Robotics Commons^™

Formal Performance Guarantees For Behavior-Based Localization Missions, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang

Faculty Publications

Abstract— Localization and mapping algorithms can allow a robot to navigate well in an unknown environment. However, whether such algorithms enhance any specific robot mission is currently a matter for empirical validation. In this paper we apply our MissionLab/VIPARS mission design and verification approach to an autonomous robot mission that uses probabilistic localization software.

Two approaches to modeling probabilistic localization for verification are presented: a high-level approach, and a sample-based approach which allows run-time code to be embedded in verification. Verification and experimental validation results are presented for two different missions, each using each method, demonstrating the accuracy …

Pythagorean Combinations For Lego Robot Building., Ronald I. Greenberg

Computer Science: Faculty Publications and Other Works

This paper provides tips for LEGO robot construction involving bracing or gear meshing along a diagonal using standard Botball kits.

Establishing Performance Guarantees For Behavior-Based Robot Missions Using An Smt Solver, Feng Tang, Damian M. Lyons, Ronald Arkin

Faculty Publications

In prior work we developed an approach to formally representing behavior-based multi-robot programs, and the uncertain environments in which they operate, as process networks. We automatically extract a set of probabilistic equations governing program execution in that environment using a static analysis module called VIPARS, and solve these using a Dynamic Bayesian Network (DBN) to establish whether stated performance guarantees hold for the program in that environment. In this paper we address the challenge of expanding the range of performance guarantees that are possible by using an SMT-solver instead of a DBN. We translate flow functions, which are recursive probabilistic …

Teaching Robot Kinematics For Engineering Technology Students Using A Created Three-Dimensional Robot And Camera, Cheng Y. Lin, Yuzhong Shen

Engineering Technology Faculty Publications

Teaching robot kinematics is important to engineering technology students in the robot automation. The study can help students not only in the coordinate transformation principles from a joint to its following joint in a robot, but also in relating the coordinate systems between a robot and a machine vision system. While students can utilize math software to compute robot kinematic transformations, they have problems verifying their answers. In this paper, a three dimensional vertically articulated robot is created to help students visualize the location and orientation of the end effector. Students can check their robot kinematic answers based on the …