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- Autonomous driving (1)
- CDPR (1)
- Formal methods (1)
- Human-robot interaction (1)
- Human-robot interaction (HRI) (1)
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- Inverse reinforcement learning (1)
- Model checking (1)
- Motion planning (1)
- Multi-robot system (1)
- Multiple Model Adaptive Estimation (MMAE) (1)
- RCDPR (1)
- Reciprocal Screw Theory (1)
- Reconfigurable Cable Driven Parallel Robots (1)
- Redundancy Resolution Control (1)
- Trust model (1)
- Vehicle-to-vehicle (V2V) communication (1)
Articles 1 - 3 of 3
Full-Text Articles in Controls and Control Theory
Modeling, Control And Estimation Of Reconfigurable Cable Driven Parallel Robots, Adhiti Raman Thothathri
Modeling, Control And Estimation Of Reconfigurable Cable Driven Parallel Robots, Adhiti Raman Thothathri
All Dissertations
The motivation for this thesis was to develop a cable-driven parallel robot (CDPR) as part of a two-part robotic device for concrete 3D printing. This research addresses specific research questions in this domain, chiefly, to present advantages offered by the addition of kinematic redundancies to CDPRs. Due to the natural actuation redundancy present in a fully constrained CDPR, the addition of internal mobility offers complex challenges in modeling and control that are not often encountered in literature.
This work presents a systematic analysis of modeling such kinematic redundancies through the application of reciprocal screw theory (RST) and Lie algebra while …
Multi-Robot Symbolic Task And Motion Planning Leveraging Human Trust Models: Theory And Applications, Huanfei Zheng
Multi-Robot Symbolic Task And Motion Planning Leveraging Human Trust Models: Theory And Applications, Huanfei Zheng
All Dissertations
Multi-robot systems (MRS) can accomplish more complex tasks with two or more robots and have produced a broad set of applications. The presence of a human operator in an MRS can guarantee the safety of the task performing, but the human operators can be subject to heavier stress and cognitive workload in collaboration with the MRS than the single robot. It is significant for the MRS to have the provable correct task and motion planning solution for a complex task. That can reduce the human workload during supervising the task and improve the reliability of human-MRS collaboration. This dissertation relies …
Control, Decision-Making, And Learning Approaches For Connected And Autonomous Driving Systems With Humans-In-The-Loop, Fangjian Li
All Dissertations
By virtue of vehicular connectivity and automation, the vehicle becomes increasingly intelligent and self-driving capable. However, no matter what automation level the vehicle can achieve, humans will still be in the loop despite their roles. First, considering the manual driving car as a disturbance to the connected and autonomous vehicles (CAVs), a novel string stability is proposed for mixed traffic platoons consisting of both autonomous and manual driving cars to guarantee acceptable motion fluctuation and platoon safety. Furthermore, humans are naturally considered as the rider in the passenger vehicle. A human-centered cooperative adaptive cruise control (CACC) is designed to improve …