Research & Technical Experience

The Human-Automation Interaction and Cognition (THInC) Lab

As a new Robotics PhD Pre-Candidate, I have begun conducting a literature review on the evolution of trust in increasingly complex human-robot systems.


Duke University Robotics and Manufacturing Automation (RAMA) Lab


My research project in the Robotics and Manufacturing Automation (RAMA) Laboratory focused on developing decentralized control for the Entrapment/Escorting Mission. The mission tasks a swarm of robots to behave as bodyguards and follow a roaming target. The system utilized decentralized control, meaning each robot had to independently determine its movement without communicating with its peers or receiving direction from a central controller. The robots equally spaced themselves around the target to minimize gaps, and in this research, decentralized control was provided through artificially applying energies based on the Morse potential function. The simulation was performed using the commercial software package Webots, and the algorithm was experimentally validated in the RAMA Lab using e-puck robots.

Publications:

  • Lieberman, K. M., Fricke, G. K., & Garg, D. P. (2012, October). Decentralized control of multi-agent escort formation via Morse potential function. In Proceedings of the 2012 ASME Dynamic Systems and Control Conference (DSCC2012), Ft. Lauderdale, FL.
  • Fricke, G. K., Lieberman, K., & Garg, D. P. (2012, October). Swarm Formations Under Nonholonomic and Numerosity Constraints. In ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference (pp. 475-481). American Society of Mechanical Engineers.