Mobile Autonomous Robotic Systems for Unstructured
Environments--With Application to the USS Constitution
Dubowsky, S., Argaez, D., Moore, C., Sunada, C., Rutman, N.,
Cole, J., Farritor, S. and Bidaud, P. , 
National Science Foundation
This program focuses on issues in the design, control and planning for field
robotic systems. The study is being done within the context of the development
of field robotic systems to assist in the conservation and preservation of
artistic, historical architectural and archaeological treasures and monuments,
with The USS Constitution as a demonstration testbed. Old Ironsides is the
oldest fully commissioned warship in the world, and a proud symbol of America's
naval history. During the past two years we have been studying the application
of our design, control and path-planning methods for field robotic systems to
assist in the restoration, conservation and preservation of the USS
Constitution. It appears that robotics could make an important contribution to
this worthy task. Also, the USS Constitution has been identified as an ideal
field robotics environment being unstructured, partially known, hazardous and
The objective of this research is to develop paradigms for design, control
and planning to permit field robotic systems to developed quickly and cost
effectively. The approach being taken focuses on multi-limbed mobile robotic
systems constructed with modular components.
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