The undergraduates who worked in the lab last summer will be presenting two posters at the ASME IMECE conference based on their summer work. If you’re attending IMECE in Pittsburgh, please stop by on November 11!
Brendan Bogar will present “Investigating a Framework for Visualizing Reinforcement Learning Algorithms via Quadrupedal Robotic Simulation”.
David Chan, Mel Nguyen, Oshadha Gunasekara, and Randall Kliman will present “An object-oriented framework for fast development and testing of mobile robot control algorithms”. Abstracts are available on the IMECE website.
Welcome Brendan Bogar to the lab! He will be spending the summer working with us as part of the University of Arizona Undergraduate Research Opportunities Consortium – Summer Research Institute (UROC-SRI) program.
Brendan will be working on building simulations of quadrupedal legged locomotion. This will build on earlier work by Cameron Zawacki, some of which can be seen here.
The below two videos show, respectively, the physical state and the full state space of a motivation dynamics agent. The agent is motivated to visit each of the two goal states (red diamonds) while staying in the workspace (the black circle) and avoiding the obstacles (black discs with red circles at their centers).
The motivation dynamics are as described in our SIADS paper. As guaranteed by the analysis in the paper, the closed-loop system exhibits a stable limit cycle where the agent cyclically visits each of the goal states in turn.
Our paper “A dynamical system for prioritizing and coordinating motivations” has been accepted for publication in the SIAM Journal on Applied Dynamical Systems. The arXiv preprint has been updated accordingly.
Motivated by applications in multi-robot information gathering, we have developed a distributed multi-agent algorithm for solving graphical multi-armed bandit problems. A video of its implementation on a laboratory test bed is shown below.