This paper develops a method of composing simple control policies, applicable over a limited region in a dynamical system's free space, such that the resulting composition completely solves the navigation and control problem for the given system operating in a constrained environment. The resulting control policy deployment induces a global control policy that brings the system to the goal, provided that there is a single connected component of the free space containing both the start and goal configurations. In this paper, control policies for both kinematic and simple dynamical systems are developed. This work assnmes that the initial velocities are somewhat aligned with the desired velocity vector field. We conclude by offering an outline of an approach for accommodating arbitrary dynamical constraints and initial conditions.

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This research is focused on developing trajectory planning tools for the automotive painting industry. The geometric complexity of automotive surfaces and the complexity of the spray patterns produced by modern paint atomizers combine to make this a challenging and interesting problem. This paper documents our efforts to develop computationally tractable analytic deposition models for electrostatic rotating bell (ESRB) atomizers, which have recently become widely used in the automotive painting industry. The models presented in this paper account for both the effects of surface curvature as well as the deposition pattern of ESRB atomizers in a computationally tractable form, enabling the development of automated trajectory generation tools. We present experimental results used to develop and validate the models, and verify the interaction between the deposition pattern, the atomizer trajectory, and the surface curvature. Limitations of the deposition model with respect to predictions of paint deposition on highly curved surfaces are discussed.Note to Practitioners-The empirical paint deposition models developed herein, which are fit to experimental data, offer a significant improvement over models that are typically used in industrial robot simulations. The improved simulation results come without the computational cost and complexity of finite element methods. The models could be incorporated, as is, into existing industrial simulation tools, provided the users are cognizant of the model limitations with respect to highly curved surfaces. Although the models are based on readily available information, incorporating the models into existing robot simulation software would likely require support from the software vendor.

Team ViGIR entered the 2013 DARPA Robotics Challenge (DRC) with a focus on developing software to enable an operator to guide a humanoid robot through the series of challenge tasks emulating disaster response scenarios. The overarching philosophy was to make our operators full team members and not just mere supervisors. We designed our operator control station (OCS) to allow multiple operators to request and share information as needed to maintain situational awareness under bandwidth constraints, while directing the robot to perform tasks with most planning and control taking place onboard the robot. Given the limited development time, we leveraged a number of open source libraries in both our onboard software and our OCS design; this included significant use of the robot operating system libraries and toolchain. This paper describes the high level approach, including the OCS design and major onboard components, and it presents our DRC Trials results. The paper concludes with a number of lessons learned that are being applied to the final phase of the competition and are useful for related projects as well. C 2014 Wiley Periodicals, Inc. Kohlbrecher et al.: Human-Robot Teaming for Rescue Missions • 353independence (Huang et al., 2007). The human members of the team function as supervisors who set high-level goals, teammates who assist the robot with perception tasks, and operators who directly change robot parameters to improve performance (Scholtz, 2003); as these roles change dynamically during a set task in our system, we will use the term operator generically. Following Bruemmer et al. (2002), we rarely operate in teleoperation where we directly control a joint value, and we primarily operate in shared mode where the operator specifies tasks or goal points. In shared mode, the robot plans its motions to avoid obstacles and then executes the motion only when given permission. Even when executing a footstep plan in autonomous mode, the operator still has supervisory control of the robot and can command the robot to stop walking at any time and safely revert to a standing posture.Team ViGIR entered the DRC as a "Track B" team competing in the DARPA Virtual Robotics Challenge (VRC). Initially, Team ViGIR was composed of TORC Robotics, 2 the Simulation, Systems Optimization, and Robotics Group at Technische Universität Darmstadt (TUD), 3 and the 3D Interaction Group at Virginia Tech. 4 With only eight months from program kickoff to the first competition, the team focused on providing basic robot capabilities needed for the three tasks in the VRC. A short overview of our VRC approach is available in Kohlbrecher et al. (2013).While the tasks and requirements for the VRC were based on those anticipated in a real scenario, there were important differences: sensor noise was low and more predictable, simple friction models were used, there was no need for calibrating sensors or joint angle offsets for the robot, and the environments were known ahead of time. The dynamic model used for simulating the Atlas robot was ava...

We present a method for defining a hybrid control system capable of simultaneously addressing the global navigation and control problem for a convex-bodied wheeled mobile robot navigating amongst obstacles. The method uses parameterized continuous local feedback control policies that ensure safe operation over local regions of the free configuration space; each local policy is designed to respect nonholonomic constraints, bounds on velocities (inputs), and obstacles in the environment. The hybrid control system makes use of a collection of these local control policies in concert with discrete planning tools in order to plan, and replan in the face of changing conditions, while preserving the safety and convergence guarantees of the underlying control policies. This work is validated in simulation and experiment with a convex-bodied wheeled mobile robot. The approach is one of the first that combines formal planning with continuous feedback control guarantees for systems subject to nonholonomic constraints, input bounds, and non-trivial body shape.

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