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Filtering by: Creator Attardo, Geoffrey M. Remove constraint Creator: Attardo, Geoffrey M. Committee Member Strimbu, Bogdan Remove constraint Committee Member: Strimbu, Bogdan Degree Field Robotics Remove constraint Degree Field: Robotics

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  • Deployment Planning for Multiple Marsupial Robots

    Creator:
    Lee, Chris (Yu Hsuan)
    Abstract:
    Multi-robot systems are versatile and extremely capable of exploration tasks in complex environments. Increasingly sophisticated planners, which incorporate new features of a multi-robot system, are necessary for the operation of the systems. Marsupial robots are multi-robot systems consisting of a carrier robot (e.g., a ground vehicle), which is highly capable...
    Resource Type:
    Masters Thesis
    Full Text:
    Multiple Marsupial Robots Abstract approved: Geoffrey Hollinger Multi-robot systems are versatile and

  • Non-Myopic Distributed Coordination and Planning for Robotic Teams

    Creator:
    Smith, Andrew
    Abstract:
    As robotic systems become increasingly prevalent in our lives (e.g., by harvesting food, assisting with disaster response and defense, and transporting persons and our goods around the world) there is a growing need to ensure that they can cooperate to achieve their intended goals. Robotic cooperation in the real-world is...
    Resource Type:
    Dissertation
    Full Text:
    : Non-Myopic Distributed Coordination and Planning for Robotic Teams Abstract approved: Geoffrey A

  • 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:
    approved: Geoffrey A. Hollinger We present a method for decentralized, multi-robot exploration in adverse

  • Learning to coordinate in sparse asymmetric multiagent systems

    Creator:
    Dixit, Gaurav
    Abstract:
    Multiagent learning offers a rich framework to address challenging real-world problems such as remote exploration and healthcare coordination, which require autonomous agents to express elaborate interactions. To be effective in such systems, agents must collectively reason about and pursue high-level, long-term, and possibly nebulous objectives while adapting their strategy to...
    Resource Type:
    Dissertation

  • Mechanical Design for Robot Locomotion

    Creator:
    Abate, Andrew M.
    Abstract:
    Robotic limbs have been shown to enable mobility in unstructured, real-world terrain; they allow robots to step around cluttered environments, scramble up hills, carry heavy loads, and even perform acrobatics. However, mechanical limbs cannot operate as a means for such dynamic locomotion if they are simply treated as general articulated...
    Resource Type:
    Dissertation
    Full Text:
    THE DISSERTATION OF Andrew M. Abate for the degree of Doctor of Philosophy in Robotics presented on

  • 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:
    labels. . . 101 7.4 Body and foot traces for an optimized 1.0 m/s walking gait from the actuated SLIP