MEAM Seminar: “Hierarchical Methods for Geometric Control of Underactuated, Free-Flying Robotic Systems”
Free-flying robotic systems (such as multibody aerial and space vehicles) evolve on high-dimensional non-Euclidean manifolds subject to nonlinear, underactuated dynamics. Because such systems can rely only on the severely limited […]
MEAM Ph.D. Thesis Defense: “Exploiting Flows for Orienteering and Planning Problems”
Task and path planning algorithms for robots in the presence of flows confront a fundamental dichotomy between the continuous and the discrete: task planning algorithms discretize the world and their […]
MEAM Seminar: “Bistable Robots: Leveraging Task Features for Actuator Reduction”
Actuator reduction is especially important for aerial robots, where minimizing mass and conserving power is critical. Bistable mechanisms have been used to augment actuators by speeding up actuation time or […]
MEAM Seminar: “Semantic Localization, Mapping, and Exploration by Multiple Aerial Robots”
Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach […]
MEAM Ph.D. Thesis Defense: “Adding Actuation to Found Material: A Design Methodology”
Engineers in modern society are taught to design and build structures and robots from pre-processed materials, giving them the ability to describe the operating capacity of their structure with a […]
MEAM Ph.D. Thesis Defense: “Design and Self-Reconfiguration Planning for Variable Topology Truss Robots”
A modular self-reconfigurable robot (MSRR) is a set of robotic building blocks that can be connected together in different ways. By rearranging these connections, the robot can adapt its shape […]
MEAM Seminar: “Multi-robot Coordination Via Graph-based Computation”
Multi-robot coordination and cooperation are critical behaviors that improve team performance and enable new tasks in application areas like autonomous construction, agriculture, and extended operation in large unknown regions. This […]
MEAM Ph.D. Thesis Defense: “Addressing Stiffness-induced Challenges In Modeling and Identification of Rigid Body Systems with Frictional Impact”
Imperfect but useful dynamical models have enabled significant progress in planning and controlling robotic locomotion and manipulation. Traditionally, these models have been physics-based, with accuracy relying upon manual calibration only […]
MEAM Seminar: “Computationally-constrained Dynamically-feasible Search-based Motion Planning”
Planning fast and autonomous robotic motion in unstructured, cluttered environments remains a core challenge of the robotics community. The robot’s motion must be agile and dynamic, operating near the limit […]
5th Annual Learning for Dynamics & Control Conference
Over the next decade, the biggest generator of data is expected to be devices that sense and control the physical world. The explosion of real-time data that is emerging from […]