365C WEIL HALL
1949 Stadium Rd
Gainesville, FL 32611
Development of Robotic Systems from Theory to Real
This talk will cover interesting robotic research topics ranging from a singlerobot
system development for civil infrastructure inspection to a multi-robot
system development for various applications (target tracking, wildfire tracking,
environmental monitoring, robotic manipulation related tasks). In a single-
robot system development, both climbing robot and deck robot designs
with integration of nondestructive evaluation (NDE) sensors will be presented.
Challenges in both hardware and software design related to NDE sensor
integration/analysis and robotic localization/navigation in open traffic environment
will be addressed. The developed NDE robots have been deployed
to inspect more than 100 highway bridges and other civil infrastructures. In a
multi-robot system development, a frame work of cooperative control, learning
and sensing for both unmanned aerial vehicles (UAVs) and unmanned
ground vehicles (UGVs), will be presented. Several challenges in algorithm
development for such a multi-UAV and a multi-UGV system will be addressed.
Decentralized control and learning algorithms for a team of UAVs
and UGVs that can autonomously and actively collaborate together to perform
given tasks in complex environments will be presented. This talk will
also cover some insights for a development of deep reinforcement learning
framework for mobile manipulation related to advanced manufacturing and
automated in construction.