Author name cluster

Daniel E. Soltero

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

4 papers

1 author row

IROS Conference 2013 Conference Paper

A lightweight modular 12-DOF print-and-fold hexapod

Daniel E. Soltero
Brian J. Julian
Cagdas D. Onal
Daniela Rus

This paper presents the design, fabrication and operation of a hexapod fabricated using a combination of printing and folding flat sheets of polyester. The polyester sheets are cut and engraved with crease patterns, which are then manually folded to create 3D functional modules, inspired by the Japanese art of Origami. These modules, when connected, form a hexapod with two degrees of freedom per leg. All custom mechanical parts are manufactured in a planar fashion using a laser cutter. We created this print-and-fold hexapod as a miniature version of a commercially available platform, to which we compare several metrics, such as weight, walking speed, and cost of transportation. Our print-and-fold hexapod has a mass of 195 g, can walk at speeds of up to 38. 1 cm/sec (two body lengths per second), and can be manufactured and assembled from scratch by a single person in approximately seven hours. Experimental results of gait control and trajectory tracking are provided.

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IROS Conference 2012 Conference Paper

Generating informative paths for persistent sensing in unknown environments

Daniel E. Soltero
Mac Schwager
Daniela Rus

We present an online algorithm for a robot to shape its path to a locally optimal configuration for collecting information in an unknown dynamic environment. As the robot travels along its path, it identifies both where the environment is changing, and how fast it is changing. The algorithm then morphs the robot's path online to concentrate on the dynamic areas in the environment in proportion to their rate of change. A Lyapunov-like stability proof is used to show that, under our proposed path shaping algorithm, the path converges to a locally optimal configuration according to a Voronoi-based coverage criterion. The path shaping algorithm is then combined with a previously introduced speed controller to produce guaranteed persistent monitoring trajectories for a robot in an unknown dynamic environment. Simulation and experimental results with a quadrotor robot support the proposed approach.

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IROS Conference 2011 Conference Paper

Collision avoidance for persistent monitoring in multi-robot systems with intersecting trajectories

Daniel E. Soltero
Stephen L. Smith 0001
Daniela Rus

Persistent robot tasks such as monitoring and cleaning are concerned with controlling mobile robots to act in a changing environment in a way that guarantees that the uncertainty in the system (due to change and to the actions of the robot) remains bounded for all time. Prior work in persistent robot tasks considered only robot systems with collision-free paths that move following speed controllers. In this paper we describe a solution to multi-robot persistent monitoring, where robots have intersecting trajectories. We develop collision and deadlock avoidance algorithms that are based on stopping policies, and quantify the impact of the stopping times on the overall stability of the speed controllers.

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IROS Conference 2009 Conference Paper

Building a distributed robot garden

Nikolaus Correll
Nikos Aréchiga
Adrienne Bolger
Mario Bollini
Benjamin Charrow
Adam Clayton
Felipe Dominguez
Kenneth Donahue

This paper describes the architecture and implementation of a distributed autonomous gardening system. The garden is a mesh network of robots and plants. The gardening robots are mobile manipulators with an eye-in-hand camera. They are capable of locating plants in the garden, watering them, and locating and grasping fruit. The plants are potted cherry tomatoes enhanced with sensors and computation to monitor their well-being (e. g. soil humidity, state of fruits) and with networking to communicate servicing requests to the robots. Task allocation, sensing and manipulation are distributed in the system and de-centrally coordinated. We describe the architecture of this system and present experimental results for navigation, object recognition and manipulation.

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