Thomas Apker

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— Domestic grazing animals follow simple, scalable rules to assign themselves trajectories to cover a pasture. We explain how to adapt these rules for an information gathering system based on a realistic robot motion model and Kalman-filter based evidence grid that accounts for both bandwidth and sensor limitations. Our results show that this algorithm can(More)
To perform complex tasks, a team of robots requires both reactive and deliberative planning. For reactive control, a restricted variant of Linear Temporal Logic called General Reactivity(1) can be used to synthesize correct-by-construction controllers in polynomial time, but they often ignore time and resource constraints to maintain tractable synthesis.(More)
Unmanned vehicles have been the focus of active research on autonomous motion planning, both deliberative and reactive. However, they are fundamentally limited in their autonomy by an inability to independently reason about, prioritize, and change the goals they pursue. We describe two new projects in which we are incorporating goal autonomy on unmanned(More)
This work presents the study of the single-dielectric barrier discharge aerodynamic plasma actuator. To model the physics of the plasma discharge, a space-time lumped-element circuit model was developed. The model solution compared well to some of the characteristic features of the discharge such as the dependence of the sweep velocity and maximum extent of(More)
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