2D nodding LIDAR for sparse data processing for Simultaneous Shape and Velocity Estimation

A nodding mechanism with mirror assembly is developed to enhance the capabilities of commercially available 2D LIDAR and provide reconfigurability to deal with 3D sparse data. This is a chicken-and-egg problem when available data is sparse.

Interval-based optimal placement of Ultrasonic Sensors

Ultrasonic sensors are popular in robotic applications due to their accuracy and low cost. However, they have a wider beam angle than LIDAR, limiting their angular resolution. The interval method is used to optimize placement of a pair of sensors to improve angular resolution.

Vision and acoustic homing

Homing is a method where an autonomous robot reaches a defined position from anywhere in the environment. It is based on vision and acoustic sensors and can be used for waypoint navigation, reference path following, finding the location of unknown sources, and localization.

Interval Analysis method for Collision Avoidance

Generic method based on interval analysis for parallel embedded implementation addresses the challenges of collision avoidance from mulitple nearby static and dyanamic obstacles.

Development of Generalized Voronoi Diagram using FPGA-based Mobile Robot

Generalized Voronoi Diagram (GVD) is a method of representing environment map. An FPGA-based mobile robot is capable of parallel processing of various robotic sub-tasks simultaneously. Map building of an unknown environment using FPGA based robot is investigated with the constraint of available computing using only digital operations.

Multi-agent Exploration and Mapping

Mapping of an unknown environment using multiple agents investigates relevant information exchange for avoiding redundancy in exploration, information exchange methods and various multi-agent exploration methods.

Multi-Agent Patrolling and Coverage

Patrolling is a repeated tasks of visiting interesting locations repeatedly. The patrolling with multiple agents can be used for reduce the visiting time to each location. Likewise the covering an entire bounded area using multiple agents address their trajectory planning and inter-agent collision.

Swarm Aggregation

Homing is a method where an autonomous robot reaches a defined position from anywhere in the environment. It is based on vision and acoustic sensors and can be used for waypoint navigation, reference path following, finding the location of unknown sources, and localization.

Spherical Robot

This ball shaped robot is gearless and protects the mechatronic components while in operation. These features of the developed spherical robot can sustain collisions. This highly nonlinear system can be operated remotely using an Android App. Its autonomous operations in indoor and outdoor planar environments have also been developed.

Autonomous Underwater Vehicle (AUV)

Series of Matsya vehicle developed by student team since 2010 have developed expertise in various pneumatic, visual and acoustic tasks.