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In this paper, we analyze and discuss the potential for continuous form “continuum” appendages to transform the nature of robotic traversal of uneven terrain. 12Continuum robots are in many senses “dual” to traditional robot structures, with their inherent capabilities featuring strengths in areas that are key weaknesses for conventional robots. These capabilities match well to current challenges...
We present a computational framework and experimental platform for robot navigation that allows for a user-friendly, graphical and haptic interaction with the human operator during the deployment process. The operator can see, feel, and manipulate the artificial potential field that drives the robot through an environment cluttered with obstacles. We present a case study in which the operator rescues...
Autonomous underwater vehicles (AUV) are poised as a leading technology for performing ocean survey and data collection. This is especially true in ice covered regions. Operations in which an AUV must be deployed through a hole in the ice presents many unique challenges that differ from ship based operations where the AUV is fully accessible via open leads. Typically, significant infrastructure is...
The XAUV is a new AUV developed for rapid algorithm and sensor development. It is also designed to complement existing shiphull inspection efforts by moving quickly around a ship, generating a coarse map. The overall philosophy is to create a vehicle modular enough to experiment with new sensors and configurations, small enough to operate in small tanks, and coded to minimize the overhead required...
We investigate a technique that uses an embedded network deployed pervasively throughout an environment to aid robots in navigation. First, we show that the path computed by the network is useful for a simple mobile robot. The robot uses a network of 156 nodes to navigate through a complex, dynamic, environment. This is the largest embedded network used for navigation we are aware of. In our approach,...
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