Sensor Guided Behaviors for RHex and State Estimation under Intermittent Dynamics

Sarjoun Skaff

Abstract

This talk will describe preliminary sensor-guided behaviors for RHex. It will expose the approach for and experimental results of inertia-guided heading control and vision-guided line following. The lessons learned from these experiments will be discussed and extrapolated into future research directions including accurate state estimation with mode-switching observers.

 

Speaker Appointments

For appointments, please contact Sarjoun Skaff (sarjoun@cs.cmu.edu).