Multi-Objective Control

I spent the summer of 2019 as a research intern at TRACLabs in Webster, Texas. I worked under the supervision of Dr. Stephen Hart and Dr. Ana Huáman Quispe to implement a control basis of potential field controllers for multi-objective robot control. Some behaviors of interest included positioning, obstacle avoidance, alignment, and tracking behaviors as well as conditioning behaviors such as manipulability, which helps the robot avoid singularities. I performed a number of tests using my multi-objective controllers on the TRACLabs TRACArm robot, including goal and obstacle avoidance and tracking and distance behaviors, embedded below.