Autonomous Stair Climbing Jul 3 0 2003 Barker Libraries Autonomous Stair Climbing
نویسندگان
چکیده
As the face of warfare changes, the military has started to explore the application of robotics on the battlefield. Robots give soldiers a flexible, technologically advanced, disposable set of eyes and ears to assist them with their goal. This thesis deals with the design and implementation of a system to allow a small highly mobile tactical robot to climb stairs autonomously. A subsumption architecture is used to coordinate and control the maneuver. Various approaches to the problem including evolved architectures and use of contraction analysis are explored. Code was written and tested for functionality with basic test software. The functionality of parts of the system and control architecture was tested on the robot in a simulated operational environment. Technical Supervisor: Dr. Jamie Anderson Title: Principal Member of Technical Staff & Group Leader GBB3 Thesis Advisor: Professor Leslie P. Kaelbling Title: Professor of Computer Science and Engineering
منابع مشابه
The International Journal of Robotics Research
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تاریخ انتشار 2014