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    Browsing Mechanical and Materials Engineering, Department of by Author "Marshall, Joshua"

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      • Autonomous Ground Vehicle Path Following by Combining Feedback Linearization with Model Predictive Control 

        Fader, Michael
        This thesis presents the formulation and experimental validation of an autonomous ground vehicle path following control method that combines feedback linearization (FBL) with model predictive control (MPC). The use of MPC ...
      • Control and Learning for Robotic Excavation 

        Fernando, Heshan
        Despite a large body of research and engineering work in robotic excavation, spanning decades, commercially viable systems for fully autonomous excavation are still in their infancy. The challenge is that performance is ...
      • Force-Based Control of UGVs by Using Physical Human-Robot Interaction 

        Pandillapally, Naveena
        Humans apply directional forces to move wheeled objects in various everyday applications such as maneuvering a loaded cart, a lawnmower, or moving a stretcher. The heavier the object, the higher the magnitude of force ...
      • Industrial-Scale Autonomous Vehicle Path Following by Feedback Linearized Iterative Learning Control 

        Dekker, Lukas
        This work describes and demonstrates, through simulation and field trials, a technique for autonomous wheeled vehicle path following that uses iterative learning control (ILC) performed in a feedback linearized space to ...
      • Self-Supervised Near-to-Far Learning for Terrain-Adaptive Off-Road Autonomous Driving 

        Mayuku, Orighomisan
        Autonomous vehicles are an increasingly important tool for exploring unknown off-road environments where navigation decisions must include considerations of terrain traversability, unlike in urban environments that have ...
      • Towards Modularity and Reconfigurability for Robotic Off-Highway Equipment: A Proof-of-Concept Prototype 

        Khalatyan, David
        Heavy industries, such as the construction, forestry, and mining industries, rely on off-highway mobile equipment to conduct various tasks. Since their advent in the 20th century, these mobile machines have continuously ...

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