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A Novel Continuum Manipulator
(2015-09-21)
We address the problem of controlling continuum manipulators and evaluate Reinforcement Learning to produce a control policy for a robotic platform. Our approach discretizes the state and action spaces to reduce the training ...
Medial-Axis Biased Rapidly-Exploring Random Trees
(2012-05-09)
RRTs (Rapidly-Exploring Random Trees) have shown wide applications in robotics.
RRTs are a type of sampling-based motion planners
that expand to fill the space starting from one or more root configurations.
RRTs are excellent ...
Real-Time Classification of Road Conditions
(2015-09-03)
Common navigation algorithms like A* or D* Lite rely on costs to determine an optimal path. Costs may incorporate distance, time, or energy consumption; however, they can include anything that affects travel along a path. ...
Multi-Agent Persistent Task Performance
A method to control a system of robots to persistently perform a task while operating under a constraint such as battery life is presented. Persistently performing a task is defined as continuously executing the task without ...
Using Engineering to Create an Adaptive Self-Feeding System for Patients with Upper Body Disabilities
This research project aims to provide a self-feeding manipulator system to accommodate those who have upper-body motor disabilities. The purpose of the device is to allow patients to rely less on their caregivers during a ...
Habitat-Lab Quadruped Embodied AI Research
With the rise of reinforcement learning, a number of physics engines and frameworks have been used to simulate virtual environments. Additionally, various benchmarks have been popularized in order to assess the ability of ...
Extracting 3D Coordinates of Objects in Building Collapses from Drone Imagery
When out on a search and rescue mission, it is important to have tools that can easily keep track of the situation that is being handled. Autonomous drones have the ability to quickly collect a batch of images of the scene ...