Publications

Refereed Publications

Journal Papers:

Borenstein, J, Ojeda, L., and Kwanmuang, S. “Heuristic Reduction of Gyro Drift in a Personal Dead-reckoning System.”, Accepted for publication - Journal of Navigation, 2008.
Ojeda, L., and Borenstein, J. "Non-GPS Navigation for Security Personnel and Emergency Responders." Journal of Navigation. Vol. 60 No. 3, September 2007, pp. 391-407.
Ojeda, L., Reina, G., Cruz, D., and Borenstein, J. ”The FLEXnav precision dead-reckoning system”, International Journal of Vehicle Autonomous Systems, Special Issue on Computational Intelligence and its Applications to Mobile Robots and Autonomous Systems, Vol. 4, No. 2-4, 2006.
Ojeda, L., Cruz, D., Reina, G., Borenstein, J. "Current-Based Slippage Detection and Odometry Correction for Mobile Robots and Planetary Rovers." IEEE Transactions on Robotics. Vol. 22, No. 2, pp. 366 - 378, April 2006.
Reina, G., Ojeda, L., Milella, A., and Borenstein, J. "Wheel Slippage and Sinkage Detection for Planetary Rovers." IEEE Transactions on Mechatronics, Special Issue on Novel Aspects in Robotics. Vol. 11, No. 2, pp. 185-195, April 2006.
Ojeda, L., Borenstein, J., Witus, G., and Karlsen, R. "Terrain Characterization and Classification with a Mobile Robot." Journal of Field Robotics, Vol. 2, No. 2, pp. 103-122, February 2006.
Ojeda, L. and Borenstein, J. "Methods for the Reduction of Odometry Errors in Over-constrained Mobile Robots." Autonomous Robots Journal, Vol. 16, No. 1, pp. 273-286, January 2004.
Chung, H., Ojeda, L., and Borenstein, J., " Accurate Mobile Robot Dead-reckoning With a Precision-calibrated Fiber Optic Gyroscope." IEEE Transactions on Robotics and Automation, Vol. 17, No. 1, pp. 80-84, February 2001.

Conference paper:

Ojeda, L., and Borenstein, J. "Personal Dead-reckoning System for GPS-denied Environments." IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR2007) in Rome, Italy, September 27-29, 2007.
Ojeda, L., and Borenstein, J. "Non-GPS Navigation with the Personal Dead-reckoning System." Proceedings of the SPIE Defense and Security Conference, Unmanned Systems Technology IX, Orlando, Florida, April 9-13, 2007.
Ojeda, L., and Borenstein, J. "Non-GPS Navigation for Emergency Responders." 2006 International Joint Topical Meeting: Sharing Solutions for Emergencies and Hazardous Environments. Salt Lake City, UT, February 12-15, 2006.
Reina, G., Ojeda, L., Milella, A., and Borenstein, J. "Measures for Wheel Slippage And Sinkage Detection In Rough-Terrain Mobile Robots." Proceedings of ASME International Mechanical Engineering Congress and Exposition, Orlando, FL, November 5-11, 2005.
Ojeda, L., Borenstein, J., and, Witus, G. "Terrain Trafficability Characterization with a Mobile Robot." Proceedings of the SPIE Defense and Security Conference, Unmanned Ground Vehicle Technology VII, Orlando, FL, March 28th to April 1st, 2005.
Ojeda, L., Raju, M., and Borenstein, J. "FLEXnav: A Fuzzy Logic Expert Dead-reckoning System for the Segway RMP." Proceedings of the SPIE Defense and Security Symposium, Unmanned Ground Vehicle Technology VI (OR54), Orlando FL, April 12-16, 2004.
Ojeda, L., Reina, G., and Borenstein, J. "Experimental Results from FLEXnav: An Expert Rule-based Dead-reckoning System for Mars Rovers." IEEE Aerospace Conference, Big Sky, MT, Paper ID: 1126, March 6-13, 2004.
Ojeda, L. and Borenstein, J. "Reduction of Odometry Errors in Over-constrained Mobile Robots." Proceedings of the UGV Technology Conference at the 2003 SPIE AeroSense Symposium, Orlando, FL, April 21-25, 2003.
Ojeda, L. and Borenstein, J. "FLEXnav: Fuzzy Logic Expert Rule-based Position Estimation for Mobile Robots on Rugged Terrain." Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington DC, pp. 317-322, May 11-15, 2002.
Chung, H., Ojeda, L., and Borenstein, J. "Sensor fusion for Mobile Robot Dead-reckoning with a Precision-calibrated Fiber Optic Gyroscope." Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Korea, pp. 3588-3593, May 21-26, 2001.
Ojeda, L. and Borenstein, J. "Experimental Results With the KVH C-100 Fluxgate Compass in Mobile Robots." Proceedings of the IASTED International Conference on Robotics and Applications, Honolulu, Hawaii, August 14-16, 2000.
Ojeda, L., Chung, H., and Borenstein, J. "Precision Calibration of Fiber-optics Gyroscopes for Mobile Robot Navigation." Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA, pp. 2064-2069, April 24-28, 2000.

Thesis:

Ojeda, L. "Airplane Control System using Neural Networks." Army Polytechnic School, Masters degree thesis, Quito-Ecuador, December 1997.
Ojeda, L. "Digital Circuits Simulator using Graphic Interfaces." Army Polytechnic School, Engineering degree thesis, Quito-Ecuador, November 1994.

Unrefereed Publications, Conferences and Seminaries

Conferences and Seminars:

Ojeda, L. “Localization Systems in GPS denied Environments”, First International Seminar on Mechatronics, Latacunga-Ecuador, May 29-30, 2008
Ojeda, L. and Borenstein, J. "Personal Dead Reckoning System", 6th Annual VI Workshops Series, US Army TACOM, Warren, Michigan, January 8, 2007
Ojeda, L. "Personal Dead Reckoning System", Control Seminar Series, University of Michigan, Ann Arbor, MI, Sept. 29 2006
Ojeda, L. and Borenstein, J. "Mobile Robot Technology and Radioactive Waste Sites." The 48th Annual Conference on Bioassay, Analytical, and Environmental Radiochemistry (BAER), Las Vegas, NV, October 30- November 1st, 2002.
Ojeda, L. "Advancements in Mobile Robotics Technologies." The 25th Anniversary of the Electronics Engineering Department of the Army Polytechnic School Conferences, Quito-Ecuador, April 21-23, 2002.
Ojeda, L. "An Introduction to Mobile Robots." Seminar at the Electronics Engineering and Computer Sciences Department of the Catholic University, Loja-Ecuador, January 3rd, 2002.

Technical Reports:

Ojeda, L., Raju, M., and Borenstein, J. "Experimental Results from UM's Proprioceptive Position Estimation System Installed on CMU's ATRV." Technical Report, University of Michigan, Dept. of Mechanical Engineering, UM-ME-03-01, February 2003.
Ojeda, L. and Borenstein, J. "Improved Position Estimation for Mobile Robots on Rough Terrain Using Attitude Information." Technical Report, The University of Michigan, UM-ME-01-01, August 2001.
Ojeda L., Chung, H., and Borenstein, J. "Precision Calibration of the KVH E-Core RD2100 Fiber-optics Gyroscope." Technical Report, The University of Michigan, UM-MEAM-99-06, June 1999.
Ojeda L., and Borenstein J. "Experimental Results with the KVH C-100 Fluxgate Compass." Technical Report, The University of Michigan, UM-MEAM-99-05, June 1999.