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The paper describes the control system development of a novel hybrid autonomous vehicle - Aqua-Quad, a Multi-Rotor Vertical Take Off and Landing aircraft with environmentally hardened electronics, exchangeable sensor suite, communication links, and a solar recharge system. The key objective of this multi-modal autonomous system is to enable energy-aware ultra-long endurance autonomy to facilitate...
The development of a novel hybrid autonomous vehicle, Aqua-Quad, is presented, which combines a multi-rotor vertical take off and landing aircraft with environmentally hardened electronics, exchangeable sensor suite and a solar recharge system in order to provide long endurance sensing in aquatic environments in support of a variety of missions. The vehicle is envisioned to perform sensing below the...
The PVC-ROV underwater robot testbed is a low-cost, three vehicle system designed to support research into multi-robot control techniques. Each vehicle is composed of a PVC frame with bilge-pump motors, a central microcontroller, and hobby-class sensing and power components. In addition, each vehicle is tethered to a surface buoy by a 15 meter tether and wirelessly exchanges data with an off-board,...
We consider the synthesis of control policies over partially observable Markov decision processes with linear temporal logic specifications. We limit the search of policies over finite state controllers of a fixed size which leads to a Markov chain with free parameters, over which the probability of satisfaction of the specification can be maximized.
This paper describes an approach to motion generation for quadrotor micro-UAV's navigating cluttered and partially known environments. We pursue a graph search method that, despite the high dimensionality of the problem, the complex dynamics of the system and the continuously changing environment model is capable of generating dynamically feasible motions in real-time. This is enabled by leveraging...
Due to influx of vehicles on the road, citizens inevitably combat traffic congestion on a daily basis. This is underlined by the lack of parking infrastructure and shoot up of vehicle to human population ratio. The Robotic Valet Parking System uses the robotic valets, which are the vehicle carriers and parks the vehicles compactly in a given space of the parking area once the driver loads his vehicle...
Over the past two decades, the use of Automated Surface Vessels (ASVs) has evolved from serving as military drones to performing a rich set of applications ranging from exploration to minesweeping to supporting the operation of underwater assets. The benefits of these systems motivate the question of how fleets of such ASVs could synergistically work together to perform more sophisticated and challenging...
In this paper we consider a setting where a robotic vehicle is commissioned to provide surveillance in an area where there are multiple targets, while satisfying a set of high level, rich specifications expressed as Linear Temporal Logic formulas. Each target has an associated reward. The goal of the vehicle is to maximize the cumulative collected reward while satisfying the given high level task...
The cluster space state representation for multirobot systems provides a simple means of specifying and monitoring the geometry and motion characteristics of a cluster of mobile robots. In previous work, this approach has been experimentally verified and validated for controlling the motion of planar mobile multi-robot systems ranging from land rovers to autonomous boats. In this paper we present...
This paper presents a program of research embracing teleoperator and automatic navigational control of freely-flying satellite robots. Current research goals include developing visual operator interfaces for improved vehicle teleoperation; determining the effects of different visual interface system designs on operator performance; and achieving autonomous, vision-based vehicle navigation and control...
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