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Mechanical Engineering Commons

Open Access. Powered by Scholars. Published by Universities.®

2002

GRASP

Articles 1 - 4 of 4

Full-Text Articles in Mechanical Engineering

A Vision-Based Formation Control Framework, Aveek K. Das, Rafael Fierro, Vijay Kumar, James P. Ostrowski, John Spletzer, Camillo J. Taylor Oct 2002

A Vision-Based Formation Control Framework, Aveek K. Das, Rafael Fierro, Vijay Kumar, James P. Ostrowski, John Spletzer, Camillo J. Taylor

Departmental Papers (MEAM)

We describe a framework for cooperative control of a group of nonholonomic mobile robots that allows us to build complex systems from simple controllers and estimators. The resultant modular approach is attractive because of the potential for reusability. Our approach to composition also guarantees stability and convergence in a wide range of tasks. There are two key features in our approach: 1) a paradigm for switching between simple decentralized controllers that allows for changes in formation; 2) the use of information from a single type of sensor, an omnidirectional camera, for all our controllers. We describe estimators that abstract the ...


An Svd-Based Projection Method For Interpolation On Se(3), Calin Belta, Vijay Kumar Jun 2002

An Svd-Based Projection Method For Interpolation On Se(3), Calin Belta, Vijay Kumar

Departmental Papers (MEAM)

This paper develops a method for generating smooth trajectories for a moving rigid body with specified boundary conditions. Our method involves two key steps: 1) the generation of optimal trajectories in GA+(n), a subgroup of the affine group in IRn and 2) the projection of the trajectories onto SE(3), the Lie group of rigid body displacements. The overall procedure is invariant with respect to both the local coordinates on the manifold and the choice of the inertial frame. The benefits of the method are threefold. First, it is possible to apply any of the variety of well-known ...


Control Of Cooperating Mobile Manipulators, Thomas G. Sugar, Vijay Kumar Feb 2002

Control Of Cooperating Mobile Manipulators, Thomas G. Sugar, Vijay Kumar

Departmental Papers (MEAM)

We describe a framework and control algorithms for coordinating multiple mobile robots with manipulators focusing on tasks that require grasping, manipulation and transporting large and possibly flexible objects without special purpose fixtures. Because each robot has an independent controller and is autonomous, the coordination and synergy are realized through sensing and communication. The robots can cooperatively transport objects and march in a tightly controlled formation, while also having the capability to navigate autonomously. We describe the key aspects of the overall hierarchy and the basic algorithms, with specific applications to our experimental testbed consisting of three robots. We describe results ...


Modeling And Analyzing Biomolecular Networks, Rajeev Alur, Calin Belta, Vijay Kumar, Max Mintz, George J. Pappas, Harvey Rubin, Jonathan Schug Jan 2002

Modeling And Analyzing Biomolecular Networks, Rajeev Alur, Calin Belta, Vijay Kumar, Max Mintz, George J. Pappas, Harvey Rubin, Jonathan Schug

Departmental Papers (MEAM)

The authors argue for the need to model and analyze biological networks at molecular and cellular levels. They propose a computational toolbox for biologists. Central to their approach is the paradigm of hybrid models in which discrete events are combined with continuous differential equations to capture switching behavior.