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The need for combined task and motion planning in robotics is well understood. Solutions to this problem have typically relied on special purpose, integrated implementations of task planning and motion planning algorithms. We propose a new approach that uses off-the-shelf task planners and motion planners and makes no assumptions about their implementation.(More)
Accurate route determination is essential for robotic exploration on other planetary bodies. Today's rovers are limited in their speed and autonomy due to the computational expense of current route determination methodologies. Small, high-cadence, minimalist rovers with greater autonomy are poised to break new ground by expanding exploration capabilities.(More)
A discrete multi-mode damage initiation, propagation, and interaction tool is implemented within Abaqus' implicit solver for residual strength and life prediction of bolted joints with a given initial damage resulting from the fabrication and installation process. A discrete crack network model (DCN) for damage progression prediction has been developed by(More)
The views expressed herein are those of the authors and are not to be construed as official or reflecting the views of the Commandant or of the U.S. Navy. ABSTRACT This paper presents an overview of our recent enhanced 3D extended finite element toolkit for Abaqus (XFA3D) for fatigue damage assessment of welded aluminum structures under block loading. To(More)
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