The Need for Speed
The Need for Rough Terrain Mobility
The scientific goal of the Dynamo Project is to:
The application goal of the Dynamo Project is to:
We have developed a new, online, real-time learning algorithm that we call Dynamic Threshold Learning (DTL) that allows robots to quickly learn the non-linear transitions between different control regimes. For example, DTL can learn the steering and acceleration inputs that may cause a wheeled vehicle to lose control during aggressive maneuvers. A DTL-enabled controller can then intervene to prevent the driver from losing control. Likewise, DTL can learn the pitch and roll conditions that indicate a tracked vehicle is about to roll over in rough terrain. A DTL-enabled controller can then modulate the vehicle commands to prevent the vehicle from rolling over.