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    REU Report: Designing a Universal Robotics Platform

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    UG_99-1.pdf (157.9Kb)
    No. of downloads: 498

    Date
    1999
    Author
    Wojtkowski, Stephanie
    Advisor
    Krishnaprasad, P.S.
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    Abstract
    In this paper, I describe Motion Description Language extended (MDLe), a computer platform designed to communicate with any robot. This platform will integrate the hierarchical ease of behavior-based programming and the mathematics of control theory. The path of a robot is broken down into smaller and smaller pieces, from plans to behaviors to atoms to controls, until it can finally be described by the speeds of the two wheels. A planner will later be added to perform path planning. All possible paths will be calculated using control theory, then some will be ruled out due to the non-holonomic constraint. The rest will then be considered to find the optimum path to complete the task. The ultimate goal of this research is to create a system that can autonomously navigate the robot through unfamiliar surroundings.
    URI
    http://hdl.handle.net/1903/6051
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    • Institute for Systems Research Technical Reports

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