Compensating for model uncertainty in the control of cooperative field robots
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2002.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2005
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| Online Access: | http://hdl.handle.net/1721.1/8021 |
| _version_ | 1826205511645659136 |
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| author | Sujan, Vivek Anand, 1972- |
| author2 | . |
| author_facet | . Sujan, Vivek Anand, 1972- |
| author_sort | Sujan, Vivek Anand, 1972- |
| collection | MIT |
| description | Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2002. |
| first_indexed | 2024-09-23T13:14:14Z |
| format | Thesis |
| id | mit-1721.1/8021 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T13:14:14Z |
| publishDate | 2005 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/80212019-04-13T00:07:02Z Compensating for model uncertainty in the control of cooperative field robots Sujan, Vivek Anand, 1972- . Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2002. Includes bibliographical references (p. 113-123). Current control and planning algorithms are largely unsuitable for mobile robots in unstructured field environment due to uncertainties in the environment, task, robot models and sensors. A key problem is that it is often difficult to directly measure key information required for the control of interacting cooperative mobile robots. The objective of this research is to develop algorithms that can compensate for these uncertainties and limitations. The proposed approach is to develop physics-based information gathering models that fuse available sensor data with predictive models that can be used in lieu of missing sensory information. First, the dynamic parameters of the physical models of mobile field robots may not be well known. A new information-based performance metric for on-line dynamic parameter identification of a multi-body system is presented. The metric is used in an algorithm to optimally regulate the external excitation required by the dynamic system identification process. Next, an algorithm based on iterative sensor planning and sensor redundancy is presented to enable field robots to efficiently build 3D models of their environment. The algorithm uses the measured scene information to find new camera poses based on information content. Next, an algorithm is presented to enable field robots to efficiently position their cameras with respect to the task/target. The algorithm uses the environment model, the task/target model, the measured scene information and camera models to find optimum camera poses for vision guided tasks. Finally, the above algorithms are combined to compensate for uncertainties in the environment, task, robot models and sensors. This is applied to a cooperative robot assembly task in an unstructured environment. (cont.) Simulations and experimental results are presented that demonstrate the effectiveness of the above algorithms on a cooperative robot test-bed. by Vivek Anand Sujan. Ph.D. 2005-08-24T22:07:57Z 2005-08-24T22:07:57Z 2002 2002 Thesis http://hdl.handle.net/1721.1/8021 52297360 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 166 leaves 15708453 bytes 15708208 bytes application/pdf application/pdf application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Sujan, Vivek Anand, 1972- Compensating for model uncertainty in the control of cooperative field robots |
| title | Compensating for model uncertainty in the control of cooperative field robots |
| title_full | Compensating for model uncertainty in the control of cooperative field robots |
| title_fullStr | Compensating for model uncertainty in the control of cooperative field robots |
| title_full_unstemmed | Compensating for model uncertainty in the control of cooperative field robots |
| title_short | Compensating for model uncertainty in the control of cooperative field robots |
| title_sort | compensating for model uncertainty in the control of cooperative field robots |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/8021 |
| work_keys_str_mv | AT sujanvivekanand1972 compensatingformodeluncertaintyinthecontrolofcooperativefieldrobots |