Automation is being increasingly introduced into every man-made system. The thrust to achieve trustworthy autonomous systems, which can attain goals independently in the presence of significant uncertainties and for long periods of time without any human intervention, has always been enticing. Significant progress has been made in the avenues of both software and hardware for meeting these objectives. However, technological challenges still exist and particularly in terms of decision making under uncertainty.

Abstract: This project, NSF grant 1329363, is a modular, computationally-distributed multi-robot cyber-physical system (CPS) for assisting young developmentally-delayed children learning to walk. The challenges of assisting young developmentally-delayed children learning to walk are 1) stabilizing medio-lateral body sway, 2) developing gait that exploits energy exchange, and 3) coordinating multiple degrees of freedom.