Simultaneous Localization and Mapping (SLAM) is the conventional chicken and egg problem where a robot has to map the environment as well as localize itself in the newly [...]

In contrast to hard automation, which relies on the precise knowledge of all parameters and special-purpose machinery, the goal of flexible assembly is to overcome the i[...]

In this dissertation we study the interactions between free bodies and unsteady viscous flows, with particular interest in locomotion and in particle transport in streami[...]

This research proposes the use of a robotic system for soccer training. The purpose of this research is to devise, build, and demonstrate a vector-based mecanum-drive ro[...]

Picking and placing parts is a fundamental operation involved in circuit board manufacturing and assembly plants. Pin thru-hole (PTH) components with non-standard feature[...]

Recently, small radio-controllable aircraft known as quadrotors, or quadcopters, have become very popular. These aircraft have the ability to vertically takeoff and move [...]

Autonomous exploration using mobile robots, commonly referred to as robotic exploration, entails simultaneously performing robot perception, localization, and motion plan[...]

A key goal in robotics is to enable autonomous motion for mobile robots in a real world dynamic environment with unknown obstacles. This problem requires bringing togethe[...]

This dissertation introduces new models for the locomotion and control of mechanical and hydrodynamic systems that exhibit symmetry, constraints, and control. I introduc[...]

Gathering information on robot motion is critical in determining how a mobile robothas interacted in its environment. The information about a robot’s motion, called odome[...]