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Articles 1 - 16 of 16
Full-Text Articles in Robotics
Adaptive Sampling For Multi-Robot Wide-Area Exploration, Kian Hsiang Low, Geoffrey Gordon, John M. Dolan, Pradeep Khosla
Adaptive Sampling For Multi-Robot Wide-Area Exploration, Kian Hsiang Low, Geoffrey Gordon, John M. Dolan, Pradeep Khosla
Pradeep K Khosla
The exploration problem is a central issue in mobile robotics. A complete coverage is not practical if the environment is large with a few small hotspots, and the sampling cost is high. So, it is desirable to build robot teams that can coordinate to maximize sampling at these hotspots while minimizing resource costs, and consequently learn more accurately about properties of such environmental phenomena. An important issue in designing such teams is the exploration strategy. The contribution of this paper is in the evaluation of an adaptive exploration strategy called Adaptive Cluster Sampling (ACS), which is demonstrated to reduce the …
Generation Of Partial Medial Axis For Disassembly Motion Planning, Yangsheng Xu, Raju S. Mattikalli, Pradeep K. Khosla, Carnegie Mellon University.Engineering Design Research Center.
Generation Of Partial Medial Axis For Disassembly Motion Planning, Yangsheng Xu, Raju S. Mattikalli, Pradeep K. Khosla, Carnegie Mellon University.Engineering Design Research Center.
Pradeep K Khosla
Abstract: "This paper presents an efficient approach for determining disassembly motion plans of a subassembly in the free space within its parent subassembly. We propose a two-step approach to generating motion plans. First, all possible paths within free space of the parent subassembly are generated using a partial medial axis. This is followed by a graph search for an optimal global path. Second, a collision free motion is planned using the global path and the geometry of the moving subassembly. In this paper, we focus on the first problem, i.e.,generation of a partial medial axis for disassembly motion planning. We …
Real-Time Implementation And Evaluation Of Computed-Torque Scheme, Pradeep K. Khosla, Takeo Kanade
Real-Time Implementation And Evaluation Of Computed-Torque Scheme, Pradeep K. Khosla, Takeo Kanade
Pradeep K Khosla
No abstract provided.
Distributed Tactical Surveillance With Atvs, John M. Dolan, Ashitey Trebi-Ollennu, Alvaro Soto, Pradeep K. Khosla
Distributed Tactical Surveillance With Atvs, John M. Dolan, Ashitey Trebi-Ollennu, Alvaro Soto, Pradeep K. Khosla
Pradeep K Khosla
In Carnegie Mellon University's CyberScout project, we are developing mobile robotic technologies that will extend the sphere of awareness and mobility of small military units while exploring issues of command and control, task decomposition, multi-agent collaboration, e±cient perception algorithms, and sensor fusion. This paper describes our work on robotic all-terrain vehicles (ATVs), one of several platforms within CyberScout. We have retrofitted two Polaris ATVs as mobile robotic surveillance and reconnaissance platforms. We describe the computing, sensing, and actuation infrastructure of these platforms, their current capabilities, and future research and applications.
An Algorithm To Estimate Manipulator Dynamics Parameters, Pradeep K. Khosla, Takeo Kanade
An Algorithm To Estimate Manipulator Dynamics Parameters, Pradeep K. Khosla, Takeo Kanade
Pradeep K Khosla
No abstract provided.
Choosing Sampling Rates For Robot Control, Pradeep K. Khosla
Choosing Sampling Rates For Robot Control, Pradeep K. Khosla
Pradeep K Khosla
No abstract provided.
Experimental Evaluation Of Nonlinear Feedback And Feedforward Control Schemes For Manipulators, Pradeep K. Khosla, Takeo Kanade
Experimental Evaluation Of Nonlinear Feedback And Feedforward Control Schemes For Manipulators, Pradeep K. Khosla, Takeo Kanade
Pradeep K Khosla
No abstract provided.
Efficient Mapping Through Exploitation Of Spatial Dependencies, Yaron Rachlin, John M. Dolan, Pradeep K. Khosla
Efficient Mapping Through Exploitation Of Spatial Dependencies, Yaron Rachlin, John M. Dolan, Pradeep K. Khosla
Pradeep K Khosla
Occupancy grid mapping algorithms assume that grid block values are independently distributed. However, most environments of interest contain spatial patterns that are better characterized by models that capture dependencies among grid blocks. To account for such dependencies, we model the environment as a pairwise Markov random field. We specify a belief propagation-based mapping algorithm that takes these dependencies into account when estimating a map. To demonstrate the potential benefits of this approach, we simulate a simple multirobot minefield mapping scenario. Minefields contain spatial dependencies since some landmine configurations are more likely than others, and since clutter, which causes false alarms, …
Optimal Sensor Placement For Cooperative Distributed Vision, Luis E. Navarro-Serment, John M. Dolan, Pradeep K. Khosla
Optimal Sensor Placement For Cooperative Distributed Vision, Luis E. Navarro-Serment, John M. Dolan, Pradeep K. Khosla
Pradeep K Khosla
This paper describes a method for observing maneuvering targets using a group of mobile robots equipped with video cameras. These robots are part of a team of small-size (7x7x7 cm) robots configured from modular components that collaborate to accomplish a given task. The cameras seek to observe the target while facing it as much as possible from their respective viewpoints. This work considers the problem of scheduling and maneuvering the cameras based on the evaluation of their current positions in terms of how well can they maintain a frontal view of the target. We describe our approach, which distributes the …
Chimera Ii : A Real-Time Unix-Compatible Multiprocessor Operating System For Sensor-Based Control Applications, David B. Stewart, Donald Schmitz, Pradeep K. Khosla
Chimera Ii : A Real-Time Unix-Compatible Multiprocessor Operating System For Sensor-Based Control Applications, David B. Stewart, Donald Schmitz, Pradeep K. Khosla
Pradeep K Khosla
Abstract: "This paper describes the CHIMERA II multiprocessing operating system, which has been developed to provide the flexibility, performance, and UNIX-compatible interface needed for fast development and implementation of parallel real-time control code. The operating system is intended for sensor-based control applications such as robotics, process control, and manufacturing. The features of CHIMERA II include support for multiple general purpose CPUs; support for multiple special purpose processors and I/O devices; a UNIX-like environment, which supports most standard C system and library calls; standardized interrupt and exception handlers; and a user interface which serves as a terminal interface to the executing …
Two-Disk Motion Planning Strategy, Yangsheng Xu, Raju S. Mattikalli, Pradeep K. Khosla, Carnegie Mellon University.Engineering Design Research Center.
Two-Disk Motion Planning Strategy, Yangsheng Xu, Raju S. Mattikalli, Pradeep K. Khosla, Carnegie Mellon University.Engineering Design Research Center.
Pradeep K Khosla
Abstract: "This paper addresses the problem of planning the motion of a polygonal object through a set of planar obstacles. We propose a two-disk motion planning strategy to navigate the object within the free space between the obstacles from an initial location to a final location. This method makes use of the Medial Axis Transform (MAT) of the free space which can be generated efficiently using the method in [10]. We determine two minimal overlapping disks that fully enclose the moving object, and then constrain the centers of the two disks to move continuously along a path on the medial …
Crucial Factors Affecting Decentralized Multirobot Learning In An Object Manipulation Task, Poj Tangamchit, John M. Dolan, Pradeep K. Khosla
Crucial Factors Affecting Decentralized Multirobot Learning In An Object Manipulation Task, Poj Tangamchit, John M. Dolan, Pradeep K. Khosla
Pradeep K Khosla
Decentralized multirobot learning refers to the use of multiple learning entities to achieve the optimal solution for the overall robot system. We demonstrate that single-robot learning theory can be successfully used with multirobot systems, but with certain conditions. The success and the effectiveness of this method are potentially affected by various factors that we classify into two groups: the nature of the robots and the nature of the learning entities. Incorrect setup of these factors may lead to undesirable results. In this paper, we methodically test the effect of varying four common factors (reward scope, learning algorithms, diversity of robots, …
Adaptive Multi-Robot Wide-Area Exploration And Mapping, Kian Hsiang Low, John Dolan, Pradeep Khosla
Adaptive Multi-Robot Wide-Area Exploration And Mapping, Kian Hsiang Low, John Dolan, Pradeep Khosla
Pradeep K Khosla
The exploration problem is a central issue in mobile robotics. A complete terrain coverage is not practical if the environment is large with only a few small hotspots. This paper presents an adaptive multi-robot exploration strategy that is novel in performing both wide-area coverage and hotspot sampling using non-myopic path planning. As a result, the environmental phenomena can be accurately mapped. It is based on a dynamic programming formulation, which we call the Multi-robot Adaptive Sampling Problem (MASP). A key feature of MASP is in covering the entire adaptivity spectrum, thus allowing strategies of varying adaptivity to be formed and …
Multi-Robot Path Planning By Predicting Structure In A Dynamic Environment, C. Spence Oliver, Mahesh Saptharishi, John M. Dolan, Ashitey Trebi-Ollennu, Pradeep K. Khosla
Multi-Robot Path Planning By Predicting Structure In A Dynamic Environment, C. Spence Oliver, Mahesh Saptharishi, John M. Dolan, Ashitey Trebi-Ollennu, Pradeep K. Khosla
Pradeep K Khosla
Path planning for multiple mobile robots is complicated by the presence of a dynamic environment, in which obstacles and other robots are moving. Centralized approaches are too computationally intensive for real-time response. Decoupled approaches which perform individual preplanning, conflict resolution, and reactive obstacle avoidance for each robot, can be globally inefficient. We propose a novel mission coordination architecture, CPAD (Checkpoint/Priority/ Action Database), which performs path planning via checkpoint and dynamic priority assignment, using statistical estimates of the environment’s motion structure in order to make both preplanning and reactive behaviors more efficient. Simulation is used to validate and illustrate the approach.
Cyber-Atvs: Dynamic And Distributed Reconnaissance Using All-Terrain Ugvs, Alvaro Soto, Mahesh Saptharishi, Ashitey Trebi-Ollennu, John M. Dolan, Pradeep K. Khosla
Cyber-Atvs: Dynamic And Distributed Reconnaissance Using All-Terrain Ugvs, Alvaro Soto, Mahesh Saptharishi, Ashitey Trebi-Ollennu, John M. Dolan, Pradeep K. Khosla
Pradeep K Khosla
This paper describes our current effort to develop robotic vehicles for tactical distributed surveillance. Our research is focused on multi-agent collaboration, reconfigurable systems, efficient perception and sensor fusion, distributed command and control, and task decomposition. In particular, this paper describes the main features and capabilities of our All Terrain Vehicles (ATVs), concentrating on their autonomous navigation capabilities.
A Modified Reactive Control Framework For Cooperative Mobile Robots, J. Salido, John M. Dolan, J. Hampshire, Pradeep K. Khosla
A Modified Reactive Control Framework For Cooperative Mobile Robots, J. Salido, John M. Dolan, J. Hampshire, Pradeep K. Khosla
Pradeep K Khosla
An important class of robotic applications potentially involves multiple, cooperating robots: security or military surveillance, rescue, mining, etc. One of the main challenges in this area is effective cooperative control: how does one determine and orchestrate individual robot behaviors which result in a desired group behavior? Cognitive (planning) approaches allow for explicit coordination between robots, but suffer from high computational demands and a need for a priori, detailed world models. Purely reactive approaches such as that of Brooks are efficient, but lack a mechanism for global control and learning. Neither approach by itself provides a formalism capable of a sufficiently …