A multi-element generalized polynomial chaos approach to analysis of mobile robot dynamics under uncertainty
The ability of mobile robots to quickly and accurately analyze their dynamics is critical to their safety and efficient operation. In field conditions, significant uncertainty is associated with terrain and/or vehicle parameter estimates, and this must be considered in an analysis of robot motion. H...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2010
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| Online Access: | http://hdl.handle.net/1721.1/59443 https://orcid.org/0000-0001-6244-0069 |
| _version_ | 1826198882971811840 |
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| author | Kewlani, Gaurav Iagnemma, Karl |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Kewlani, Gaurav Iagnemma, Karl |
| author_sort | Kewlani, Gaurav |
| collection | MIT |
| description | The ability of mobile robots to quickly and accurately analyze their dynamics is critical to their safety and efficient operation. In field conditions, significant uncertainty is associated with terrain and/or vehicle parameter estimates, and this must be considered in an analysis of robot motion. Here a Multi-Element generalized Polynomial Chaos (MEgPC) approach is presented that explicitly considers vehicle parameter uncertainty for long term estimation of robot dynamics. It is shown to be an improvement over the generalized Askey polynomial chaos framework as well as the standard Monte Carlo scheme, and can be used for efficient, accurate prediction of robot dynamics. |
| first_indexed | 2024-09-23T11:11:28Z |
| format | Article |
| id | mit-1721.1/59443 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:11:28Z |
| publishDate | 2010 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/594432022-10-01T01:55:15Z A multi-element generalized polynomial chaos approach to analysis of mobile robot dynamics under uncertainty Kewlani, Gaurav Iagnemma, Karl Massachusetts Institute of Technology. Department of Mechanical Engineering Massachusetts Institute of Technology. Laboratory for Manufacturing and Productivity Iagnemma, Karl Kewlani, Gaurav Iagnemma, Karl The ability of mobile robots to quickly and accurately analyze their dynamics is critical to their safety and efficient operation. In field conditions, significant uncertainty is associated with terrain and/or vehicle parameter estimates, and this must be considered in an analysis of robot motion. Here a Multi-Element generalized Polynomial Chaos (MEgPC) approach is presented that explicitly considers vehicle parameter uncertainty for long term estimation of robot dynamics. It is shown to be an improvement over the generalized Askey polynomial chaos framework as well as the standard Monte Carlo scheme, and can be used for efficient, accurate prediction of robot dynamics. United States. Army Research Office (contract number W912HZ-08-C-0062) 2010-10-21T15:31:41Z 2010-10-21T15:31:41Z 2009-12 2009-10 Article http://purl.org/eprint/type/JournalArticle 978-1-4244-3803-7 INSPEC Accession Number: 11010168 http://hdl.handle.net/1721.1/59443 Kewlani, G., and K. Iagnemma. “A Multi-Element generalized Polynomial Chaos approach to analysis of mobile robot dynamics under uncertainty.” Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on. 2009. 1177-1182. ©2009 Institute of Electrical and Electronics Engineers. https://orcid.org/0000-0001-6244-0069 en_US http://dx.doi.org/10.1109/IROS.2009.5354420 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009 Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Institute of Electrical and Electronics Engineers IEEE |
| spellingShingle | Kewlani, Gaurav Iagnemma, Karl A multi-element generalized polynomial chaos approach to analysis of mobile robot dynamics under uncertainty |
| title | A multi-element generalized polynomial chaos approach to analysis of mobile robot dynamics under uncertainty |
| title_full | A multi-element generalized polynomial chaos approach to analysis of mobile robot dynamics under uncertainty |
| title_fullStr | A multi-element generalized polynomial chaos approach to analysis of mobile robot dynamics under uncertainty |
| title_full_unstemmed | A multi-element generalized polynomial chaos approach to analysis of mobile robot dynamics under uncertainty |
| title_short | A multi-element generalized polynomial chaos approach to analysis of mobile robot dynamics under uncertainty |
| title_sort | multi element generalized polynomial chaos approach to analysis of mobile robot dynamics under uncertainty |
| url | http://hdl.handle.net/1721.1/59443 https://orcid.org/0000-0001-6244-0069 |
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