Robotics Events Calendar

Event Information

Special Robotics Seminar: Dr. Jinho Kim, "Cooperative Robot Exploration Strategy for Quadrotor UAVs"
Tuesday, March 5, 2019
10:00 a.m.
2164 Martin Hall (DeWalt Seminar Room)
For More Information:
Ania Picard
301 405 4358
appicard@umd.edu

Special Robotics Seminar

Cooperative Robot Exploration Strategy for a Team of Quadrotor UAVs

Dr. Jinho Kim
University of Maryland, Baltimore County

Abstract

This presentation presents a cooperative robot exploration strategy in an unknown environment integrated with Sensor-based Selective Nodechain (SSN) for a team of quadrotor Unmanned Aerial Vehicles (UAVs). In the previously proposed exploration strategies for mobile robots, the backtracking path is not optimized, so that the exploration strategies are inefficient by consuming more exploration time with detours. In addition, ground mobile robots cannot move to the same point on the two-dimensional (2D) plane at the same time during their exploration. Furthermore, ground robots occasionally are obstructed by one another due to topographical factors.

To resolve the limitations and drawbacks, a Cooperative Sensor-based Selective Nodechain (CSSN) exploration strategy is developed for multiple quadrotors with a merged frontier identification technique, the SSN-Merged. By employing the SSN-Merged technique, the next target node is selected with an optimized coverage of frontier using a Selective Target Node (STN) method. Furthermore, to expand the proposed strategy to the three-dimensional (3D) workspace with quadrotors, a Multiple Flight Levels (MFL) approach is proposed with an Integrated Sliding Mode Controller (ISMC) to increase the efficiency of the exploration. During the backtracking mode, when the quadrotor reaches a dead end where no frontier exists, the proposed nodechain helps to generate the optimized paths, so that the backtracking algorithm chooses the best path to backtrack efficiently.

Host

Dr. Miao Yu

Biography

Dr. Jinho Kim received his doctoral degree and master’s degree in Mechanical Engineering at the University of Maryland, Baltimore County in 2018 and 2017, respectively. He received his bachelor’s degree in Aerospace Engineering at the Chungnam National University, South Korea in 2011. His research interests include application of nonlinear control theory, vision-based autonomous control and navigation.

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