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Papers by Hrand Aghazarian

Research paper thumbnail of Robotic automation for space: planetary surface exploration, terrain-adaptive mobility, and multirobot cooperative tasks

During the last decade, there has been significant progress toward a supervised autonomous roboti... more During the last decade, there has been significant progress toward a supervised autonomous robotic capability for remotely controlled scientific exploration of planetary surfaces. While planetary exploration potentially encompasses many elements ranging from orbital remote sensing to subsurface drilling, the surface robotics element is particularly important to advancing in situ science objectives. Surface activities include a direct characterization of geology, mineralogy,

Research paper thumbnail of Dynamic optimization of

In a dynamic setting, the task is to find the entire path of some choice or control variable u t ... more In a dynamic setting, the task is to find the entire path of some choice or control variable u t = 0 ∞ which maximizes the infinite sum of a objective function r(x t , u t ).

Research paper thumbnail of Intentional Control for Planetary Rover SRR

Advanced Robotics, 2008

Intentional behavior is a basic property of intelligence, and it incorporates the cyclic operatio... more Intentional behavior is a basic property of intelligence, and it incorporates the cyclic operation of prediction, testing by action, sensing, perceiving and assimilating the experienced features. Intentional neurodynamic principles are applied for on-line processing of multisensory inputs and for the generation of dynamic behavior using the SRR (Sample Return Rover) platform at the indoor facility of the Planetary Robotics Laboratory,

Research paper thumbnail of Intentional Control for Planetary Rover SRR2K

Intentional behavior is a basic property of intelligence and it incorporates the cyclic operation... more Intentional behavior is a basic property of intelligence and it incorporates the cyclic operation of prediction, testing by action, sensing, perceiving, and assimilating the experienced features. In- tentional neurodynamic principles are applied for on-line processing of multi-sensory inputs and for the generation of dynamic behavior using SRR2K (Sample Return Rover) platform at the Planetary Robotics indoor facility of JPL. The

Research paper thumbnail of Vision-guided self-alignment and manipulation in a walking robot

2006 IEEE/SMC International Conference on System of Systems Engineering, 2006

Research paper thumbnail of Onboard Adaptive Learning for Planetary Surface Rover Control in Rough Terrain

Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

... terrain, (2) driving up a 5° slope, (3) driving up a 10° slope, (4) driving up a 25° slope, (... more ... terrain, (2) driving up a 5° slope, (3) driving up a 10° slope, (4) driving up a 25° slope, (5) driving up a 45° slope, (6) backing-off a 5° slope drive, (7) backing-off a 10° slope drive, (8) backing-off a 25° slope drive, (9) backing-off a 45° slope drive, (10) driving sideways, and (11 ...

Research paper thumbnail of Behavior-based control systems for planetary autonomous robot outposts

2000 IEEE Aerospace Conference. Proceedings (Cat. No.00TH8484), 2000

Research paper thumbnail of <title>Steerable hopping six-legged robot</title>

Space Exploration Technologies, 2008

A prototype of a steerable six-legged hopping robot for exploring low-gravity environments was de... more A prototype of a steerable six-legged hopping robot for exploring low-gravity environments was designed, built, and tested. A 35 cm vertical hop was achieved, motorized steering of all six legs was demonstrated over a 40-degree range, and angled hopping was performed at a fixed 60-degree angle. Gyro stabilization was demonstrated through a hopping simulation of a modeled hopping robot with a controllable flywheel in lunar gravity.

Research paper thumbnail of Behavior-based multi-robot collaboration for autonomous construction tasks

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

Research paper thumbnail of Closed loop control for autonomous approach and placement of science instruments by planetary rovers

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

Research paper thumbnail of Rover autonomy for long range navigation and science data acquisition on planetary surfaces

Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2002

Research paper thumbnail of <title>Robotic automation for space: planetary surface exploration, terrain-adaptive mobility, and multirobot cooperative tasks</title>

Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision, 2001

Research paper thumbnail of <title>Sensor-fused autonomous guidance of a mobile robot and applications to Mars sample return operations</title>

Sensor Fusion and Decentralized Control in Robotic Systems II, 1999

Research paper thumbnail of <title>Rover localization results for the FIDO rover</title>

Sensor Fusion and Decentralized Control in Robotic Systems IV, 2001

Research paper thumbnail of <title>Lightweight rovers for Mars science exploration and sample return</title>

Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling, 1997

Research paper thumbnail of <title>Dexterous robotic sampling for Mars in-situ science</title>

Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling, 1997

Research paper thumbnail of <title>State estimation and vehicle localization for the FIDO rover</title>

Sensor Fusion and Decentralized Control in Robotic Systems III, 2000

Research paper thumbnail of <title>New planetary rovers for long-range Mars science and sample return</title>

Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision, 1998

Research paper thumbnail of FIDO rover field trials as rehearsal for the NASA 2003 Mars Exploration Rovers mission

Proceedings of the 5th Biannual World Automation Congress, 2002

Research paper thumbnail of Distributed control for a modular, reconfigurable cliff robot

Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2002

We have developed a cliff robot that is capable of descending a cliff and autonomously navigating... more We have developed a cliff robot that is capable of descending a cliff and autonomously navigating to way-points on the cliff wall. This aggressive mobility system consists of an ensemble of three tethered robots, which cooperate under tight coordinated control and collective state estimation. The distributed task is described as a behavior network, which consists of a network of controllers

Research paper thumbnail of Robotic automation for space: planetary surface exploration, terrain-adaptive mobility, and multirobot cooperative tasks

During the last decade, there has been significant progress toward a supervised autonomous roboti... more During the last decade, there has been significant progress toward a supervised autonomous robotic capability for remotely controlled scientific exploration of planetary surfaces. While planetary exploration potentially encompasses many elements ranging from orbital remote sensing to subsurface drilling, the surface robotics element is particularly important to advancing in situ science objectives. Surface activities include a direct characterization of geology, mineralogy,

Research paper thumbnail of Dynamic optimization of

In a dynamic setting, the task is to find the entire path of some choice or control variable u t ... more In a dynamic setting, the task is to find the entire path of some choice or control variable u t = 0 ∞ which maximizes the infinite sum of a objective function r(x t , u t ).

Research paper thumbnail of Intentional Control for Planetary Rover SRR

Advanced Robotics, 2008

Intentional behavior is a basic property of intelligence, and it incorporates the cyclic operatio... more Intentional behavior is a basic property of intelligence, and it incorporates the cyclic operation of prediction, testing by action, sensing, perceiving and assimilating the experienced features. Intentional neurodynamic principles are applied for on-line processing of multisensory inputs and for the generation of dynamic behavior using the SRR (Sample Return Rover) platform at the indoor facility of the Planetary Robotics Laboratory,

Research paper thumbnail of Intentional Control for Planetary Rover SRR2K

Intentional behavior is a basic property of intelligence and it incorporates the cyclic operation... more Intentional behavior is a basic property of intelligence and it incorporates the cyclic operation of prediction, testing by action, sensing, perceiving, and assimilating the experienced features. In- tentional neurodynamic principles are applied for on-line processing of multi-sensory inputs and for the generation of dynamic behavior using SRR2K (Sample Return Rover) platform at the Planetary Robotics indoor facility of JPL. The

Research paper thumbnail of Vision-guided self-alignment and manipulation in a walking robot

2006 IEEE/SMC International Conference on System of Systems Engineering, 2006

Research paper thumbnail of Onboard Adaptive Learning for Planetary Surface Rover Control in Rough Terrain

Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

... terrain, (2) driving up a 5° slope, (3) driving up a 10° slope, (4) driving up a 25° slope, (... more ... terrain, (2) driving up a 5° slope, (3) driving up a 10° slope, (4) driving up a 25° slope, (5) driving up a 45° slope, (6) backing-off a 5° slope drive, (7) backing-off a 10° slope drive, (8) backing-off a 25° slope drive, (9) backing-off a 45° slope drive, (10) driving sideways, and (11 ...

Research paper thumbnail of Behavior-based control systems for planetary autonomous robot outposts

2000 IEEE Aerospace Conference. Proceedings (Cat. No.00TH8484), 2000

Research paper thumbnail of <title>Steerable hopping six-legged robot</title>

Space Exploration Technologies, 2008

A prototype of a steerable six-legged hopping robot for exploring low-gravity environments was de... more A prototype of a steerable six-legged hopping robot for exploring low-gravity environments was designed, built, and tested. A 35 cm vertical hop was achieved, motorized steering of all six legs was demonstrated over a 40-degree range, and angled hopping was performed at a fixed 60-degree angle. Gyro stabilization was demonstrated through a hopping simulation of a modeled hopping robot with a controllable flywheel in lunar gravity.

Research paper thumbnail of Behavior-based multi-robot collaboration for autonomous construction tasks

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

Research paper thumbnail of Closed loop control for autonomous approach and placement of science instruments by planetary rovers

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

Research paper thumbnail of Rover autonomy for long range navigation and science data acquisition on planetary surfaces

Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2002

Research paper thumbnail of <title>Robotic automation for space: planetary surface exploration, terrain-adaptive mobility, and multirobot cooperative tasks</title>

Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision, 2001

Research paper thumbnail of <title>Sensor-fused autonomous guidance of a mobile robot and applications to Mars sample return operations</title>

Sensor Fusion and Decentralized Control in Robotic Systems II, 1999

Research paper thumbnail of <title>Rover localization results for the FIDO rover</title>

Sensor Fusion and Decentralized Control in Robotic Systems IV, 2001

Research paper thumbnail of <title>Lightweight rovers for Mars science exploration and sample return</title>

Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling, 1997

Research paper thumbnail of <title>Dexterous robotic sampling for Mars in-situ science</title>

Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling, 1997

Research paper thumbnail of <title>State estimation and vehicle localization for the FIDO rover</title>

Sensor Fusion and Decentralized Control in Robotic Systems III, 2000

Research paper thumbnail of <title>New planetary rovers for long-range Mars science and sample return</title>

Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision, 1998

Research paper thumbnail of FIDO rover field trials as rehearsal for the NASA 2003 Mars Exploration Rovers mission

Proceedings of the 5th Biannual World Automation Congress, 2002

Research paper thumbnail of Distributed control for a modular, reconfigurable cliff robot

Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2002

We have developed a cliff robot that is capable of descending a cliff and autonomously navigating... more We have developed a cliff robot that is capable of descending a cliff and autonomously navigating to way-points on the cliff wall. This aggressive mobility system consists of an ensemble of three tethered robots, which cooperate under tight coordinated control and collective state estimation. The distributed task is described as a behavior network, which consists of a network of controllers