https://www.gedaliahknizhnik.com/blog daily 0.75 2020-08-17 https://www.gedaliahknizhnik.com/blog/research-mistakes monthly 0.5 2020-08-17 https://www.gedaliahknizhnik.com/potential-field-swarms daily 0.75 2020-03-04 https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558643907316-Q6ANSY3J4QRIXDORNE99/4r2n_crop.png Potential Field Swarms https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558643907314-8GJOJX0RUEDZ67DSRWI8/4r3n_crop.png Potential Field Swarms https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558643907432-GWS5CITF1L74XFLL3SM3/7r4n_copy.png Potential Field Swarms https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558643907449-C8AJB7AW7LM49TGDNQEI/8r4n_crop.png Potential Field Swarms https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558643907565-59ZI4NHNUV5GB0RGHZFU/8r5n_crop.png Potential Field Swarms https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558643907618-GAXT62DQD42SZBA1N2WD/9r1n_crop.png Potential Field Swarms https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558643907751-3AXZI6XRVGT7NF8PJG3K/10r3n_crop.png Potential Field Swarms https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558643907762-A3N6108N2GEBBAMCL9JT/10r5n_crop.png Potential Field Swarms https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558643768369-009ZICMXV7JYR20PBONY/6_robot_validation_multi_obstacle.png Potential Field Swarms https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558644215073-2P2VHHOZIWPL5PGCZ3RT/1_robot_validation_multi_obstacle.png Potential Field Swarms https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558644215102-0U0330KI4KWMEJATNTH3/2_robot_validation_multi_obstacle.png Potential Field Swarms https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558644215234-7SFSVMP7BYWTMO4TPOP0/5_robot_validation_beginning.png Potential Field Swarms https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558644215313-43VVXU5Y2AAA0KQ81XDQ/5_robot_validation-1.png Potential Field Swarms https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558644253500-0DQ9HHZ13G547D6VXLFY/galton_array_multi_robots_beginning.png Potential Field Swarms https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558644253437-PPNUJ5DMBT8EHFK9S4IH/galton_array_multi_robots.png Potential Field Swarms https://www.gedaliahknizhnik.com/hovercraft daily 0.75 2020-03-04 https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558724551145-H019R6UKGWASKD2YX49U/hovercraft2.jpg Hovercraft The hovercraft finds the goal block. The correct square is indicated by the raised white insert. https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558717059648-HLR9DJAE1TARY5YOK2QG/hovercraft.jpg Hovercraft The final hovercraft. https://www.gedaliahknizhnik.com/about daily 0.75 2024-02-09 https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/2e92cf0f-d6c3-4882-842f-55f514c377d7/meSpeakingSquare.jpg About - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://www.gedaliahknizhnik.com/modboats daily 0.75 2022-07-22 https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1583246210425-Z1GG5JFQC684KNF42DDN/flippyFloat.jpg Modboats The Modboat in its testing environment. https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1633096544707-ULYAWNNCHPXBG7BIDSZC/v4Boat.jpg Modboats The Modboat prototype, nicknamed Floppy. https://www.gedaliahknizhnik.com/home daily 1.0 2024-02-09 https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/a84b6406-2183-4f20-a9cb-f358eebf2991/meModboatsWithText.png Home https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1652462074345-XWZQ3KIYAB7BR6J1EJBW/modboatsGroup.jpg Home - Collaborative Modboats https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1583247484736-HOHPBH1OMVLBB01J94MN/flippyFloat.jpg Home - Modboats https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558642998876-UU1AFPW14O48JWCP1CRJ/bridgebot-e1552661339765.png Home - Bridgebots https://www.gedaliahknizhnik.com/chaplygin-beanie daily 0.75 2019-05-24 https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558715168470-63JTI218TXK9T95I8K04/cost.png Chaplygin Beanie The cost function. https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558715123742-L2DU09W6AZCH7XDEVT8G/nlp.png Chaplygin Beanie https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558715295226-XBXKQ8PPVTZ9E1B4WJWO/tests_01_traj-1.png Chaplygin Beanie - Trajectory graph for test 1. Trajectory to move from (x,y,θ) = (0,0,0) to (5,0,0). https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558715295174-NIOGNFI1LBNRJL8YD56S/tests_01_control.png Chaplygin Beanie - Control graph for test 1. Control to move from (x,y,θ) = (0,0,0) to (5,0,0). https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558715295372-ECNPK1PWNDOVBYGUSXKY/tests_02_traj.png Chaplygin Beanie - Trajectory graph for test 2. Trajectory to move from (x,y,θ) = (0,0,0) to (-5,0,π). https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558715295307-5D7CAO5F77FBJFZP72DV/tests_02_control.png Chaplygin Beanie - Control graph for test 2. Control to move from (x,y,θ) = (0,0,0) to (-5,0,π). https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558715295494-F3H99F606PSWR0OERTEI/tests_03_traj.png Chaplygin Beanie - Trajectory for test 3. Trajectory to move from (x,y,θ) = (0,0,0) to (5,0,0) despite a wind blowing SW. Note that the optimal path involves riding the wind to build speed before turning around to head to the target. https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558715295419-OP7YKFS94NEIQ5C0XZFK/tests_03_control.png Chaplygin Beanie - Control for test 3. Control to move from (x,y,θ) = (0,0,0) to (5,0,0) despite a wind blowing SW. Note that the optimal path involves riding the wind to build speed before turning around to head to the target. https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558715295611-STCK8670K8O9VQWVPCFJ/tests_04_traj.png Chaplygin Beanie - Trajectory for test 4. Trajectory to move from (x,y,θ) = (0,0,0) to (5,0,0) with a wind blowing SE. Note that the optimal path involves riding the wind. https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558715295549-IC57FAZHKTUMYO5FYPDS/tests_04_control.png Chaplygin Beanie - Control for test 4. Control to move from (x,y,θ) = (0,0,0) to (5,0,0) with a wind blowing SE. Note that the control effort is an order of magnitude lower than in the previous test. https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558715180670-02176PTKMJ3G11RL53YU/tvriccati.png Chaplygin Beanie The time-varying Riccati equation solved backwards to find the optimal controller. https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558715061033-ND9C9HP1LV14I88VNHVA/chaplygin_beanie.png Chaplygin Beanie A diagram of the Chaplygin Beanie — reproduced from [1]. https://www.gedaliahknizhnik.com/quadrotor-path-and-trajectory-planning daily 0.75 2020-03-04 https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1559235869329-X5EDL3K8ACZUWQ4OMFPA/dijkstra_1_1.png Quadrotor Path and Trajectory Planning Figure 1: Solution to a sample problem. Solved by Dijkstra’s algorithm in 4.6s and by A* in 4.2s. https://www.gedaliahknizhnik.com/bridgebots daily 0.75 2020-03-04 https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1558642263478-C55839QEXRWJHVUXBZ4W/bridgebot-e1552661339765.png Bridgebots The BridgeBot climbing a rusty metal girder. https://www.gedaliahknizhnik.com/path-planning-for-lynx-manipulator daily 0.75 2020-04-20 https://www.gedaliahknizhnik.com/battlebot daily 0.75 2020-04-27 https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1587732670132-MJX279UZ5J0WD4BA6KGI/battlebot_robot_schematic.png Battlebot Schematic for the battlebot circuitry, with each perfboard indicated by a separate square. https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1587731895359-Q4AKBNEMMW836ZRFWMNH/battlebot_processor_architecture.jpg Battlebot Processor architecture for the battlebot system. https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1587734072113-81OXCRYBMBPNYWNEQ005/IMG_20171208_113815.jpg Battlebot https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1587734071430-MCU1USEOKQ1CEXPBSSCV/IMG_20171208_113823.jpg Battlebot https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1587734089361-LMFO4FOVELAPZS2QUTVB/IMG_20171208_113836.jpg Battlebot https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1587734090392-VL0QDCIRR5O77DW482CC/IMG_20171208_113844.jpg Battlebot https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1587734108756-5PS4W1V14NRJIIFFQD3B/IMG_20171208_113849.jpg Battlebot https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1587734108556-I50DNBTNM7BR7BO432BW/IMG_20171208_113859.jpg Battlebot https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1587734125177-YNYZUW3AUPIWOOMFSPZT/IMG_20171210_132249.jpg Battlebot https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1587734124949-J9PHUW05US840Z16MG41/IMG_20171210_174700.jpg Battlebot https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1587734136188-GBFZAVAQHUSL3ND5V9RF/IMG_20171210_174703.jpg Battlebot https://www.gedaliahknizhnik.com/teaching-experience daily 0.75 2021-11-05 https://www.gedaliahknizhnik.com/publications daily 0.75 2024-06-07 https://www.gedaliahknizhnik.com/projects daily 0.75 2022-08-05 https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1587420231218-L7376305QDHLUTM8U4X8/bridgebot.png Projects https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1587566038944-UK6NINAKXYXUEX5180B4/chaplygin_beanie_cover.png Projects https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1587420559613-7HIDV7KRLX5VHMWAUCQ5/potFieldFlocking.png Projects https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1587567986014-4JY6HGUSAKJOHDIH72B3/lynx_cover.jpg Projects https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1587735110272-TD0YDNWLT8HMDAT1WDPU/IMG_20171208_113815.jpg Projects https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1588945797415-7KKS0Z95B8BWH2JN0RFH/foxbotCAD.png Projects https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/787c8e9c-fc14-4026-90f8-313a8aad5900/modboatsGroup.jpg Projects - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1604503575130-H75IX6768OOVIK1NCMID/miniCannon.jpg Projects https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1587566739878-M3Q03ZUSWISFVUUM7965/hovercraft.jpg Projects https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1587420965646-KBYZ9Y28QWBG3QYCXDM5/dijkstra_1_1.png Projects https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1583264569821-2KD4E0RGYNI8XYNVAK1L/flippyFloat.jpg Projects https://www.gedaliahknizhnik.com/mechatronics daily 0.75 2020-11-04 https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1604330027831-F2OYI77CMZWM9BNGMK56/miniCannon.jpg Mechatronics https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1604328734636-O3ONJPMTHE1ULLB8K0XJ/weather_station.jpg Mechatronics https://www.gedaliahknizhnik.com/foxbot daily 0.75 2020-05-08 https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1588775976670-DS4QRKB0GSVVK3QT8E90/image-asset.jpeg Foxbot https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1588942325838-O7YS4H3HMIHZ15NP03ZZ/gait.png Foxbot https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1588777288204-IH0MM6P943GRBDJWFS39/foxbotCAD.png Foxbot - Isometric rendering An exploded view of the isometric rendering of the final design. https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1588777308369-F47Y6Z4Y662EJ7EDTN6V/foxbotSide.png Foxbot - Side view rendering A side view of the rendering of the final design. The labels show the assigned variables used to calculate the equations of motion. https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/1588777347492-QJ7NMG5ZAVFURZZUNOK9/foxbotAction.png Foxbot - Action shot A still from a video of the Foxbot trotting on carpet. https://www.gedaliahknizhnik.com/modboats-collaboration daily 0.75 2022-07-29 https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/7902859c-b676-4415-bfd7-3f6fec6be277/modboatsGroup.jpg Modboats - Collaboration - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/20c2294e-d216-45fc-b746-ab6dc4bea8d8/eq2.png Modboats - Collaboration - Make it stand out The structural matrix P lets us determine the forces each boat in an arbitrary configuration has to execute to move the structure as a rigid body. https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/d215f165-edb4-4357-b84d-f054b9ad8968/eq1.png Modboats - Collaboration - Make it stand out The waveform we command each tail to execute. https://images.squarespace-cdn.com/content/v1/5ce6b4d360865600019f44da/23e91a08-8ccb-4eb7-901b-37e5add5196d/collision.png Modboats - Collaboration - Make it stand out A docked configuration of Modboats will break apart if two tails accidentally collide.