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Distributed Spatiotemporal Control And Dynamic Information Fusion For Multiagent Systems, Dzung Minh Duc Tran
Distributed Spatiotemporal Control And Dynamic Information Fusion For Multiagent Systems, Dzung Minh Duc Tran
USF Tampa Graduate Theses and Dissertations
The first objective of this dissertation is to develop novel distributed control architectures allowing spatiotemporal control of multiagent systems as applied to formation control. In addition, its second objective is to introduce distributed estimation frameworks for dynamic information fusion for addressing the heterogeneity in sensor networks.
Changing the spatial and temporal properties of agent teams in a distributed manner and in real-time is an open problem in the control system literature as multiagent systems are often required to complete tasks with ever-increasing complexity in adverse conditions and dynamic environments. Motivated by this standpoint, this dissertation aims to address challenges related …
Robotic Motion Generation By Using Spatial-Temporal Patterns From Human Demonstrations, Yongqiang Huang
Robotic Motion Generation By Using Spatial-Temporal Patterns From Human Demonstrations, Yongqiang Huang
USF Tampa Graduate Theses and Dissertations
Robots excel in manufacturing facilities because the tasks are repetitive and do not change. However, when the tasks change, which happens in almost all tasks that humans perform daily, such as cutting, pouring, and grasping, etc., robots perform much worse. We aim at teaching robots to perform tasks that are subject to change using demonstrations collected from humans, a problem referred to as learning from demonstration (LfD).
LfD consists of two parts: the data of human demonstrations, and the algorithm that extracts knowledge from the data to perform the same motions. Similarly, this thesis is divided into two parts. The …
Force Feedback And Intelligent Workspace Selection For Legged Locomotion Over Uneven Terrain, John Rippetoe
Force Feedback And Intelligent Workspace Selection For Legged Locomotion Over Uneven Terrain, John Rippetoe
USF Tampa Graduate Theses and Dissertations
Legged robots present an incredible opportunity for humanity to conduct dangerous operations such as search and rescue, disaster recovery, and planetary exploration without ever placing themselves in harms way. The ability of a leg to more freely dictate its shape, orientation, and length gives it tremendous mobility and adaptability demanded of a system intended for operation outside of a controlled environment. However, one only need look at the average cat, dog, or friendly neighborhood squirrel to understand the immense gap that exists between what is possible of legged systems and their current set of capabilities.
Areas of study relevant to …