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Filtering by: Committee Member Fern, Alan Degree Field Mechanical Engineering Rights Statement In Copyright

Multiagent learning for locomotion and coordination in tensegrity robotics

Creator:

Iscen, Atil

Abstract:

Tensegrity structures are composed of pure compressional elements that are connected via a network of pure tensional elements. The concept of tensegrity promises numerous advantages to the field of robotics. Tensegrity robots are, however, notoriously difficult to control due to their oscillatory nature and nonlinear interaction between the components. Multiagent...

Resource Type:

Dissertation
Navigation and coordination of autonomous mobile robots with limited resources

Creator:

Knudson, Matthew D.

Abstract:

The use of autonomous robots in complex exploration tasks is rapidly increasing. Indeed, robots can provide speed and cost effectiveness in many tasks, as well as allow operation in environments that are hostile to humans. In this dissertation we: 1) provide two adaptive navigation algorithms; 2) develop a coordination mechanism;...

Resource Type:

Dissertation
Applying hierarchical and adaptive control to coordinating simple robots

Creator:

Knudson, Matthew D.

Abstract:

Coordinating multiple robots to achieve a complex task requires solving two distinct control problems: the high-level control problem of ensuring that each robot aims to perform a useful task (e.g., coordination) and the low-level control problem of ensuring that each robot actually performs the correct actions to achieve its task...

Resource Type:

Masters Thesis