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Cooperative Navigation Of Autonomous Vehicles In Challenging Environments, Brendon Peter Forsgren
Cooperative Navigation Of Autonomous Vehicles In Challenging Environments, Brendon Peter Forsgren
Theses and Dissertations
As the capabilities of autonomous systems have increased so has interest in utilizing teams of autonomous systems to accomplish tasks more efficiently. This dissertation takes steps toward enabling the cooperation of unmanned systems in scenarios that are challenging, such as GPS-denied or perceptually aliased environments. This work begins by developing a cooperative navigation framework that is scalable in the number of agents, robust against communication latency or dropout, and requires little a priori information. Additionally, this framework is designed to be easily adopted by existing single-agent systems with minimal changes to existing software and software architectures. All systems in the …
Soft Robot Configuration Estimation: Towards Load-Agnostic Soft-Bodied Proprioception, Christian Peter Sorensen
Soft Robot Configuration Estimation: Towards Load-Agnostic Soft-Bodied Proprioception, Christian Peter Sorensen
Theses and Dissertations
The objective of the work described in this thesis is the development of a configuration estimation scheme for quasi soft-bodied robots, with the end goal being accurate soft-robot proprioception to enable robotic manipulation of unknown external loads. The first chapter introduces the problem and state-of-the-art modeling methods. The second chapter presents work we did building on previous research on a novel sensing scheme for soft-bodied robotic configuration estimation. The third chapter discusses the development of a geometric shape-sensing model based on overlapping tendon-length measurements. This model is geometrically exact for a body composed of two constant curvature segments in bending. …