Steven Swanbeck
Robotics PhD Student @ UT Austin
- Role
- Graduate Research Assistant, Nuclear & Applied Robotics Group at Nuclear And Applied Robotics Group
- Location
- Austin, TX, US
- LinkedIn followers
- 500 followers
About Steven Swanbeck
Integrating robots and other autonomous systems is challenging. I’m making it faster…
Experience
Graduate Research Assistant, Nuclear & Applied Robotics Group
Nuclear And Applied Robotics Group
Aug 2022 — Present · Austin, TX, US
Research work with Dr. Mitch Pryor\'s group to deploy robots in hazardous environments to reduce risk for human operators.Developed a robot-agnostic perception stack capable of performing robust pure-visual 3D SLAM with dynamic data loading to allow computationally-limited robots to build and maintain large and highly detailed maps of complex environments. Behavior trees are used to coordinate complex robot actions, allowing for data collection from various onboard sensors, annotation of data using custom ML vision models or online human labeling, fusion of 2D RGB images, depth images, and 3D point clouds into unified maps, and extraction of annotated objects of interest to inform contact and non-contact robot interactions.Developed a manipulation stack to allow robots to perform surface coverage over arbitrarily complex geometries using visual sensor data to create a discrete pose mesh that can be traversed. Poses are compliantly replanned to permit execution in situations where collisions with the environment or robot kinematics would hinder task completion.Developed an augmented reality interface to allow humans to modify visual robot sensor data online to help overcome uncertainty and enable robots in the field. Developed a game-theoretic tool to inform compositions of heterogeneous robotic teams best suited to perform surface coverage tasks in complex real world environments. Using systematic parameter sweeps, quantitative targets for system design can be generated to produce economically-viable systems.Developed a first of its kind corrosion detection and repair stack that was successfully deployed on a mobile manipulator system at Shell Technology Center Houston to autonomously perform fabric maintenance tasks in a real-world industrial facility.
Education
University of Nevada, Reno
Bachelor of Science - BS, Mechanical Engineering
2018 — 2021
The University of Texas at Austin
Doctor of Philosophy - PhD, Robotics
2022 — 2027
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