Publications




Abstract:

Here are significant research challenges for design of a reliable mechanism of operation in autonomous multi-agent systems (MAS). This demands several fundamental advances in distributed localization, guidance, navigation, and state estimation. Control and coordination of a team of mobile robots for cooperative functions in harsh and remote environments in space is an even greater challenge than the MAS systems on earth’s surface. In particular, as opposed to dealing with single system dynamics, here the problem is the dynamics and consensus of the entire swarm state. Our goal is to study the Smartphone Video Guidance System (SVGS) camera system as a potential navigation camera sensor and create a framework to obtain relative and global states of multi-agent groups. The goal is for rovers to obtain a reliable estimation of the other agents through a decentralized state estimation method, targeted at robots searching for water-ice in the challenging domain of the lunar south pole.

Citation:

Fekrmandi, Hadi, Alexander J. Frye, Amirhossein Tamjidi, John Rakoczy, and Randy C. Hoover. “Autonomous Multi-agent Systems Using SVGS Camera Sensor for Lunar Surface Mobility Applications.” In 2021 IEEE Aerospace Conference (50100), pp. 1-10. IEEE, 2021. DOI






Autonomous Multi-agent Systems Using SVGS Camera Sensor for Lunar Surface Mobility Applications






A Novel Framework for Fault Identification and Risk Management (F.I.R.M.) of Autonomous Systems






A case study on influence of utilizing hill-type muscles on mechanical efficiency of biped running gait





Toward Enabling a Reliable Quality Monitoring System for Additive Manufacturing Process using Deep Convolutional Neural Networks





Robotic Inspection Crawler for Small Diameter Complex Piping



Contact and non-contact approaches in load monitoring applications using surface response to excitation method




Validation of Vision-Based State Estimation for Localization of Agents and Swarm Formation




Modular robotic crawler with hybrid locomotion for inspection of small diameter pipe


Autonomous Inspection and Maintenance (AIM) Crawler for Nondestructive Testing and Evaluation of Cu-Ni Piping System in Highly Corrosive Environments



Vision-based Guidance and Navigation for Swarm of Small Satellites in a Formation Flying Mission.



A pipe-crawling robot using bio-inspired peristaltic locomotion and modular actuated non-destructive evaluation mechanism.






A data-driven approach of load monitoring on laminated composite plates using support vector machine






Reliability of surface response to excitation method for data-driven prognostics using Gaussian process regression



Buckypaper/DYAD/Buckypaper and Buckypaper/DYAD/ (polyaniline/multiwalled carbon nanotube) composite sensors: Preparation and damping properties characterization








Implementation of the Surface Response to Excitation Method for Pipes







Load Monitoring Using Surface Response to Excitation Method





Non-contact Quantification of Longitudinal and Circumferential Defects in Pipes Using the Surface Response to Excitation (SURE) Method


Page Author: Samuel Irwin, BS student Mechanical Engineering, SDSMT

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