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Full-Text Articles in Robotics
A Monte Carlo Framework For Incremental Improvement Of Simulation Fidelity, Damian Lyons, James Finocchiaro, Misha Novitsky, Chris Korpela
A Monte Carlo Framework For Incremental Improvement Of Simulation Fidelity, Damian Lyons, James Finocchiaro, Misha Novitsky, Chris Korpela
Faculty Publications
Robot software developed in simulation often does not be- have as expected when deployed because the simulation does not sufficiently represent reality - this is sometimes called the `reality gap' problem. We propose a novel algorithm to address the reality gap by injecting real-world experience into the simulation. It is assumed that the robot program (control policy) is developed using simulation, but subsequently deployed on a real system, and that the program includes a performance objective monitor procedure with scalar output. The proposed approach collects simulation and real world observations and builds conditional probability functions. These are used to generate …
A Fuzzy Logic Controller For Autonomous Wheeled Vehicles, Mohamed Trabia, Linda Z. Shi, Neil Eugene Hodge
A Fuzzy Logic Controller For Autonomous Wheeled Vehicles, Mohamed Trabia, Linda Z. Shi, Neil Eugene Hodge
Mechanical Engineering Faculty Research
Autonomous vehicles have potential applications in many fields, such as replacing humans in hazardous environments, conducting military missions, and performing routine tasks for industry. Driving ground vehicles is an area where human performance has proven to be reliable. Drivers typically respond quickly to sudden changes in their environment. While other control techniques may be used to control a vehicle, fuzzy logic has certain advantages in this area; one of them is its ability to incorporate human knowledge and experience, via language, into relationships among the given quantities. Fuzzy logic controllers for autonomous vehicles have been successfully applied to address various …