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Filtering by: Creator English, Marshall J. Remove constraint Creator: English, Marshall J. Committee Member Fern, Alan Remove constraint Committee Member: Fern, Alan Degree Field Robotics Remove constraint Degree Field: Robotics

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  • Decentralized Multi-Robot Exploration with Sparse Communication through Deep Imitation Learning

    Creator:
    Senewiratne, Yomal K.
    Abstract:
    We present a method for decentralized, multi-robot exploration in adverse environments where communication is minimal. A key conceptual feature of our method is enabling implicit coordination between robots by training a Convolutional Neural Network (CNN) as a heuristic for planning using Monte Carlo Tree Search (MCTS). Our method consists of...
    Resource Type:
    Masters Thesis
    Full Text:
    location vt and and ground truth map Gj in trial j as input to produce training data for the CNN. The CNN

  • Agile Bipedal Maneuvers Optimized then Learned from Single Rigid-Body Model Dynamics

    Creator:
    Batke, Ryan
    Abstract:
    As bipedal robots move ever closer to being integrated into all manner of real world envi-ronments there is a necessity to push their dynamic capabilities to meet or exceed those of humans and animals. Advancements must be made to address ordinary challenges that arise everyday in the same environments that...
    Resource Type:
    Masters Thesis
    Full Text:
    expected return J for a step size α, θi+1 = θi + α∇θJ, (2.6) and policy gradients are of the form ∇J(θ

  • Agile Bipedal Locomotion via Hierarchical Control by Incorporating Physical Principles, Learning, and Optimization

    Creator:
    Green, Kevin
    Abstract:
    Robotic Bipedal locomotion holds the potential for efficient, robust traversal of difficult terrain. The difficulty lies in the dynamics of locomotion which complicate control and motion planning. Bipedal locomotion dynamics are dimensionally large problems, extremely nonlinear, and operate on the limits of actuator capabilities, which limit the performance of generic...
    Resource Type:
    Dissertation
    Full Text:
    equation, M(q)q̈ + C(q, q̇)q̇ + g(q) = Bτ + JTc λ+ J T f f (1.1) we can see the linearity in generalized