Publications

  • ''Geolocating and Grading Crosswalks usng Deep Learning,'' Elliott Marsden, Gabe Kudirka, David Sacharny and Thomas C. Henderson, International Conference on Multisensor Fusion and Integration, Bonn, Germany, November, 2023. Published, 11/21/2023.
  • ''Thermal Analysis of a Magnetically Actuated Fiber-Coupled Laser System for Computer-Assisted Laser Microsurgery,'' Hamed Mohammadbagherpoor, Edward Grant and Thomas C. Henderson,, International Conference on New Technologies for Computer/Robot Assisted Surgery, Paris, France, September, 2023. Published, 09/13/2023.
  • ''A Micro-Computer Based Tactical Combat Casualty Care Trainer,'' Alexander Youngs, Frederick Livingston, James Johnson, Edward Grant and Thomas C. Henderson, International Conference on New Technologies for Computer/Robot Assisted Surgery, Paris, France, September, 2023. Published, 09/13/2023.
  • ''Multi_Modal Air Traffic Management,'' Thomas C. Henderson, Vista Marston, and David Sacharny, International Conference on Intelligent Autonomous Agents, Suwon, South Korea July 2023. Published, 07/11/2023.
  • ''An Uncertainty Estmation Model for Algorithmic Trading Agent,'' Li Rong Wang, Thomas C. Henderson, and Xiuyi Fan, International Conference on Intelligent Autonomous Agents, Suwon, South Korea July 2023. Published, 07/11/2023.
  • ''Chop-SAT: A New Method for Knowledge-Based Decision Making,'' Thomas C. Henderson, Amelia Lessen, Ishaan Rajan, Tessa Nishida, and Kutay Eken, International Conference on Intelligent Autonomous Agents, Suwon, South Korea July 2023. Published, 07/11/2023.
  • ''Chop-SAT: A New Approach to Solving SAT and Probabilistic SAT for Agent Knowledge Bases,'' Thomas C. Henderson, David Sacharny, Amar Mitiche, Xiuyi Fan, Amelia Lessen, Ishaan Rajan, and Tessa Nishida, International Conference on Agents and Artificial Intelligence, Lisbon, Portugal, February 2023. Published, 02/15/2023.
  • ''A New Approach to Probabilistic Knowledge-Based Decision Making,'' Thomas C. Henderson, Tessa Nishida, Amelia Lessen, Nicola Wernecke, Kutay Eken, and David Sacharny, International Conference on Agents and Artificial Intelligence, Lisbon, Portugal, February 2023. Published, 02/15/2023.
  • ''Dynamic Airspace Control via Spatial Network Morphing,'' David Sacharny, Thomas C. Henderson, and Nicola Wernecke, Dynamic Data Driven Applications Systems Conference, Boston, MA, October 2022. Published, 10/19/2022.
  • ''Automated Road Asset Data Collection and Classification using Consumer Dashcams,'' Michael Sieverts, Yoshihiro Obata, Mohammad Faradmanesh, David Sacharny, and Thomas C. Henderson, IEEE International Conference on Multisensor Fusion and Integration, Cranfield, UK, September 2022. Published, 09/21/2022.
  • ''Monocular Road Damage Size Estimation using Publicly Available Datasets and Dashcam Imagery,'' Adithya Badidey, Ryan Dalby, Zhongyi Jiang, David Sacharny, and Thomas C. Henderson, IEEE International Conference on Multisensor Fusion and Integration, Cranfield, UK, September 2022. Published, 09/12/2022.
  • ''Lane-Based Large-Scale Traffic Management,'' David Sacharny, Thomas C. Henderson and Vista Marston, IEEE Transactions on Intelligent Transportation Systems, Vol. 23, Number 10, pp. 18835-18844, 2022. Published, 08/17/2022.
  • David Sacharny, Thomas C Henderson & Vista Marston (2022). Lane-Based Large-Scale Traffic Management. IEEE. Vol. 23, 18835-18844. Published, 07/2022.
    http://www.cs.utah.edu/~tch/publications/pub318.pd...
  • David Sacharny, Thomas C Henderson & Vista Marston (2022). Trajectory Analysis in a Lane-Based UAS Traffic Management System. Springer. Vol. 577. Published, 06/2022.
    http://www.cs.utah.edu/~tch/publications/pub319.pd...
  • David Sacharny & Thomas C Henderson (2022). Lane-Based Unmanned Aircraft Systems Traffic Management. (pp. 1-192). Springer. Published, 05/2022.
    https://link.springer.com/book/10.1007/978-3-030-9...
  • David Sacharny (2021). On-Demand Virtual Highways for Dense US Operations. IEEE Conference on Multisensor Fusion and Integration. Published, 09/15/2021.
    http://www.cs.utah.edu/~tch/publications/pub317.pd...
  • Thomas C Henderson, Amar Mitiche, Xiuyi Fan & David Sacharny (2021). Some Explorations in SAT. (pp. 12). Vol. 2021. Soc, UU. Published, 07/2021.
    http://www.cs.utah.edu/~tch/publications/pub316.pd...
  • David Sacharny, Thomas C. Henderson, Michael Cline & Benjamin Russon (2021). Reinforcement Learning at the Cognitive Level in a Belief, Desire, Intention UAS Agent. Intelligent Autonomous Systems Conference. Published, 06/16/2021.
    http://www.cs.utah.edu/~tch/publications/pub314.pd...
  • David Sacharny, Thomas C. Henderson & Ejay Guo (2020). A DDDAS Protocol for Real-Time UAS Flight Coordination. InfoSymbiotics/Dynamic Data Driven Applications Systems Conference. Published, 10/02/2020.
    http://www.cs.utah.edu/~tch/publications/pub310.pd...
  • David Sacharny, Thomas C. Henderson, Michael Cline, Benjamin Russon & Ejay Guo (2020). FAA-NASA vs. Lane-Based Strategic Deconfliction. IEEE Conference on Multisensor Fusion and Integration. Published, 09/16/2020.
    http://www.cs.utah.edu/~tch/publications/pub312.pd...
  • David Sacharny, Thomas C. Henderson & Michael Cline (2020). Large-Scale UAS Traffic Management (UTM) Structure. IEEE Conference on Multisensor Fusion and Integration. Published, 09/16/2020.
    http://www.cs.utah.edu/~tch/publications/pub311.pd...
  • Thomas C. Henderson, Roboert Simmons, Bernard Serbinowski, Michael Cline, David Sacharny, Xiuyi Fan & Amar Mitiche (2020). Probabilistic Sentence Satisfiability: An Approach to PSAT. Artificial Intelligence Journal. Vol. 278. Published, 01/15/2020.
    https://www.sciencedirect.com/science/article/pii/...
  • Thomas C. Henderson, Robert Simmons, Bernard Serbinowski, Michael Cline, David Sacharny, Xiuyi Fan & Amar Mitiche (2020). Probabilistic Sentence Satisfiability: An Approach to PSAT. Morgan Kaufmann. Vol. 278. Published, 01/01/2020.
    https://www.sciencedirect.com/science/article/abs/...
  • Thomas C. Henderson, Taylor Welker & David Sacharny (2019). Wreath Product 3D Analysis and Movement Affordances: A Neurorobotic Approach. IEEE. 6. Published, 09/30/2019.
    http://www.cs.utah.edu/~tch/publications/pub306.pd...
  • ``A Lane-based Approach for large-scale Strategic Conflict Management for UAS Service Suppliers,'' David Sacharny and Thomas C. Henderson, The 2019 International Conference on Unmanned Aircraft Systems, Atlanta, GA, June 11-14, 2019. Published, 06/17/2019.
  • Thomas C. Henderson (2018). DDDAS-basde Geospatial Analysis. AFOSR. Published, 09/19/2018.
  • Thomas C. Henderson, Robert Simmons, Bernard Serbinowski, Xiuyi Fan, Amar Mitiche & Michael Cline (2018). Probabilistic Logic for Intelligent systems. Springer. Published, 06/11/2018.
  • David Sacharny, Thomas C. Henderson, Robert simmons, Amar Mitiche, Taylor Welker & Xiuyi Fan (2017). BRECCIA: A Novel Multi-source Fusion Framework for Dynamic Geospatial Data Analysis. IEEE. Vol. NA, 390-396. Published, 11/15/2017.
    http://www.cs.utah.edu/~tch/publications/pub301.pd...
  • Thomas C. Henderson, Robert Simmons, Amar Mitiche, Xiuyi Fan & David Sacharny (2017). A Probabilistic Logic for Multi-source Heterogeneous Information Fusion. IEEE. 390-396. Published, 11/15/2017.
    http://www.cs.utah.edu/~tch/publications/pub300.pd...
  • ``A Preliminary Study of Probabilistic Argumentation,'' Thomas C. Henderson, Amar Mitiche, Robert Simmons and Xiuyi Fan, Technical Report UUCS-17-001, University of Utah, Salt Lake City, UT, February, 2017. Published, 02/14/2017.
  • Thomas C. Henderson, Amar Mitiche, Robert simmons & Xiuyi Fan (2017). A Preliminary Study of Probabilistic Argumentation. (pp. 1-37). Vol. NA. SoC Technical Report. Published, 02/01/2017.
    http://www.cs.utah.edu/~tch/publications/pub296.pd...
  • ``A Sensorimotor Approach to Concept Formation using Neural Networks,'' Tanya Beall and Thomas C. Henderson, IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems, Baden-Baden, Germany, September 2016. Published, 09/21/2016.
  • ``Wreath Product Cognitive Architecture (WPCA),'' Anshul Joshi and Thomas C. Henderson, IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems, Baden-Baden, Germany, September 2016. Published, 09/21/2016.
  • Artificial Student Agents and Course Mastery Tracking,'' Proceedings International Conference on Agents and Artificial Intelligence, Rome, Italy, Feb 24-26, 2016. Published, 02/24/2016.
  • Actuation-based Shape Representation applied to Engineering Document Analysis,'' Proceedings International Conference on Agents and Artificial Intelligence, Rome, Italy, Feb 24-26, 2016. Published, 02/24/2016.
  • ``Laying a Foundation for the Graphical Course Map,'' Linda DuHadway and Thomas C. Henderson, Technical Report UUCS-16-001, University of Utah, 21 January 2016. Published, 01/21/2016.
  • ``Autonomous Navigation using Received Signal Strength and Bearing-only Pseudogradient Interpolation,'' N. Deshpande, E. Grant, Thomas C. Henderson, and M. Draelos, Journal of Robotics and Autonomous Systems, Volume 75 Issue B, January 2016, pp. 129-144. Published, 01/15/2016.
  • Informing Change: Course Content Analysis and Organization,'' Proceedings IEEE Conference on Frontiers in Education, El Paso, TX, Oct 21-24, 2015. Published, 10/21/2015.
  • Gaussian Processes for Multi-Sensor Environment Modeling,'' Proceedings IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems, San Diego, CA, Sept 14-16, 2015. Published, 09/14/2015.
  • Actuation in Perception: Character Classification in Engineering Drawings,'' Proceedings IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems, San Diego, CA, Sept 14-16, 2015. Published, 09/14/2015.
  • Bayesian Computational Sensor Networks: Small-scale Structural Health Monitoring, International Conference on Computational Science, Reykavik, Iceland, June 1-3, 2015. Published, 06/01/2015.
  • ``Symmetry Based Semantic Analysis of Engineering Drawings,'' Thomas C. Henderson, Narong Boonsirisumpun and Anshul Joshi, IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems, Beijing, Sept. 28-30, 2014. Published, 09/28/2014.
  • ``SLAMBOT: Structural Health Monitoring using Lamb Waves,'' Wenyi Wang, Thomas C. Henderson, Anshul Joshi and Edward Grant, IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems, Beijing, Sept. 28-30, 2014. Published, 09/28/2014.
  • ``Generative Cognitive Representation for Embodied Agents,'' Anshul Joshi and Thomas C. Henderson, IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems, Beijing, Sept. 28-30, 2014. Published, 09/28/2014.
  • ``Received Signal Strength based Bearing-only Robot Navigation in a Sensor Network Field,'' Nikhil Deshpande, Edward Grant, Mark Draelos and Thomas C. Henderson , Proceedings of the International Conference on Robots and Intelligent systems (IROS), Chicago, IL, 14-18 September 2014. Published, 09/14/2014.
  • ``Target Localization and Autonomous Navigation using Wireless Sensor Networks - A Pseudo-Gradient Algorithm Approach'', Nikhil Deshpande, Edward Grant, and Thomas C. Henderson, IEEE Systems Journal Special Issue on Sensor Networks for Advanced Localization Systems, Vol. 8, No. 1, pp. 93--103, March 2014. Published, 03/2014.
  • Analysis of Engineering Drawings and Raster Map Images, Springer, Berlin, 2014. Published, 01/2014.
  • ``Robot Cognition using Bayesian Symmetry Networks,'' Thomas C. Henderson, Anshul Joshi and Wenyi Wang , University of Utah Technical Report, UUCS-13-005, Salt Lake City, UT, November 2013. Published, 11/2013.
  • ``The Cognitive Symmetry Engine,'' Thomas C. Henderson, Anshul Joshi and Wenyi Wang , University of Utah Technical Report, UUCS-13-004, Salt Lake City, UT, September 2013. Published, 09/2013.
  • ``Analysis of Topographic Maps for Recreational Purposes using Decision Trees,'' Richard Kirby and Thomas C. Henderson, International Conference on Document Analysis and Recognition, Washington, DC, 25-28 August, 2013. Published, 08/2013.
  • ``Issues Related to Parameter Estimation in Model Accuracy Assessment,'' Thomas C. Henderson, and Narong Boonsirisumpun, Workshop on Dynamic Data Driven Analysis Systems, Barcelona, Spain, 5-7 June, 2013. Published, 06/2013.
  • ``Reaction-Diffusion Computation in Wireless Sensor Networks,'' Thomas C. Henderson, Kyle Luthy and Edward Grant, Workshop on Unconventional Approaches to Robotics, Automation and Control Inspired by Nature, IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 13-15, 6-10 May, 2013. Published, 05/2013.
  • ``Model Accuracy Assessment in Reaction-Diffusion Pattern Formation in Wireless Sensor Networks,'' Thomas C. Henderson, Anshul Joshi, Kirril Rashkeev, Narong Boonsirisumpun, Kyle Luthy and Edward Grant, University of Utah Technical Report, UUCS-13-003, Salt Lake City, UT, May 2013. Published, 05/2013.
  • “Symmetry as a Basis for Perceptual Fusion,” Thomas C. Henderson, Elaine Cohen, Edward Grant, M.T. Draelos and Nikhil Deshpande, IEEE Conference on Multisensor Fusion and Integration, Hamburg, Germany, 13-15 September 2012. Published, 09/2012.
  • “Multisensor Methods to Estimate Thermal Diffusivity,” Thomas C. Henderson, Gwen Knight, and Edward Grant, IEEE Conference on Multisensor Fusion and Integration, Hamburg, Germany, 13-15 September 2012. Published, 09/2012.
  • “Target-directed Navigation using Wireless Sensor Networks and Implicit Surface Interpolation,” Nikhil Deshpande, Edward Grant and Thomas C. Henderson, IEEE Conference on Robotics and Automation, Saint Paul, MN, 14-18 May, 2012. Published, 05/2012.
  • “Perimeter Detection in Wireless Sensor Networks,” Kyle Luthy, Edward Grant, Nikhil Deshpande, and Thomas C. Henderson, Journal of Robotics and Autonomous Systems, Vol. 60, No. 2, Feb, 2012, pp. 266-277. Published, 02/2012.
  • ``Educational Opportunities in Video Sensor Networks,'' Thomas C. Henderson, in Distributed Video Sensor Networks, B. Bhanu, C.V. Ravishankar, A.K. Roy-Chowdhury, H. Aghajan and D. Terzopoulos (eds), Springer Verlag, NY, NY, 2011, pp. 471-478. Published, 10/2011.
    http://www.springer.com/computer/image+processing/...
  • ``Cognitive Sensor Networks,'' Thomas C. Henderson, in Distributed Video Sensor Networks, B. Bhanu, C.V. Ravishankar, A.K. Roy-Chowdhury, H. Aghajan and D. Terzopoulos (eds), Springer Verlag, NY, NY, 2011, pp. 207-214. Published, 10/2011.
    http://www.springer.com/computer/image+processing/...
  • “Target Localization in Unknown Environments using Static Wireless Sensors and Mobile Robots,” Nikhil Deshpande, Eddie Grant, and Thomas C. Henderson, IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems, Salt Lake City, UT, 5-7 September 2010. Published, 09/2010.
  • “Target Localization in Unknown Environments using Static Wireless Sensors and Mobile Robots,” Nikhil Deshpande, Eddie Grant, and Thomas C. Henderson, IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems, Salt Lake City, UT, 5-7 September 2010. Published, 09/2010.
  • “Automatic Segmentation of Semantic Classes in Raster Map Images,” Thomas C. Henderson and Trevor Linton, Eighth IAPR International Workshop on Graphics RECognition - GREC 2009 City University of La Rochelle, France, July 22-23, 2009. Published, 07/2009.
  • Passive Localization Methods exploiting Models of Distributed Natural Phenomena, Felix Sawo, Thomas C. Henderson, Christopher Sikorski, and Uwe Hanebeck, Lecture Notes in Electrical Engineering, Springer, Berlin, pp 375-392,2009. ISBN: 978-3-540-89858-0. Published, 05/2009.
  • Feature Fusion for Basic Behavior Unit Segmentation from Video Sequences, Xinwei Xue and Thomas C. Henderson, Robotics and Autonomous Systems, Vol. 57, No. 3, pp. 239-248, March 2009. Published, 03/2009.
  • “Feature Fusion for Basic Behavior Unit Segmentation from Video Sequences,” Xinwei Xue and Thomas C. Henderson, Robotics and Autonomous Systems, Vol. 57, No. 3, March 2009, pp. 239-248. Published, 03/2009.
  • “A Dynamic Compression System for Improving Ulcer Healing: Design of a Sensing Garment,” Megan Hegarty, Eddie Grant, L. Reid, and Thomas C. Henderson, IEEE Intl Conf on Multisensor Fusion and Integration, Seoul, South Korea, 20-22 August, 2008. Published, 08/2008.
  • “Sensor Node Localization Methods based on Local Observations of Distributed Natural Phenomena,” Felix Sawo, Thomas C. Henderson, Christopher Sikorski, and Uwe D. Hanebeck, IEEE Intl Conf on Multisensor Fusion and Integration, Seoul, South Korea, 20-22 August, 2008. (Best Paper Award). Published, 08/2008.
  • “Further Observations on the Wireless Sensor Network Leadership Protocol,” Thomas C. Henderson, IEEE Intl Conf on Multisensor Fusion and Integration, Seoul, South Korea, 20-22 August, 2008. Published, 08/2008.
  • “RobotShare: A Google for Robots,” T. Henderson and Y. Fan, special issue on ”Cognitive Humanoid Robots” of the International Journal of Humanoid Robotics, Vol 5, Bo 2, June 2008, pp. 311-329. Published, 06/2008.
  • “Improving the Scalability of Adaptive Mesh Refinement,” Justin P. Luitjens, Martin Berzins, and Tom Henderson, SIAM Conference on Parallel Processing for Scientific Computing (PP08), March 12-14, Atlanta, Georgia, 2008. Published, 03/2008.
  • "Robotshare: A Google for Robots," X. Fan and Thomas C. Henderson, International Journal of Humanoid Robotics (IJHR) Volume: 5, Issue: 2 (June 2008), pp. 311-329. Published, 2008.
  • Guest Editor, Special Issue on Selected Papers from IROS 2007, Journal of Advanced Robotics, Vol 22, Number 12, p. 1265, 2008. Koninklijke Brill NV, Leiden, The Robotics Society of Japan 2008 DOI:10.1163/156855308X344819. Published, 2008.
  • "Feature Fusion for Basic Behavior Unit Segmentation from Video Sequences," Xinwei Xue and Thomas C. Henderson, Robotics and Autonomous Systems, Vol. 57, No. 3, Mar 2008, pp. 239-248. DOI information: 10.1016/j.robot.2008.10.018. Published, 2008.
  • "Pattern Formation in Wireless Sensor Networks," Thomas C. Henderson, Kyle Luthy and Edward Grant UUCS-TR-08-008, August, 2008. Published, 2008.
  • "Multisensor Data Fusion" Hugh Durrant-Whyte and Thomas C. Henderson in the Handbook of Robotics, Bruno Siciliano and O. Khatib (eds) Springer 2008. Published, 2008.
  • “Computational Sensor Networks,” T.C. Henderson, C. Sikorski, E. Grant, K. Luthy,IEEE International Conference on Intelligent Robots and Systems, San Diego, 29 Oct - 2 Nov, 2007. Published, 11/2007.
  • “Parallel Space-Filling Curve Generation Through Sorting,” J. Luitjens, M. Berzins, and T.C. Henderson, Concurrency and Computation: Practice and Experience, Vol 19, Issue 10, pp. 1387-1402, July, 2007. Published, 07/2007.
  • “Leveraging RSSI for Robotic Repair of Disconnected Wireless Sensor Networks,” Kyle A Luthy, Edward Grant, and Thomas C. Henderson, IEEE International Conference on Robotics and Automation, Rome, April 6-16, 2007. Published, 04/2007.

Research Statement

The long range goals of my research are to contribute to the understanding of human intelligence and to participate in the development of intelligent machine systems. My goal is to explore autonomous syems in three main areas: (1) Biosystems (Individual neuron simulation,Neural assembly simulation, Complete neural system simulation, Biosystem mechanisms), & (2) Software Systems (Information retrieval, Image analysis and retrieval, Net roamers and data collectors, Security systems. The issues involved in these studies include: Autonomy, Learning, Performance, Distributed Systems, Embedded Systems, and Computational Models. My short range research goals are to: (1) Implement Computational Sensor Networks in distributed hardware, (2) Explore reaction-diffusion systems as a self-organizing and adaptive computational paradigm, and (3) Develop parallel adaptive mesh refinement and load balancing algorithms.

Research Keywords

  • Autonomous Systems, Artificial Intelligence, Geo-spatial intelligence

Presentations

  • "Lane-Based Large-Scale Unmanned Aircraft Systems Traffic Management," Keynote Talk, International Conference on Ubiquitous Information Management and Communication (IMCOM), Kuala Lumpur, Malaysia, 3 January 2024. Invited Talk/Keynote, Presented, 01/03/2024.
  • "GEOSAT: A Geometric Approach to SAT," Nanyang Technological University of Singapore, 5 July 2023. Invited Talk/Keynote, Presented, 07/05/2023.
  • Lane-Based Large-Scale UAS Traffic Management The FAA and NASA are developing an Advanced Air Mobility (AAM) capability defining an Unmanned Aircraft Systems (UAS) Traffic Management (UTM) architecture. The combined scale and density of the expected air traffic, as well as the algorithmic complexity of maintaining safe separation, are driving a consensus that a structured airspace will eventually be required. Against this background, a lane-based airspace structure is proposed here whose motivation is to reduce the computational complexity of strategic deconfliction by providing UAS agents with a set of pre- defined airway corridors called lanes. To achieve complexity reduction, an airspace is defined that is composed of a directed graph where every node has either input or output degree equal to one, and flight plans consist of a scheduled sequence of lane traversals. The major results are: (1) the creation and layout of lane structures, (2) an efficient lane-based strategic deconfliction scheduling algorithm, (3) lane-network performance analysis tools, and (4) a tactical deconfliction protocol to handle dynamic contingencies (e.g., failure to follow the nominal flight plan). In conclusion, this experiments are described which indicate efficient scheduling of safe flight paths, straightforward analysis of stream properties of the transportation system, an effective contingency handling protocol, and scalability to thousands of flights over urban areas. Invited Talk/Keynote, Presented, 06/2022.
  • CHOP-SAT: A Geometric Approach to Satisfiability We propose a new and potentially transformative geometric approach (called CHOP-SAT) to solve both the SAT (Satisfiability) and PSAT (Probabilistic SAT) problems in order to support robust intelligence. Current SAT solvers are based on propositional logic representations, e.g., Conjunctive Normal Form (CNF) sentences, and use algorithms like Conflict-Driven Clause Learning; however, since about 2015 there has been a significant decline in performance improvements in SAT solvers of this type. A radically different approach is proposed here which transforms the CNF sentence to a problem in geometry. Moreover, we show how to define uncertainty on the SAT clauses, thus allowing a probabilistic solution. The goal is to apply CHOP-SAT to autonomous agent decision making and policy learning. The agent's knowledge base is a CNF sentence with probabilities on each clause. CHOP-SAT performance is to be applied to solving: (1) PSAT inferencing problems (i.e., determining the probability of a query), (2) optimal policy discovery using reinforcement learning, and (3) probabilistic Linear Temporal Logic specifications for multi-agent systems acting in complex stochastic environments. This work straddles several disciplines (propositional calculus, convex polytopes, interior point method in linear programming, non-Euclidean geometry, etc.), and these multidisciplinary aspects of the approach require new expertise. Even though a general polynomial-time solution to SAT is unlikely since this would imply P=NP, it may be possible to obtain low-cost solutions for autonomous systems by exploiting the structure of specific cognitive representations and inference mechanisms. Moreover, the transformation of the SAT and PSAT problems into geometric settings (e.g., Euclidean and non-Euclidean) may offer significant advantages. The performance of the method will be evaluated on (1) Unmanned Aircraft Systems (UAS) path planning in urban environments, and (2) multi-agent reinforcement learning for cooperative problem solving. Invited Talk/Keynote, Presented, 06/2022.
  • Lane-Based Large-Scale UAS Traffic Management The FAA and NASA are developing an Advanced Air Mobility (AAM) capability defining an Unmanned Aircraft Systems (UAS) Traffic Management (UTM) architecture. The combined scale and density of the expected air traffic, as well as the algorithmic complexity of maintaining safe separation, are driving a consensus that a structured airspace will eventually be required. Against this background, a lane-based airspace structure is proposed here whose motivation is to reduce the computational complexity of strategic deconfliction by providing UAS agents with a set of pre-defined airway corridors called lanes. To achieve complexity reduction, an airspace is defined that is composed of a directed graph where every node has either input or output degree equal to one, and flight plans consist of a scheduled sequence of lane traversals. The major results are: (1) the creation and layout of lane structures, (2) an efficient lane-based strategic deconfliction scheduling algorithm, (3) lane-network performance analysis tools, and (4) a tactical deconfliction protocol to handle dynamic contingencies (e.g., failure to follow the nominal flight plan). In conclusion, this experiments are described which indicate efficient scheduling of safe flight paths, straightforward analysis of stream properties of the transportation system, an effective contingency handling protocol, and scalability to thousands of flights over urban areas. Invited Talk/Keynote, Presented, 06/2022.
  • Large-scale UAS Traffic Management, Swansea University, Computer Science Department. Invited Talk/Keynote, Presented, 06/11/2019.
  • Some Observations on Probabilistic Sentence Satisfiability, Swansea University, Computer Science Department. Invited Talk/Keynote, Presented, 06/06/2019.
  • BRECCIA: A Novel Multi-source Fusion Framework for Dynamic Geospatial Data Analysis. Invited Talk/Keynote, Presented, 10/19/2018.
  • DDDAS-based Geospatial Analysis. Invited Talk/Keynote, Presented, 09/19/2018.
  • ``BRECCIA: Unified Probabilistic Dynamic Geospatial Intelligence,'' David Sacharny, Thomas C. Henderson, Amar Mitiche, Robert Simmons, Taylor Welker and Xiuyi Fan, IEEE Conference on Intelligent Robots and Systems (IROS 2017 Late Breaking Paper), Vancouver, Canada, 24-28 September, 2017. Conference Paper, Refereed, Presented, 09/25/2017.
    http://www.cs.utah.edu/~tch/publications/pub299.pd...
  • M.J. Stockton, E. Grant and T.C. Henderson, "Using Rule Induction to Analyze Intrauterine Pressure and Oxytocin Data for Surgical Interventions in Labour," Computer/Robot Assisted Surgery Workshop 2017, Montpellier, France, 14-15 September, 2017. Conference Paper, Refereed, Presented, 09/15/2017.
    http://www.cs.utah.edu/~tch/publications/pub298.pd...
  • ``BRECCIA: A Multi-Agent Data Fusion and Decision Support System for Dynamic Mission Planning,'' David Sacharny, Thomas C. Henderson, Amar Mitiche, Robert Simmons, Taylor Welker and Xiuyi Fan, 2nd Conference on Dynamic Data Driven Application Systems (DDDAS 2017), Cambridge, MA, 7-9 August, 2017. Conference Paper, Refereed, Presented, 08/08/2017.
    http://www.cs.utah.edu/~tch/publications/pub297.pd...
  • Small-Scale Structural Health Monitoring in the Cloud. Other, Presented, 12/01/2014.
  • ``Symmetry and Structural Bootstrapping,'' Invited Speaker, EU Project Xperience Summer School on Cognitive Robotics, Mallorca, Spain, October 2013. Other, Presented, 10/2013.
    http://www.sfb588.uni-karlsruhe.de/xperience/index...
  • From Sensorimotor Data to Concepts: The Role of Symmetry Karlsruhe Institute of Technology, Karlsruhe, Germany. Invited Talk/Keynote, Presented, 11/16/2012.
  • "From Sensorimotor Data to Concepts: The Role of Symmetry," IEEE ICRA Vienna Colloquium, 12 December 2012, Vienna, Austria. Invited Talk/Keynote, Accepted, 11/2012.
    http://www.acin.tuwien.ac.at/1/research/v4r/news-a...
  • "Some Thoughts on Cognitive Sensor Networks," 2012 NSF Southeastern Workshop on Cognitive Sensing, Computing and Networking and their Application in Human-Cyber-Physical Systems, Tuscaloosa, AL. Invited Talk/Keynote, Presented, 08/15/2012.
  • “Innate Theories in Cognitive Agents: The Symmetry Engine,” Invited Talk, University of South Florida, 18 Jan. 2012. Invited Talk/Keynote, Presented, 01/18/2012.
  • "A Basis for Robot Co-Knowledge," IROS Workshop on Robot Knowledge Representation, San Francisco, CA. Invited Talk/Keynote, Presented, 09/25/2011.
    http://ias.in.tum.de/events/knowledge-workshop-iro...
  • "Some Thoughts on OACs," Xperience Project Workshop, Genoa, Italy. Invited Talk/Keynote, Presented, 09/19/2011.
  • The National Robotics Initiative, University of Pennsylvania. Invited Talk/Keynote, Presented, 04/29/2011.
  • Computational and Cognitive Sensor Networks (Keynote), Sensor Networks and Applications, San Francisco, CA, November 2009. Invited Talk/Keynote, Presented, 11/2009.
  • Plato Vindicated: Learning is Remembering, Humanoids at Home Symposium, Karlsruhe, Germany, October 2009. Invited Talk/Keynote, Presented, 10/2009.
  • Innate Theories as a Basis for Autonomous Mental Development, Thomas C. Henderson, IEEE Workshop on Autonomous Mental Development, October 2009. Invited Talk/Keynote, Presented, 10/2009.
  • Automatic Segmentation of Semantic Classes in Raster Map Images, Thomas C. Henderson and Trevor Linton, 8th IAPR International Workshop on Graphics Recognition, La Rochelle, France, July, pp. 253-262, 2009. Conference Paper, Refereed, Other, 07/2009.
  • Raster Map Image Analysis, Thomas C. Henderson and Trevor Linton, IEEE Conf on Document Analysis and Recognition, Barcelona, Spain, 26-27 July, 2009. CCS-ICDAR-2009-12-15-18. Conference Paper, Refereed, Other, 07/2009.
  • Educational Opportunities in Video Sensor Networks, Thomas C. Henderson, NSF-ARO-ONR Workshop on Distributed Video Sensor Networks, Riverside, CA, May 2009. Invited Talk/Keynote, Presented, 05/2009.
  • Computational Sensor Networks, NSF-ARO-ONR Workshop on Distributed Video Sensor Networks, Riverside, CA, May 2009. Invited Talk/Keynote, Presented, 05/2009.
  • "Improving the Scalability of Adaptive Mesh Refinement," Justin P. Luitjens, Martin Berzins, and Tom Henderson, SIAM Conference on Parallel Processing for Scientific Computing (PP08), March 12-14, Atlanta, Georgia, 2008. Conference Paper, Presented, 2008.
  • "DARPA Grand Challenge," Mark Minor and Thomas C. Henderson, Aerospace Control and Guidance Systems Committee, Salt Lake City, UT, Mar 4-7, 2008. Conference Paper, Presented, 2008.
  • "Further Observations on the Wireless Sensor Network Leadership Protocol," Thomas C. Henderson, IEEE Intl Conf on Multisensor Fusion and Integration, Seoul, South Korea, pp. 163-167, 20-22 August, 2008. Digital Object Identifier 10.1109/MFI.2008.4648059 . Conference Paper, Other, 2008.
  • (Best Paper Award) "Sensor Node Localization Methods based on Local Observations of Distributed Natural Phenomena," Felix Sawo, Thomas C. Henderson, Christopher Sikorski, and Uwe D. Hanebeck, IEEE Intl Conf on Multisensor Fusion and Integration, Seoul, South Korea, pp. 301-308, 20-22 August, 2008. Digital Object Identifier 10.1109/MFI.2008.4648082 . Conference Paper, Other, 2008.
  • "A Dynamic Compression System for Improving Ulcer Healing: Design of a Sensing Garment", Megan Hegarty, Eddie Grant, L. Reid, and Thomas C. Henderson, IEEE Intl Conf on Multisensor Fusion and Integration, Seoul, South Korea, pp: 551-556, 20-22 August, 2008. Digital Object Identifier 10.1109/MFI.2008.4648053 . Conference Paper, Other, 2008.
  • "Computational Sensor Networks," University of Hamburg, Hamburg, Germany, 3 November 2008. Invited Talk/Keynote, Presented, 2008.
  • "Computational Sensor Networks," Honda Research Institute Europe, Frankfurt, Germany, 30 October 2008. Invited Talk/Keynote, Presented, 2008.
  • Interlink Workshop on Intelligent Cognitive Systems, Santa Monica, CA, 4-5 September 2008. Invited Talk/Keynote, Presented, 2008.

Geographical Regions of Interest

  • Europe