO 2005),
  Antalya, Turkey, September 4-8, 2005.
   
• Tomás Martínez-Marín and Tom Duckett,
  Fast Reinforcement Learning for Vision-guided Mobile Robots
  Proc. ICRA-2005, IEEE International Conference on Robotics and Automation,
  Barcelona, Spain, April 18-22, 2005.
   
• Henrik Andreasson, André Treptow and Tom Duckett,
  Localization for Mobile Robots using Panoramic Vision, Local Features and Particle Filter
  Proc. ICRA-2005, IEEE International Conference on Robotics and Automation,
  Barcelona, Spain, April 18-22, 2005.
   
• Tomás Martínez-Marín and Tom Duckett,
  Robot Docking by Reinforcement Learning in a Visual Servoing Framework
  Proc. IEEE Int. Conference on Robotics, Automation and Mechatronics (RAM'04),
  Singapore, December 1-3, 2004.
   
• Peter Biber, Henrik Andreasson, Tom Duckett and Andreas Schilling,
  3D Modeling of Indoor Environments by a Mobile Robot with a Laser Scanner and Panoramic Camera
  Proc. IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS 2004),
  Sendai, Japan, September 28 - October 2, 2004.
   
• Jacopo Aleotti, Alexander Skoglund and Tom Duckett,
  Teaching Position Control of a Robot Arm by Demonstration with a Wearable Input Device
  Proc. IMG04, International Conference on Intelligent Manipulation and Grasping
  Genoa, Italy, July 1-2, 2004.
   
• Per Munkevik, Tom Duckett and Gunnar Hall,
  Vision System Learning for Ready Meal Characterisation
  Proc. International Conference on Engineering and Food (ICEF9),
  Montpellier, France, March 7-11, 2004.
   
• Li Jun and Tom Duckett,
  Robot Behavior Learning with a Dynamically Adaptive RBF Network: Experiments in Offline and Online Learning
  Proc. Second International Conference on Computational Intelligence, Robotics and Autonomous System (CIRAS 2003),
  Singapore, December 15-18, 2003.
   
• Henrik Andreasson and Tom Duckett,
  Object Recognition by a Mobile Robot using Omni-directional Vision
  Proc. Eighth Scandinavian Conference on Artificial Intelligence (SCAI 2003) ,
  Bergen, Norway, November 2-4, 2003.
   
• Achim Lilienthal and Tom Duckett,
  Experimental Analysis of Smelling Braitenburg Vehicles (Best Paper Award, ICAR 2003)
  Proc. ICAR-2003, IEEE International Conference on Advanced Robotics,
  Coimbra, Portugal, June 30-July 3, 2003.
   
• Achim Lilienthal and Tom Duckett,
  Creating Gas Concentration Gridmaps with a Mobile Robot
  Proc. IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS 2003),
  Las Vegas, October 27-31, 2003.
   
• Achim Lilienthal and Tom Duckett,
  Gas Source Localisation by Constructing Concentration Gridmaps with a Mobile Robot
  Proc. ECMR-2003, European Conference on Mobile Robots,
  Radziejowice, Poland, September 4-6, 2003.
   
• Michael Wandel, Achim Lilienthal, Tom Duckett, Udo Weimar, and Andreas Zell,
  Gas Distribution in Unventilated Indoor Environments Inspected by a Mobile Robot
  Proc. ICAR-2003, IEEE International Conference on Advanced Robotics,
  Coimbra, Portugal, June 30-July 3, 2003.
   
• Tom Duckett,
  A Genetic Algorithm for Simultaneous Localization and Mapping
  Proc. ICRA-2003, IEEE International Conference on Robotics and Automation,
  pp. 434-439, Taipei, Taiwan, May 12-17, 2003.
   
• Tom Duckett, Mikael Axelsson and Alessandro Saffiotti,
  Learning to Locate an Odour Source with a Mobile Robot,
  Proc. ICRA-2001, IEEE International Conference on Robotics and Automation,
  Seoul, Korea, May 21-26, 2001.
   
• Amy Loutfi, Silvia Coradeschi, Tom Duckett and Peter Wide,
  Odor Source Identification by Grounding Linguistic Descriptions in an Artificial Nose
  Proc. SPIE Vol. 4385, Conference on Sensor Fusion: Architectures, Algorithms, and Applications V,
  Orlando, Florida, April 16-20, 2001.
   
• Tom Duckett and Ulrich Nehmzow,
  Performance Comparison of Landmark Recognition Systems for Navigating Mobile Robots
  Proc. AAAI-2000, Seventeenth National Conference on Artificial Intelligence
  Austin, Texas, July 30-August 3, 2000.
   
• Tom Duckett, Stephen Marsland and Jonathan Shapiro,
  Learning Globally Consistent Maps by Relaxation
  Proc. ICRA-2000, IEEE International Conference on Robotics and Automation,
  San Francisco, California, April 24-28, 2000. geometrically consistent maps.
   
• Tom Duckett and Ulrich Nehmzow,
  Self-Localisation and Autonomous Navigation by a Mobile Robot
  Proc. TIMR-99 Towards Intelligent Mobile Robots, 2nd British Conference on Autonomous Mobile Robots,
  Bristol, 26th March 1999. ISSN 1361-6161.
   
• Tom Duckett and Ulrich Nehmzow,
  Quantitative Analysis of Mobile Robot Localisation Systems
  Proc. TIMR-97 Towards Intelligent Mobile Robots,
  British Conference on Mobile Robotics and Scientific Methods in Mobile Robotics,
  Manchester, 5th September 1997. ISSN 1361-6161. different self-localisation systems.
   

Workshop and Symposium Papers

• Martin Persson and Tom Duckett,
  Automatic Building Detection for Mobile Robot Mapping (extended abstract)
  Proc. SWAR'05, Third Swedish Workshop on Autonomous Robotics,
  Stockholm, Sweden, September 1-2, 2005.
   
• Christoffer Wahlgren and Tom Duckett,
  Topological Mapping for Mobile Robots using Omnidirectional Vision (extended abstract)
  Proc. SWAR'05, Third Swedish Workshop on Autonomous Robotics,
  Stockholm, Sweden, September 1-2, 2005.
   
• Peter Biber, Sven Fleck and Tom Duckett,
  3D Modeling of Indoor Environments for a Robotic Security Guard
  Proc. IEEE Workshop on Advanced 3D Imaging for Safety and Security (A3DISS 2005),
  In conjunction with CVPR 2005, San Diego, CA, June 25, 2005.
   
• Martin Persson, Mats Sandvall and Tom Duckett,
  Automatic Building Detection from Aerial Images for Mobile Robot Mapping
  Proc. CIRA '05, 6th IEEE International Symposium on Computational Intelligence in Robotics and Automation,
  Espoo, Finland, June 27-30, 2005.
   
• Li Jun and Tom Duckett,
  Three Practical Aspects on Incremental Training of RBF Network for Robot Behavior Learning
  Proc. SAIS-SSLS 2005, 3rd Joint Workshop of the Swedish AI and Learning Systems Societies
  Mälardalen, Sweden, April 12-14, 2005.
   
• Alexander Skoglund, Rainer Palm and Tom Duckett,
  Towards a Supervised Dyna-Q Application on a Robotic Manipulator
  Proc. SAIS-SSLS 2005, 3rd Joint Workshop of the Swedish AI and Learning Systems Societies
  Mälardalen, Sweden, April 12-14, 2005.
   
• Grzegorz Cielniak and Tom Duckett,
  People Recognition by Mobile Robots
  Proc. AILS-2004, 2nd Joint SAIS/SSLS Workshop
  Lund, Sweden, April 15-16, 2004.
   
• Henrik Andreasson and Tom Duckett,
  Topological Localization for Mobile Robots using Omni-directional Vision and Local Features
  Proc. IAV2004, The 5th Symposium on Intelligent Autonomous Vehicles,
  Lisbon, Portugal, July 5-7, 2004.
   
• Grzegorz Cielniak and Tom Duckett,
  Person Identification by Mobile Robots in Indoor Environments
  Proc. IEEE Int. Workshop on Robotic Sensing (ROSE 2003),
  Örebro, Sweden, June 5-6, 2003.
   
• Achim Lilienthal and Tom Duckett,
  A Stereo Electronic Nose for a Mobile Inspection Robot
  Proc. IEEE Int. Workshop on Robotic Sensing (ROSE 2003),
  Örebro, Sweden, June 5-6, 2003.
   
• Achim Lilienthal and Tom Duckett,
  An Absolute Positioning System for 100 Euros
  Proc. IEEE Int. Workshop on Robotic Sensing (ROSE 2003),
  Örebro, Sweden, June 5-6, 2003.
   
• Udo Frese and Tom Duckett,
  A Multigrid Approach for Accelerating Relaxation-based SLAM
  Proc. IJCAI-2003 Workshop on Reasoning with Uncertainty in Robotics,
  Acapulco, Mexico, August 9, 2003.
   
• Grzegorz Cielniak, Mihajlo Miladinovic, Daniel Hammarin, Linus Göransson, Achim Lilienthal and Tom Duckett.
  Appearance-based Tracking of Persons with an Omnidirectional Vision Sensor
  Proc. Omnivis 2003, Fourth IEEE Workshop on Omnidirectional Vision,
  Madison, Wisconsin, June 21, 2003.
   
• Li Jun and Tom Duckett,
  Learning Robot Behaviours with Self-Organizing Maps and Radial Basis Function Networks
  Proc. SWAR'02, Second Swedish Workshop on Autonomous Robotics,
  Stockholm, Sweden, October 10-11, 2002.
   
• Ahmed Mohamod Farah and Tom Duckett,
  Reactive Localisation of an Odour Source by a Learning Mobile Robot
  Proc. SWAR'02, Second Swedish Workshop on Autonomous Robotics,
  Stockholm, Sweden, October 10-11, 2002.
   
• Tom Duckett, Stephen Marsland and Jonathan Shapiro,
  Simultaneous Localization and Mapping - a new algorithm for a compass-equipped mobile robot
  Proc. IJCAI-2001 Workshop on Reasoning with Uncertainty in Robotics,
  Seventeenth International Joint Conference on Artificial Intelligence,
  pp. 27-34, Seattle, Washington, August 4-5, 2001.
   
• Tom Duckett and Alessandro Saffiotti,
  Building Globally Consistent Gridmaps from Topologies
  Proc. of the 6th Int. IFAC Symposium on Robot Control (SYROCO)
  Wien, Austria, September 2000. of building consistent large-scale gridmaps.
   
• Tom Duckett and Ulrich Nehmzow,
  Exploration of Unknown Environments using a Compass, Topological Map and Neural Network
  Proc. CIRA '99, 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation,
  Monterey, California, November 8-9, 1999.
   
• Tom Duckett and Ulrich Nehmzow,
  Knowing Your Place in Real World Environments
  Proc. EUROBOT '99, 3rd European Workshop on Advanced Mobile Robots,
  Zurich, Switzerland, September 6-8, 1999. IEEE Computer Society.
   
• Tom Duckett and Ulrich Nehmzow,
  Experiments in Evidence-Based Localisation for a Mobile Robot
  Proc. AISB-97 Workshop on Spatial Reasoning in Mobile Robots and Animals, Manchester, 1997.
  Department of Computer Science, Technical Report Series, ISSN 1361-6161, UMCS-97-4-1. algorithm.
   

Refereed Technical Reports

• Ulrich Nehmzow, David Gelder and Tom Duckett,
  Automatic Selection of Landmarks for Mobile Robot Navigation
  Department of Computer Science, University of Manchester,
  Technical Report UMCS-00-7-1, ISSN 1361-6161, 2000.
   
• Tom Duckett and Ulrich Nehmzow,
  A Robust, Perception-Based Localisation Method for a Mobile Robot
  Department of Computer Science, University of Manchester,
  Technical Report UMCS-96-11-1, ISSN 1361-6161, 1996.
   

Theses

• Tom Duckett,
  Concurrent Map Building and Self-Localisation for Mobile Robot Navigation
  Ph.D. Thesis, Department of Computer Science,
  University of Manchester, 2000.
   
• Tom Duckett,
  The Elicitation and Representation of Constraints for Supporting the Workflow in an Integrated Architectural Design Environment
  MSc Thesis, Department of Computing and Electrical Engineering,
  Heriot-Watt University, Edinburgh, 1995.
   

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