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This paper describes the design and fabrication of a low cost, solar powered mobile robot to support a variety of scientific missions on the Antarctic plateau during the austral summer. Key to the overall design is maintaining a lightweight vehicle by using a high strength and stiffness honeycomb-fiberglass composite chassis, custom wheels and drivetrain(More)
The Cool robot is a four-wheel-drive, solar-powered autonomous vehicle designed to support summertime science campaigns in Antarctica and Greenland. We deployed the robot at Summit Camp, Greenland, during 2005 to validate its power budget and to assess its unique control system that matches solar power input with power demand as the robot drives over rough(More)
This paper provides a methodology for the estimation of resistance, thrust, and resistive torques on each wheel of a rigid-wheeled vehicle generated at the vehicle-terrain interface, and from these forces and moments, a methodology to estimate terrain parameters is presented. Terrain force estimation, which is independent of a terrain model, can infer the(More)
Prior research has investigated development of virtual auditory displays (VADs) using low-dimensional models of head related transfer functions (HRTFs) as a function of a finite number of principal components (PCs) and associated weights (PCWs). This paper investigates the effect of PCWs on horizontal plane HRTFs derived from a database of HRIRs through(More)
In the area of autonomous multi-robot cooperation, much emphasis has been placed on how to coordinate individual robot behaviors in order to achieve an optimal solution to task completion as a team. This paper presents an approach to cooperative multi-robot reinforcement learning based on a hybrid state space representation of the environment to achieve(More)
– This paper investigates cooperative control for groups of high speed, low cost mobile robots. The control framework, comprised of a global, dynamic path planning and control method and local wheel slip controllers on each robot, is intended to promote ubiquitous and affordable " peek " robot control in situations where rapid response is vital. The(More)
This paper addresses the inherent complexity in coordinating learned behavioral strategies of multiple agents working towards a common goal. Because of the interactions among the agents, a primary challenge of policy learning is escalating computational complexity with increasing number of agents and the size of the task space (including action choices and(More)