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Research

Current Direction

Right now I am looking at the problem of transient failures in robotic systems.

Robots present an interesting set of problems because they must move and operate in real world environments with imperfect information, erroneous sensors and imprecise actuators. The additional requirement that the robot be robust to a wide range of errors further complicates the matter. For the time being I am investigating transient failures.

Transient failures present two main problems: Detection and Recovery. Detection requires either spatial (hardware) or temporal (execution) redundancy. How to best provide this redundancy is the first interesting problem; it involves trade-offs between hardware resources, processing time, and network bandwidth (if other robots are used to provide the redundancy).

Current Timeline

Road Map 
DateGoal
10/15/15Submit to RTAS 2016
??Journal Submission
February 16ECRTS - not likely, RT conference
April 16EMSOFT
April 16OSPERT

Past Exploration

By nature, the content of this wiki is biased to my past research directions. My earlier research was concerned with planning for cooperative robots as well as the architectures used.


Decent Examples

Here are a few pages that are for the most part complete. These are what the other pages aspire to look like:


TODO:

I am making a push to better flush out this wiki. Too many pages are basically just stubs. Here is a listing of pages in need of triage (not being on this list does not imply completeness: these are just the priority pages).

Needs Updating (list incomplete):

Old TODO:

  • Bring over Embedded Software Archs. etc.
  • Path Planning
  • General Planning
  • Local Navigation
  • Composite64 work.
  • Organize research bookmarks, pull in, attribute
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Page last modified on September 21, 2015, at 04:21 PM