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Proceedings Papers

PD Controller With Self Adaptive Gains for Quadrotor Waypoint Navigation

Madhavan Sudakar, Siddharth Sridhar, Manish Kumar
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T03A005, October 5–7, 2020
Paper No: DSCC2020-3327
DOI: https://doi.org/10.1115/DSCC2020-3327
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Topics: Control equipment, Navigation, Adaptive control, Control algorithms, Degrees of freedom, Dynamics (Mechanics), Errors, Flight, Stability
Proceedings Papers

The Effect of Simultaneous Auditory and Visual Sensing Cues in a Two-Dimensional Vicsek Model

Jeremy Lemus, Subhradeep Roy
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T30A005, October 5–7, 2020
Paper No: DSCC2020-3277
DOI: https://doi.org/10.1115/DSCC2020-3277
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Topics: Composite materials, Computer simulation, Navigation, Particulate matter
Proceedings Papers

Dynamic Prediction-Based Optical Localization of a Robot During Continuous Movement

Jason N. Greenberg, Xiaobo Tan
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T25A005, October 5–7, 2020
Paper No: DSCC2020-3288
DOI: https://doi.org/10.1115/DSCC2020-3288
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Topics: Robots, Bearings, Mobile robots, Data collection, Filtration, Navigation, Simulation
Proceedings Papers

Visual Navigation of Wheeled Mobile Robots Using Deep Reinforcement Learning: Simulation to Real-Time Implementation

Ezebuugo Nwaonumah, Biswanath Samanta
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T05A010, October 5–7, 2020
Paper No: DSCC2020-3279
DOI: https://doi.org/10.1115/DSCC2020-3279
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Topics: Artificial neural networks, Mobile robots, Navigation, Reinforcement learning, Robots, Simulation
Proceedings Papers

Developmental Reinforcement Learning of Control Policy of a Quadcopter UAV With Thrust Vectoring Rotors

Aditya M. Deshpande, Rumit Kumar, Ali A. Minai, Manish Kumar
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T36A011, October 5–7, 2020
Paper No: DSCC2020-3319
DOI: https://doi.org/10.1115/DSCC2020-3319
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Topics: Reinforcement learning, Rotors, Thrust, Unmanned aerial vehicles, Control equipment, Design, Flight, Simulation, Actuators, Robots
Proceedings Papers

Navigation and Obstacle Avoidance of Snake-Robot Guided by a Co-Robot UAV Visual Servoing

Mahdi Haghshenas-Jaryani, Hakki Erhan Sevil, Liang Sun
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T05A001, October 5–7, 2020
Paper No: DSCC2020-3156
DOI: https://doi.org/10.1115/DSCC2020-3156
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Topics: Navigation, Robots, Unmanned aerial vehicles, Visual servoing, Computers, Construction, Control equipment, Engineering simulation, Integrated systems, Sensors
Proceedings Papers

Behavior Identification and Prediction for a Probabilistic Risk Framework

Jasprit S. Gill, Pierluigi Pisu, Venkat N. Krovi, Matthias J. Schmid
Proc. ASME. DSCC2019, Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control, V002T25A004, October 8–11, 2019
Paper No: DSCC2019-9097
DOI: https://doi.org/10.1115/DSCC2019-9097
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Topics: Risk, Traffic, Vehicles, Navigation, Safety, Simulation results, System architecture, Trajectories (Physics)
Proceedings Papers

Following Fast-Dynamic Targets With Only Slow and Delayed Visual Feedback: A Kalman Filter and Model-Based Prediction Approach

Hui Xiao, Xu Chen
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T19A004, October 8–11, 2019
Paper No: DSCC2019-9022
DOI: https://doi.org/10.1115/DSCC2019-9022
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Topics: Feedback, Kalman filters, Delays, Robotics, Dynamics (Mechanics), Algorithms, Manipulators, Modeling, Navigation, Robots
Proceedings Papers

Negative Obstacle Detection Using LiDAR Sensors for a Robotic Wheelchair

Taylor E. Baum, Kelilah L. Wolkowicz, Joseph P. Chobot, Sean N. Brennan
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T37A011, September 30–October 3, 2018
Paper No: DSCC2018-9231
DOI: https://doi.org/10.1115/DSCC2018-9231
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Topics: Robotics, Sensors, Wheelchairs, Algorithms, Curbs (Roads), Errors, Lasers, Navigation, Safety, Wounds
Proceedings Papers

Proportional Navigation and Model Predictive Control of an Unmanned Autonomous Vehicle for Obstacle Avoidance

Ryan P. Shaw, David M. Bevly
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T37A004, September 30–October 3, 2018
Paper No: DSCC2018-9080
DOI: https://doi.org/10.1115/DSCC2018-9080
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Topics: Navigation, Predictive control, Vehicles, Algorithms, Control equipment, Dynamic models, Integrated systems, Simulation, Simulation results, Trajectories (Physics)
Proceedings Papers

Reconfigurable Fault-Tolerant Tilt-Rotor Quadcopter System

Rumit Kumar, Siddharth Sridhar, Franck Cazaurang, Kelly Cohen, Manish Kumar
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T37A008, September 30–October 3, 2018
Paper No: DSCC2018-9197
DOI: https://doi.org/10.1115/DSCC2018-9197
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Topics: Rotors, Flight, Failure, Propellers, Unmanned aerial vehicles, Control equipment, Fault tolerance, Design, Dynamic models, Dynamics (Mechanics)
Proceedings Papers

Navigation Strategies for a Multi-Robot Ground-Based Row Crop Phenotyping Platform

Tianshuang Gao, Hamid Emadi, Homagni Saha, Jiaoping Zhang, Alec Lofquist, Arti Singh, Baskar Ganapathysubramanian, Soumik Sarkar, Asheesh Singh, Sourabh Bhattacharya
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T32A009, September 30–October 3, 2018
Paper No: DSCC2018-9096
DOI: https://doi.org/10.1115/DSCC2018-9096
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Topics: Navigation, Robots, Algorithms, Collisions (Physics), Engineering simulation, Scalar functions, Simulation, Teams
Proceedings Papers

Discriminating Spatial Intent From Noisy Joystick Signals for Wheelchair Path Planning and Guidance

Kelilah L. Wolkowicz, Robert D. Leary, Jason Z. Moore, Sean N. Brennan
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T37A010, September 30–October 3, 2018
Paper No: DSCC2018-9228
DOI: https://doi.org/10.1115/DSCC2018-9228
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Topics: Path planning, Signals, Wheelchairs, Engines, Motors, Algorithms, Diseases, Navigation, Patient monitoring, Probability
Proceedings Papers

Developing Moving Horizon Estimation Based Ranging Measurement for Supporting Vision-Aided Inertial Navigation System

Trung Nguyen, George K. I. Mann, Andrew Vardy, Raymond G. Gosine
Proc. ASME. DSCC2017, Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications, V002T17A006, October 11–13, 2017
Paper No: DSCC2017-5185
DOI: https://doi.org/10.1115/DSCC2017-5185
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Topics: Navigation, Filters, Optimization, Sensors, Design, Dimensions, Errors, Kalman filters, Trajectories (Physics), Vehicles
Proceedings Papers

Relative Position Estimation Using Monocular Camera and Ultra-Wide Band Ranging

Jeremy J. Dawkins
Proc. ASME. DSCC2017, Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications, V002T04A006, October 11–13, 2017
Paper No: DSCC2017-5273
DOI: https://doi.org/10.1115/DSCC2017-5273
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Topics: Aircraft, Algorithms, Light-emitting diodes, Navigation, Rotors, Vehicles
Proceedings Papers

Autonomous Mobile Sensing Platform for Spatio-Temporal Plant Phenotyping

Homagni Saha, Tianshuang Gao, Hamid Emadi, Zhanhong Jiang, Arti Singh, Baskar Ganapathysubramanian, Soumik Sarkar, Asheesh Singh, Sourabh Bhattacharya
Proc. ASME. DSCC2017, Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications, V002T21A005, October 11–13, 2017
Paper No: DSCC2017-5207
DOI: https://doi.org/10.1115/DSCC2017-5207
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Topics: Decision making, Design, Dynamics (Mechanics), Flow (Dynamics), Modeling, Navigation, Robots, Steering systems
Proceedings Papers

Kalman Filtering-Aided Optical Localization of Mobile Robots: System Design and Experimental Validation

Jason N. Greenberg, Xiaobo Tan
Proc. ASME. DSCC2017, Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications, V002T21A013, October 11–13, 2017
Paper No: DSCC2017-5368
DOI: https://doi.org/10.1115/DSCC2017-5368
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Topics: Design, Filtration, Mobile robots, Bearings, Errors, Kalman filters, Navigation, Robots
Proceedings Papers

Admittance Based Force Control for Collaborative Transportation of a Common Payload Using Two UAVs

Shraddha Barawkar, Mohammadreza Radmanesh, Manish Kumar, Kelly Cohen
Proc. ASME. DSCC2017, Volume 3: Vibration in Mechanical Systems; Modeling and Validation; Dynamic Systems and Control Education; Vibrations and Control of Systems; Modeling and Estimation for Vehicle Safety and Integrity; Modeling and Control of IC Engines and Aftertreatment Systems; Unmanned Aerial Vehicles (UAVs) and Their Applications; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Control of Smart Buildings and Microgrids; Energy Systems, V003T39A007, October 11–13, 2017
Paper No: DSCC2017-5278
DOI: https://doi.org/10.1115/DSCC2017-5278
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Topics: Force control, Mechanical admittance, Transportation systems, Unmanned aerial vehicles, Control equipment, Trajectories (Physics), Feedback, Computer simulation, Dampers, Errors
Proceedings Papers

Safe Navigation With the Collision Avoidance of a Brownian Motion Obstacle

Alexey A. Munishkin, Dejan Milutinović, David W. Casbeer
Proc. ASME. DSCC2017, Volume 3: Vibration in Mechanical Systems; Modeling and Validation; Dynamic Systems and Control Education; Vibrations and Control of Systems; Modeling and Estimation for Vehicle Safety and Integrity; Modeling and Control of IC Engines and Aftertreatment Systems; Unmanned Aerial Vehicles (UAVs) and Their Applications; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Control of Smart Buildings and Microgrids; Energy Systems, V003T39A009, October 11–13, 2017
Paper No: DSCC2017-5295
DOI: https://doi.org/10.1115/DSCC2017-5295
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Topics: Brownian motion, Collisions (Physics), Navigation, Optimal control, Vehicles, Computer simulation, Time optimal control, Uncertainty
Proceedings Papers

Development of a Swarm UAV Simulator Integrating Realistic Motion Control Models for Disaster Operations

Kazi Tanvir Ahmed Siddiqui, David Feil-Seifer, Tianyi Jiang, Sonu Jose, Siming Liu, Sushil Louis
Proc. ASME. DSCC2017, Volume 3: Vibration in Mechanical Systems; Modeling and Validation; Dynamic Systems and Control Education; Vibrations and Control of Systems; Modeling and Estimation for Vehicle Safety and Integrity; Modeling and Control of IC Engines and Aftertreatment Systems; Unmanned Aerial Vehicles (UAVs) and Their Applications; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Control of Smart Buildings and Microgrids; Energy Systems, V003T39A003, October 11–13, 2017
Paper No: DSCC2017-5177
DOI: https://doi.org/10.1115/DSCC2017-5177
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Topics: Disasters, Motion control, Unmanned aerial vehicles, Simulation, User interfaces, Control equipment, Navigation