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- Research Projects
The laboratory conducts an aggressive research program
centered on the design and control of advanced robotic systems. Since 1999, this work
has been supported by more than $3,000,000 of research funding. Students
participate in these projects through a variety of programs
that include graduate student thesis work, the School of
Engineering's Senior Design Project program, a special research workshop in
telerobotics, internship programs, course
activities, and/or externally sponsored projects.
Primary Research Areas
- Cluster space Control of Multi-Robot Systems - This
work focuses on the cluster space paradigm (developed by RSL) to specify and
control flexible multi-robot formation geometries suitable for collaborative
applications A set of formal kinematics is used to relate cluster space
variables to individual robot variables. To date, this work has included
experimental demonstrations of both automated trajectory control and
interactive piloting, the use of potential-field-based collision avoidance,
and application to both holonomic and non-holonomic vehicles.
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- More information on the Cluster Space Control Research
Program.
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- Model-Based Anomaly Management of Robotic Systems - This work
focuses on the use of fundamental design information to compute operational
conjectures regarding the monitoring and control of complex robotic
systems. A key element of this work includes new theoretical
contributions to the Theory of Model-Based Anomaly Management; this work has
include conceptual development, algorithm composition and implementation via
Matlab/Simulink, and experimental application on several satellite flight
projects.
More information on the Model-Based
Anomaly Management Research Program.
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