Control and Systems Engineering

Systematic solution for optimally energy-efficient turning radius for wheeled skid-steer rovers
A skid-steer rover’s power consumption is highly dependent on the turning radius of its path, with a point turn consuming much more …
Meysam Effati, Krzysztof Skonieczny
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Power and energy consumption of skid-steer rovers turning on loose soil
This study highlights two key phenomena affecting power and energy consumption of skid-steer rovers on loose soil that is not present …
Jean-Sebastien Fiset, Meysam Effati, Krzysztof Skonieczny
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SLAAM: Simultaneous Localization and Additive Manufacturing
This article presents a viable approach to mobile 3-D printing in which a large object is printed in segments. The printer’s …
Jinbo Li, Pierre-Lucas Aubin-Fournier, Krzysztof Skonieczny
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Considering slip-track for energy-efficient paths of skid-steer rovers
Skid-steer rovers consume a lot more power in point turns compared to straight line motion. As energy is the integral of power over …
Meysam Effati, Jean-Sebastien Fiset, Krzysztof Skonieczny
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Effect of gravity in wheel/terrain interaction models
Predicting the motion of wheeled robots in unstructured environments is an important and challenging problem. The study of planetary …
L{\'a}szl{\'o} L Kov{\'a}cs, Bahareh Ghotbi, Francisco Gonz{\'a}lez, Parna Niksirat, Krzysztof Skonieczny, J{\'o}zsef K{\"o}vecses
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Data-driven mobility risk prediction for planetary rovers
Mobility assessment and prediction continues to be an important and active area of research for planetary rovers, with the need …
Krzysztof Skonieczny, Dhara K Shukla, Michele Faragalli, Matthew Cole, Karl D Iagnemma
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Including the effect of gravity in wheel/terrain interaction models
Predicting the motion of wheeled robots in unstructured environments is one of the most challenging applications of multibody system …
Bahareh Ghotbi, László Kovács, Francisco Gonz{\'a}lez, Parna Niksirat, Krzysztof Skonieczny, J{\'o}zsef K{\"o}vecses
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Visualizing and analyzing machine-soil interactions using computer vision
This work presents an experimental method for visualizing and analyzing machine-soil interactions, namely the soil optical flow …
Krzysztof Skonieczny, Scott J Moreland, Vivake M Asnani, Colin M Creager, Hiroaki Inotsume, David S Wettergreen
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Modeling friction for a snake-like robot
An elliptical model for anisotropic friction, taken from solid mechanics, is incorporated into the field of simulating and modeling …
Krzysztof Skonieczny, Gabriele MT D'Eleuterio
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