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The Motion Grammar: Linguistic Perception, Planning, and Control
(Georgia Institute of Technology, 2010)
We present the Motion Grammar: a novel unified representation for task decomposition, perception, planning, and hybrid control that provides a computationally tractable way to control robots in uncertain environments ...
Design and Development of a Dynamically-Balancing Holonomic Robot
(Georgia Institute of Technology, 2011)
This paper describes the design, control, and construction of Golem Wing, the first vehicle which both balances dynamically and has entirely holonomic ground movement. A nonstandard linear arrangement of mecanum wheels ...