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...

This paper proposes a novel and mechanically decoupled leg and wheel hybrid transformable robot called HyTRo-I that combines two mobility concepts. For example, while wheeled vehicles shares higher speed than legged and tracked machines on a flat ground, they have relatively lower degree of flexibility than the other two on irregular terrain. The HyTRo-I robot evolves three motion modes: wheele...

We plan to build a testbed consisting of 8-10 mobile vehicles with embedded computing and communications capability for use in testing new approaches for command and control across dynamic networks. The proposed system will allow testing of a variety of communications-related technologies that are relevant to future DoD systems, including distributed command and control algorithms, dynamically ...

The instantaneous centers of rotation (ICRs) for the two treads skid-steer vehicles moving with low inertia on hard horizontal terrain almost remain constant local coordinates, which allows to establish an equivalence differential-drive locomotion. However, this significant kinematic relationship has not been analyzed yet sloped ground. One relevant difficulty studying ICR behavior inclined ter...

Although walking machines exhibit many advantages over wheeled or tracked vehicles, legged vehicles have yet to be introduced in real applications because of the primitive development of specific techniques such as gait generation. This article addresses the design, implementation and experimentation of gaits to negotiate uneven terrain with a real machine. The gaits presented are a mixture of ...

The motions of planar tracked vehicles are govemed by three force and moment equations, but driven by only two independent control variables. The force equation perpendicular to the tracks represents a d y n a m i c nonholonomic constraint which is explicitly dependent on vehicle speed. It couples path planning with trajectory planning, that is, solving for vehicle kinematic motions requires sp...

Why Ice? From ancient Chinese literature, Li et al. (1) learned that the Large Stone Carving (>300 tons) was transported to the Forbidden City on a wooden sledge that was hauled by men across an icy road, during the period between the winter solstice (December 22 ± 1 d) and late January when the average temperature in Beijing at the time was found to be −3.7 ± 0.5 °C. Although a detailed accoun...

A convoy problem is formulated and solved for two four-wheeled vehicles. The task is for the second vehicle to follow the leader’s trajectory with a constant time delay. This delayed trajectory can be viewed as the trajectory of a delayed leader. This novel constant-time-delay concept allows for the estimation of the delayed leader’s speed and heading using the vehicle kinematics. Decoupled lon...

The Cognitive Robotic System (CRS) has been developed to use the Soar cognitive architecture for the control of unmanned vehicles and has been tested on two heterogeneous ground robots: a six-legged robot (hexapod) and a wheeled robot. The CRS has been used to demonstrate the applicability of Soar for unmanned vehicles by using a Soar agent to control a robot to navigate to a target location in...