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    Constructing and Implementing Motion Programs for Robotic Marionettes
    (Georgia Institute of Technology, 2011-04) Martin, Patrick ; Johnson, Elliot ; Murphey, Todd D. ; Egerstedt, Magnus B.
    This technical note investigates how to produce control programs for complex systems in a systematic manner. In particular, we present an abstraction-based approach to the specification and optimization of motion programs for controlling robot marionettes. The resulting programs are based on the concatenation of motion primitives and are further improved upon using recent results in optimal switch-time control. Simulations as well as experimental results illustrate the operation of the proposed method.
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    Cooperative Exploration of Level Surfaces of Three Dimensional Scalar Fields
    (Georgia Institute of Technology, 2011) Wu, W. ; Zhang, Fumin
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    Autonomous Driving in Urban Environments: Approaches, Lessons, and Challenges
    (Georgia Institute of Technology, 2010) Campbell, M. ; Egerstedt, Magnus B. ; How, J. P. ; Murray, R. M.
    The development of autonomous vehicles for urban driving has seen rapid progress in the past 30 years. This paper provides a summary of the current state of the art in autonomous driving in urban environments, based primarily on the experiences of the authors in the 2007 DARPA Urban Challenge (DUC). The paper briefly summarizes the approaches that different teams used in the DUC, with the goal of describing some of the challenges that the teams faced in driving in urban environments. The paper also highlights the long-term research challenges that must be overcome in order to enable autonomous driving and points to opportunities for new technologies to be applied in improving vehicle safety, exploiting intelligent road infrastructure and enabling robotic vehicles operating in human environments.
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    Geometric variational methods for controlled active vision
    (Georgia Institute of Technology, 2009-07-21) Tannenbaum, Allen R.
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    Quantitative analysis of fracture surfaces using stereological methods
    (Georgia Institute of Technology, 2009-02-09) Gokhale, Arun M.
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    Multi-Robot Deployment and Coordination with Embedded Graph Grammars
    (Georgia Institute of Technology, 2009-01) Smith, Brian Stephen ; Howard, Ayanna M. ; McNew, John-Michael ; Egerstedt, Magnus B.
    This paper presents a framework for going from specifications to implementations of decentralized control strategies for multi-robot systems. In particular, we show how the use of Embedded Graph Grammars (EGGs) provides a tool for characterizing local interaction and control laws. This paper highlights some key implementation aspects of the EGG formalism, and develops and discusses experimental results for a hexapod-based multi-robot system, as well as a multi-robot system of wheeled robots.
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    Steerability in Planar Dissipative Passive Robots
    (Georgia Institute of Technology, 2009) Gao, Dalong ; Book, Wayne J.
    Steerability is intuitively the ability to change directions. In this paper, a formal definition is given for the steerability of a robot achieved either passively or actively. A dissipative passive robot uses only passive actuators such as brakes and clutches (a clutch is essentially a brake plus a gearbox) to redirect or steer operator-imposed motion by dissipating energy. While it has safety and ergonomic advantages, which are essential for human interactions, it also has difficulties in redirecting certain motions since passive actuators cannot add energy. The force generated from a passive actuator is used to measure the steerability. A steerability theorem was then developed for a manipulator with generalized passive actuators. The steerability analysis for an example diamond-shaped manipulator shows the difference in steerability when using only brakes or a combination of brakes and clutches. Further analyses show the difference comes from the ability of a clutch to change the direction of the generated force in the subject robot by altering the effective gear ratios
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    Distribution Center Location and Expansion Plan, Platt Electric Supply
    (Georgia Institute of Technology, 2008-12-10) Cermenaro, Sara ; Duarte, Jonathan ; Vásquez, Julio ; Villegas, Mariana ; Virgil, Taylor ; Willis, Luis
    The project provided Platt Electric, the largest private wholesale electric supply distributor in the western United States, with different options for the expansion of their business and the addition of 110 branches. Using demand forecasting and robust optimization modeling, the team recommended implementation plans including when and where to locate new distribution centers (DCs), the branch opening schedule, and the branch allocation to the DCs over time. The team's recommendations could save Platt approximately $3.2 million per year over the intended implementation period.
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    Use of high-strength/high-performance concrete for precast prestressed...
    (Georgia Institute of Technology, 2005-03) Kahn, Lawrence F. ; Lai, James S. ; Saber, Aziz ; Shams, Mohamed ; Reutlinger, Chris ; Dill, Jason ; Slapkus, Adam ; Canfield, Scott Robinson ; Lopez, Mauricio
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    Speed Control and Position Estimation of Small Hydraulic Cylinders for Digital Clay Using PWM Method
    (Georgia Institute of Technology, 2004-07) Zhu, Haihong ; Book, Wayne J.
    Digital Clay is a new generation 3D computer input and output device for surface shape and haptic effects. The device consists of arrays of fluidically actuated cells under the control of valves connected to two pressure reservoirs in a manner ultimately suitable to an implementation in MEMS technology. At the current stage, it is very difficult to implement a tiny position sensor into the tiny cell. This paper presents a control method for the speed and position estimation and control for the cells of digital clay only using low cost pressure sensors and without using any position-sensing device.