Planning, Control & Manipulation

Offshore robotic asset management and self-certification requires systematic information gathering through proactive and reactive sensor deployment.

Led from the University of Edinburgh by Dr. Michael Mistry, the Planning, Control and Manipulation team are working to address the challenges involved in the planning and execution of efficient, localisable, and repeatable motion of heterogeneous robotic deployment platforms for sensor placement and manipulation in extreme and dynamic conditions.

This work incorporates aerial, marine and both wheeled and legged topside platforms and places specific emphasis on failure prediction, re-planning and recovery strategies.

Planning, Control and Manipulation work

ORCA is working to:

  • generate realistic, dynamic models of robots, the environment and their interactions to underpin predictive planning and optimal control algorithms
  • plan refinement/adaptation and state estimation/localisation while feeding into simulations and anomaly detection required for self-certification
  • develop platform-specific planning and control approaches
  • improve the controllability of airborne and sea-based robotics platforms - which are easily affected by wave, wind and sea current disturbances - whilst deploying sensors onto structures.

Find out how Edinburgh Centre for Robotics are working with their ANYmal as part of ORCA Hub.

Edinburgh Centre for Robotics at Goodwood Festival of Speed

Planning, Control & Manipulation research is being undertaken by:

Institutions involved in this research theme