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Georgia Tech
1.
Mehmood, Areeb.
Balancing and grasping from visual feedback for an unstable wheeled humanoid.
Degree: MS, Mechanical Engineering, 2019, Georgia Tech
URL: http://hdl.handle.net/1853/62289 
► Krang is a Wheeled Inverted Pendulum Humanoid, designed to accomplish strenuous tasks quicker, and with more strength, than the average human being. Weighing over 300lbs,…
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▼ Krang is a Wheeled Inverted Pendulum Humanoid, designed to accomplish strenuous tasks quicker, and with more strength, than the average human being. Weighing over 300lbs, Krang sits on a differential drive platform balancing on two wheels in an inverted pendulum configuration. The platform forms the first joint in a 17 degree-of-freedom upper body that possesses a waist, torso and two 7 degree-of-freedom arms. Through a whole body control scheme, this unique design allows Krang to manipulate its center of mass to locomote quickly on a plane, while the redundancy of joints enables second order tasks to be completed, such as carrying a tray of water or utilizing its weight torque to lift and move heavy objects. However, while Krang is very capable, it remains unaware of the environment in which it works.This research project aims to introduce localization and state estimation capabilities to Krang by giving it the ability to measure and analyze its surroundings. Currently, Krang must be positioned by humans before running experiments involving locomotion and end effector manipulation, making the robot blind to variations in its environment, and vulnerable to potentially poor state estimation of the first link. By attaching a vision system to the robots spine, this thesis project aims to introduce positional tracking and spatial mapping capabilities, which can act as a redundancy for stabilization of the robot, and give Krang a level of autonomy that requires less human oversight. In addition, a visual servoing formulation allows the robot to identify and pick up objects on its own.
Advisors/Committee Members: Hutchinson, Seth (advisor), Ueda, Jun (advisor), Rogers, Jonathan (advisor).
Subjects/Keywords: Visual feedback; Localization; Balancing; Humanoid; Robot; Visual-servo; Grasping
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APA (6th Edition):
Mehmood, A. (2019). Balancing and grasping from visual feedback for an unstable wheeled humanoid. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/62289
Chicago Manual of Style (16th Edition):
Mehmood, Areeb. “Balancing and grasping from visual feedback for an unstable wheeled humanoid.” 2019. Masters Thesis, Georgia Tech. Accessed January 24, 2021.
http://hdl.handle.net/1853/62289.
MLA Handbook (7th Edition):
Mehmood, Areeb. “Balancing and grasping from visual feedback for an unstable wheeled humanoid.” 2019. Web. 24 Jan 2021.
Vancouver:
Mehmood A. Balancing and grasping from visual feedback for an unstable wheeled humanoid. [Internet] [Masters thesis]. Georgia Tech; 2019. [cited 2021 Jan 24].
Available from: http://hdl.handle.net/1853/62289.
Council of Science Editors:
Mehmood A. Balancing and grasping from visual feedback for an unstable wheeled humanoid. [Masters Thesis]. Georgia Tech; 2019. Available from: http://hdl.handle.net/1853/62289
Georgia Tech
2.
Zhong, Hai.
Congestion game-based task allocation for multi-robot teams.
Degree: MS, Electrical and Computer Engineering, 2020, Georgia Tech
URL: http://hdl.handle.net/1853/62843
► Multi-robot teams can complete complex missions that are not amenable to an individual robot. A team of heterogeneous robots with complementing capabilities is endowed with…
(more)
▼ Multi-robot teams can complete complex missions that are not amenable to an individual robot. A team of heterogeneous robots with complementing capabilities is endowed with advantages to allow deep collaboration in dynamic and complicated environments. Multi-robot Task Allocation (MRTA) presents a fundamental for multi-robot system research. Despite the previous research efforts, there remains a knowledge gap in developing decentralized approaches for MRTA by viewing robots as resources and optimizing the distribution of robots to achieve the best overall performance at the system level. To address this knowledge gap, the objective of this research is to develop decentralized resource allocation algorithms to provide approximate solutions for the MRTA problem. Both standard congestion game theory and weighted congestion game theory are exploited as the theoretical framework to formulate and solve the MRTA problems. Two types of resource allocation problems are considered, one has increasing marginal gain with respect to the number of participating robots, the other has decreasing marginal gain with respect to the number of participating robots. For MRTA problems with homogeneous robot teams, the sequential best response dynamics is integrated in the framework of standard congestion game theory. A concurrent version of best response dynamics with convergence guarantees is developed. In addition, a decentralized dual greedy algorithm is proposed and its convergence to a pure Nash equilibrium is proved. For MRTA problems with heterogeneous robot teams, the best sequential dynamics is shown to converge to pure Nash equilibrium in the framework of weighted congestion games. The suboptimality of the approximate solutions is discussed by λ-μ smoothness technique. Simulations and experiments using robots in the Robotarium are conducted to validate the effectiveness of the proposed algorithms.
Advisors/Committee Members: Hutchinson, Seth (advisor), Coogan, Samuel (committee member), Vamvoudakis, Kyriakos (committee member).
Subjects/Keywords: Multi-robot systems; Task allocation; Congestion games
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APA (6th Edition):
Zhong, H. (2020). Congestion game-based task allocation for multi-robot teams. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/62843
Chicago Manual of Style (16th Edition):
Zhong, Hai. “Congestion game-based task allocation for multi-robot teams.” 2020. Masters Thesis, Georgia Tech. Accessed January 24, 2021.
http://hdl.handle.net/1853/62843.
MLA Handbook (7th Edition):
Zhong, Hai. “Congestion game-based task allocation for multi-robot teams.” 2020. Web. 24 Jan 2021.
Vancouver:
Zhong H. Congestion game-based task allocation for multi-robot teams. [Internet] [Masters thesis]. Georgia Tech; 2020. [cited 2021 Jan 24].
Available from: http://hdl.handle.net/1853/62843.
Council of Science Editors:
Zhong H. Congestion game-based task allocation for multi-robot teams. [Masters Thesis]. Georgia Tech; 2020. Available from: http://hdl.handle.net/1853/62843
Georgia Tech
3.
Azimi, Vahid.
Model-based robust and adaptive control of transfemoral prostheses: Theory, simulation, and experiments.
Degree: MS, Electrical and Computer Engineering, 2020, Georgia Tech
URL: http://hdl.handle.net/1853/62747
► This thesis presents and experimentally implements five different robust, adaptive, and robust adaptive controllers as the first steps towards using model-based controllers for transfemoral prostheses.…
(more)
▼ This thesis presents and experimentally implements five different robust, adaptive, and robust adaptive controllers as the first steps towards using model-based controllers for transfemoral prostheses. The goal of this research is to translate these control methods to the robotic domain, from bipedal robotic walking to prosthesis walking, including a rigorous stability analysis. The human/prosthesis system is first modeled as a two-domain hybrid asymmetric system. The model upon which the controllers are based is a 5-link planar hybrid system (both continuous and discrete behaviors) with point feet, to represent a transfemoral amputee’s body and limbs. An optimization problem is formulated to obtain a stable human-like gait. The proposed controllers are then developed for the combined human/prosthesis model and the optimized reference gait. The stability of all five controllers is proven using the Lyapunov stability theorem and Barbalat’s lemma, ensuring convergence to the desired gait. The proposed controllers are first verified on a bipedal walking robot as a hybrid human/prosthesis model in simulation. Simulations show that the proposed controllers are capable of meeting specific performance requirements regarding trajectory tracking of the prosthetic knee, convergence to a stable periodic orbit, and robustness to force/obstacle disturbances while walking on flat ground. They are then experimentally tested on a treadmill with an able-bodied subject using AMPRO3 (the third iteration of Advanced Mechanical Prosthesis),
a custom self-contained powered transfemoral prosthesis. Results show that all controllers provide humanlike walking and accurate tracking performance for a healthy human subject utilizing a transfemoral prosthesis. Finally, outdoor tests are carried out using AMPRO3 with three test subjects walking on level ground, uphill slopes, and downhill slopes at slope angles of 3 and 8 degrees, to demonstrate walking in different real-world environments.
Advisors/Committee Members: Hutchinson, Seth (advisor), Simon, Dan (advisor), Abdallah, Chaouki T. (committee member), Young, Aaron (committee member).
Subjects/Keywords: Adaptive and robust control; Hybrid system; Transfemoral prosthesis; Walking biped
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APA (6th Edition):
Azimi, V. (2020). Model-based robust and adaptive control of transfemoral prostheses: Theory, simulation, and experiments. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/62747
Chicago Manual of Style (16th Edition):
Azimi, Vahid. “Model-based robust and adaptive control of transfemoral prostheses: Theory, simulation, and experiments.” 2020. Masters Thesis, Georgia Tech. Accessed January 24, 2021.
http://hdl.handle.net/1853/62747.
MLA Handbook (7th Edition):
Azimi, Vahid. “Model-based robust and adaptive control of transfemoral prostheses: Theory, simulation, and experiments.” 2020. Web. 24 Jan 2021.
Vancouver:
Azimi V. Model-based robust and adaptive control of transfemoral prostheses: Theory, simulation, and experiments. [Internet] [Masters thesis]. Georgia Tech; 2020. [cited 2021 Jan 24].
Available from: http://hdl.handle.net/1853/62747.
Council of Science Editors:
Azimi V. Model-based robust and adaptive control of transfemoral prostheses: Theory, simulation, and experiments. [Masters Thesis]. Georgia Tech; 2020. Available from: http://hdl.handle.net/1853/62747
Georgia Tech
4.
Song, Tao.
Design and Test of A Bat Robot.
Degree: MS, Mechanical Engineering, 2020, Georgia Tech
URL: http://hdl.handle.net/1853/62804
► This thesis presents a new structure to improve the performance of a biologically inspired bat robot called Bat Bot (B2). In the previous work, a…
(more)
▼ This thesis presents a new structure to improve the performance of a biologically inspired bat robot called Bat Bot (B2). In the previous work, a bat robot with five degrees of actuation was designed. This structure significantly simplified the morphology of a biological bat, which has over 40 degrees of freedom (DOFs), while still covering the most important DOFs for bat flight. In the present work, a new parallel structure is introduced to B2’s wing to enable the distal part of the wings to bend downward and fold at the same time during the upstroke. Since this additional DOF is passive, no other actuator is required. The new generation of B2 has following DOFs: (1) synchronized wing flapping, (2) asynchronous folding and bending coupled by the new parallel structure, and (3) asynchronous dorsoventral movement of the hindlimbs.
Advisors/Committee Members: Hutchinson, Seth (advisor), Mazumdar, Anirban (committee member), Sawodny, Oliver (committee member), Tarin, Cristina (committee member).
Subjects/Keywords: biomimetic; robot
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APA (6th Edition):
Song, T. (2020). Design and Test of A Bat Robot. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/62804
Chicago Manual of Style (16th Edition):
Song, Tao. “Design and Test of A Bat Robot.” 2020. Masters Thesis, Georgia Tech. Accessed January 24, 2021.
http://hdl.handle.net/1853/62804.
MLA Handbook (7th Edition):
Song, Tao. “Design and Test of A Bat Robot.” 2020. Web. 24 Jan 2021.
Vancouver:
Song T. Design and Test of A Bat Robot. [Internet] [Masters thesis]. Georgia Tech; 2020. [cited 2021 Jan 24].
Available from: http://hdl.handle.net/1853/62804.
Council of Science Editors:
Song T. Design and Test of A Bat Robot. [Masters Thesis]. Georgia Tech; 2020. Available from: http://hdl.handle.net/1853/62804
Georgia Tech
5.
Jain, Abhinav.
Search-based collision-free motion planning for robotic sculpting.
Degree: MS, Interactive Computing, 2020, Georgia Tech
URL: http://hdl.handle.net/1853/63698
► In this work, I explore the task of robot sculpting. I propose a search-based planning algorithm to solve the problem of sculpting by material removal…
(more)
▼ In this work, I explore the task of robot sculpting. I propose a search-based planning algorithm to solve the problem of sculpting by material removal with a multi-axis manipulator. I generate collision free trajectories for a manipulator using best-first search in two different material representations – a voxel representations and a subdivision surface representation. I also show significant speedup of the algorithm in the voxel representation by using octrees to decompose the voxel space. I demonstrate the algorithm on a multi-axis manipulator in simulation and on a physical robot by sculpting Michelangelo’s Statue of David.
Advisors/Committee Members: Dellaert, Frank (advisor), Hutchinson, Seth (committee member), Balakirsky, Stephen B. (committee member).
Subjects/Keywords: Robotics; Motion planning; Machining; CNC; Sculpture; Sculpting
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APA (6th Edition):
Jain, A. (2020). Search-based collision-free motion planning for robotic sculpting. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/63698
Chicago Manual of Style (16th Edition):
Jain, Abhinav. “Search-based collision-free motion planning for robotic sculpting.” 2020. Masters Thesis, Georgia Tech. Accessed January 24, 2021.
http://hdl.handle.net/1853/63698.
MLA Handbook (7th Edition):
Jain, Abhinav. “Search-based collision-free motion planning for robotic sculpting.” 2020. Web. 24 Jan 2021.
Vancouver:
Jain A. Search-based collision-free motion planning for robotic sculpting. [Internet] [Masters thesis]. Georgia Tech; 2020. [cited 2021 Jan 24].
Available from: http://hdl.handle.net/1853/63698.
Council of Science Editors:
Jain A. Search-based collision-free motion planning for robotic sculpting. [Masters Thesis]. Georgia Tech; 2020. Available from: http://hdl.handle.net/1853/63698
Georgia Tech
6.
Cheng, Ching An.
Efficient and principled robot learning: Theory and algorithms.
Degree: PhD, Interactive Computing, 2020, Georgia Tech
URL: http://hdl.handle.net/1853/62733
► Roboticists have long envisioned fully-automated robots that can operate reliably in unstructured environments. This is an exciting but extremely difficult problem; in order to succeed,…
(more)
▼ Roboticists have long envisioned fully-automated robots that can operate reliably in unstructured environments. This is an exciting but extremely difficult problem; in order to succeed, robots must reason about sequential decisions and their consequences in face of uncertainty. As a result, in practice, the engineering effort required to build reliable robotic systems is both demanding and expensive. This research aims to provide a set of techniques for efficient and principled robot learning. We approach this challenge from a theoretical perspective that more closely integrates analysis and practical needs. These theoretical principles are applied to design better algorithms in two important aspects of robot learning: policy optimization and development of structural policies. This research uses and extends online learning, optimization, and control theory, and is demonstrated in applications including reinforcement learning, imitation learning, and structural policy fusion. A shared feature across this research is the reciprocal interaction between the development of practical algorithms and the advancement of abstract analyses. Real-world challenges force the rethinking of proper theoretical formulations, which in turn lead to refined analyses and new algorithms that can rigorously leverage these insights to achieve better performance.
Advisors/Committee Members: Boots, Byron (advisor), Gordon, Geoff (committee member), Hutchinson, Seth (committee member), Liu, Karen (committee member), Theodorou, Evangelos A. (committee member).
Subjects/Keywords: Online learning; Control theory; Robotics; Optimization; Reinforcement learning; Imitation learning
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APA (6th Edition):
Cheng, C. A. (2020). Efficient and principled robot learning: Theory and algorithms. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/62733
Chicago Manual of Style (16th Edition):
Cheng, Ching An. “Efficient and principled robot learning: Theory and algorithms.” 2020. Doctoral Dissertation, Georgia Tech. Accessed January 24, 2021.
http://hdl.handle.net/1853/62733.
MLA Handbook (7th Edition):
Cheng, Ching An. “Efficient and principled robot learning: Theory and algorithms.” 2020. Web. 24 Jan 2021.
Vancouver:
Cheng CA. Efficient and principled robot learning: Theory and algorithms. [Internet] [Doctoral dissertation]. Georgia Tech; 2020. [cited 2021 Jan 24].
Available from: http://hdl.handle.net/1853/62733.
Council of Science Editors:
Cheng CA. Efficient and principled robot learning: Theory and algorithms. [Doctoral Dissertation]. Georgia Tech; 2020. Available from: http://hdl.handle.net/1853/62733
Georgia Tech
7.
Zafar, Munzir.
Whole body control of wheeled inverted pendulum humanoids.
Degree: PhD, Electrical and Computer Engineering, 2019, Georgia Tech
URL: http://hdl.handle.net/1853/61739
► A framework for controlling a Wheeled Inverted Pendulum (WIP) Humanoid to perform useful interactions with the environment, while dynamically balancing itself on two wheels, was…
(more)
▼ A framework for controlling a Wheeled Inverted Pendulum (WIP) Humanoid to perform useful interactions with the environment, while dynamically balancing itself on two wheels, was proposed. As humanoid platforms are characterized by several degrees of freedom, they have the ability to perform several tasks simultaneously, while obeying constraints on their motion and control. This problem is referred as Whole-Body Control in the wider humanoid literature. We develop a framework for whole-body control of WIP humanoids that can be applied directly on the physical robot, which means that it can be made robust to modeling errors. The proposed approach is hierarchical with a low level controller responsible for controlling the manipulator/body and a high-level controller that defines center of mass targets for the low-level controller to control zero dynamics of the system driving the wheels. The low-level controller plans for shorter horizons while considering more complete dynamics of the system, while the high-level controller plans for longer horizon based on an approximate model of the robot for computational efficiency.
Advisors/Committee Members: Hutchinson, Seth (advisor), Theodorou, Evangelos A. (committee member), Boots, Byron E. (committee member), Christensen, Henrik I. (committee member), Romberg, Justin (committee member).
Subjects/Keywords: Whole body control; Wheeled inverted pendulum; Humanoids; Hierarchical; Optimization; Operational space; Model predictive control
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APA ·
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Export
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APA (6th Edition):
Zafar, M. (2019). Whole body control of wheeled inverted pendulum humanoids. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/61739
Chicago Manual of Style (16th Edition):
Zafar, Munzir. “Whole body control of wheeled inverted pendulum humanoids.” 2019. Doctoral Dissertation, Georgia Tech. Accessed January 24, 2021.
http://hdl.handle.net/1853/61739.
MLA Handbook (7th Edition):
Zafar, Munzir. “Whole body control of wheeled inverted pendulum humanoids.” 2019. Web. 24 Jan 2021.
Vancouver:
Zafar M. Whole body control of wheeled inverted pendulum humanoids. [Internet] [Doctoral dissertation]. Georgia Tech; 2019. [cited 2021 Jan 24].
Available from: http://hdl.handle.net/1853/61739.
Council of Science Editors:
Zafar M. Whole body control of wheeled inverted pendulum humanoids. [Doctoral Dissertation]. Georgia Tech; 2019. Available from: http://hdl.handle.net/1853/61739
Georgia Tech
8.
Mayya, Siddharth.
Local encounters in robot swarms: From localization to density regulation.
Degree: PhD, Electrical and Computer Engineering, 2019, Georgia Tech
URL: http://hdl.handle.net/1853/62343
► In naturally occurring swarms – living as well as non-living – local proximity encounters among individuals or particles in the collective facilitate a broad range of emergent…
(more)
▼ In naturally occurring swarms – living as well as non-living – local proximity encounters among individuals or particles in the collective facilitate a broad range of emergent phenomena. In the context of robot swarms operating with limited sensing and communication capabilities, this thesis demonstrates how the systematic analysis of inter-robot encounters can enable the swarm to perform useful functions without the presence of a central coordinator. We combine ideas from stochastic geometry, statistical mechanics, and biology to develop mathematical models which characterize the nature and frequency of inter-robot encounters occurring in a robot swarm. These models allow the swarm to perform functions like localization, task allocation, and density regulation, while only requiring individual robots to measure the presence of other robots in the immediate vicinity – either via contact sensors or binary proximity detectors. Moreover, the resulting encounter-based algorithms require no communication among the robots or the presence of a central coordinator, and are robust to individual robot failures occurring in the swarm. Throughout the thesis, experiments conducted on real robot swarms vindicate the idea that inter-robot encounters can be advantageously leveraged by individuals in the swarm.
Advisors/Committee Members: Egerstedt, Magnus (advisor), Hutchinson, Seth (committee member), Goldman, Daniel (committee member), Wardi, Yorai (committee member), Shell, Dylan (committee member).
Subjects/Keywords: Robotics; Systems and control; Swarm robotics; Biologically-inspired robotics; Local encounters
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APA ·
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Manager
APA (6th Edition):
Mayya, S. (2019). Local encounters in robot swarms: From localization to density regulation. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/62343
Chicago Manual of Style (16th Edition):
Mayya, Siddharth. “Local encounters in robot swarms: From localization to density regulation.” 2019. Doctoral Dissertation, Georgia Tech. Accessed January 24, 2021.
http://hdl.handle.net/1853/62343.
MLA Handbook (7th Edition):
Mayya, Siddharth. “Local encounters in robot swarms: From localization to density regulation.” 2019. Web. 24 Jan 2021.
Vancouver:
Mayya S. Local encounters in robot swarms: From localization to density regulation. [Internet] [Doctoral dissertation]. Georgia Tech; 2019. [cited 2021 Jan 24].
Available from: http://hdl.handle.net/1853/62343.
Council of Science Editors:
Mayya S. Local encounters in robot swarms: From localization to density regulation. [Doctoral Dissertation]. Georgia Tech; 2019. Available from: http://hdl.handle.net/1853/62343
Georgia Tech
9.
Santos Fernandez, Maria Teresa.
Coverage control: From heterogeneous robot teams to expressive swarms.
Degree: PhD, Electrical and Computer Engineering, 2020, Georgia Tech
URL: http://hdl.handle.net/1853/63690
► Coverage control constitutes a canonical multi-robot coordination strategy that allows a collection of robots to distribute themselves over a domain to optimally monitor the relevant…
(more)
▼ Coverage control constitutes a canonical multi-robot coordination strategy that allows a collection of robots to distribute themselves over a domain to optimally monitor the relevant features of the environment. This thesis examines two different aspects of the coverage problem. On the one hand, we investigate how coverage should be performed by a multi-robot team with heterogeneous sensor equipment in the presence of qualitatively different types of events or features in the domain, which may evolve over time. To this end, different information exchange strategies among the robots are considered, and the performance of the resulting distributed control laws is compared experimentally on a team of mobile robots. In addition, we present a constraint-based approach that allows the multi-robot team to cover different types of features whose locations in the domain may evolve other time. On the other hand, in the context of swarm robotics in the arts, this thesis investigates how the coverage paradigm, which affords the control of the entire multi-robot team through the high-level specification of density functions, can serve as an effective interaction modality for artists to effectively utilize robotic swarms in different forms of art expression. In particular, we explore the use of coverage, along with other standard multi-robot control algorithms, to create emotionally expressive behaviors for robot theatre applications. Furthermore, the heterogeneous coverage framework developed in this thesis is employed to interactively control desired concentrations of color throughout a canvas for the purpose of artistic multi-robot painting.
Advisors/Committee Members: Egerstedt, Magnus (advisor), Hutchinson, Seth (committee member), Howard, Ayanna (committee member), Coogan, Samuel (committee member), Kumar, Vijay (committee member).
Subjects/Keywords: Robotics; Systems and controls; Swarm robotics; Heterogeneous multi-robot systems; Robots and arts
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APA ·
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APA (6th Edition):
Santos Fernandez, M. T. (2020). Coverage control: From heterogeneous robot teams to expressive swarms. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/63690
Chicago Manual of Style (16th Edition):
Santos Fernandez, Maria Teresa. “Coverage control: From heterogeneous robot teams to expressive swarms.” 2020. Doctoral Dissertation, Georgia Tech. Accessed January 24, 2021.
http://hdl.handle.net/1853/63690.
MLA Handbook (7th Edition):
Santos Fernandez, Maria Teresa. “Coverage control: From heterogeneous robot teams to expressive swarms.” 2020. Web. 24 Jan 2021.
Vancouver:
Santos Fernandez MT. Coverage control: From heterogeneous robot teams to expressive swarms. [Internet] [Doctoral dissertation]. Georgia Tech; 2020. [cited 2021 Jan 24].
Available from: http://hdl.handle.net/1853/63690.
Council of Science Editors:
Santos Fernandez MT. Coverage control: From heterogeneous robot teams to expressive swarms. [Doctoral Dissertation]. Georgia Tech; 2020. Available from: http://hdl.handle.net/1853/63690
Georgia Tech
10.
Notomista, Gennaro.
Long-duration robot autonomy: From control algorithms to robot design.
Degree: PhD, Mechanical Engineering, 2020, Georgia Tech
URL: http://hdl.handle.net/1853/63700
► The transition that robots are experiencing from controlled and often static working environments to unstructured and dynamic settings is unveiling the potential fragility of the…
(more)
▼ The transition that robots are experiencing from controlled and often static working environments to unstructured and dynamic settings is unveiling the potential fragility of
the design and control techniques employed to build and program them, respectively. A paramount of example of a discipline that, by construction, deals with robots operating under
unknown and ever-changing conditions is long-duration robot autonomy. In fact, during long-term deployments, robots will find themselves in environmental scenarios which were not planned and accounted for during the design phase. These operating conditions offer a variety of challenges which are not encountered in any other discipline of robotics. This thesis presents control-theoretic techniques and mechanical design principles to be employed while conceiving, building, and programming robotic systems meant to remain operational over sustained amounts of time. Long-duration autonomy is studied and analyzed from two different, yet complementary, perspectives: control algorithms and robot design. In the context of the former, the persistification of robotic tasks is presented. This consists of an optimization-based control framework which allows robots to remain operational over time horizons that are much longer than the ones which would be allowed by the limited
resources of energy with which they can ever be equipped. As regards the mechanical design aspect of long-duration robot autonomy, in the second part of this thesis, the SlothBot, a slow-paced solar-powered wire-traversing robot, is presented. This robot embodies the design principles required by an autonomous robotic system 1in order to remain functional for truly long periods of time, including energy efficiency, design simplicity, and fail-safeness. To conclude, the development of a robotic platform which stands at the intersection of design and control for long-duration autonomy is described. A class of vibration-driven robots, the brushbots, are analyzed both from a mechanical design perspective, and in terms of interaction control capabilities with the environment in which they are deployed.
Advisors/Committee Members: Egerstedt, Magnus (advisor), Book, Wayne (committee member), Coogan, Samuel (committee member), Hutchinson, Seth (committee member), Mazumdar, Anirban (committee member), Schwager, Mac (committee member).
Subjects/Keywords: Robotics; Control theory; Long-term robot deployment
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APA (6th Edition):
Notomista, G. (2020). Long-duration robot autonomy: From control algorithms to robot design. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/63700
Chicago Manual of Style (16th Edition):
Notomista, Gennaro. “Long-duration robot autonomy: From control algorithms to robot design.” 2020. Doctoral Dissertation, Georgia Tech. Accessed January 24, 2021.
http://hdl.handle.net/1853/63700.
MLA Handbook (7th Edition):
Notomista, Gennaro. “Long-duration robot autonomy: From control algorithms to robot design.” 2020. Web. 24 Jan 2021.
Vancouver:
Notomista G. Long-duration robot autonomy: From control algorithms to robot design. [Internet] [Doctoral dissertation]. Georgia Tech; 2020. [cited 2021 Jan 24].
Available from: http://hdl.handle.net/1853/63700.
Council of Science Editors:
Notomista G. Long-duration robot autonomy: From control algorithms to robot design. [Doctoral Dissertation]. Georgia Tech; 2020. Available from: http://hdl.handle.net/1853/63700
11.
Glotfelter, Paul.
Specification composition and controller synthesis for robotic systems.
Degree: PhD, Electrical and Computer Engineering, 2019, Georgia Tech
URL: http://hdl.handle.net/1853/61238
► From precision agriculture to autonomous-transportation systems, robotic systems have been proposed to accomplish a number of tasks. However, these systems typically require satisfaction of multiple…
(more)
▼ From precision agriculture to autonomous-transportation systems, robotic systems have been proposed to accomplish a number of tasks. However, these systems typically require satisfaction of multiple constraints, such as safety or connectivity maintenance, while completing their primary objectives. The objective of this thesis is to endow robotic systems with a Boolean-composition and controller-synthesis framework for specifications of objectives and constraints. Barrier functions represent one method to enforce such constraints via forward set invariance, and Lyapunov functions offer a similar guarantee for set stability. This thesis focuses on building a system of Boolean logic for barrier and Lyapunov functions by using min and max operators. As these objects inherently introduce nonsmoothness, this thesis extends the theory on barrier functions to nonsmooth barrier functions and, subsequently, to controlled systems via control nonsmooth barrier functions. However, synthesizing controllers with respect to a nonsmooth function may create discontinuities; as such, this thesis develops a controller-synthesis framework that, despite creating discontinuities, still produces valid controllers (i.e., ones that satisfy the objectives and constraints). These developments have been successfully applied to a variety of robotic systems, including remotely accessible testbeds, autonomous-transportation scenarios, and leader-follower systems.
Advisors/Committee Members: Egerstedt, Magnus (advisor), Cortes, Jorge (committee member), Rogers, Jonathan (committee member), Hutchinson, Seth (committee member), Coogan, Samuel (committee member).
Subjects/Keywords: Boolean composition; Nonsmooth analysis; Differential inclusions; Multi-robot systems; Robotic systems; Collision avoidance; Leader follower
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APA (6th Edition):
Glotfelter, P. (2019). Specification composition and controller synthesis for robotic systems. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/61238
Chicago Manual of Style (16th Edition):
Glotfelter, Paul. “Specification composition and controller synthesis for robotic systems.” 2019. Doctoral Dissertation, Georgia Tech. Accessed January 24, 2021.
http://hdl.handle.net/1853/61238.
MLA Handbook (7th Edition):
Glotfelter, Paul. “Specification composition and controller synthesis for robotic systems.” 2019. Web. 24 Jan 2021.
Vancouver:
Glotfelter P. Specification composition and controller synthesis for robotic systems. [Internet] [Doctoral dissertation]. Georgia Tech; 2019. [cited 2021 Jan 24].
Available from: http://hdl.handle.net/1853/61238.
Council of Science Editors:
Glotfelter P. Specification composition and controller synthesis for robotic systems. [Doctoral Dissertation]. Georgia Tech; 2019. Available from: http://hdl.handle.net/1853/61238
. 
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