National Aeronautics and Space Administration
Introduction
Interactive Robotics Laboratory
Location: ERB-220 (Lab) and ESB-531 (Office); Web: http://www2.statler.wvu.edu/~irl/
- Learning by Doing
Bio-Inspired Robotics
Robot Design and Testing Sensor Fusion
Human-Robot Interaction Remote Sensing
• Over a decade of practical experience;
• Specialize in air and ground robot
design and instrumentation;
• Operates both indoor and outdoor
flight testing facilities.
The Interactive Robotics Laboratory (IRL) is a
multi-disciplinary research group at West Virginia
University (WVU). At IRL, we are interested in
exploring and understanding the interactions
between:
• a robot’s mind and its body;
• a robot and its surrounding environment;
• heterogeneous robots;
• robots and humans;
• 3D wind estimation and gust
suppression in aircraft close
formation flight;
• Wide-field optical flow aided
inertial navigation;
• Adaptive and fault tolerant flight
control.
• Control theoretic modeling of human pilots;
• Handling quality evaluation of robotic systems;
• Investigate adverse pilot-vehicle coupling
conditions;
• Predict unstable and unsafe human-machine
interactions.
• Combine information from diverse sources;
• Reliable navigation in both GPS available and
GPS denied environments;
• Automated and online sensor calibration;
• Intelligent and fault tolerant sensor fusion;
• Analytical validation of nonlinear stochastic filter
stability;
• Tightly coupled
robot perception
and action.
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Scatter Plot for the Geo-Referencing Error
North-South [m]
East-
We
st
[m]
1m
5m
10m
25m
Individual Estimate w/o Attitude Correction
Mean Position w/o Attitude Correction
Individual Estimate w/ Attitude Correction
Mean Position w/ Attitude Correction
• High resolution and on-demand aerial image and
sensor data collection;
• Accurate real-time geo-referencing;
• Air sample collection;
• Multiple aircraft cooperative sensing.
R/C Receiver
GPS Antenna
Data Logger (GPS/INS)
Laser Range Finder
Video Camera
Video Transmitter
Digital Still Camera
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