Explanipedia

A Novel Blockchain-Driven Proof-of-Stake Model for Cooperative Navigation in Visual Homing Robotic Teams Open

Nasim Paykari, Mohamed Rahouti, Damian M. Lyons · 2025

Navigation in unstructured, GPS-denied environments, such as forests and agricultural fields, poses persistent challenges for heterogeneous robotic teams. While visual homing and Wide Area Visual Navigation (WAVN) enable lightweight, map-f…

Fast and Robust Multi-Robot Image-Guided Navigation Using a Decentralized Cooperative Consensus Open

Damian M. Lyons, Mohamed Rahouti, Nasim Paykari · 2025

Witness Byzantine Fault Tolerance with Signature Tree and Proof-of-Navigation for Wide Area Visual Navigation Open

Nasim Paykari, Taylor L. Clark, Aini Syuhada Md Zain, Damian M. Lyons, Mohamed Rahouti · 2025

Optimizing Control Strategies for Wheeled Mobile Robots Using Fuzzy Type I and II Controllers and Parallel Distributed Compensation Open

Nasim Paykari, Razieh Jokar, Ali Alfatemi, Damian M. Lyons, Mohamed Rahouti · 2024

Adjusting the control actions of a wheeled robot to eliminate oscillations and ensure smoother motion is critical in applications requiring accurate and soft movements. Fuzzy controllers enable a robot to operate smoothly while accounting …

Enhancing Visual Homing in Robotics: A Study on Blockchain Integration and Consensus Algorithms Open

Nasim Paykari, Damian M. Lyons, Mohamed Rahouti · 2024

Creating an immutable repository for vital robot and environmental data, ensuring long-term accessibility, and functioning in the absence of GPS or mapping are crucial for visual homing navigation systems. We focus on the intersection of b…

Author Index Open

Nasim Paykari, Ali Alfatemi, Damian M. Lyons, Mohamed Rahouti · 2024

This work explores a novel integration of blockchain methodologies with Wide Area Visual Navigation (WAVN) to address challenges in visual navigation for a heterogeneous team of mobile robots deployed for unstructured applications in agric…

A Decentralized Cooperative Navigation Approach for Visual Homing Networks Open

Mohamed Rahouti, Damian M. Lyons, Senthil Kumar Jagatheesaperumal, Kaiqi Xiong · 2023

Visual homing is a lightweight approach to visual navigation. Given the stored information of an initial 'home' location, the navigation task back to this location is achieved from any other location by comparing the stored home informatio…

VRChain: A Blockchain-Enabled Framework for Visual Homing and Navigation Robots Open

Mohamed Rahouti, Damian M. Lyons, Lesther Santana · 2022

Visual homing is a lightweight approach to robot visual navigation. Based upon stored visual information of a home location, the navigation back to this location can be accomplished from any other location in which this location is visible…

Wall Detection Via IMU Data Classification In Autonomous Quadcopters Open

Jason Hughes, Damian M. Lyons · 2021

An autonomous drone flying near obstacles needs to be able to detect and avoid the obstacles or it will collide with them. In prior work, drones can detect and avoid walls using data from camera, ultrasonic or laser sensors mounted either …

A Meta-level Approach for Multilingual Taint Analysis Open

Damian M. Lyons, Dino Becaj · 2021

Committees Open

Bruno Ferreira Da Silva, Luiz Marcos, Garcia Gonçalves, Bruno Ferreira, José Marcos dos Santos Paulino , et al. · 2020

Evaluating the Potential of Drone Swarms in Nonverbal HRI Communication Open

Kasper Grispino, Damian M. Lyons, Truong-Huy D. Nguyen · 2020

Human-to-human communications are enriched with affects and emotions, conveyed, and perceived through both verbal and nonverbal communication. It is our thesis that drone swarms can be used to communicate information enriched with effects …

Using Taint Analysis and Reinforcement Learning (TARL) to Repair Autonomous Robot Software Open

Damian M. Lyons, Saba B. Zahra · 2020

It is important to be able to establish formal performance bounds for autonomous systems. However, formal verification techniques require a model of the environment in which the system operates; a challenge for autonomous systems, especial…

A Monte Carlo Approach to Closing the Reality Gap Open

Damian M. Lyons, James Finocchiaro, Michael Novitzky, Christopher Korpela · 2020

We propose a novel approach to the 'reality gap' problem, i.e., modifying a robot simulation so that its performance becomes more similar to observed real world phenomena. This problem arises whether the simulation is being used by human d…

Using Taint Analysis and Reinforcement Learning (TARL) to Repair Autonomous Robot Software Open

Damian M. Lyons, Saba B. Zahra · 2020

It is important to be able to establish formal performance bounds for autonomous systems. However, formal verification techniques require a model of the environment in which the system operates; a challenge for autonomous systems, especial…

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 Open

Philip Bal, Damian M. Lyons, Avishai D. Shuter · 2020

The Kihansi spray toad (Nectophrynoides asperginis), classified as Extinct in the Wild by the IUCN, is being bred at the Wildlife Conservation Society’s (WCS) Bronx Zoo as part of an effort to successfully reintroduce the species into the …

Reviewers Open

Adelardo Adelino Dantas de Medeiros, Ademar Goncalves, Costa Júnior, Adriano A. G. Siqueira, A. J. Almeida , et al. · 2019

Towards Lakosian Multilingual Software Design Principles Open

Damian M. Lyons, Saba B. Zahra, Thomas M. Marshall · 2019

Large software systems often comprise programs written in different programming languages. In the case when cross-language interoperability is accomplished with a Foreign Function Interface (FFI), for example pybind11, Boost.Python, Emscri…

LARS/SBR 2018 Program Committee Open

Adelardo Adelino Dantas de Medeiros, Ademar Goncalves, Costa Júnior, Alberto De Souza, Alessandra Martins Coelho , et al. · 2018

Dependability in Cyber-Physical Systems and Applications Open

Md Zakirul Alam Bhuiyan, Sy‐Yen Kuo, Damian M. Lyons, Zili Shao · 2018

editorial Free Access Share on Dependability in Cyber-Physical Systems and Applications Authors: Md Zakirul Alam Bhuiyan Fordham University, New York, NY, USA Fordham University, New York, NY, USAView Profile , Sy-yen Kuo National Taiwan U…

Lightweight Multilingual Software Analysis Open

Damian M. Lyons, Anne Marie Bogar, David T. Baird · 2018

Developer preferences, language capabilities and the persistence of older languages contribute to the trend that large software codebases are often multilingual, that is, written in more than one computer language. While developers can lev…

Lightweight Call-Graph Construction for Multilingual Software Analysis Open

Anne Marie Bogar, Damian M. Lyons, David T. Baird · 2018

Analysis of multilingual codebases is a topic of increasing importance. In prior work, we have proposed the MLSA (MultiLingual Software Analysis) architecture, an approach to the lightweight analysis of multilingual codebases, and have sho…

Constructionist Steps Towards an Autonomously Empathetic System Open

Trevor Buteau, Damian M. Lyons · 2018

Prior efforts to create an autonomous computer system capable of predicting what a human being is thinking or feeling from facial expression data have been largely based on outdated, inaccurate models of how emotions work that rely on many…

Towards Affective Drone Swarms: A Preliminary Crowd-Sourced Study Open

Truong-Huy D. Nguyen, Kasper Grispino, Damian M. Lyons · 2018

Drone swarms are teams of autonomous un-manned aerial vehicles that act as a collective entity. We are interested in humanizing drone swarms, equipping them with the ability to emotionally affect human users through their non-verbal motion…

Lightweight Call-Graph Construction for Multilingual Software Analysis Open

Anne Marie Bogar, Damian M. Lyons, David Baird · 2018

Analysis of multilingual codebases is a topic of increasing importance. In prior work, we have proposed the MLSA (MultiLingual Software Analysis) architecture, an approach to the lightweight analysis of multilingual codebases, and have sho…

Lightweight Multilingual Software Analysis Open

Damian M. Lyons, Anne Marie Bogar, David Baird · 2017

Developer preferences, language capabilities and the persistence of older languages contribute to the trend that large software codebases are often multilingual, that is, written in more than one computer language. While developers can lev…

Lightweight Multilingual Software Analysis Open

Damian M. Lyons, Anne Marie Bogar, David Baird · 2017

Developer preferences, language capabilities and the persistence of older languages contribute to the trend that large software codebases are often multilingual, that is, written in more than one computer language. While developers can lev…

Establishing Performance Guarantees for Behavior-Based Robot Missions Using an SMT Solver Open

Feng Tang, Damian M. Lyons, Ronald C. Arkin · 2016

In prior work we developed an approach to formally representing behavior-based multi-robot programs, and the uncertain environments in which they operate, as process networks. We automatically extract a set of probabilistic equations gover…

Performance Verification for Behavior-Based Robot Missions Open

Damian M. Lyons, Ronald C. Arkin, Shu Jiang, Tsung-Ming Liu, Paramesh Nirmal · 2015

© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for…

Using a 3D World to Address Perceptual Issues in Human-robot Coordination Open

D. Paul Benjamin, Damian M. Lyons · 2015

There is a growing body of evidence that human perception is "active", in the sense that it is largely goal-oriented and top-down. Task goals appear to influence how people perceive their environment. Effective interaction between people a…

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