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Filtering by: Creator Sukhatme, Gaurav S. Remove constraint Creator: Sukhatme, Gaurav S. Degree Field Mechanical Engineering Remove constraint Degree Field: Mechanical Engineering

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  • 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
    Full Text:
    ) reinforcement learning algorithm. s, a, and r are the current state, action, and re- ward respectively. Next

  • 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
    Full Text:
    average focused objective r(s) per episode is calculated for all algorithms, though the neuro-evolutionary

  • Evaluation of the predictive capability of two-phase flow maps for microchannel condensation of R-134a at low mass flux conditions

    Creator:
    VanderPutten, Michael A.
    Abstract:
    Predicting condensation flow regimes and the associated heat transfer and pressure drop in microchannels is critical for designing terrestrial and space systems for heating, cooling, power generation, and advanced manufacturing. It is well established that in flows approaching the microscale (Dh < 1 mm) gravity-dominated flow regimes become less relevant,...
    Resource Type:
    Masters Thesis
    Full Text:
    refrigerants at large mass fluxes (G > 100 kg-m-2-s-1). Fluid visualization results from these studies have

  • Condensing observation of locale and agents : a state representation

    Creator:
    Valenti, Brett A
    Abstract:
    Computing agents require state information to make coherent and useful decisions. A state representation is a numerical translation of the environment and conditions that are pertinent factors in an agent's decision making. Although many representations, when paired with clever learning algorithms, are able to coordinate and capture prey in specific...
    Resource Type:
    Masters Thesis
    Full Text:
    observed, only the shortest path(s) will be acknowledged. Both (b) and (c) show that observation paths

  • 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:
    . . . . . . . . . . . . . 100 4.4 An example probable action timeline with task claims Π j = [(N (µ = 20.0s,σ = 1.0s),0.1), (N

  • Environmental Sustainability During the Early Design Phase: Understanding the Uncertainty in the Use Phase, Visualization, and Automating Design Repository Curation

    Creator:
    Tensa, Melissa
    Abstract:
    The objective of this research is to support DfX considerations in the early phases of design, particularly Design for the Environment. In order to include DfX considerations, especially early in the design process, there needs to be access to knowledge and information that is usually only applicable further downstream in...
    Resource Type:
    Masters Thesis
    Full Text:
    products or for new technologies. For example, in the 1990’s, electric vehicles (EV) were assumed to be

  • Learning based methods applied to the MAV control problem

    Creator:
    Salichon, Max
    Abstract:
    This thesis addresses Micro Aerial Vehicle (MAV) control by leveraging learning based techniques to improve robustness of the control system. Applying classical control methods to MAVs is a difficult process due to the complexity of the control laws with fast and highly non-linear dynamics. These methods are mostly based on...
    Resource Type:
    Dissertation
    Full Text:
    between 15 and 60 cm (6 to 24 inches). The flight speed of those MAVs is on average between 5 and 20 m/s