Browsing Technical Reports by Issue Date

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  • Modeling of a Hexapod Robot; Kinematic Equivalence to a Unicycle 
    Panagou, Dimitra; Tanner, Herbert (Department of Mechanical Engineering, University of Delaware, 2009-04)
    This report describes the kinematic and dynamic modeling of a hexapod robot. The 6-DOF (degrees of freedom) analytical kinematic and dynamic equations of motion are derived following the classical Newtonian mechanics. Under ...
  • Composition of Context-Free Motion Description Languages 
    Zhang, Wenqi; Tanner, Herbert (Department of Mechanical Engineering, University of Delaware, 2010)
    We introduce a new formalism to define compositions of interacting heterogeneous systems, described by extended motion description languages (MDLes). The novelty of the formalism is in producing a composed system with a ...
  • Randomized Model Predictive Navigation 
    Tanner, Herbert; Piovesan, Jorge (Department of Mechanical Engineering, University of Delaware, 2010-02)
    A new methodology for implementing nonlinear receding horizon optimization is presented, with direct application to robot navigation in cluttered environments. The methodology combines elements from statistical learning theory ...
  • Topology Optimization in Cellular Neural Networks 
    Bhambhani, Varsha; Tanner, Herbert (Department of Mechanical Engineering, University of Delaware, 2010-07)
    This paper establishes a new constrained combinatorial optimization approach to the design of cellular neural networks with sparse connectivity. This strategy is applicable to cases where maintaining links between ...
  • Multi-agent navigation functions: Have we missed something? 
    Tanner, Herbert; Boddu, Adithya (Department of Mechanical Engineering, University of Delaware, 2010-08)
    This paper presents a methodology for designing (centralized) control laws which can probably steer a group of robotic agents to fall into a formation of arbitrary shape, while following collision free trajectories. The ...
  • Behavior modeling for hybrid robotic vehicles 
    Rawal, Chetan (Department of Mechanical Engineering, University of Delaware, 2011-10)
    The behavior of a certain class of hybrid robotic systems can be expressed using formal languages. In this work, we show how languages can be generated from discrete abstractions of such hybrid systems; that these languages ...

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