MULTI-PURPOSE ALL TERRAIN MOBILE ROBOTS FOR TELE-OPERATIONS
This 8-wheeler is designed to search for items buried underground using ground penetrating radars. Click on the video to see the robot.
TRAJECTORY TRACKING CONTROL OF UNICYCLE ROBOTS WITH COLLISION AVOIDANCE AND CONNECTIVITY MAINTENANCE
Utilizing the gradients of collision avoidance and connectivity potential fields in designing reference orientations, we derive control laws for unicycle robots and show that they can track reference trajectories with bounded errors, which can be made arbitrarily small, while avoiding inter-agent collisions and ensuring that the communication among the agents is maintained.
See video of obstacle avoidance and connectivity maintenance.
VISION-BASED TRACKING IS ACHIEVED USING A STEREO CAMERA MOUNTED ON A MOBILE MANIPULATOR
See video here for localization using 3D Cameras.
USING HEAD MOTION AND IMAGE PROCESSING TO CONTROL A ROBOTIC SYSTEM
See video here for head motion control.