Dr. Clark N. Taylor, Assistant Professor of Computer Engineering

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Publications

Journal Papers

  1. “Future Uncertainty-based Control for Relative Navigation in GPS-denied Environments,” H. Bai and C.N. Taylor, accepted in IEEE Transactions on Aerospace and Electronic Systems, doi:10.1109/TAES.2020.2974052.
  2. “Robust Incremental State Estimation through Covariance Adaptation,” R. Watson, J. Gross, C.N. Taylor, and R. Leishman, in IEEE Robotics and Automation Letters, v. 5(2), April 2020, doi:10.1109/LRA.2020.2979655.
  3. “Enabling Robust State Estimation through Measurement Error Covariance Adaptation,” R.M. Watson, J.N. Gross, C.N. Taylor, and R.C. Leishman, accepted in IEEE Transactions on Aerospace and Electronic Systems, doi:10.1109/TAES.2019.2941103.
  4. “Homogeneous Functionals and Bayesian Data Fusion with Unknown Correlation,” C.N. Taylor and A.N. Bishop, in Information Fusion, v. 45, Jan 2019.
  5. “Control-enabled Observability and Sensitivity Functions in Visual-Inertial Odometry,” H. Bai and C.N. Taylor, in Journal of Intelligent and Robotic Systems, v. 93(1-2), 2019.
  6. “Feature Matching Error Analysis and Modeling for Consistent Estimation in Vision-Aided Navigation,” C. Yang, A. Vadalmani, A. Soloviev, M. Veth, and C.N. Taylor, Navigation, v. 65(4), Nov 2018.
  7. “Observability Conditions for Switching Sensing Topology for Cooperative Localization,” A. Chakraborty, S. Misra, R. Sharma, C.N. Taylor, in Unmanned Systems, v. 5(3), July 2017.
  8. “Conservative Uncertainty Estimation in Map-based Vision-aided Navigation,” Z. Zhu, C.N. Taylor, in IEEE Transactions on Aerospace and Electronic Systems, v. 53(2), 2017.
  9. “Vision-aided Inertial Navigation with Modeling of Measurement Outliers,” C. Yang, A. Soloviev, M. Veth, C.N. Taylor, in Journal of Aerospace Information Systems, v. 12(12), 2015.
  10. “Geo-location of Fast-moving Objects from Satellite-based Angle-of-Arrival Measurements,” S. Hartzell, L. Burchett, R. Martin, C.N. Taylor, and A. Terzuoli, in IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing, v. 8(7), 2015.
  11. “Observability-based Local Path Planning and Obstacle Avoidance Using Bearing-only Measurements,” H. Yu, R. Sharma, R. Beard, and C.N. Taylor, in Robotics and Autonomous Systems, v. 61(12), 2013.
  12. “A Multimodal Temporal Panorama Approach for Moving Vehicle Detection, Reconstruction, and Classification,” T. Wang, Z. Zhu, and C.N. Taylor, Computer Vision and Image Understanding, v. 117(12), 2013.
  13. “Bearing-only Cooperative Localization: Simulation and Experimental Results,” R. Sharma, S. Quebe, R.W. Beard, and C.N. Taylor, in Journal of Intelligent and Robotic Systems, v. 72(3-4), 2013.
  14. “Graph-based Observability Analysis of Bearing-only Cooperative Localization,” R. Sharma, R. Beard, C.N. Taylor, and S. Quebe, in IEEE Transactions on Robotics, v. 28(2), 2012.
  15. “Georeferenced Mosaics for Tracking Fires Using Unmanned Miniature Air Vehicles,” J.M. Bradley and C.N. Taylor, in AIAA Journal of Aerospace Computing, Information, and Communication, v. 8(10), 2011.
  16. “A Comparison of Two Image and Inertial Sensor Fusion Techniques for Navigation in Unmapped Environments,” C.N. Taylor, M.J. Veth, J.F. Raquet, M.M. Miller, in IEEE Transactions on Aerospace and Electrical Systems, v. 47(2), 2011.
  17. “Enabling Navigation of MAVs through Inertial, Vision, and Air Pressure Sensor Fusion”, C.N. Taylor, Lecture Notes in Electrical Engineering, v. 35, pp. 143-158, 2009.
  18. “Inertially Aided Visual Odometry for Miniature Air Vehicles in GPS-denied Environments", B.B. Ready, C.N. Taylor, Journal of Intelligent and Robotic Systems, v. 55, no. 2-3, pp. 203-221, 2009.
  19. “Stabilization of Video from Miniature Air Vehicles for Target Localization”, D.L. Johansen, J.K. Hall, R.W. Beard, C.N. Taylor, Journal of Aerospace Computing, Information, and Communication, Vol 5, no. 8, pp. 251-273, 2008.
  20. “Vision-based Target Localization Using a Fixed-Wing Miniature Air Vehicle”, D.B. Barber, J.D. Redding, T.W. McLain, R.W. Beard, C.N. Taylor, Journal of Intelligent and Robotic Systems, v. 46, pp. 361-382, 2006.
  21. “Design of an Adaptive Architecture for Energy Efficient Wireless Image Communication,” C.N. Taylor, D. Panigrahi, and S. Dey, Lecture Notes in Computer Science, Vol. 2268, pp. 260-273, Springer-Verlag, 2002.
  22. “Using a Soft Core in a SOC Design: Experiences with picoJava,” S. Dey, P. Sanchez, D. Panigrahi, L. Chen, C.N. Taylor, and K. Sekar, in IEEE Design and Test of Computers, pp. 60-71, July-September 2000.

Book Chapters

  1. “Cooperative Localization: Challenges and Future Directions,” A. Chakraborty, S. Misra, R. Sharma, K.M. Brink, and C.N. Taylor, Cooperative Localization and Navigation: Theory, Research, and Practice, edited by C. Gao, G. Zhao, and H. Fourait, pp. 493-520, CRC Press, 2019.
  2. “Energy/Latency/Image Quality Tradeoffs in Enabling Mobile Multimedia Communications,” C.N. Taylor, S. Dey, and D. Panigrahi, invited paper, Proc. Software Radio:  Technologies and Services, CNIT Conference, pp. 55-66, Springer Verlag Ltd., September 2000.

Proceedings Papers

  1. “Uncertainty Model Estimation in an Augmented Data Space for Robust State Estimation,” R.M. Watson, J.N. Gross, C.N. Taylor, and R.C. Leishman, accepted in Proceedings, ION GNSS+, 2020.
  2. “An Evaluation of Vision-aided Navigation Uncertainty,” E. Rodenburg and C.N. Taylor accepted in Proceedings, ION GNSS+, 2020.
  3. “Factor Graph-based Simultaneous Localization and Mapping using Magnetic Measurements,” C.N. Taylor and A. Canciani, accepted in Proceedings, ION GNSS+, 2020.
  4. “Covariance Estimation for Factor Graph Based Bayesian Estimation,” A. Vanli and C.N. Taylor, accepted in Proceedings, IEEE International Conference on Information Fusion, 2020.
  5.  “A Variational Bayesian Approach for Estimating Colored Noise Parameters,” H. Bai and C.N. Taylor, accepted in Proceedings, IEEE International Conference on Information Fusion, 2020.
  6. “Visual Servoing for Final Approach Phase of Spacecraft Proximity Operations,” W. Harris, R. Cobb, and C.N. Taylor, in Proceedings, ION/IEEE Position, Location and Navigation Symposium, 2020.
  7. “Comparison of Visual Simultaneous Localization and Mapping Methods for Fixed-Wing Aircraft using SLAMBench2”, P. Latcham, C.N. Taylor, in Proceedings, ION/IEEE Position, Location and Navigation Symposium, 2020.
  8. “Effects of Stereo Vision Camera Positioning on Relative Navigation Accuracy,” K. Sarantsev, C.N. Taylor, and S.L. Nykl, in Proceedings, ION International Technical Meeting (ITM) 2020.
  9. “Invariant-EKF Design for a Unicycle Robot under Linear Disturbances”, K. Coleman, H. Bai, and C.N. Taylor, in Proceedings, American Control Conference, 2020.
  10. “Distributed Power Mean Fusion,” C.N. Taylor and A.N. Bishop, in Proceedings, IEEE International Conference on Information Fusion, 2019
  11. “Observability of Multi-agent Network Sensing Systems,” I. Raptis and C.N. Taylor, in Proceedings, ASME Dynamic Systems and Control Conference, 2019.
  12. “Batch Measurement Error Covariance Estimation for Robust Localization,” R.M. Watson, C.N. Taylor, R.C. Leishman, and J.N. Gross, in Proceedings, ION GNSS+, 2018.
  13. “Path Planning with Optimized Observability for GPS-denied Navigation of Aerial Vehicles,” H. Bai and C.N. Taylor, in IEEE/ION Precision Localization and Navigation Symposium (PLANS), 2018.
  14. “An Improved Method for Verifying the Predicted Uncertainty of Bayesian State Estimators,” C.N. Taylor and S. Lubold, in SPIE+DSS 2018.
  15. “A Study of Particle Filtering Approaches for the Kidnapped Robot Problem”, C.N. Taylor and D. Mohler, in SPIE+DSS 2018.
  16. “Control-enabled Observability in Visual-Inertial Odometry”, H. Bai and C.N. Taylor, in Proceedings, 2017 International Conference on Unmanned Aircraft Systems (ICUAS).
  17. “Correlation-agnostic fusion for improved uncertainty estimation in multi-view geo-location from UAVs,” P. Sundlie and C. Taylor, in Proceedings, SPIE+DSS 2017.
  18. “Evaluation of H.264 and H.265 Full Motion Video Encoding for Small UAS Platforms,” C. McGuinness, D. Walker, C. Taylor, K. Hill, and M. Hoffman, in Proceedings, SPIE+DSS 2016.
  19. “Unmanned Aerial Vehicle Relative Navigation in GPS-denied Environments,” J. Hardy, J. Strader, J.N. Gross, Y. Gu, M. Keck, J. Douglas, C. Taylor, in Proceedings, IEEE/ION Position, Localization and Navigation Symposium, 2016.
  20. “Cooperative Localization for  Fixed Wing Unmanned Aerial Vehicles,” A. Chakraborty, C. Taylor, R. Sharma, K. Brink, in Proceedings, IEEE/ION Position, Localization and Navigation Symposium, 2016.
  21. “Achieving Consistent Uncertainty Estimates with RANSAC-based Algorithms,” C. Taylor, in Proceedings, Institute of Navigation / International Technical Meeting, 2016.
  22. “Conservative Uncertainty Estimation in Map-based Vision-aided Navigation,” Z. Zhu, C. Taylor, in Proceedings, Institute of Navigation / International Technical Meeting, 2016.
  23.  “Correlated Error Analysis for the Non-linear Optimiation AoA Geolocation Algorithm,” J. Sprang, D. Hesser, J. Roos, J. Mautz, M. Sambora, C. Taylor, J. Sugrue, and A. Terzuoli, in Proceedings, International Geoscience and Remote Sensing Symposium, 2015.
  24. “Incorporating Structure from Motion Uncertainty into Image-based Pose Estimation,” B.T. Ludington, A.P. Brown, M.J. Sheffler, C.N. Taylor, S. Berardi, in Proceedings, SPIE Defense+Security Symposium, 2015.
  25. “Sources of Uncertainty in Feature-based Image Registration Algorithms,” P.O. Sundlie, C.N. Taylor, J.A. Fernando, in Proceedings, SPIE Defense+Security Symposium, 2015.
  26. “Path Planning for Cooperative Navigation with Inter-Agent Range Measurements,” A.J. Rutkowski, B.K. Taylor, M.J. Eilders, K.M. Brink, C.N. Taylor, J. E. Barnes, in Proceedings, ION Pacific PNT meeting, 2015.
  27.  “Uncertainty Estimation for Random Sample Consensus,” H. Yu, S. Keshavamurthy, H. Bai, S. Sheorey, H. Nguyen, C.N. Taylor, in Proceedings, International Conference on Control, Automation, Robotics, and Vision, 2014.
  28. “Uncertainty Estimation for KLT Tracking,” S. Sheorey, S. Keshavamurthy, H. Yu, H. Nguyen, C.N. Taylor, in Proceedings, Asian Conference on Comptuer Vision, 2014.
  29. “Robustified, Multi-epoch Stochastic Constraints for Outlier Detection and Removal in Online Multi-sensor Inertial Navigation Systems,” M. Veth, A. Soloviev, C. Yang, and C. Taylor, in Proceeding, ION GNSS, 2014.
  30. “Assured Vision Aided Inertial Localization,” A. Soloviev, C. Yang, M. Veth, and C. Taylor, in Proceedings, ION GNSS, 2014.
  31. “AoA Geo-location for Fast-movers using Nonlinear Optimization,” S. Hartzell, M. Haker, R. Martin, C. Taylor, and A. Terzuoli, in Proceedings, IEEE International Geoscience and Remote Sensing Symposium, 2014.
  32. “Improved evaluation of geo-registration algorithms for airborne EO/IR imagery,” C.N. Taylor, in Proceedings, SPIE Defense, Sensing, and Security Symposium, 2013.
  33. “Monte Carlo Error Characterization of EKF-Based Image Aided Navigation,” D.A. Marietta, K.A. Fisher, and C.N. Taylor, in Proceedings, ION International Technical Meeting, 2013.
  34. “Angle of Arrival Geolocation Using Non-linear Optimization,” L. Burchett, S. Hartzell, G. Hoffar, J. Mautz, C. Taylor, and A. Terzuoli, in Proceedings, IEEE International Geoscience and Remote Sensing Symposium, 2012.
  35. “Improved Fusion of Visual Measurements Through Explicit Modeling of Outliers,” C.N. Taylor, in Proceedings, IEEE/ION Position, Location, and Navigation Symposium (PLANS), 2012.
  36. “An Analysis of Observability-Constrained Kalman Filtering for Vision-Aided Navigation,” C.N. Taylor, in Proceedings, IEEE/ION Position, Location, and Navigation Symposium (PLANS), 2012.
  37. “Placement of Full Motion Video (FMV) Frames in Geographic Context Using Pursuer,” C.N. Taylor, D. Uppenkamp, and K. Shannon, in Proceedings, SPIE Defense, Security, and Sensing Symposium, 2012.
  38. “Bearing-only Cooperative Geo-Localization using Unmanned Aerial Vehicles,” R. Sharma, R. Beard, C.N. Taylor, and D. Pack, in Proceedings, American Control Conference, 2012.
  39. “A Layered Approach for Fast Multi-view Stereo Panorama Generation,” E. Molina, Z. Zhu, and C.N. Taylor, in Proceedings, IEEE International Workshop on Video Panoramas, 2011.
  40. “Multimodal Temporal Panorama for Moving Vehicle Detection and Reconstruction,” T. Wang, Z. Zhu, and C.N. Taylor, in Proceedings, IEEE International Workshop on Video Panoramas, 2011.
  41. “Observability-based Local Path Planning and Collision Avoidance for Micro Air Vehicles Using Bearing-only Measurements,” H. Yu, R. Sharma, R. Beard, and C.N. Taylor, in Proceedings, American Control Conference, 2011.
  42. “Dynamic Input Consensus using Integrators,” C.N. Taylor, R.W. Beard and J. Humphreys, in Proceedings, American Control Conference, 2011.
  43. “Cooperative Target-capturing with Inaccurate Target Information,” R. Sharma, M. Kothari, C.N. Taylor, and I. Postlewaite, in Proceedings, American Control Conference, 2010.
  44. “Distributed Cooperative SLAM Using an Information Consensus Filter,” R. Sharma, C.N. Taylor, D. Casbeer, and R.W. Beard, in Proceedings, AIAA Guidance, Navigation, and Control Conference, 2010.
  45. “Cooperative GPS Navigation,” S. Quebe, J. Campbell, S. DeVilbiss, C.N. Taylor, in Proceedings, IEEE Precision Location and Navigation Symposium, 2010.
  46. “Creation of Geo-Referenced Mosaics from MAV Video and Telemetry using Constrained Optimization and Bundle Adjustment,” B. Heiner and C.N. Taylor, in Proceedings, IEEE International Conference on Intelligent Robots and Systems, 2009.
  47. “Reactive Collision Avoidance for Fixed-wing MAVs Flying in Urban Terrain,” R. Sharma, J. Saunders, C.N. Taylor, and R.W. Beard, in Proceedings, AIAA Conference on Guidance, Navigation, and Control, 2009.
  48. “Improved MAV Attitude Estimation Through Coupled Acceleration Estimation”, B. B. Ready and C. N. Taylor, in Proceedings, Institute of Navigation, International Technical Meeting, 2009.
  49. “Long-term Accuracy of Camera and IMU Fusion-based Navigation Systems,” C. N. Taylor, in Proceedings, Institute of Navigation, International Technical Meeting, 2009.
  50. “Vision-based Distributed Cooperative Navigation for MAVs in GPS Denied Areas”, R. Sharma and C. N. Taylor, AIAA Infotech@Aerospace, 2009.
  51. “Payload Directed Flight of Micro Air Vehicles,” R.W. Beard, C.N. Taylor, J. Saunders, R. Holt, T.W. McLain, AIAA Infotech@Aerospace 2009.
  52.  “An Automatic System for Creating Geo-referenced Mosaics from MAV Video,” C.N. Taylor and E.D. Andersen, in Proceedings, IEEE International Conference on Intelligent Robots and Systems, Nice, France, Sept., 2008
  53. “Fusion of Inertial, Vision, and Air Pressure Sensors for MAV Navigation”, C.N. Taylor, in Proceedings, IEEE International Conference on Multi-sensor Fusion and Integration for Intelligent Systems, Seoul, Korea, Aug., 2008.
  54. “Cooperative Navigation of MAVs in GPS-Denied Areas”, R. Sharma, C.N. Taylor, in Proceedings, IEEE International Conference on Multi-sensor Fusion and Integration for Intelligent Systems, Seoul, Korea, Aug., 2008.
  55. “Onboard System for Synchronizing Video and Telemetry on a Small UAV,” A. Rodriguez, C. Taylor, Y. Aregawi, R. Dennis, and T. Jenkins, SPIE Defense, Security, and Sensing Conference, Orlando, FL, March 2008.
  56. “Improving MAV Pose Estimation Using Visual Information,” E.D. Andersen and C.N. Taylor, in Proceedings, IEEE International Conference on Intelligent Robots and Systems, San Diego, CA, Oct-Nov, 2007.
  57. “Wind Estimation Using an Optical Flow Sensor on a Miniature Air Vehicle,” A. Rodriguez, E. Andersen, J. Bradley, and C.N. Taylor, in Proceedings, AIAA Conference on Guidance, Navigation, and Control, Hilton Head, SC, Aug 2007.
  58. “Particle Filter Based Mosaicking for Tracking Forest Fires,” J. Bradley and C.N. Taylor, in Proceedings, AIAA Conference on Guidance, Navigation, and Control, Hilton Head, SC, Aug 2007.
  59. “A Fixed-Wing Mini-UAV System for Aerial Search Operations,” N. Rasmussen, B. Morse, and C.N. Taylor, in Proceedings, AIAA Conference on Guidance, Navigation, and Control, Hilton Head, SC, Aug 2007.
  60. “Stabilization of Video from Miniature Air Vehicles,” D. Johansen, J. Hall, C. Taylor, and R. Beard, in Proceedings, AIAA Conference on Guidance, Navigation, and Control, Hilton Head, SC, Aug 2007.
  61. “Improving Accuracy of MAV Pose Estimation using Visual Odometry,” B.B. Ready and C.N. Taylor, in Proceedings, 2007 American Control Conference, pp.3721-3726.
  62. “GPU Acceleration of Real-time Feature Based Algorithms”, J.M. Ready, C.N. Taylor, in Proceedings, IEEE Workshop on Motion and Video Computing, Austin, TX, 2007.
  63. “Obstacle Avoidance for Unmanned Air Vehicles Using Image Feature Tracking,” B. Call, R. Beard, C. Taylor, and B. Barber, in Proceedings, AIAA Guidance, Navigation, and Control Conference, 2006.
  64. “Using Telemetry Data for Video Compression on Unmanned Air Vehicles,” A.F. Rodríguez, B.B. Ready, and C.N. Taylor, in Proceedings, AIAA Guidance, Navigation, and Control Conference, 2006.
  65. “Vision-based Target Localization from a Fixed-wing Miniature Air Vehicle”, J. Redding, T. W. McLain, R.W. Beard, and C.N. Taylor, in Proceedings, American Control Conference, 2006.
  66. “An Unmanned Aerial Vehicle Project For Undergraduates”, J. Bradley, B. Prall, R. Beard, C. Taylor, The Forty-Second Annual International Telemetering Conference and Technical Exhibition, Vol. 42, San Diego, CA, October 2006.
  67. Kalman-filter Based Method for Creation of Super-resolved Mosaicks,” B.B. Ready, C.N. Taylor, and R.W. Beard, in Proceedings, IEEE International Conference on Robotics and Automation, 2006.
  68. “Forest Fire Monitoring Using Multiple Unmanned Air Vehicles,” R. Holt, J. Egbert, J. Bradley, R. Beard, C. Taylor, and T. McLain, Eleventh Biennial USDA Forest Service Remote Sensing Applications Conference, Salt Lake City, UT, April 2006.
  69. “VShaper: An Efficient Method of Serving Video Streams Shaped for Diverse Wireless Communication Conditions,” C.N. Taylor and S. Dey, in Proceedings, 2004, IEEE Globecom Conference, December 2004.
  70. “Run-time Allocation of Buffer Resources for Maximizing Video Clip Quality in a Wireless Last-hop System,” C.N. Taylor and S. Dey, in Proceedings, 2004 IEEE International Conference on Communications, pp. 3081-3085, June 2004.
  71. “ORBit:  An Adaptive Method of Shaping Video Data for Transmission Over Imperfect Channels,” C.N. Taylor and S. Dey, in Proceedings, 37th Asilomar Conference on Signals, Systems, and Computers, Nov. 2003.
  72. “A Hardware/Software Reconfigurable Architecture for Adaptive Wireless Image Communication,” D. Panigrahi, C.N. Taylor, and S. Dey, in Proceedings, International Conference on VLSI Design/ASP-DAC, pp. 553-558, January 2002.
  73. “Modeling and Minimization of Interconnect Energy Dissipation in Nanometer Technologies,” C.N. Taylor, Y. Zhao, and S. Dey, in Proceedings, 38th Design Automation Conference (DAC), pp. 754-757, June 2001.
  74. “Adaptive Image Compression for Enabling Mobile Multimedia Communication,” C.N. Taylor and S. Dey, in Proceedings, IEEE International Conference on Communications (ICC), pp.1925-1929, vol. 6, June 2001.
  75. “Interface Based Hardware/Software Validation of a System-on-Chip,” D. Panigrahi, C.N. Taylor, and S. Dey, in Proceedings, 5th IEEE High-level Design, Validation, and Test Workshop, pp. 53-58, November 2000.
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