Vasilopoulos, Vasileios
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Publication Sensor-Based Legged Robot Homing Using Range-Only Target Localization(2017-12-01) Vasilopoulos, Vasileios; Arslan, Omur; De, Avik; Koditschek, Daniel EThis paper demonstrates a fully sensor-based reactive homing behavior on a physical quadrupedal robot, using onboard sensors, in simple (convex obstacle-cluttered) unknown, GPS-denied environments. Its implementation is enabled by our empirical success in controlling the legged machine to approximate the (abstract) unicycle mechanics assumed by the navigation algorithm, and our proposed method of range-only target localization using particle filters. For more information: Kod*labPublication Sensor-Based Reactive Symbolic Planning in Partially Known Environments(2018-05-01) Vasilopoulos, Vasileios; Vega-Brown, William; Arslan, Omur; Koditschek, Daniel E.; Roy, NicholasThis paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive robot equipped with a gripper and a LIDAR sensor, capable of perceiving its environment only locally, is used to position the passive objects in a desired configuration. The method combines the virtues of a deliberative planner generating high-level, symbolic commands, with the formal guarantees of convergence and obstacle avoidance of a reactive planner that requires little onboard computation and is used online. The validity of the proposed method is verified both with formal proofs and numerical simulations. For more information: Kod*lab