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Proceedings Papers

Predictive Motion Planning for Autonomous Vehicles With Geometric Constraints via Convex Optimization

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Xiaoyuan Zhu, Jian Chen, Yan Ma, Jianqiang Deng, Yuexuan Wang
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, V002T31A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3169
https://doi.org/10.1115/DSCC2020-3169
View Paper titled, Predictive Motion Planning for Autonomous Vehicles With Geometric Constraints via Convex Optimization
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Topics: Autonomous vehicles, Optimization, Path planning, Vehicles, Algorithms, Roads, Decision making, Collisions (Physics), Modeling, Simulation results
Proceedings Papers

Contact-Rich Trajectory Generation in Confined Environments Using Iterative Convex Optimization

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Wei-Ye Zhao, Suqin He, Chengtao Wen, Changliu Liu
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, V002T31A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3208
https://doi.org/10.1115/DSCC2020-3208
View Paper titled, Contact-Rich Trajectory Generation in Confined Environments Using Iterative Convex Optimization
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Topics: Optimization, Trajectories (Physics), Robots, Collisions (Physics), Path planning, Algorithms, Assembly lines, Dynamics (Mechanics), Grinding, Manufacturing
Proceedings Papers

On the Ergodicity of an Autonomous Robot for Efficient Environment Explorations

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Rabiul Hasan Kabir, Kooktae Lee
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, V002T31A003, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3241
https://doi.org/10.1115/DSCC2020-3241
View Paper titled, On the Ergodicity of an Autonomous Robot for Efficient Environment Explorations
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Topics: Robots, Algorithms, Approximation, Simulation results
Proceedings Papers

Trajectory Generation From Paths for Autonomous Ground Vehicles

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Letian Lin, J. Jim Zhu
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, V002T31A004, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3300
https://doi.org/10.1115/DSCC2020-3300
View Paper titled, Trajectory Generation From Paths for Autonomous Ground Vehicles
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Topics: Autonomous vehicles, Trajectories (Physics), Algorithms, Vehicles, Boundary-value problems, Simulation results
Proceedings Papers

Interaction-Aware Behavior Planning for Autonomous Vehicles Validated With Real Traffic Data

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Jinning Li, Liting Sun, Wei Zhan, Masayoshi Tomizuka
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, V002T31A005, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3328
https://doi.org/10.1115/DSCC2020-3328
View Paper titled, Interaction-Aware Behavior Planning for Autonomous Vehicles Validated With Real Traffic Data
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Topics: Autonomous vehicles, Traffic, Algorithms, Collisions (Physics), Engineering simulation, Finishes, Simulation, Uncertainty
Proceedings Papers

Virtual Motion Camouflage Based Visual Servo Control of a Leaf Picking Mechanism

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Sinem Gozde Defterli, Yunjun Xu
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, V003T32A007, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9042
https://doi.org/10.1115/DSCC2018-9042
View Paper titled, Virtual Motion Camouflage Based Visual Servo Control of a Leaf Picking Mechanism
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Topics: Algorithms, Biomimetics, Diseases, End effectors, Engineering simulation, Hardware, Kinematics, Optimization, Risk, Robots
Proceedings Papers

Trust-Based Runtime Verification for Multi-Quad-Rotor Motion Planning With a Human-in-the-Loop

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Maziar Fooladi Mahani, Yue Wang
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, V003T32A014, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9174
https://doi.org/10.1115/DSCC2018-9174
View Paper titled, Trust-Based Runtime Verification for Multi-Quad-Rotor Motion Planning With a Human-in-the-Loop
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Topics: Path planning, Rotors, Human-robot interaction, Control equipment, Collisions (Physics), Decision making, Robots, Theoretical methods
Proceedings Papers

The Secant Method: Global Trajectory Planning With Variable Radius, Solid Obstacles

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Konrad J. Ahlin, Nader Sadegh, Ai-Ping Hu
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, V003T32A015, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9176
https://doi.org/10.1115/DSCC2018-9176
View Paper titled, The Secant Method: Global Trajectory Planning With Variable Radius, Solid Obstacles
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Topics: Algorithms, Path planning, Robotics, Trajectories (Physics)
Proceedings Papers

Modeling and Dynamics Analysis of a Beam-Hoverboard Self-Transportation System

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Amin Mehrvarz, Mohammad Javad Khodaei, William Clark, Nader Jalili
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, V003T32A008, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9048
https://doi.org/10.1115/DSCC2018-9048
View Paper titled, Modeling and Dynamics Analysis of a Beam-Hoverboard Self-Transportation System
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Topics: Dynamics (Mechanics), Modeling, Transportation systems, Pendulums, Degrees of freedom, Piezoelectric actuators, Rotation, Vibration, Wheels
Proceedings Papers

Algorithms for Localization and Routing of Unmanned Vehicles in GPS-Denied Environments

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Bingyu Wang, Sivakumar Rathinam, Rajnikant Sharma, Kaarthik Sundar
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, V003T32A001, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-8949
https://doi.org/10.1115/DSCC2018-8949
View Paper titled, Algorithms for Localization and Routing of Unmanned Vehicles in GPS-Denied Environments
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Topics: Algorithms, Vehicles, Optimization, Signals, Simulation results
Proceedings Papers

Ergodic Exploration for Adaptive Sampling of Water Columns Using Gliding Robotic Fish

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Osama Ennasr, Giorgos Mamakoukas, Todd Murphey, Xiaobo Tan
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, V003T32A016, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9179
https://doi.org/10.1115/DSCC2018-9179
View Paper titled, Ergodic Exploration for Adaptive Sampling of Water Columns Using Gliding Robotic Fish
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Topics: Robotics, Water, Optimization, Trajectories (Physics), Density, Energy efficiency, Engines, Scalar field theory, Simulation results
Proceedings Papers

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

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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
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9096
https://doi.org/10.1115/DSCC2018-9096
View Paper titled, Navigation Strategies for a Multi-Robot Ground-Based Row Crop Phenotyping Platform
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Topics: Navigation, Robots, Algorithms, Collisions (Physics), Engineering simulation, Scalar functions, Simulation, Teams
Proceedings Papers

Locally Adaptive Online Trajectory Optimization in Unknown Environments With RRTs

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Ethan N. Evans, Patrick Meyer, Samuel Seifert, Dimitri N. Mavris, Evangelos A. Theodorou
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, V003T32A002, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-8997
https://doi.org/10.1115/DSCC2018-8997
View Paper titled, Locally Adaptive Online Trajectory Optimization in Unknown Environments With RRTs
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Topics: Optimization, Trajectories (Physics), Dynamic systems, Optimization algorithms, Simulation, Tradeoffs, Vehicles
Proceedings Papers

Path Planning for Autonomous Car Parking

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Letian Lin, J. Jim Zhu
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, V003T32A017, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9195
https://doi.org/10.1115/DSCC2018-9195
View Paper titled, Path Planning for Autonomous Car Parking
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Topics: Driverless cars, Path planning, Algorithms, Design, Automobiles, Simulation results
Proceedings Papers

Adaptive Haptic Shared Control Framework Using Markov Decision Processing

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Amir H. Ghasemi, Hossein Rastgoftar
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, V003T32A003, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9009
https://doi.org/10.1115/DSCC2018-9009
View Paper titled, Adaptive Haptic Shared Control Framework Using Markov Decision Processing
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Topics: Haptics, Shared control, Algorithms, Automatic control, Negotiation
Proceedings Papers

Integration of Multibody System Dynamics With Sliding Mode Control Using FPGA Technique for Trajectory Tracking Problems

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Ayman A. Nada, Abdullateef H. Bashiri
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, V003T32A010, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9108
https://doi.org/10.1115/DSCC2018-9108
View Paper titled, Integration of Multibody System Dynamics With Sliding Mode Control Using FPGA Technique for Trajectory Tracking Problems
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Topics: Dynamics (Mechanics), Multibody systems, Sliding mode control, Trajectories (Physics), Robotics, Control systems, Design, Equations of motion, Mobile robots, Algorithms
Proceedings Papers

Towards Integrated Planning and Control of Autonomous Vehicles Using Nested MPCs

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Anson Maitland, John McPhee
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, V003T32A018, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9224
https://doi.org/10.1115/DSCC2018-9224
View Paper titled, Towards Integrated Planning and Control of Autonomous Vehicles Using Nested MPCs
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Topics: Vehicles, Control equipment, Feedback, Collisions (Physics), Design
Proceedings Papers

Controllability of a Pair of Swimming Microrotors in a Bounded Domain at Low Reynolds Number

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Jake Buzhardt, Vitaliy Fedonyuk, Senbagaraman Sudarsanam, Phanindra Tallapragada
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, V003T32A004, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9013
https://doi.org/10.1115/DSCC2018-9013
View Paper titled, Controllability of a Pair of Swimming Microrotors in a Bounded Domain at Low Reynolds Number
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Topics: Reynolds number, Fluids, Spin (Aerodynamics), Creeping flow, Dynamics (Mechanics), Robots
Proceedings Papers

Comparison Between Position and Rate Control Using a Foot Interface

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Zachary J. Dougherty, Ryder C. Winck
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, V003T32A011, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9115
https://doi.org/10.1115/DSCC2018-9115
View Paper titled, Comparison Between Position and Rate Control Using a Foot Interface
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Topics: Position control, Robotics
Proceedings Papers

Scoop the Semi-Liquid Objects Using a Spoon-Equipped Robot Arm for Meal Support

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Daiki Yoshioka, Ming Ding, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, Tsukasa Ogasawara
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, V003T32A005, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9022
https://doi.org/10.1115/DSCC2018-9022
View Paper titled, Scoop the Semi-Liquid Objects Using a Spoon-Equipped Robot Arm for Meal Support
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Topics: Robots, Containers, Rotation, Shapes