Disaster recovery robots must operate in unstructured environments where wheeled or tracked motion may not be feasible or where it may be subject to extreme slip. Many industrial disaster scenarios also preclude reliance on GNSS or other external signals as robots are deployed indoors or underground. Two of the candidates for precise positioning in these scenarios are visual odometry and inerti...

A goal of robotics has been to develop mechanisms that have the efficiency and speed of wheeled robots with the terrain flexibility of legged robots. In previous work, we have proposed a unique three-legged mechanism, the rotopod, designed to integrate these two useful approaches to locomotion. In this paper, we present an analysis of the variety of gaits that can be exhibited by the rotopod. W...

The present paper deals with the coordination issues of multiple wheeled robots working in a common dynamic environment, in a decentralized manner. Two different motion planners, one based on Neural Network and other using the potential field method have been developed to plan the motion of the robots. A strategic approach has been proposed to develop the decision making support. Performance of...

The wheeled robots have been successfully applied in many aspects, such as industrial handling vehicles, and wheeled service robots. To improve the safety and reliability of wheeled robots, this paper presents a novel hybrid fault diagnosis framework based on Mittag-Leffler kernel (ML-kernel) support vector machine (SVM) and Dempster-Shafer (D-S) fusion. Using sensor data sampled under differen...

Q-learning in the Reinforcement Learning (RL) field is the powerful and attractive tool to make robots generate autonomous behavior. But it needs large amount of computational cost because of its discrete state and action. To generated smooth trajectory with less computational cost, we propose two ingredients for Qlearning. We applied Q-learning to the simulated two wheeled robot to generate tr...

In this study, stability control of a three-wheeled vehicle with two wheels on the front axle, a three-wheeled vehicle with two wheels on the rear axle, and a standard four-wheeled vehicle are compared. For vehicle dynamics control systems, the direct yaw moment control is considered as a suitable way of controlling the lateral motion of a vehicle during a severe driving maneuver. In accorda...