Projects | Tasks | Sensor Based Planning Laboratory

Projects: Tasks

Tasks | Applications

Simultaneous Localization and Mapping - We are developing a geometric mapping strategy that directs a mobile robot to explore an unknown environment while taking into consideration sensor and encoder uncertainty.

Modular Distributed Manipulator System - An array of cells, each of which can induce a vectored force to an object resting on the cell. The cells collectively transport and manipulate objects resting on the array.

Snake Robot Design - Analyzing the factors that are of importance in designing a snake robot, and implementing new designs.

Motion Planning for the Snake Robot Creating algorithims for computer control of hyper-redundant manipulators existing in high dimension configuration spaces.

Ultrasonic Sensor Resolution Improvement - Improved the azimuth resolution of conventional polaroid ultrasonic sensors by intersection arcs, filtering the intersections, and then taking the median. The result in our experiments is a 10-fold improvement in azimuth resolution.

Planar Coverage - Sensor based coverage of unknown environments using exact cellular decompositions.

Constrained Controlled Coverage - Coverage of two dimensional surfaces embedded in three dimensions with emphasis on uniform coverage.

Mobile Platform Design - Mechanical design of a differential drive mechanism for outdoor coverag

Visual Localizarion - The visual localization system is being developed to give a mobile robot the ability to locate its own position. The system exploits a CCD camera and colored landmarks and yields a robust and accurate localization performance.

Probabilistic Coverage - Recognition of mine patterns using statistical methods.

Modular Snakes Robots - Three dimensional locomotion and applications of modular designs for snake robots.