Open Access. Powered by Scholars. Published by Universities.®
- Discipline
- Publication
- Publication Type
Articles 1 - 3 of 3
Full-Text Articles in Computer Engineering
Parallel Real Time Rrt*: An Rrt* Based Path Planning Process, David Yackzan
Parallel Real Time Rrt*: An Rrt* Based Path Planning Process, David Yackzan
Theses and Dissertations--Mechanical Engineering
This thesis presents a new parallelized real-time path planning process. This process is an extension of the Real-Time Rapidly Exploring Random Trees* (RT-RRT*) algorithm developed by Naderi et al in 2015 [1]. The RT-RRT* algorithm was demonstrated on a simulated two-dimensional dynamic environment while finding paths to a varying target state. We demonstrate that the original algorithm is incapable of running at a sufficient rate for control of a 7-degree-of-freedom (7-DoF) robotic arm while maintaining a path planning tree in 7 dimensions. This limitation is due to the complexity of maintaining a tree in a high-dimensional space and the network …
Developing Reactive Distributed Aerial Robotics Platforms For Real-Time Contaminant Mapping, Joshua Ashley
Developing Reactive Distributed Aerial Robotics Platforms For Real-Time Contaminant Mapping, Joshua Ashley
Theses and Dissertations--Electrical and Computer Engineering
The focus of this research is to design a sensor data aggregation system and centralized sensor-driven trajectory planning algorithm for fixed-wing aircraft to optimally assist atmospheric simulators in mapping the local environment in real-time. The proposed application of this work is to be used in the event of a hazardous contaminant leak into the atmosphere as a fleet of sensing unmanned aerial vehicles (UAVs) could provide valuable information for evacuation measures. The data aggregation system was designed using a state-of-the-art networking protocol and radio with DigiMesh and a process/data management system in the ROS2 DDS. This system was tested to …
On The Impact Of Gravity Compensation On Reinforcement Learning In Goal-Reaching Tasks For Robotic Manipulators, Jonathan Fugal, Hasan A. Poonawala, Jihye Bae
On The Impact Of Gravity Compensation On Reinforcement Learning In Goal-Reaching Tasks For Robotic Manipulators, Jonathan Fugal, Hasan A. Poonawala, Jihye Bae
Electrical and Computer Engineering Faculty Publications
Advances in machine learning technologies in recent years have facilitated developments in autonomous robotic systems. Designing these autonomous systems typically requires manually specified models of the robotic system and world when using classical control-based strategies, or time consuming and computationally expensive data-driven training when using learning-based strategies. Combination of classical control and learning-based strategies may mitigate both requirements. However, the performance of the combined control system is not obvious given that there are two separate controllers. This paper focuses on one such combination, which uses gravity-compensation together with reinforcement learning (RL). We present a study of the effects of gravity …