Fordham Robotics and Computer Vision Lab Publications

All recent publications now hosted at Fordham University Digital Commons and can be downloaded from there.

To got to the Digital Commons publications list CLICK HERE

Paykari, N., Alfatemini, A., Lyons, D., Rahourti, M. "Integrating Robotic Navigation with Blockchain: A Novel PoS -Based Approach for Heterogeneous Robotic Teams" 21st International Conference on Ubiquitous Robots (UR), June 24-27, 2024, NYU, Manhattan, New York.

Lyons, D., Rahouoti, M., "Improving Multi-Robot Visual Navigation using Cooperative Consensus", 21st International Conference on Ubiquitous Robots (UR), June 24-27, 2024, NYU, Manhattan, New York.

Damian Lyons,Mohamed Rahouti, "An Approach to Cooperative, Wide Area Visual Navigation by Leveraging Blockchain Consensus", IEEE Robotic Computing, Laguna Hills CA, Dec. 2023.

Paykari, N, Rahouti, M., Lyons, D. "Assessing Blockchain Consensus in Robotics: A Visual Homing Approach" IEEE 14th Annual Ubiquitous Computing, Electronics & Mobile Communication Conference (UEMCON) New York 2023.

M. Rahouti, D. Lyons, S. K. Jagatheesaperumal, K. Xiong, "A Decentralized Cooperative Navigation Approach for Visual Homing Networks" IT Professional V25 Nov-Dec .2023.

Mohamed Rahouti, Damian M. Lyons, Senthil Kumar Jagatheesaperumal, Kaiqi Xiong: A Decentralized Cooperative Navigation Approach for Visual Homing Networks. CoRR abs/2310.00906 (2023)

Damian Lyons,Mohamed Rahouti, "WAVN: Wide Area Visual Navigation for Large-scale, GPS-denied Environments", IEEE Int. Conf. on Robotics & Automation, London UK, May 2023.

D. Lyons, N. Petzinger "Visual Homing for Coordinated Robot Teams Missions", Unmanned Systems Technology XXV SPIE Defense + Commercial Sensing Orland April 2023.

Mohamed Rahouti, Damian M. Lyons and Lesther Santana, "A Lightweight Blockchain Framework for Visual Homing and Navigation Robots" EAI ROSENET 2022 - 6th EAI International Conference on Robotics and Networks, Dec 15 Swansea UK 2022

Damian Lyons, Ron Arkin, Shu Jiang, Matthew O'Brien, Feng Tang and Peng Tang, "Establishing A-Priori Performance Guarantees for Robot Missions that include Localization Software" Robotic Systems (ISBN:9781799817543) 2022.

Mohamed Rahouti, Damian Lyons, Lesther Santana, VRChain: A Blockchain-Enabled Framework for Visual Homing and Navigation Robots ArXiv arXiv:2206.11223 [cs.RO] 2022.

D. Lyons, J. Finocchiaro, M. Novitzky, C. Korpela, A Monte Carlo Approach for Incremental Improvement of Simulation Fidelity. 17th int. Conf on Intelligent Autonomous Systems, Zagreb Croatia June 2022. ( PDF )

D. Lyons, N. Petzinger "Visual Homing for Robot Teams: Do you see what I see" Unmanned Systems Technology XXIV SPIE Defense + Commercial Sensing Orland April 2022. ( PDF)

D. Lyons, D. Becaj, "A Meta-Level Approach for Multilingual Taint Analysis" 16^th Int. Conf. on Software Technologies (ICSoft), July 2021.

J. Hughes, D. Lyons, “Wall Detection Via IMU Data Classification In Autonomous Quadcopters" ICCAR 2021- International Conference on Control, Automation and Robotics, Apr. 2021.

Kasper Grispino, Damian Lyons and Truong-Huy Nguyen, Evaluating the Potential of Drone Swarms in Non-Verbal HRI Communication, 1st IEEE International Conference on Human-Machine Systems (ICHMS2020) April 2020, Postponed online 7-9 September 2020. https://research.library.fordham.edu/frcv_facultypubs/71

Lyons, D., Finocchiaro, J., Novitzky, M., Korpela, C., A Monte Carlo Approach to Closing the Reality Gap. arXiv:2005.03809 [cs.RO] https://fordham.bepress.com/frcv_facultypubs/68/

Lyons, D.M., and Zahra, S., Using taint analysis and reinforcement learning (tarl) to repair autonomous robot software,” IEEE Workshop on Assured Autonomous Systems, May, 2020. arXiv:2005.03813 [cs.RO] https://fordham.bepress.com/frcv_facultypubs/67/ Video: https://fordham.bepress.com/frcv_videos/2

Zhao, Q., Lyons, D., Hughes, J., Drone Proximity Detection via Air Disturbance. SPIE Conference on Unmanned Systems Technology XXII, Anaheim CA April 2020. https://fordham.bepress.com/frcv_facultypubs/69/ Video: https://fordham.bepress.com/frcv_videos/3/

Bal, P., Lyons, D., Shuter, A., A new ectotherm 3D tracking and behavior analytics system using a depth-based approach with color validation, with preliminary data on Kihansi spray toad ( Nectophrynoides asperginis ) activity. Herpetological Review 51(1), _March 2020, 37-46. https://fordham.bepress.com/frcv_facultypubs/70/

Damian Lyons, Ben Barriage and Luca Del Signore “The Effect of Horizontal Field of View on Stereovision-based Visual Homing” Robotica 38(5) 2020.

Matt McNeill, Damian Lyons, “An approach to fast multi-robot exploration in buildings with inaccessible space.” 2019 IEEE Int. Conf on Robotics and Biomimetics (ROBIO19) Dali, Yunnan China, December 2019. https://fordham.bepress.com/frcv_facultypubs/65/

Matt McNeill, Damian Lyons, “A Comparison of contextual bandit approaches to human-in-the-loop robot task completion with infrequent feedback.” 31^st IEEE Int. Conf. on Tools with AI (ICTAI 2019), Nov 4-6 Portland Oregon, 2019. https://fordham.bepress.com/frcv_facultypubs/66/

Damian M. Lyons, Saba B. Zahra, and Thomas M. Marshall, “Towards Lakosian Multilingual Software Design Principles” 14^th Int. Conf. on Software Technologies (ICSoft) Porto Portugal, July 2019. https://fordham.bepress.com/frcv_facultypubs/63/

Damian Lyons, Ben Barriage and Luca Del Signore “The Effect of Horizontal Field of View on Stereovision-based Visual Homing” Robotica 2019. (Online First 3^rd July 2019 DOI: 10.1017/S0263574719001061). https://fordham.bepress.com/frcv_facultypubs/64/]] Robotica 38(5) 2020.

Anne-Marie Bogar, Damian Lyons, David Baird “Lightweight Call-Graph Construction for Multilingual Software Analysis” 13th Int. Conf. on Software Technologies (ICSoft) Porto Portugal, July 2018.

Damian Lyons, Anne-Marie Bogar, David Baird “Lightweight Multilingual Software Analysis” to appear in: Challenges and Opportunities in ICT Research Projects (Ed. Philipe, J.) SCITEPRESS 2018

Fuqianq Fu and Damian Lyons "An Approach to Robust Homing with Stereovision" SPIE Defense & Security 2017 Conference on Unmanned Systems Technology XX, Orlando, Fl April 2018.

Nguyen, T., Grispino, K., Lyons, D., “Towards Affective Drone Swarms in Public Spaces,” The 4th Workshop on Public Space Human‑Robot Interaction (PubRob 2018), Barcelona, Spain Sept. 2018.

Buteau, T., Lyons, D., “Constructionist Steps Towards an Autonomously Empathetic System” 20th ACM International Conference on Multimodal Interaction – late breaking papers track (ICMI 2018). Bolder CO Oct. 2018 (AR 18.8% for oral presentation).

Damian Lyons, Ron Arkin, Shu Jiang, Matthew O'Brien, Feng Tang and Peng Tang, "Formal performance Guarantees for an Approach to Human in the Loop Robot Missions." IEEE Int. Conf. on Systems, Man & Cybernetics, Banff Canada oct. 2017.

D. Paul Benjamin, Tianyu Li, Peiyi Shen, Hong Yue, Zhenkang Zhao, Damian Lyons, Spatial Understanding as a Common Basis for Human-Robot Collaboration, in: Advances in Human Factors in Robots and Unmanned Systems, Los Angeles CA (Ed. Jose Chen) Springer 2017.

Damian Lyons, Ben Barriage and Luca Del Signore “Effect of Field of View on Stereovision-based Visual Homing” IEEE International Conference on Tools with AI , Nov 2017 , Boston MA.

Damian Lyons, Anne-Marie Bogar, David Baird “Lightweight Multilingual Software Analysis” 12^th int. Conf. on Software Technologies (ICSoft) Madrid Spain, July 2017.

Damian Lyons, Ron Arkin, Shu Jiang, Matthew O'Brien, Feng Tang and Peng Tang, “Performance Verification for Robot Missions in Uncertain Environments” Robotics & Autonomous Systems 98 (2017) pp89-104.

Damian Lyons, Ron Arkin, Shu Jiang, Matthew O'Brien, Feng Tang and Peng Tang, "Establishing A-Priori Performance Guarantees for Robot Missions that include Localization Software" International Journal of Monitoring and Surveillance Technologies Research (IJMSTR) Volume 5, Issue 1 2017

D. Paul Benjamin , Hong Yue, Damian Lyons, Classification and Prediction of Human Behaviors by a Mobile Robot, in: Advances in Human Factors in Robots and Unmanned Systems Volume 499 of the series Advances in Intelligent Systems and Computing pp 189-195, 2016.

Damian Lyons, Ron Arkin, Shu Jiang, Matthew O'Brien, Feng Tang and Peng Tang, "Formal Performance Guarantees for Behavior-based Localization Missions" IEE int. Conf on Tools with AI, Nov 2016 San Jose CA.

Tang, F., Lyons, D., and Arkin, R.., “Establishing Performance Guarantees for Behavior-Based Robot Missions Using an SMT Solver” 47th International Symposium on Robotics ISR 2016, Munich Germany. PDF

Tang, F., Lyons, D., Leeds, D. "Landmark Detection with Surprise Saliency Using Convolutional Neural Networks" 2016 IEEE International Conference on Multisensor Fusion and Integration, Baden-Baden, Germany during 19 - 21 September 2016.

P. Nirmal, D. Lyons, “Homing With Stereovision”, Robotica 34 (12) Nov 2016. http://dx.doi.org/10.1017/S026357471500034X. (Cambridge Univ. Press Journal, Official journal of the Int. Federation of Robotics, Impact Factor 0.894) PDF

Lyons, D., Arkin R., Jiang, S., Harrington, D., Tang, F., and Tang, P., “Probabilistic Verification of Multi-Robot Missions in Uncertain Environments” IEEE Int. Conference on Tools with AI, Vietri sul Mare, Italy, November 2015. PDF

T.M. Liu, D.M. Lyons, “Leveraging Area Bounds Information for Autonomous Decentralized Multi-Robot Exploration” Robotics and Autonomous Systems Volume 74, Part A, December 2015, Pages 66–78 July 2015 DOI: 10.1016/j.robot.2015.07.002). (Elsevier Journal, Impact Factor 1.462) PDF

D.M. Lyons, R.C. Arkin, S. Jiang, D. Harrington and T.M. Liu “Verifying and Validating Multirobot Missions” Reviewed Abstract/Presentation USAF Safe and Secure Systems and Software Conference (S5) June 10-12, 2014 Dayton Ohio.

D.M. Lyons, R.C. Arkin, P. Nirmal, S. Jiang, T-M Liu, “Performance Verification for Behavior-based Robot Missions”_IEEE Transactions on Robotics_, DOI: 10.1109/TRO.2015.2418592,V31 N3 2015. (Journal of the IEEE Robotics Society, Impact Factor 2.649). PDF

P. Nirmal, D. Lyons, “Homing With Stereovision”, Robotica,Online First. May 2015. (Cambridge Univ. Press Journal, Official journal of the Int. Federation of Robotics, Impact Factor 0.894) PDF

Damian M. Lyons, James S. MacDonall and Kelly M. Cunningham , “A Kinect-based system for automatic recording of some pigeon behaviors” Behavior Research Methods V47 No4 2015 DOI: 10.3758/s13428-014-0531-6. (Springer Journal, Impact factor 2.458) PDF

D.M. Lyons, J. Leroy, “Evaluation of Parallel Reduction Strategies for Fusion of Sensory Information from a Robot Team,” Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications, SPIE Defense Security and Sensing Symposium, Baltimore MD, April 2015. PDF

P. Benjamin, D.M. Lyons and R. Lynch, “Effect of using a 3D Model on the Performance of Vision Algorithms,” Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications, SPIE Defense Security and Sensing Symposium, Baltimore MD, April 2015.

A. Kinealy, N. Primiano, A. Keyes and D. Lyons, “Thorough exploration of Complex Environments with a Space-Based Potential Field” SPIE Conference on Intelligent Robots and Computer Vision XXXII: Algorithms and Techniques, San Francisco CA, Jan 2015. PDF

Lyons, D.M., Cluster Computing for Robotics and Computer Vision. World Scientific Singapore, 2011 (ISBN-13: 978-9812836359). Republished, Beijing Institute of Technology Press, Beijing China, Oct. 2014. PDF

D.M. Lyons, R.C. Arkin, S. Jiang, D. Harrington and T.M. Liu “Verifying and Validating Multirobot Missions” Reviewed Abstract/Presentation USAF Safe and Secure Systems and Software Conference (S5) June 10-12, 2014 Dayton Ohio.

D.M. Lyons, R.C. Arkin, S. Jiang, D. Harrington and M. O’Brien “Getting it right the first time: Verification of Behavior-based Multirobot Missions” Robotics Science and Systems, Workshop in Formal Methods in Robotics, July 12, 2014, Berkeley CA. PDF

T.M. Liu and D.M. Lyons, “Leveraging Area Bounds Information for Autonomous Multi-Robot Exploration” 13^th Int. Conf. on Intelligent Autonomous Systems, Padua Italy, July 15-19 2014. PDF

D.M. Lyons, R.C. Arkin, S. Jiang, D. Harrington and T.M. Liu, “Verifying and Validating Multirobot Missions” IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS) 2014, Chicago IL, September 2014. PDF

M. O’Brien, R.C. Arkin, D. Harrington, D.M. Lyons and S. Jiang, “Automatic verification of autonomous robot missions" Simulation, Modelling and Programming for Autonomous Robots (Springer Lecture Notes in AI: 8810), Bergamo Italy, Oct. 2014. link

D.M. Lyons, K. Shresta, “Eliminating Mutual Views in Fusion of Ranging and RGB-D Data From Robot Teams Operating in Confined Areas,” Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications, SPIE Defense Security and Sensing Symposium, Baltimore MD, April 2014. PDF

S. Jiang, R.C. Arkin, D.M. Lyons, T-M Liu, D. Harrington, “Performance Guarantees for C-WMD Robot Missions” 11^th IEEE Int. Sym. On Safety and Rescue Robots, Linkoping Sweden, Oct., 2013. PDF

D.M. Lyons, R.C. Arkin, P. Nirmal, S. Jiang, T-M Liu, J. Deeb, “Getting it Right the First time: Robot Mission Guarantees in the Presence of Uncertainty” IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS) 2013, Tokyo, Japan, November 2013. PDF

D. Lyons, R. Arkin, T-L. Liu, S. Jiang,P. Nirmal, “Verifying Performance for Autonomous Robot Missions with Uncertainty” IFAC Intelligent Autonomous Vehicles Symposium IAV’13, Gold Coast, Australia, June 2013. PDF

D. Lyons, R. Arkin, P. Nirmal, S. Jiang, T-L. Liu “Performance Verification for behavior-based Robot Missions” AAMAS ARMS 2013 Workshop on Autonomous Robotics and Multirobot Systems, St. Paul MN, April 2013. PDF

P. Nirmal and D. M. Lyons, “Visual homing with a pan-tilt based stereo camera,” SPIE Conference on Intelligent Robots and Computer Vision XXX: Algorithms and Techniques, San Francisco, CA, February 2013. PDF

D.M. Lyons, R.C. Arkin, S. Jiang, P. Nirmal, T-L. Liu, “A Software Tool for the Design of Critical Robot Missions with Performance Guarantees,” Conf. on Systems Engineering Research (CSER’13), Atlanta, GA, March 19-22, 2013 PDF

P. Benjamin, D. Lyons, C. Funk, “A Cognitive Approach to Vision for a Mobile Robot,” Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications, SPIE Defense Security and Sensing Symposium, Baltimore MD, April 2013. PDF

D.M. Lyons, T-L. Liu, K. Shresta, “Fusion of Ranging Data From Robot Teams Operating in Confined Areas,” Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications, SPIE Defense Security and Sensing Symposium, Baltimore MD, April 2013. PDF

D.M. Lyons, P. Nirmal, “Navigation of uncertain terrain by fusion of information from real and synthetic imagery.” Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications, SPIE Defense Security and Sensing Symposium, Baltimore MD, April 2012. PDF

D.M. Lyons, R.C. Arkin, S. D. Fox, P. Nirmal, J. Shu, “Designing Autonomous Robot Missions with Performance Guarantees,” IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS) 2012, Vila Moura, Algarve Portugal, Oct. 7-12^th 2012. PDF

Ronald C. Arkin, Damian Lyons, J. Shu, P. Nirmal, “Getting it Right the First Time: Predicted Performance Guarantees from the Analysis of Emergent Behavior in Autonomous and Semi-autonomous Systems.” Unmanned Systems Technology XIV, SPIE Defense Security & Sensing Symposium, Baltimore MD, April 2012. PDF

D.P. Benjamin, D.M. Lyons, John V. Monaco, Lin Yixia, “Using a Virtual World for Robot Planning,” Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications, SPIE Defense Security and Sensing Symposium, Baltimore MD, April 2012. PDF

Damian Lyons, Ron Arkin, Stephen Fox, Jiang Shu, Prem Nirmal and Munzir Zafir, “Characterizing Performance Guarantees for Multiagent, Real-Time Systems operating in Noisy and Uncertain Environments.” Performance Metrics for Intelligent Systems (PERMIS’12) Workshop, March 20-22 2012 College Park, MD. PDF

Stephen D. Fox, Damian M. Lyons, “An approach to stereo-point cloud registration using image homographies.” SPIE Conference on Intelligent Robots and Computer Vision XXVIII: Algorithms and Techniques, San Francisco, CA, January 2012. PDF

D.M. Lyons, P. Benjamin, “A relaxed fusion of information from real and synthetic images to predict complex behavior.” Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications at the SPIE Defense and Security Symposium, Orlando (Kissimmee), FL, April 2011. PDF

Lyons, D., “Selection and Recognition of Landmarks Using Terrain Spatiograms,” IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS), Tapei, Taiwan, October 2010. PDF

Lyons, D., “Detection and Filtering of Landmark Occlusions using Terrain Spatiograms.” IEEE Int. Conference on Robotics and Automation, Anchorage, Alaska, May 2010. PDF

D.M. Lyons, S. Chaudhry, P. Benjamin, “A Visual Imagination Approach to Cognitive Robotics.” Symposium on Understanding the Mind and Brain, Tucson,Arizona, May 2010. PDF

D.M. Lyons, S. Chaudhry, Marius Agica and John Vincent Monaco, “Integrating perception and problem solving to predict complex object behaviors.” Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications at the SPIE Defense and Security Symposium, Orlando (Kissimmee), FL, April 2010. PDF

Lyons, D.M., Chaudhry, S., and Benjamin, P., “Synchronizing real and predicted synthetic video imagery for localization of a robot to a 3D environment.” SPIE Conference on Intelligent Robots and Computer Vision XXVI: Algorithms and Techniques, San Jose, CA, January 2010. PDF

Lyons, D.M., and Hsu, D.F., Method of Combining Multiple Scoring Systems for Target Tracking using Rank-Score Characteristics. Information Fusion 10(2) 2009. (Elsevier Journal, Impact Factor 3.472). PDF

Lyons, D.M., “Sharing Landmark Information Using MOG Terrain Spatiograms,” IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS), St Louis, MO, October 2009. PDF

Damian M. Lyons. Tracking and sharing landmarks in a team of autonomous robots, Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications at the SPIE Defense and Security Symposium, March 2009, Orlando (Kissimmee), FL. PDF

Lyons, D.M., Benjamin, P., Locating and Tracking Objects by Efficient Comparison of Real and Predicted Synthetic Video Imagery. SPIE Conference on Intelligent Robots and Computer Vision XXV: Algorithms and Techniques, San Jose, CA, January 2009. PDF

Lyons, D.M. and Hsu, D.F., Comparing CFA and Discrimination for Selecting Tracking Features. Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications at the SPIE Defense and Security Symposium, 18-20 March 2008, Orlando (Kissimmee), FL.

Benjamin, D.P., Lonsdale, D., and Lyons, D.M., Using Cognitive Semantics to Integrate Perception and Motion in a Behavior-Based Robot. ECSIS Symposium on Learning and Adaptive Behaviors for Robotic Systems, LAB-RS '08 . Aug. 2008, Edinburgh, United Kingdom. Pp.77-82.

Lyons, D.M., Hsu, D.F., Ma, Q., and Wang, L., Combinatorial Fusion Criteria for Robot Mapping. 21st International Conference on Advanced Information Networking and Applications (AINA 2007), May 21-23 2007, Niagara FallsCanada.

Lyons, D.M., Hsu, D.F., Ma, Q., and Wang, L.,Selection of fusion operations using rank-score diversity for robot mapping and localization. Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications at the SPIE Defense and Security Symposium, 9-13 April 2007, Orlando (Kissimmee), FL.

Lyons, D., A Novel Approach to Efficient Legged Locomotion. 10^th Int. Conference on Climbing and Walking Robots. 16-18 July 2007, Singapore. PDF

Lyons, D.M., Isner, G.R., Evaluation of a Parallel Algorithm and Architecture for Mapping and Localization. 7th International Symposium on Computational Intelligence In Robotics and Automation, CIRA 2007, JacksonvilleFLJune 20-23, 2007

Benjamin, D.P., Lonsdale, D., and Lyons, D.M., Embodying a Cognitive Model in a Mobile Robot, SPIE Conference on Intelligent Robots and Computer Vision, Boston, October, 2006.

Benjamin, D.P., Achtemichuk, T., , and Lyons, D.M., Obstacle Avoidance using Predictive Vision based on a Dynamic 3D World Model, SPIE Conference on Intelligent Robots and Computer Vision, Boston, October, 2006.

Hsu, D.F., and Lyons, D.M., Combinatorial Fusion Criteria for Real-Time Tracking. 9^th Int. Conf on Information Fusion 2006, July 10-13 2006, Florence, Italy.

Hsu, D.F., Lyons, D.M., and Ai., J., Combining Multiple Scoring Systems For Video Target Tracking Based on Rank-Score Function Variation, 38th Symposium on the interface of statistics, computing science, and applications (Interface 2006), Pasadena CA, May 2006.

Benjamin, D.P., Lonsdale, D., and Lyons, D.M., Developing a Cognitive Architecture to be Embedded in the Physical World, Behavior Representation in Modeling and Simulation (BRIMS206), Baltimore, May, 2006.

Hsu, D.F., Lyons, D.M., and Ai, J., Feature selection for real-time tracking. Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2006 at the SPIE Defense and Security Symposium Symposium,17-21 April 2006, Orlando (Kissimmee), FL.

Hsu, D.F., Lyons, D.M., and Ai, J., Combinatorial Fusion Criteria for Real-Time Tracking. 20th International Conference on Advanced Information Networking and Applications (AINA 2006), 18-20 April 2006, Vienna, Austria.

Lyons, D., and Pamnany, K., Analysis of gaits for a rotating tripedal robot. SPIE Conference on Intelligent Robots and Computer Vision XXIV, 23-26 Oct. 2005, Boston, MA. PDF

Lyons, D.M., Hsu, D.F., Rank Based Multisensory Fusion in Multitarget Video Tracking. IEEE Int. Conf. on Advanced Video & Signal-Based Surveillance (AVSS 2005) July 2005, ComoItaly.

Lyons, D., and Pamnany, K., Rotational Legged Locomotion. IEEE Int. Conf. on Advanced Robotics, July 2005, Seattle, WA. PDF

Hsu, D.F., Lyons, D.M., A Dynamic Pruning Strategy for Real-Time Tracking, IEEE International Conference on Advanced Information Networking and Applications, March 2005, TaipeiTaiwan.

Drysdale, J., Lyons, D., Learning Image-Based landmarks for Wayfinding using Neural Networks. Artificial Neural Networks in Engineering, March 2004, St. LouisMO.

Benjamin, D.P., Lonsdale, D., Lyons, D., Designing a Robot Cognitive Architecture with Concurrency and Active Perception. AAAI Fall Symposium on Cognitive Science and Robotics, Oct. 2004, WashingtonDC.

Benjamin, D.P., Lonsdale, D., Lyons, D., Integrating Perception, Language and Problem Solving in a Cognitive Agent for a Mobile Robot. Third International Joint Conference on Intelligent Agents and Multiagent Systems, July 2004, NYC, NY.

Benjamin, D.P., Lyons, D., Lonsdale, D., ADAPT: A Cognitive Architecture for Robotics. 2004 International Conference on Cognitive Modeling, PittsburghPA July 2004.

Lyons, D.M., Arkin, R.A., Towards Performance Guarantees for Emergent Behavior, IEEE International Conference on Robotics and Automation, New OrleansLA, April 2004.

Hsu, D.F., Lyons, D.M., Usandivaras, C., Montero, F., RAF: A Dynamic and Efficient Approach to Fusion for Multitarget Tracking in CCTV Surveillance, IEEE Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems, July 29-Aug.1, 2003, Tokyo, Japan.

Lyons, D.M., Discrete-Event Modeling of Misrecognition in PTZ Tracking. IEEE Int. Conf. on Advanced Video & Signal-Based Surveillance , July 21-22, 2003 , Miami Beach FL.

Lyons, D.M., Hsu, D.F., Usandivaras, C., Montero, F., Experimental Results from Using a Rank and Fuse approach for Multi-Target Tracking in CCTV Surveillance. IEEE Intr. Conf. on Advanced Video & Signal-Based Surveillance, July 21-22, 2003, Miami BeachFL.

Pre 2003

Brodsky, T.; Cohen, R.; Cohen-Solal, E.; Gutta, S.; Lyons, D.; Philomin, V.; Trajkovic, M. Visual surveillance in retail stores and in the home. Invited paper. 2nd European Workshop on Advanced Video Based Surveillance Systems, 9/4/2001, Kingston upon Thames, London, UK

Gutchess, D., Trajkovic, Cohen-Solal, E., M., Lyons, D., Jain, A., A Background Model Initialization Algorithm for Video Surveillance, Int. Conf. on Comp. Vision 2001.

Lee, M-S., Weinshall, D., Colmenarez, A., Cohen-Solal, E., Lyons, D., Identifying a 3-D pointing target with 2-D homography and line intersection Int. Conf. on Comp. Vision 2001.

Lyons, D.M. et al., Automated CCTV Surveillance using Computer Vision Technology, Philips Digital Video Technologies Workshop 2000, Briarcliff NY.

Lyons, D.M. & Pelletier, D., “A Line-Scan Computer Vision Algorithm for Identifying Human Body Features” in: GW’99 (Eds. A. Braffart et al.) Lecture Notes in AI #1739, Springer Verlag 2000.

Lyons, D.M.,“A Schema-Theory Approach to Specifying and Analysing the Behavior of Robotic Systems” in: Prerational Intelligence, (Eds. Ritter, Cruse & Dean) Kluwer Academic, Dordrecht/Boston/London 2000.

Lyons, D.M. et al.,Video Content Analysis for Surveillance, Philips DSP Conference 1999, Eindhoven NL.

Lyons, D.M., A Field of View based Camera Control Interface. Philips Newsletter #185 1999.

Lyons, D.M., Pelletier, D.L., and Knapp, D.C., Multimodal Interactive Advertising. Workshop on Perceptual User Interfaces (PUI’98) November 5-6, 1998, San Francisco, CA.

Murphy, T., and Lyons, D. Combing Direct and Model-Based Perceptual Information Through Schema Theory, 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA97) , July 1997, Monterey, CA.

Lyons, D.M. and Murphy, T.G., Gesture Interpretation from Video Input. Philips Research Bulletin on Systems and Software 21, July 1997.

Lee, S., Lyons, D., Ramos, C., Troccaz, J. Guest Editorial: Special Issue on Assembly and Task Planning. IEEE Trans. Rob. & Aut. V.12 N.2 April 1996.

Lyons, D.M. and Hendriks, A., Planning as Incremental Adaptation of a Reactive System. Journal of Robotics & Autonomous Systems 14, 1995, pp.255-288.

Lyons, D.M. and Hendriks, A., Exploiting Patterns of Interaction to Achieve Reactive Behavior. Special Issue on Computational Theories of Interaction, Artificial Intelligence 73, 1995, pp.117-148.

Lyons, D.M., Book Review of David Chapman's Vision, Instruction, and Action Special Issue on Computational Theories of Interaction, Artificial Intelligence, Eds. P. Agre & S. Rosenschein, 73, 1995.

Lyons, D.M., Representing and Analyzing Action Plans as Networks of Concurrent Processes. IEEE Transactions on Robotics and Automation June 1993.

Lyons, D.M. and Hendriks, A., ADAPT: A Toolkit for Fast Prototyping of Embedded Software. Philips Research Bulletin on Software & Systems July 1993.

Hendriks, A. and Lyons, D.M., A Methodology for Creating and Adapting Reactive Systems. IEEE Journal on Tools for AI 1993.

Lyons, D.M., A Camera-Based User Interface. Philips Newsletter #167 1996.

Gottschlich, S., Ramos, C., Lyons, D., Assembly and Task Planning: A Taxonomy. IEEE Robotics & Automation Magazine V1 N3 Sept. 1994.

Lyons, D.M., and Hendriks, A., A Toolkit for Designing and Evaluating Discrete-Event Control Strategies. Philips Research Newsletter April 1992.

Lyons, D., Murphy, T., and Hendriks, A., Deliberation and Reaction as Decoupled, Concurrent Activities. ICRA'96 Workshop on Robotic Planning & Execution (invited) April 1996, Minneapolis, MN.

Lyons, D.M. and Hendriks, A., Testing Adaptive Planning, 2^nd International Conference on AI Planning Systems, June 1994, ChicagoIL.

Lyons, D.M. and Hendriks, A.J., Adaptive Planning: An Approach that Views Errors as Assumption Failures, AAAI Spring Symposium on Detecting and Resolving Errors in Manufacturing Systems March 1994.

Lyons, D.M. and Hendriks, A., Planning by Adaptation: Experimental Results, IEEE Int. Conf. on Rob. & Aut., San DiegoCA, May 1994.

Lyons, D.M. and Hendriks, A., Safely Adapting a Hierarchical Reactive System. SPIE Intelligent Robots and Computer Vision XII September 1993.

Murphy, T., Lyons, D.M. and Hendriks, A., Stable Grasping with a Multi-Fingered Robot Hand: A Behavior-Based Approach, Intelligent Robots and Systems (IROS) Japan 1993.

Lyons, D.M. and Hendriks, A., A Practical Approach to Integrating Reaction and Deliberation. First AI Conference on Planning Systems, Univ. of Maryland, College ParkMD, 1992.

Lyons, D.M. and Hendriks, A., Planning for Reactive Robot Behavior. IEEE Int. Conf. on Robotics and Automation Nice, France 1992.

Lyons, D.M. and Hendriks, A.J., Achieving Robustness by Casting Planning as Adaptation of a Reactive System. IEEE Int. Conf. on Robotics and Automation, SacramentoCA, April 1991.

Lyons, D.M. and Hendriks, A. Planning and Acting in Real-Time 13^th IMACS World Congress on Comp. and Applied Math. TrinityCollege, Dublin, July 1991.

Lyons, D.M. and Hendriks, A., Implementing an Integrated Approach to Planning and Reaction. SPIE Conf. on Intelligent Robots and Computer Vision: Algorithms and Techniques. BostonMA, November 1991.

Lyons, D.M. and Allton, J.H., Achieving a Balance between Teleoperation and Autonomy in Specifying Plans for a Planetary Rover, SPIE Symposium on Advances in Intelligent Systems; Cooperative Intelligent Robotics in Space, Boston, MA, Nov. 1990.

Gopinath, P., Lyons, D.M. and Mehta, S., Representation and Execution Support for Reliable Robot Applications. 9^th Symp. on Reliable Distributed Systems, Huntsville, Alabama, Oct. 1990.

Lyons, D.M., Mehta, S. and Gopinath, P., Robust Representation and Execution of Robot Plans, EuroMicro Real-Time Systems Workshop, Horsholm, Denmark, May 28-30^th, 1990.

Lyons, D.M., RS: A Formal Model for Reactive Robot Plans, 2^nd RPI Int. Conf. on Computer Integrated Manufacturing Troy, NY, May 21--23, 1990.

Lyons, D.M., Pelavin, R., Hendriks, A., Benjamin, P. Task Planning using a Formal Model for Reactive Robot Plans. AAAI Spring Symposium on Planning in Uncertain and Dynamic Environments. Stanford CA, Mar. 27-29^th, 1990.

Lyons, D.M., A Process-Based Approach to Task-Plan Representation._IEEE International Conference on Robotics and Automation_, Cincinnati, Ohio, May 1990.

Hendriks, A., Lyons, D. Using Perceptions to Plan Incremental Adaptation, in: Intelligent Robots and Systems (ed. V. Graefe). 1995.

Lyons, D.M., Building and Analyzing the Behavior of Autonomous Robot Systems. Center for Interdisciplinary Research (ZiF) Conf. on Prerational Intelligence, Univ. of Bielefeld, Germany, November 1993.

Lyons, D.M. and Hendriks, A., Reactive Planning. Encyclopedia of Artificial Intelligence, 2^nd Edition, Wiley & Sons, December, 1991.

Venkataraman, S. and Lyons D.M., A Task-Oriented Architecture for Dexterous Manipulation in: Dexterous Robot Hands (Iberall T., Venkataraman, S.T., Eds.) Springer-Verlag 1990.

Arbib, M.A., Iberall, T. and Lyons, D.M., Schemas that Integrate Vision and Touch for Hand Control, in: Vision, Brain and Cooperative Computation (Arbib, M.A., Hanson, A.R., Eds.), MIT Press, 1987.

Iberall, T., Lyons, D.M. Perceptual Robotics: Towards a Language for the Integration of Sensation and Perception in a Dexterous Robot Handin: Management and Information Systems, Volume II—Languages for Automation (S.K. Chang, Ed.), Plenum Publishing Company, 1985.

Lyons, D.M. and Mehta, S., A Distributed Computing Environment for the Multiple Robot Domain, Fourth International Conference on CAD, CAM, Robotics and Factories of the Future, New Delhi, India, Dec. 19--22^nd, 1989.

Lyons, D.M., Vijaykumar, R. and Venkataraman, S., A Representation for Error Detection and Recovery in Robot Task Plans. SPIE Symposium on Advances in Intelligent Robotic Systems; Intelligent Robots and Computer Vision Philadelphia PA, Nov. 7-8^th, 1989.

Lyons, D.M., On-Line Allocation of Robot Resources to Task Plans. SPIE Symposium on Advances in Intelligent Robotics; Expert Robots for Industrial Use, Nov. 1988.

Lyons, D.M., A Novel Approach to High-Level Robot Programming. IEEE Workshop on Languages for Automation, Vienna, Austria, 1987.

Lyons, D.M., Tagged Potential Fields: An Approach to the Specification of Complex Manipulator Configurations. IEEE International Conference on Robotics and Automation,San FranciscoCA, Apr. 7-11th, 1986.

Lyons, D.M. and Arbib, M.A., A Task-Level Model of Distributed Computation for the Sensory-Based Control of Complex Manipulators. IFAC Symposium on Robot Control, Barcelona, Spain, Nov. 6-8th, 1985.

K. Ramamritham, D. Lyons, G. Pocock and M.A. Arbib, Towards Distributed Robot Control, IFAC Symposium on Robot Control, Barcelona, Spain, Nov 1985, pp. 107-112.

Lyons, D.M., A Simple Set of Grasps for a Dexterous Hand, IEEE International Conference on Robotics and Automation, St. Louis, Missouri, Mar. 25-28th, 1985.

Lyons, D.M. and Arbib, M.A., A Formal Model of Computation for Sensory-based Robotics. IEEE Transactions on Robotics and Automation 5(3), Jun. 1989.

Arbib, M.A., Iberall, T. and Lyons, D.M., Coordinated Control Programs for Movements of the Hand. Experimental Brain Research #10, Springer-Verlag, 1985.

Technical Reports.

(1) Brodsky, T., Cohen, R., Gutta, G., Lyons, D., Retail Applications of the Video Content Analysis Module. Philips TN-2000-021 2000.

(2) Lyons, D., Trajkovic, M., Briarcliff Intruder Tracking Engine V2.41 User Manual, Philips TSR-2000-011 2000.

(3) Lyons, D., Brodsky, T., Cohen R., and Gutta, S., Retail Video Content Analysis Requirements Document, Philips TSR-2000-012, 2000.

(4) Lyons, D., Brodsky, T., Cohen-Solal, E., and Gutta, S., Residential Video Content Analysis Requirements Document, Philips TSR-2000-010, 2000.

(5) Lyons, D.M., Calculation of Floor Plan Field of View regions for Pan-Tilt-Zoom Cameras. Philips TN-99-028 1999.

(6) Lyons, D.M., Knapp, D.C., and Pelletier, D.L. Vidiwall Applications of Video-Based Gesture Interpretation, Philips Research Tech. Note TN-98-003 1998.

(7) Lyons, D.M., Murphy, T.F., and Pelletier, D.L. Interpretation of Arm Pointing, Philips Research Tech. Note TN-97-041 1997.

(8) Lyons, D.M., Murphy, T.G. Gesture Pipes: An Efficient Architecture for Vision-Based Gesture Interpretation, Philips Research Tech. Note TN-97-039 1997.

(9) Lyons, D.M. A Computer Vision System for Extracting Feature Information from Video Camera Images of People, Philips Research Tech. Report TR-97-008 1997.

(10)Lyons, D.M. A Camera-Based User Interface for Multimedia and Virtual Reality Applications, Philips Research Tech. Note TN-96-031 1996.

(11)Lyons, D.M. The Control of Graphical Images using Full Body Motions, Philips Research Tech. Note TN-96-028 1996.

(12)Lyons, D.M., Murphy, T.G. Infowall with Camera-Based Interface, Philips Research Tech. Note TN-96-032 1996.

(13)Lyons, D.M. Navigation through Virtual Reality using Camera-Based Gesture Input, Philips Research Tech. Note TN-96-030 1996.

(14)Lyons, D.M. A 3-D Football Videogame using Camera-Based Gesture Input, Philips Research Tech. Note TN-96-029 1996.

(15)Lyons, D.M., and Ramadorai, R.A. A White Paper on Computer-Assisted Surgery and Surgical Robotics. Philips Research Tech. Report TR-94-016 October 1994.

(16)Lyons, D.M., Hendriks, A.J., Satyanarayana, S. Representation & Control of Intelligent Lighting for Commercial Buildings. Philips Research Tech. Report TR-94-029 September 1994.

(17)Lyons, D.M. and Kallis, A.D. Comparisons between Lyons’ RS and McDermott ’s RPL. Philips Research Tech. Note TN-93-051 August 1993.

(18)Lyons, D.M., Hendriks, A.J., Shrivastava, S., Kallis, A.D. ADAPT Simulation of Two FCMs with Buffer. Philips Research Tech. Note TN-93-050 August 1993.

(19)Lyons, D.M., Hendriks, A.J., Shrivastava, S., Kallis, A.D. The ADAPT User Manual. Philips Research Tech. Report TR-93-013 May 1993.

(20)Lyons, D.M., Hendriks, A. J. and Mehta, S. A Study of Adaptive Approaches to Control of the MCM-VIII. Philips Research Tech. Report TR-90-026 Sept. 1990.

(21)Lyons, D.M. and Hendriks, A.J., Where is Robot Task Planning Going? Philips Research Tech. Note TN-89-149, Nov. 1989.

(22)Lyons, D.M. and Mandhyan, I., Fundamentals of RS -- Part II: Process Composition. Philips Research Tech. Report TR-89-033, June 1989.

(23)Lyons, D.M. Fundamentals of RS-- Part I: The Basic Model. Philips Research Tech. Report TR-89-031, June 1989.

(24)Lyons, D.M. and Pelavin, R.N., An Analysis of Robot Task Plans using a Logic with Temporal Intervals. Philips Research Tech. Note TN-88-160, October 1988.

(25)Lyons, D.M., A Novel Approach to High-Level Robot Programming. (Updated) Philips Research Tech. Note TN-87-039, April 1987.

(26)Guida, F.C., Harosia, T.J. and Lyons, D.M., The Eindhoven Multi-Functional Gripper. Philips Research Tech. Note TN-87-145, November 1987.

(27)Lyons, D.M., The Task Criterion in Grasping Philips Research Tech. Note TN-87-163, December 1987.

(28)Lyons, D.M., Implementing a Distributed Control Environment for Task-Oriented Robot Control Philips Research Tech. Note TN-87-054, April 1987.

(29)Lyons, D.M., Developing a Formal Model of Distributed Computation for Sensory-Based Robot Control. Philips Tech. Note TN-87-002, February 1987.

(30)Lyons, D.M., A Generalization of: A Simple Set of Grasps for a Dexterous Hand. COINS Technical Report 85-37, Department of Computer and Information Science, University of Massachusetts, AmherstMA, November 1985.

Patents Issued (Inventor/Co-Inventor).

(1) Computer Software to Optimize Building Lighting Energy Consumption; US pat # 5,812,422. European pat . #EP791280, 1998.

(2) System and Method for Navigation through Virtual Reality using Camera-based Gesture Inputs; US pat # 6,195,104. European pat. #EP976106, 2001.

(3) Motion-Based Command Generation Technology; US pat # 6,176,782, 2001.

(4) A Vacuum Cleaner with Obstacle Avoidance; US pat #6,226,830, 2001.

(5) Method and System for Gesture based Option Selection; US pat # 6,283,860, 2001.

(6) System and Method for Constructing 3D Images using Camera-based Gesture Inputs; US pat #6,181,343, 2001.

(7) Method and Apparatus to Select the Best Video Frame to Transmit for Security Monitoring; US pat # 6,411,209. European pat. #EP1346577, 2002.

(8) Automated Camera Handoff for Figure Tracking in a Multiple Camera Environment; US pat # 6,359,647, 2002.

(9) Method and Apparatus to Distinguish Deposit and Removal in Surveillance Video; filed 2001; US pat # 6,731,805, 2004.

(10)Method for Selecting a Target in an Automated Video Tracking System; filed 2001; US pat #6,771,306, 2004.

(11)Apparatus and Methods for Resolution of Exit/Entry Conflicts for Security Monitoring Systems; filed 2001; US pat. # 6,744,462. European pat. #EP1346327, 2004.

(12)Method and Apparatus to Reduce False Alarms in Exit/Entrance Situations for Residential Security Monitoring; filed 2000; US pat. # 6,690,414. European pat . #EP1346328, 2004.

(13)Tracking Camera using a lens that generates both wide-angle and narrow-angle views; US pat # 6,734,911, 2004.

(14)Method and Apparatus for tuning content of information presented to an audience; filed 2000; US pat #6,873,710, 2005.

(15)Mirror Based Interface for Computer-Vision Applications; filed 2000; European pat . #EP1084579, 2005.

(16)Vision-based Method and Apparatus for Detecting an Event Requiring Assistance or Documentation; filed 2002, US pat publ. # 20030004913; European pat. #EP1405279, 2005.

(17)Method and Apparatus to Extend Video Content Analysis to Multiple Channels; filed 2002, US pat publ. # 20030031343, 2006.

(18)Method for Assisting a Video Tracking System in Reacquiring a Target; filed 2001, US pat publ. #7,173,650, 2007.

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-- Damian Lyons - 2015-05-06