Advanced sensing and control in service robotics with wave energy application

在这项提案中，申请者旨在探索新的想法，为具有波浪能应用的服务机器人开发先进的传感和控制技术。基于传感的控制技术在服务机器人、电力系统、工业环境、战场监视、勘探和康复等领域有着重要的应用前景。服务机器人应用面临的主要挑战是如何系统地将所有传感器数据融合在一起，以及如何在传感器不确定的情况下控制服务机器人。为了解决这些问题，申请人和其他人应用了各种不同的方法来综合多个传感器提供的丰富信息，并应用自适应控制方法来有效地控制机器人。

In this proposal, the applicant aims to explore novel ideas, develop advanced sensing and control techniques for service robots with wave energy applications. Sensing based control techniques are highly desired in the field of service robotics, power systems, industrial environment, battlefield surveillance, exploration, and rehabilitation. Major challenges facing service robotics applications are how to systematically fuse all the sensor data together, and how to control the service robots under sensor uncertainty. To deal with those issues, the applicant and others have applied various different approaches to synthesis the rich information provided by multiple sensors and have applied adaptive control method to effectively control the robots.