Advanced search options

Advanced Search Options 🞨

Browse by author name (“Author name starts with…”).

Find ETDs with:

in
/  
in
/  
in
/  
in

Written in Published in Earliest date Latest date

Sorted by

Results per page:

You searched for id:"handle:1912/25831". One record found.

Search Limiters

Last 2 Years | English Only

No search limiters apply to these results.

▼ Search Limiters

1. Jamieson, Stewart Christopher. Enabling human-robot cooperation in scientific exploration of bandwidth-limited environments.

Degree: 2020, MIT and Woods Hole Oceanographic Institution

Contemporary scientific exploration most often takes place in highly remote and dangerous environments, such as in the deep sea and on other planets. These environments are very hostile to humans, which makes robotic exploration the first and often the only option. However, they also impose restrictive limits on how much communication is possible, creating challenges in implementing remote command and control. We propose an approach to enable more efficient autonomous robot-based scientific exploration of remote environments despite these limits on human-robot communication. We find this requires the robot to have a spatial observation model that can predict where to find various phenomena, a reward model which can measure how relevant these phenomena are to the scientific mission objectives, and an adaptive path planner which can use this information to plan high scientific value paths. We identified and addressed two main gaps: the lack of a general-purpose means for spatial observation modelling, and the challenge in learning a reward model based on images online given the limited bandwidth constraints. Our first key contribution is enabling general-purpose spatial observation modelling through spatio-temporal topic models, which are well suited for unsupervised scientific exploration of novel environments. Our next key contribution is an active learning criterion which enables learning an image-based reward model during an exploration mission by communicating with the science team efficiently. We show that using these together can result in a robotic explorer collecting up to 230% more scientifically relevant observations in a single mission than when using lawnmower trajectories.

Record DetailsSimilar RecordsGoogle PlusoneFacebookTwitterCiteULikeMendeleyreddit

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Jamieson, S. C. (2020). Enabling human-robot cooperation in scientific exploration of bandwidth-limited environments. (Thesis). MIT and Woods Hole Oceanographic Institution. Retrieved from http://hdl.handle.net/1912/25831

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16th Edition):

Jamieson, Stewart Christopher. “Enabling human-robot cooperation in scientific exploration of bandwidth-limited environments.” 2020. Thesis, MIT and Woods Hole Oceanographic Institution. Accessed July 08, 2020. http://hdl.handle.net/1912/25831.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7th Edition):

Jamieson, Stewart Christopher. “Enabling human-robot cooperation in scientific exploration of bandwidth-limited environments.” 2020. Web. 08 Jul 2020.

Vancouver:

Jamieson SC. Enabling human-robot cooperation in scientific exploration of bandwidth-limited environments. [Internet] [Thesis]. MIT and Woods Hole Oceanographic Institution; 2020. [cited 2020 Jul 08]. Available from: http://hdl.handle.net/1912/25831.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Jamieson SC. Enabling human-robot cooperation in scientific exploration of bandwidth-limited environments. [Thesis]. MIT and Woods Hole Oceanographic Institution; 2020. Available from: http://hdl.handle.net/1912/25831

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

.