Learning Robot Dynamics for Computed Torque Control Using Local Gaussian Processes Regression (2008)
Nguyen-Tuong, D., Peters, J., Stoica, A., Tunstel, E., Huntsberger, T., Arslan, T., ...
Accurate models of the robot dynamics allow the design of significantly more precise, energy-efficient and more compliant computed torque control for robots. However, in some cases the accuracy of...
Soft comuting for autonomous robotic systems p (2007)
K. Kumbla, E. Tunstel, M. Jamshidi
Neural networks (NN), genetic algorithms (GA), and genetic programming (GP) are augmented with fuzzy logic-based schemes to enhance arti#cial intelligence of automated systems. Such hybrid...
Fuzzy haptic augmentation for telerobotic stair climbing (2007)
Horan, Ben, Nahavandi, Saeid, Creighton, Douglas, Tunstel, E.
Teleoperated robotic systems provide a valuable solution for the exploration of hazardous environments. The ability to explore dangerous environments from the safety of a remote location represents...
Fuzzy haptic augmentation for telerobotic stair climbing (2007)
Horan, Ben, Nahavandi, Saeid, Creighton, Douglas, Tunstel, E.
Teleoperated robotic systems provide a valuable solution for the exploration of hazardous environments. The ability to explore dangerous environments from the safety of a remote location represents...
Safe navigation on hazardous terrain (2004)
Tunstel, E., Seraji, H., Howard, A.
This paper presents a new strategy for autonomous navigation of field mobile robots on hazardous natural terrain using a fuzzy logic approach and a novel measure of terrain transversability.
Coordination of Distributed Fuzzy Behaviors in Mobile Robot Control (2004)
This presentation describes an approach to behavior coordination and conflict resolution within the context of a hierarchical architecture of fuzzy behaviors. Coordination is achieved using weighted...
An Integrated Architecture for Cooperation Rovers (2004)
Estlin, T., Das, H., Hayati, S., Jain, A., Yen, J., Petras, R., ...
The paper presents a rover execution architecture for controlling multiple, cooperating rovers. The overall goal of this architecture is to coordinate multiple rovers in performing complex tasks for...
Evolution of Autonomous Self-Righting Behaviors for Articulated Nanorovers (2004)
Minature rovers with articulated mobility mechanisms are being developed for planetary surface exploration on Mars and small solar system bodies.
FIDO rover system enhancements for high fidelity mission simulations (2004)
Tunstel, E., Huntsberger, T., Trebi-Ollennu, A., Aghazarian, H., Garrett, M., Leger, C., ...
We describe the approach taken to improve mission-relevant fidelity of the rover system in support of resource modeling, contingency sequencing, and added rover functionality as proposed for the...
Soft computing approach to safe navigation of autonomous planetary rovers (2004)
Tunstel, E., Seraji, H., Howard, A.
This chapter describes fundamental research aimed at achieving such long-term objectives through application of soft computing techniques for safe and reliable autonomous rover navigation.
Fuzzy Behavior Modulation with Threshold Activation for Autonomous Vehicle Navigation (2004)
This paper describes fuzzy logic techniques used in a hierarchical behavior-based architecture for robot navigation.
FIDO Rover field trials as rehearsal for the NASA 2003 Mars Exploration Rovers mission (2004)
Tunstel, E., Huntsberger, T., Aghazarian, H., Backes, P., Baumgartner, E., Cheng, Y., ...
This paper describes recent field trials performed using the FIDO rover, an advanced NASA technology development platform and research prototype for the next planned rover mission to Mars.
Rover autonomy for long range navigation and science data acquisition on planetary surfaces (2004)
Huntsberger, T., Aghazarian, H., Cheng, Y., Baumgartner, E. T., Tunstel, E., Leger, C., ...
This paper describes recent work undertaken at the Jet Propulsion Laboratory in Pasadena, CA in the area of increased rover autonomy for planetary surface operations.
Sensing and perception challenges of planetary surface robotics (2004)
This expository paper describes sensing and perception issues facing the space robotics community concerned with deploying autonomous rovers on other planetary surfaces.
A rule-based fuzzy traversability index for mobile robot navigation (2004)
Howard, A., Seraji, H., Tunstel, E.
This paper presents a rule-based fuzzy traversability index that quantifies the ease-of-traversal of a terrain by a mobile robot based on real-time measurements of terrain characteristics retrieved...
Fuzzy rule-based reasoning for rover safety and survivability (2004)
Tunstel, E., Howard, A., Seraji, H.
Operatiional safety and health monitoring are critical matters for autonomous field mobile robots such as planetary rovers operating on challenging terrain. This paper describes relevant rover safety...
Tunstel, E., Howard, A., Edwards, D., Carlson, A.
This paper presents a technique for learning to assess terrain traversability for outdoor mobile robot navigation using human-embedded logic and real-time perception of terrain features extracted...
Approximate reasoning for safety and survivability of planetary rovers (2004)
This paper describes rover safety issues and presents an approximate reasoning approach to maintaining vehicle safety in a navigational context.
Soft Computing Paradigms for Learning Fuzzy Controllers with Applications to Robotics (1996)
Tunstel Akbarzadeh-T, E. Tunstel, K. Kumbla, M. Jamshidi
Three soft computing paradigms for automated learning in robotic systems are briefly described. The first employs Genetic Programming (GP) to evolve rules for fuzzy-behaviors to be used in mobile...
Hybrid Fuzzy Control Schemes for Robotic Systems (1995)
E. Tunstel, K. Kumbla, M. Jamshidi
Three hybrid fuzzy control schemes for robotics applications are described. The first scheme concentrates on a control architecture which incorporates fuzzy logic theory into the framework of...