Systems-level modular design approach to field robotics

Shane Farritor, Steven Dubowsky, Nathan Rutman, Jeffrey Cole

Research output: Contribution to journalConference articlepeer-review

44 Scopus citations


Long development times and high costs prevent robots from being practical for use in many important field missions. Here a modular design approach is proposed to produce a rapidly deployable low cost field robotic system. An inventory of components such as actuated joints, links, power supplies, and software modules are assembled to produce a field robotic system for a specified task. The proposed design method uses a hierarchical selection process combined with a genetic algorithm to select a robot configuration and action plan for a given task. This method is applied to an inspection task required for the preservation of the USS Constitution, an historic naval ship.

Original languageEnglish (US)
Pages (from-to)2890-2895
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 1996
Externally publishedYes
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: Apr 22 1996Apr 28 1996

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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