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Articles 1 - 11 of 11
Full-Text Articles in Robotics
Hydroquad - A Drone Quadruped Hybrid, Haitish Gandhi, Dheer Chhabria
Hydroquad - A Drone Quadruped Hybrid, Haitish Gandhi, Dheer Chhabria
Discovery Day - Daytona Beach
The HyDroQuad is a hybrid robotic system designed to navigate environments where traditional robots face limitations. By combining a quadrupedal walking mechanism with an aerial drone, the platform is able to walk efficiently on stable terrain and transition to flight when encountering obstacles such as rocks, gaps, or steep slopes. This adaptability makes it a strong candidate for future planetary exploration, where terrain is often uneven and unpredictable. This work focuses on developing and evaluating a functional prototype of the system. A fully integrated platform, HDQ-MK1, was designed and constructed by combining a lightweight multirotor drone with a compact quadruped …
Improving Multi-Agent Swarm Collision Avoidance Using Reciprocal Velocity Obstacles, Nick Wilson
Improving Multi-Agent Swarm Collision Avoidance Using Reciprocal Velocity Obstacles, Nick Wilson
Discovery Day - Daytona Beach
As multi-agent systems grow increasingly complex, physical robotic swarms are essential to bridge the gap between limited software simulations and real-world application. The BID4R STARS swarm provides a physical platform for testing diverse algorithms, yet its success relies heavily on fundamental agent capabilities—most notably, obstacle avoidance. Preventing intra-swarm collisions is critical to avoid hardware damage and experimental disruption. To address this challenge, this project implements the Reciprocal Velocity Obstacles (RVO) algorithm onto the STARS swarm. While standard collision avoidance algorithms often overcorrect and induce oscillatory agent movement, RVO factors in the velocity and anticipated responses of all agents involved in …
Honeybee-Inspired Swarm Intelligence For Autonomous Adaptability Of Martian Infrastructure, Morgan Kendall
Honeybee-Inspired Swarm Intelligence For Autonomous Adaptability Of Martian Infrastructure, Morgan Kendall
Discovery Day - Daytona Beach
Current research in autonomous space systems primarily relies on centralized control or swarm methods designed for fixed mission scenarios. These approaches lack the flexibility needed for long-duration Mars operations, where infrastructure must adapt to changing conditions, evolving mission goals, and limited human oversight. This creates a critical gap in developing autonomous systems capable of continuous self-organization. This gap is being addressed by developing a biologically inspired, adaptive Martian infrastructure using swarm intelligence. The scope includes key system domains such as power distribution, communication networks, and surface logistics. Agent-based modeling software will simulate infrastructure components as autonomous agents that evaluate local …
Nano Aircraft Using Underactuated Technology (Naut), Giol Vinyals I Roca
Nano Aircraft Using Underactuated Technology (Naut), Giol Vinyals I Roca
Discovery Day - Daytona Beach
The Nano Aircraft using Underactuated Technology (NAUT) project presents a novel swashplateless rotor system that achieves cyclic pitch control using a single actuator, eliminating the need for conventional multi-servo swashplate assemblies. This approach is specifically tailored for nano unmanned aircraft systems (UAS) operating within Advanced Air Mobility (AAM) environments, where size, weight, and power constraints demand highly efficient and simplified control architectures. A functional prototype has been developed and experimentally validated, demonstrating measurable cyclic pitch variation and effective control authority. Multiple mechanism variants are currently being investigated to evaluate performance trade-offs in responsiveness, mechanical efficiency, and aerodynamic effectiveness. These configurations …
Orbital Servicing Calibration And Repair (O.S.C.A.R.), Samantha Rogers, Chloe Arnold, Ava Laudadio
Orbital Servicing Calibration And Repair (O.S.C.A.R.), Samantha Rogers, Chloe Arnold, Ava Laudadio
Discovery Day - Daytona Beach
Low Earth Orbit (LEO) satellites operate in an environment that exposes them to cumulative radiation effects, micrometeoroids, and orbital debris, and limited opportunities for post-launch intervention. These factors can degrade satellite performance over time, leading to anomalies that may cause data corruption, mission failure, or require human intervention for repair. While previous on-orbit servicing efforts have demonstrated repair and life-extension capabilities, most have focused on Geosynchronous satellites or controlled test environments, leaving a gap in servicing concepts tailored specifically to LEO satellites.The O.S.C.A.R. (Orbital Servicing, Calibration, and Repair) project investigates the design of a robotic servicing system for inspecting, calibrating, …
Navigating Enhanced Exploration Assistance (Nexa), Azhari Abbas, Caleb Fakunle, Ryan Powell, Donovan Livingston
Navigating Enhanced Exploration Assistance (Nexa), Azhari Abbas, Caleb Fakunle, Ryan Powell, Donovan Livingston
Discovery Day - Daytona Beach
NEXA is an artificial intelligence software platform developed to enhance residential security and property monitoring through seamless integration with autonomous drone systems. This research application of advanced AI in surveillance aims to create a standalone solution capable of real-time threat detection and intelligent alert management. By processing visual and sensory data, NEXA facilitates autonomous drone operation with minimal human intervention. Secure communication channels ensure that instant alerts are delivered to property owners and, potentially, law enforcement, improving response times in security incidents, search-and-rescue operations, and perimeter surveillance. Additionally, NEXA is capable of interfacing with commercially available drone platforms and presents …
Robotic Arm Development For Cone Penetration Testing On The Lunar Surface, Jonah Graff, Derek Zhang
Robotic Arm Development For Cone Penetration Testing On The Lunar Surface, Jonah Graff, Derek Zhang
Discovery Day - Daytona Beach
Just as on Earth, future lunar operations will require accurate characterization of surface conditions. On Earth, a proven method for this is Cone Penetration Testing (CPT), which evaluates soil bearing capacity and stratification. This information is vital for lunar operations, including habitat construction, resource extraction, and safe pathfinding. However, traditional CPT systems are designed for human operation and lack autonomy. This project addresses that limitation by developing an autonomous, in-situ terrain characterization system for lunar surfaces. The device is driven by ball-screw actuators powered by stepper motors and controlled through an Arduino Mega, using a combination of metal and 3D-printed …
Advanced Manufacturing And Materials Of A Bio-Mimetic Hoof For Space Robotics Applications, Benjamin Heckel
Advanced Manufacturing And Materials Of A Bio-Mimetic Hoof For Space Robotics Applications, Benjamin Heckel
Discovery Day - Daytona Beach
Planetary surfaces often feature steep, uneven, and unpredictable terrain conditions that resemble some of the most challenging natural environments on Earth. In these terrestrial settings, certain animals have evolved to navigate complex landscapes with remarkable agility. One example is the mountain goat, an animal whose hooves have evolved for stable and precise movement across rocky, inclined surfaces. This biological adaptation provides a useful model for improving robotic mobility in planetary exploration. This study draws inspiration from that natural adaptation to develop a bio-mimetic robotic hoof designed to enhance traction, durability, and adaptability for extraterrestrial exploration. By replicating the mechanical properties …
Phaëthon System, Brady Roudabush, Lauren Gallo, Emelia Thompson, Jacob Woods
Phaëthon System, Brady Roudabush, Lauren Gallo, Emelia Thompson, Jacob Woods
Discovery Day - Daytona Beach
Phaëthon System is the project name for the Search and Rescue Drone Initiative. This initiative will improve the current search and rescue drone industry by introducing new techniques to get through dense forest canopies and other places where an overhead view is not useful. The Phaëthon System uses a swarm of drones that can penetrate under the tree canopy to map and search with the utmost efficiency and safety for rescuers. A command drone is launched to survey the overall search area, and set up a communications and data link. The next component is then released, which is a swarm …
Interplay Between Physical Design Choices And Emergent Cyber System Consensus: A Case Study With An Underwater Swarm, Ava Neubert
Interplay Between Physical Design Choices And Emergent Cyber System Consensus: A Case Study With An Underwater Swarm, Ava Neubert
Discovery Day - Daytona Beach
Understanding how physical constraints influence collective behavior is critical for designing cyber-physical multi-agent systems in communication-limited environments. This project investigates how agent mobility and communication constraints affect opinion dynamics in a three-dimensional underwater swarm. An agent-based model was developed in AnyLogic, where agents follow realistic motion dynamics and exchange information at discrete communication intervals to reflect underwater limitations. Agent opinions are modeled using a BOIDS-inspired consensus mechanism in RGB space, allowing visualization of convergence behavior. A sensitivity analysis was conducted to evaluate the effects of communication range, agent speed, turn rate, and swarm size. Results show that communication range has …
Automation And Robotics In Timber Construction Prefabrication, Jason Grabowski, Anish Mandyam, Samuel Mcaraw, Jacob Jander
Automation And Robotics In Timber Construction Prefabrication, Jason Grabowski, Anish Mandyam, Samuel Mcaraw, Jacob Jander
Discovery Day - Daytona Beach
Robotics and automation have varying degrees of utilization across the construction prefabrication industry. The timber prefabrication industry is uniquely positioned for the implementation of robotics and automation due to the environment being more controlled than most of the construction industry. Current developments are influenced by the evolution of "Construction 4.0/5.0," where the integration of digital technologies and robotics is transforming timber prefabrication from traditional subtractive CNC machining into a highly precise, additive, and collaborative process. The purpose of this project is to conduct a systematic literature review of the state of-the-art and near-future developments of automation and robotics in timber …