subject:( autonomous mobile robots)

Hong Kong University of Science and Technology

1. Kuse, Manohar Prakash ECE. Techniques for a failsafe visual inertial SLAM system.

Degree: 2020, Hong Kong University of Science and Technology

URL: http://repository.ust.hk/ir/Record/1783.1-105157 ; https://doi.org/10.14711/thesis-991012818169103412 ; http://repository.ust.hk/ir/bitstream/1783.1-105157/1/th_redirect.html

► Visual-inertial SLAM has been a contemporary research theme with various emerging commercial applications like robot navigation, augmented reality, 3D mapping etc. With the advent of… (more)

▼ Visual-inertial SLAM has been a contemporary research theme with various emerging commercial applications like robot navigation, augmented reality, 3D mapping etc. With the advent of several SLAM systems the theory of multiview geometry has been put to practical use. A typical SLAM system consists of several sub-systems including: visual-odometry, sensor-fusion, place recognition backend, place recognition frontend, posegraph solver. For a successful commercial deployment of SLAM algorithm it is important that the SLAM system be failsafe. In this thesis, we present several techniques for fail-safety of a SLAM system. We start by proposing an edge based visual-odometry method. The advantage of edge based visual odometry over traditional methods based on corner features and optical flow is that such methods also work well in featureless human built environment like corridors. Another advantage is that, the proposed method has a large convergence basin which allows for more reliable odometry computation under large motion or low frame rates. Next we present a learning based whole-image descriptor for loop detection. We demonstrated much higher recall rates compared to existing bag-of-visual-words based loop detection methods. Unlike previous loop detection methods which only evaluate their methods on fronto-parallel scenes, we tested our on datasets involving large viewpoint difference. In addition to higher recall, our method involves an order of magnitude less model storage size compared to bag-of-words dictionary and also an order of magnitude lesser FLOPS (floating point operations) making it suitable for a realtime SLAM system. We also propose a robust feature matching scheme and a local bundle optimization based computation for reliably estimating relative pose at loop detections. Unlike some existing works which merge trajectories from multiple runs offline, we develop a pose graph solver which is able to keep track of multiple co-ordinate systems, identify and recover from kidnaps live and in realtime. Extensive online experimental results are presented throughout the thesis. We conclude by proposing future research opportunities.

Subjects/Keywords: Inertial navigation ; Mobile robots ; Automatic control ; Robots ; Control systems ; Autonomous robots

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APA (6^th Edition):

Kuse, M. P. E. (2020). Techniques for a failsafe visual inertial SLAM system. (Thesis). Hong Kong University of Science and Technology. Retrieved from http://repository.ust.hk/ir/Record/1783.1-105157 ; https://doi.org/10.14711/thesis-991012818169103412 ; http://repository.ust.hk/ir/bitstream/1783.1-105157/1/th_redirect.html

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

Chicago Manual of Style (16^th Edition):

Kuse, Manohar Prakash ECE. “Techniques for a failsafe visual inertial SLAM system.” 2020. Thesis, Hong Kong University of Science and Technology. Accessed April 14, 2021. http://repository.ust.hk/ir/Record/1783.1-105157 ; https://doi.org/10.14711/thesis-991012818169103412 ; http://repository.ust.hk/ir/bitstream/1783.1-105157/1/th_redirect.html.

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

MLA Handbook (7^th Edition):

Kuse, Manohar Prakash ECE. “Techniques for a failsafe visual inertial SLAM system.” 2020. Web. 14 Apr 2021.

Vancouver:

Kuse MPE. Techniques for a failsafe visual inertial SLAM system. [Internet] [Thesis]. Hong Kong University of Science and Technology; 2020. [cited 2021 Apr 14]. Available from: http://repository.ust.hk/ir/Record/1783.1-105157 ; https://doi.org/10.14711/thesis-991012818169103412 ; http://repository.ust.hk/ir/bitstream/1783.1-105157/1/th_redirect.html.

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

Council of Science Editors:

Kuse MPE. Techniques for a failsafe visual inertial SLAM system. [Thesis]. Hong Kong University of Science and Technology; 2020. Available from: http://repository.ust.hk/ir/Record/1783.1-105157 ; https://doi.org/10.14711/thesis-991012818169103412 ; http://repository.ust.hk/ir/bitstream/1783.1-105157/1/th_redirect.html

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

Georgia Tech

2. Cowlagi, Raghvendra V. Hierarchical motion planning for autonomous aerial and terrestrial vehicles.

Degree: PhD, Aerospace Engineering, 2011, Georgia Tech

URL: http://hdl.handle.net/1853/41066

► Autonomous mobile robots - both aerial and terrestrial vehicles - have gained immense importance due to the broad spectrum of their potential military and civilian… (more)

▼ Autonomous mobile robots - both aerial and terrestrial vehicles - have gained immense importance due to the broad spectrum of their potential military and civilian applications. One of the indispensable requirements for the autonomy of a mobile vehicle is the vehicle's capability of planning and executing its motion, that is, finding appropriate control inputs for the vehicle such that the resulting vehicle motion satisfies the requirements of the vehicular task. The motion planning and control problem is inherently complex because it involves two disparate sub-problems: (1) satisfaction of the vehicular task requirements, which requires tools from combinatorics and/or formal methods, and (2) design of the vehicle control laws, which requires tools from dynamical systems and control theory. Accordingly, this problem is usually decomposed and solved over two levels of hierarchy. The higher level, called the geometric path planning level, finds a geometric path that satisfies the vehicular task requirements, e.g., obstacle avoidance. The lower level, called the trajectory planning level, involves sufficient smoothening of this geometric path followed by a suitable time parametrization to obtain a reference trajectory for the vehicle. Although simple and efficient, such hierarchical separation suffers a serious drawback: the geometric path planner has no information of the kinematic and dynamic constraints of the vehicle. Consequently, the geometric planner may produce paths that the trajectory planner cannot transform into a feasible reference trajectory. Two main ideas appear in the literature to remedy this problem: (a) randomized sampling-based planning, which eliminates altogether the geometric planner by planning in the vehicle state space, and (b) geometric planning supported by feedback control laws. The former class of methods suffer from a lack of optimality of the resultant trajectory, while the latter class of methods makes a restrictive assumption concerning the vehicle kinematic model. In this thesis, we propose a hierarchical motion planning framework based on a novel mode of interaction between these two levels of planning. This interaction rests on the solution of a special shortest-path problem on graphs, namely, one using costs defined on multiple edge transitions in the path instead of the usual single edge transition costs. These costs are provided by a local trajectory generation algorithm, which we implement using model predictive control and the concept of effective target sets for simplifying the non-convex constraints involved in the problem. The proposed motion planner ensures "consistency" between the two levels of planning, i.e., a guarantee that the higher level geometric path is always associated with a kinematically and dynamically feasible trajectory. We show that the proposed motion planning approach offers distinct advantages in comparison with the competing approaches of discretization of the state space, of randomized sampling-based motion planning, and of local… Advisors/Committee Members: Panagiotis Tsiotras (Committee Chair), Eric Feron (Committee Member), Magnus Egerstedt (Committee Member), Mark Costello (Committee Member), Mike Stilman (Committee Member).

Subjects/Keywords: Multi-resolution; Motion planning; Robotics; Vehicle dynamics; Graph search; Curvature bounded path planning; Autonomous vehicles; Mobile robots; Robots; Autonomous robots

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APA (6^th Edition):

Cowlagi, R. V. (2011). Hierarchical motion planning for autonomous aerial and terrestrial vehicles. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/41066

Chicago Manual of Style (16^th Edition):

Cowlagi, Raghvendra V. “Hierarchical motion planning for autonomous aerial and terrestrial vehicles.” 2011. Doctoral Dissertation, Georgia Tech. Accessed April 14, 2021. http://hdl.handle.net/1853/41066.

MLA Handbook (7^th Edition):

Cowlagi, Raghvendra V. “Hierarchical motion planning for autonomous aerial and terrestrial vehicles.” 2011. Web. 14 Apr 2021.

Vancouver:

Cowlagi RV. Hierarchical motion planning for autonomous aerial and terrestrial vehicles. [Internet] [Doctoral dissertation]. Georgia Tech; 2011. [cited 2021 Apr 14]. Available from: http://hdl.handle.net/1853/41066.

Council of Science Editors:

Cowlagi RV. Hierarchical motion planning for autonomous aerial and terrestrial vehicles. [Doctoral Dissertation]. Georgia Tech; 2011. Available from: http://hdl.handle.net/1853/41066

University of Texas – Austin

3. Sridharan, Mohan. Robust structure-based autonomous color learning on a mobile robot.

Degree: PhD, Electrical and Computer Engineering, 2007, University of Texas – Austin

URL: http://hdl.handle.net/2152/3315

► Mobile robots are increasingly finding application in fields as diverse as medicine, surveillance and navigation. In order to operate in the real world, robots are… (more)

▼ Mobile robots are increasingly finding application in fields as diverse as medicine, surveillance and navigation. In order to operate in the real world, robots are primarily dependent on sensory information but the ability to accurately sense the real world is still missing. Though visual input in the form of color images from a camera is a rich source of information for mobile robots, until recently most people have focussed their attention on other sensors such as laser, sonar and tactile sensors. There are several reasons for this reliance on other relatively low-bandwidth sensors. Most sophisticated vision algorithms require substantial computational (and memory) resources and assume a stationary or slow moving camera, while many mobile robot systems and embedded systems are characterized by rapid camera motion and real-time operation within constrained computational resources. In addition, color cameras require time-consuming manual color calibration, which is sensitive to illumination changes, while mobile robots typically need to be deployed in a short period of time and often go into places with changing illumination. It is commonly asserted that in order to achieve autonomous behavior, an agent must learn to deal with unexpected environmental conditions. However, for true extended autonomy, an agent must be able to recognize when to abandon its current model in favor of learning a new one, how to learn in its current situation, and also what features or representation to learn. This thesis is a fully implemented example of such autonomy in the context of color learning and segmentation, which primarily leverages the fact that many mobile robot applications involve a structured environment consisting of objects of unique shape(s) and color(s) - information that can be exploited to overcome the challenges mentioned above. The main contributions of this thesis are as follows. First, the thesis presents a hybrid color representation that enables color learning both within constrained lab settings and in un-engineered indoor corridors, i.e. it enables the robot to decide what to learn. The second main contribution of the thesis is to enable a mobile robot to exploit the known structure of its environment to significantly reduce human involvement in the color calibration process. The known positions, shapes and color labels of the objects of interest are used by the robot to autonomously plan an action sequence to facilitate learning, i.e. it decides how to learn. The third main contribution is a novel representation for illumination, which enables the robot to detect and adapt smoothly to a range of illumination changes, without any prior knowledge of the different illuminations, i.e. the robot figures out when to learn. Fourth, as a means of testing the proposed algorithms, the thesis provides a real-time mobile robot vision system, which performs color segmentation, object recognition and line detection in the presence of rapid camera motion. In addition, a practical… Advisors/Committee Members: Kuipers, Benjamin (advisor), Stone, Peter, 1971- (advisor).

Subjects/Keywords: Mobile robots; Machine learning; Autonomous robots

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

APA (6^th Edition):

Sridharan, M. (2007). Robust structure-based autonomous color learning on a mobile robot. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/3315

Chicago Manual of Style (16^th Edition):

Sridharan, Mohan. “Robust structure-based autonomous color learning on a mobile robot.” 2007. Doctoral Dissertation, University of Texas – Austin. Accessed April 14, 2021. http://hdl.handle.net/2152/3315.

MLA Handbook (7^th Edition):

Sridharan, Mohan. “Robust structure-based autonomous color learning on a mobile robot.” 2007. Web. 14 Apr 2021.

Vancouver:

Sridharan M. Robust structure-based autonomous color learning on a mobile robot. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2007. [cited 2021 Apr 14]. Available from: http://hdl.handle.net/2152/3315.

Council of Science Editors:

Sridharan M. Robust structure-based autonomous color learning on a mobile robot. [Doctoral Dissertation]. University of Texas – Austin; 2007. Available from: http://hdl.handle.net/2152/3315

Delft University of Technology

4. Undetermined, U. (author). Exploration and Coverage: A Deep Reinforcement Learning Approach.

Degree: 2020, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:b1488678-a508-4e1d-a709-24e93681f60f

►

This work addresses the problem of exploration and coverage using visual inputs. Exploration and coverage is a fundamental problem in mobile robotics, the goal of… (more)

Subjects/Keywords: Deep Reinforcement Learning; Artificial intelligence; Mobile Robots; Auxiliary Learning; Autonomous Exploration

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APA (6^th Edition):

Undetermined, U. (. (2020). Exploration and Coverage: A Deep Reinforcement Learning Approach. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:b1488678-a508-4e1d-a709-24e93681f60f

Chicago Manual of Style (16^th Edition):

Undetermined, U (author). “Exploration and Coverage: A Deep Reinforcement Learning Approach.” 2020. Masters Thesis, Delft University of Technology. Accessed April 14, 2021. http://resolver.tudelft.nl/uuid:b1488678-a508-4e1d-a709-24e93681f60f.

MLA Handbook (7^th Edition):

Undetermined, U (author). “Exploration and Coverage: A Deep Reinforcement Learning Approach.” 2020. Web. 14 Apr 2021.

Vancouver:

Undetermined U(. Exploration and Coverage: A Deep Reinforcement Learning Approach. [Internet] [Masters thesis]. Delft University of Technology; 2020. [cited 2021 Apr 14]. Available from: http://resolver.tudelft.nl/uuid:b1488678-a508-4e1d-a709-24e93681f60f.

Council of Science Editors:

Undetermined U(. Exploration and Coverage: A Deep Reinforcement Learning Approach. [Masters Thesis]. Delft University of Technology; 2020. Available from: http://resolver.tudelft.nl/uuid:b1488678-a508-4e1d-a709-24e93681f60f

5. Kauppi, Ilkka. Intermediate Language for Mobile Robots: A Link between the High-Level Planner and Low-Level Services in Robots.

Degree: 2004, VTT Technical Research Centre of Finland

URL: http://lib.tkk.fi/Diss/2003/isbn9513862526/

►

The development of service and field robotics has been rapid during the last few decades. New versatile and affordable sensors are now available, and very… (more)

▼

The development of service and field robotics has been rapid during the last few decades. New versatile and affordable sensors are now available, and very importantly, computing power has increased very fast. Several intelligent features for robots have been presented. They include the use of artificial intelligence (AI), laser range finders, speech recognition, and image processing. This all has meant that robots can be seen more frequently in ordinary environments, or even in homes. Most development work has concentrated on a single or a few sophisticated features in development projects, but even work to design control structures for different levels in robot control has been done. Several languages for industrial and mobile robots have been introduced since the first robot language WAVE was developed in 1973. Tasks can be given to robots in these languages, but their use is difficult and requires special skills of users. In the future, robots will also be used in homes, and ordinary people should be able to give tasks for robots to perform. This should be done descriptively using natural language as in describing tasks to another person. In this work an intermediate language for mobile robots (ILMR) has been presented. It makes it easier to design a new task for a robot. ILMR is intended for service and field robots and it acts as an intermediate link from user, an intelligent planner or a human-robot interface to a robot's actions and behaviours. The main principle in development work has been simplicity and ease of use. Neither any deep knowledge of robotics nor good programming skills are required when using ILMR. While easy to use, ILMR offers all the required features that are needed to control today's specialised service and field robots. These features contain sequential and concurrent task execution and response to exceptions. ILMR also makes it easier to manage the development of complicated software projects of service robots by creating easy-to-use interfaces to all of several subsystems in robots. It is possible for users to use ILMR to give direct commands or tasks to a robot, but it is intended to be used with higher-level abstract languages, such as sign language or even natural spoken language through a high level planner. An action in ILMR can be given coarsely, i.e. in an abstract way, or in detail. Due to this coarseness, ILMR is suitable to be used with higher-level abstract languages and the set of elementary commands supports directly the use of natural language. With ILMR no complicated models of robots and the world are needed. Only a few measureable parameters for robots are needed and a simple map of the environment is maintained. ILMR has been implemented in two different kinds of robots, and its use and performance has been studied with simulators and actual robots in a wide variety of tests. The structure and operation of ILMR has proved to be useful and several tasks have been carried out successfully using both test robots.

VTT publications, ISSN 1455-0849; 510

Advisors/Committee Members: Helsinki University of Technology, Department of Automation and Systems Technology, VTT Industrial Systems.

Subjects/Keywords: mobile robot languages; industrial robot languages; autonomous service robots; autonomous field robots; natural language control; field robotics; high-level languages

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

APA (6^th Edition):

Kauppi, I. (2004). Intermediate Language for Mobile Robots: A Link between the High-Level Planner and Low-Level Services in Robots. (Thesis). VTT Technical Research Centre of Finland. Retrieved from http://lib.tkk.fi/Diss/2003/isbn9513862526/

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

Chicago Manual of Style (16^th Edition):

Kauppi, Ilkka. “Intermediate Language for Mobile Robots: A Link between the High-Level Planner and Low-Level Services in Robots.” 2004. Thesis, VTT Technical Research Centre of Finland. Accessed April 14, 2021. http://lib.tkk.fi/Diss/2003/isbn9513862526/.

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

MLA Handbook (7^th Edition):

Kauppi, Ilkka. “Intermediate Language for Mobile Robots: A Link between the High-Level Planner and Low-Level Services in Robots.” 2004. Web. 14 Apr 2021.

Vancouver:

Kauppi I. Intermediate Language for Mobile Robots: A Link between the High-Level Planner and Low-Level Services in Robots. [Internet] [Thesis]. VTT Technical Research Centre of Finland; 2004. [cited 2021 Apr 14]. Available from: http://lib.tkk.fi/Diss/2003/isbn9513862526/.

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

Council of Science Editors:

Kauppi I. Intermediate Language for Mobile Robots: A Link between the High-Level Planner and Low-Level Services in Robots. [Thesis]. VTT Technical Research Centre of Finland; 2004. Available from: http://lib.tkk.fi/Diss/2003/isbn9513862526/

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

University of Utah

6. Hetrick, Andrew. Implementation of kinematic control for a DARPA Urban Challenge vehicle.

Degree: MS;, Mechanical Engineering;, 2010, University of Utah

URL: http://content.lib.utah.edu/cdm/singleitem/collection/etd2/id/800/rec/626

► The DARPA Urban Challenge provided a purpose for autonomous ground vehicle research in recent years. The University of Utah entered the competition with a vehicle… (more)

Subjects/Keywords: Autonomous robots

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

APA (6^th Edition):

Hetrick, A. (2010). Implementation of kinematic control for a DARPA Urban Challenge vehicle. (Masters Thesis). University of Utah. Retrieved from http://content.lib.utah.edu/cdm/singleitem/collection/etd2/id/800/rec/626

Chicago Manual of Style (16^th Edition):

Hetrick, Andrew. “Implementation of kinematic control for a DARPA Urban Challenge vehicle.” 2010. Masters Thesis, University of Utah. Accessed April 14, 2021. http://content.lib.utah.edu/cdm/singleitem/collection/etd2/id/800/rec/626.

MLA Handbook (7^th Edition):

Hetrick, Andrew. “Implementation of kinematic control for a DARPA Urban Challenge vehicle.” 2010. Web. 14 Apr 2021.

Vancouver:

Hetrick A. Implementation of kinematic control for a DARPA Urban Challenge vehicle. [Internet] [Masters thesis]. University of Utah; 2010. [cited 2021 Apr 14]. Available from: http://content.lib.utah.edu/cdm/singleitem/collection/etd2/id/800/rec/626.

Council of Science Editors:

Hetrick A. Implementation of kinematic control for a DARPA Urban Challenge vehicle. [Masters Thesis]. University of Utah; 2010. Available from: http://content.lib.utah.edu/cdm/singleitem/collection/etd2/id/800/rec/626

University of New South Wales

7. Low, May Peng Emily. Vision-based navigation and decentralized control of mobile robots.

Degree: Electrical Engineering & Telecommunications, 2007, University of New South Wales

URL: http://handle.unsw.edu.au/1959.4/40885 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:1391/SOURCE02?view=true

► The first part of this thesis documents experimental investigation into the use of vision for wheeled robot navigation problems. Specifically, using a video camera as… (more)

Subjects/Keywords: Robot vision; Mobile robots; Autonomous robots; Robots – Control systems

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

APA (6^th Edition):

Low, M. P. E. (2007). Vision-based navigation and decentralized control of mobile robots. (Doctoral Dissertation). University of New South Wales. Retrieved from http://handle.unsw.edu.au/1959.4/40885 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:1391/SOURCE02?view=true

Chicago Manual of Style (16^th Edition):

Low, May Peng Emily. “Vision-based navigation and decentralized control of mobile robots.” 2007. Doctoral Dissertation, University of New South Wales. Accessed April 14, 2021. http://handle.unsw.edu.au/1959.4/40885 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:1391/SOURCE02?view=true.

MLA Handbook (7^th Edition):

Low, May Peng Emily. “Vision-based navigation and decentralized control of mobile robots.” 2007. Web. 14 Apr 2021.

Vancouver:

Low MPE. Vision-based navigation and decentralized control of mobile robots. [Internet] [Doctoral dissertation]. University of New South Wales; 2007. [cited 2021 Apr 14]. Available from: http://handle.unsw.edu.au/1959.4/40885 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:1391/SOURCE02?view=true.

Council of Science Editors:

Low MPE. Vision-based navigation and decentralized control of mobile robots. [Doctoral Dissertation]. University of New South Wales; 2007. Available from: http://handle.unsw.edu.au/1959.4/40885 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:1391/SOURCE02?view=true

Michigan State University

8. Clark, Anthony Joseph. Automatically addressing uncertainty in autonomous robots with computational evolution.

Degree: 2016, Michigan State University

URL: http://etd.lib.msu.edu/islandora/object/etd:4287

►

Thesis Ph. D. Michigan State University. Computer Science 2016

Autonomous robotic systems are becoming prevalent in our daily lives. Many robots are still restricted to… (more)

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Thesis Ph. D. Michigan State University. Computer Science 2016

Autonomous robotic systems are becoming prevalent in our daily lives. Many robots are still restricted to manufacturing settings where precision and repetition are paramount. However, autonomous devices are increasingly being designed for applications such as search and rescue, remote sensing, and tasks considered too dangerous for people. In these cases, it is crucial to continue operation even when some unforeseen adversity decreases performance levels – a robot with diminished performance is still successful if it is able to deal with uncertainty, which includes any unexpected change due to unmodeled dynamics, changing control strategies, or changes in functionality resulting from damage or aging.The research presented in this dissertation seeks to improve such autonomous systems through three evolution-based techniques. First, robots are optimized offline so that they best exploit available material characteristics, for instance flexible materials, with respect to multiple objectives (e.g., speed and efficiency). Second, adaptive controllers are evolved, which enable robots to better respond to unforeseen changes to themselves and their environments. Finally, adaptation limits are discovered using a proposed mode discovery algorithm. Once the boundaries of adaptation are known, self-modeling is applied online to determine the current operating mode and select/generate an appropriate controller.These three techniques work together to create a holistic method, which will enable autonomous robotic systems to automatically handle uncertainty. The proposed methods are evaluated using robotic fish as a test platform. Such systems can benefit in multiple ways from the integration of flexible materials. Moreover, robotic fish operate in complex, nonlinear environments, enabling thorough testing of the proposed methods.

Description based on online resource;

Advisors/Committee Members: McKinley, Philip K, Tan, Xiaobo, Punch, William, Goodman, Erik, Ofria, Charles.

Subjects/Keywords: Autonomous robots; Robots – Programming; Robotics

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APA (6^th Edition):

Clark, A. J. (2016). Automatically addressing uncertainty in autonomous robots with computational evolution. (Thesis). Michigan State University. Retrieved from http://etd.lib.msu.edu/islandora/object/etd:4287

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

Chicago Manual of Style (16^th Edition):

Clark, Anthony Joseph. “Automatically addressing uncertainty in autonomous robots with computational evolution.” 2016. Thesis, Michigan State University. Accessed April 14, 2021. http://etd.lib.msu.edu/islandora/object/etd:4287.

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

MLA Handbook (7^th Edition):

Clark, Anthony Joseph. “Automatically addressing uncertainty in autonomous robots with computational evolution.” 2016. Web. 14 Apr 2021.

Vancouver:

Clark AJ. Automatically addressing uncertainty in autonomous robots with computational evolution. [Internet] [Thesis]. Michigan State University; 2016. [cited 2021 Apr 14]. Available from: http://etd.lib.msu.edu/islandora/object/etd:4287.

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

Council of Science Editors:

Clark AJ. Automatically addressing uncertainty in autonomous robots with computational evolution. [Thesis]. Michigan State University; 2016. Available from: http://etd.lib.msu.edu/islandora/object/etd:4287

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

University of Edinburgh

9. Nehmzow, Ulrich. Experiments in competence acquisition for autonomous mobile robots.

Degree: PhD, 1992, University of Edinburgh

URL: http://hdl.handle.net/1842/582

► This thesis addresses the problem of intelligent control of autonomous mobile robots, particularly under circumstances unforeseen by the designer. As the range of applications for… (more)

▼ This thesis addresses the problem of intelligent control of autonomous mobile robots, particularly under circumstances unforeseen by the designer. As the range of applications for autonomous robots widens and increasingly includes operation in unknown environments (exploration) and tasks which are not clearly specifiable a priori (maintenance work), this question is becoming more and more important. It is argued that in order to achieve such flexibility in unforeseen situations it is necessary to equip a mobile robot with the ability to autonomously acquire the necessary task achieving competences, through interaction with the world. Using mobile robots equipped with self-organising, behaviour-based controllers,experiments in the autonomous acquisition of motor competences and navigational skills were conducted to investigate the viability of this approach. A controller architecture is presented that allows extremely fast acquisition of motor competence such as obstacle avoidance, wall and corridor following and deadend escape: these skills are obtained in less than five learning steps,performed in under one minute of real time. This is considerably faster than previous approaches. Because the effective wiring between sensors and actuators is determined autonomously by the robot, sensors and actuators may initially be wired up arbitrarily,which reduces the risk of human error during the setting up phase of the robot. For the first time it was demonstrated that robots also become able to autonomously recover from unforeseen situations such as changes in the robot's morphology, the environment or the task. Rule-based approaches to error recovery obviously cannot offer recovery from unforeseen errors,as error situations covered by such approaches have to be identified beforehand. A robust and fast map building architecture is presented that enables mobile robots to autonomously construct internal representations of their environment, using self-organising feature maps. After a short training time the robots are able to use these self-organising feature maps successfully for location recognition. For the first time the staged acquisition of multiple competences in mobile robots is presented. First obtaining fundamental motor competences such as wall following and deadend escape (primary skills), the robots use these in a second stage to learn higher levels of competence such as the navigational task of location recognition (secondary skills). Besides laying the foundation of autonomous, staged acquisition of high level competences, this approach has the interesting property of securely grounding secondary skills in the robot's own experience, as these secondary skills are defined in terms of the primary ones.

Subjects/Keywords: 670; intelligent control; autonomous mobile robots

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

APA (6^th Edition):

Nehmzow, U. (1992). Experiments in competence acquisition for autonomous mobile robots. (Doctoral Dissertation). University of Edinburgh. Retrieved from http://hdl.handle.net/1842/582

Chicago Manual of Style (16^th Edition):

Nehmzow, Ulrich. “Experiments in competence acquisition for autonomous mobile robots.” 1992. Doctoral Dissertation, University of Edinburgh. Accessed April 14, 2021. http://hdl.handle.net/1842/582.

MLA Handbook (7^th Edition):

Nehmzow, Ulrich. “Experiments in competence acquisition for autonomous mobile robots.” 1992. Web. 14 Apr 2021.

Vancouver:

Nehmzow U. Experiments in competence acquisition for autonomous mobile robots. [Internet] [Doctoral dissertation]. University of Edinburgh; 1992. [cited 2021 Apr 14]. Available from: http://hdl.handle.net/1842/582.

Council of Science Editors:

Nehmzow U. Experiments in competence acquisition for autonomous mobile robots. [Doctoral Dissertation]. University of Edinburgh; 1992. Available from: http://hdl.handle.net/1842/582

Brno University of Technology

10. Vávra, Jakub. Řízení pásového robota: Control of the belt robot.

Degree: 2019, Brno University of Technology

URL: http://hdl.handle.net/11012/70316

► This semester thesis deals with the management of autonomous robot crawler. The robot will be able to avoid obstacles and check if there are on… (more)

Subjects/Keywords: Mobilní robot; autonomní řízení; infračervené senzory; Mobile robots; autonomous control; infrared sensors.

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

APA (6^th Edition):

Vávra, J. (2019). Řízení pásového robota: Control of the belt robot. (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/70316

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

Chicago Manual of Style (16^th Edition):

Vávra, Jakub. “Řízení pásového robota: Control of the belt robot.” 2019. Thesis, Brno University of Technology. Accessed April 14, 2021. http://hdl.handle.net/11012/70316.

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

MLA Handbook (7^th Edition):

Vávra, Jakub. “Řízení pásového robota: Control of the belt robot.” 2019. Web. 14 Apr 2021.

Vancouver:

Vávra J. Řízení pásového robota: Control of the belt robot. [Internet] [Thesis]. Brno University of Technology; 2019. [cited 2021 Apr 14]. Available from: http://hdl.handle.net/11012/70316.

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

Council of Science Editors:

Vávra J. Řízení pásového robota: Control of the belt robot. [Thesis]. Brno University of Technology; 2019. Available from: http://hdl.handle.net/11012/70316

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

Brno University of Technology

11. Vávra, Jakub. Řízení pásového robota: Control of the belt robot.

Degree: 2017, Brno University of Technology

URL: http://hdl.handle.net/11012/67387

► This semester thesis deals with the management of autonomous robot crawler. The robot will be able to avoid obstacles and check if there are on… (more)

Subjects/Keywords: Mobilní robot; autonomní řízení; infračervené senzory; Mobile robots; autonomous control; infrared sensors.

Record Details Similar Records Cite « Share

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

APA (6^th Edition):

Vávra, J. (2017). Řízení pásového robota: Control of the belt robot. (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/67387

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

Chicago Manual of Style (16^th Edition):

Vávra, Jakub. “Řízení pásového robota: Control of the belt robot.” 2017. Thesis, Brno University of Technology. Accessed April 14, 2021. http://hdl.handle.net/11012/67387.

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

MLA Handbook (7^th Edition):

Vávra, Jakub. “Řízení pásového robota: Control of the belt robot.” 2017. Web. 14 Apr 2021.

Vancouver:

Vávra J. Řízení pásového robota: Control of the belt robot. [Internet] [Thesis]. Brno University of Technology; 2017. [cited 2021 Apr 14]. Available from: http://hdl.handle.net/11012/67387.

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

Council of Science Editors:

Vávra J. Řízení pásového robota: Control of the belt robot. [Thesis]. Brno University of Technology; 2017. Available from: http://hdl.handle.net/11012/67387

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

Virginia Tech

12. Sohal, Shubhdildeep Singh. A Hybrid Tracking Approach for Autonomous Docking in Self-Reconfigurable Robotic Modules.

Degree: MS, Mechanical Engineering, 2019, Virginia Tech

URL: http://hdl.handle.net/10919/90889

► Active docking in modular robotic systems has received a lot of interest recently as it allows small versatile robotic systems to coalesce and achieve the… (more)

▼ Active docking in modular robotic systems has received a lot of interest recently as it allows small versatile robotic systems to coalesce and achieve the structural benefits of larger robotic systems. This feature enables reconfigurable modular robotic systems to bridge the gap between small agile systems and larger robotic systems. Such robots can prove useful in environments that are either too dangerous or inaccessible to humans. Therefore, in this research, several specific hardware and software development aspects related to self-reconfigurable mobile robots are proposed. In terms of hardware development, a robotic module was designed that is symmetrically invertible and exhibits dual mobility using a tracked drive for longitudinal locomotion and wheeled drive for lateral locomotion. Such interchangeable mobility is important when the robot operates in a constrained workspace. The mobile robot also has integrated two degrees of freedom (DOF) docking mechanisms referred to as GHEFT (Genderless, High strength, Efficient, Fail-Safe, high misalignment Tolerant). The docking interface allows for an efficient docking while tolerating misalignments in 6-DOF. In addition, motion along the vertical axis is also performed via an additional translational DOF, allowing for lowering and raising the wheeled assembly. The robot is equipped with sensors to provide positional feedback of the joints relative to the target robot. In terms of software development, a visual-based onboard Hybrid Target Tracking algorithm for high-speed consistent tracking iv of colored targets is also presented in this work. The proposed technique is used to detect and follow a colored target attached to the target robot leading to autonomous docking between the modules using Image Based Visual Servoing (IBVS). Experimental results to validate the robustness of the proposed tracking approach, as well as the reliability of the autonomous docking procedure, are also presented in the thesis. The thesis is concluded with discussions about future research in both structured and unstructured terrains. Advisors/Committee Members: Ben-Tzvi, Pinhas (committeechair), Furukawa, Tomonari (committee member), Wicks, Alfred L. (committee member).

Subjects/Keywords: Self-reconfigurable Mobile robots; Autonomous docking; Mechatronics; Visual Servoing; Image processing; Target detection and tracking

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

APA (6^th Edition):

Sohal, S. S. (2019). A Hybrid Tracking Approach for Autonomous Docking in Self-Reconfigurable Robotic Modules. (Masters Thesis). Virginia Tech. Retrieved from http://hdl.handle.net/10919/90889

Chicago Manual of Style (16^th Edition):

Sohal, Shubhdildeep Singh. “A Hybrid Tracking Approach for Autonomous Docking in Self-Reconfigurable Robotic Modules.” 2019. Masters Thesis, Virginia Tech. Accessed April 14, 2021. http://hdl.handle.net/10919/90889.

MLA Handbook (7^th Edition):

Sohal, Shubhdildeep Singh. “A Hybrid Tracking Approach for Autonomous Docking in Self-Reconfigurable Robotic Modules.” 2019. Web. 14 Apr 2021.

Vancouver:

Sohal SS. A Hybrid Tracking Approach for Autonomous Docking in Self-Reconfigurable Robotic Modules. [Internet] [Masters thesis]. Virginia Tech; 2019. [cited 2021 Apr 14]. Available from: http://hdl.handle.net/10919/90889.

Council of Science Editors:

Sohal SS. A Hybrid Tracking Approach for Autonomous Docking in Self-Reconfigurable Robotic Modules. [Masters Thesis]. Virginia Tech; 2019. Available from: http://hdl.handle.net/10919/90889

University of Texas – Austin

13. Stronger, Daniel Adam. Autonomous sensor and action model learning for mobile robots.

Degree: PhD, Computer Sciences, 2008, University of Texas – Austin

URL: http://hdl.handle.net/2152/17798

► Autonomous mobile robots have the potential to be extremely beneficial to society due to their ability to perform tasks that are difficult or dangerous for… (more)

Subjects/Keywords: Autonomous robots; Mobile robots; Detectors; Machine learning

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

APA (6^th Edition):

Stronger, D. A. (2008). Autonomous sensor and action model learning for mobile robots. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/17798

Chicago Manual of Style (16^th Edition):

Stronger, Daniel Adam. “Autonomous sensor and action model learning for mobile robots.” 2008. Doctoral Dissertation, University of Texas – Austin. Accessed April 14, 2021. http://hdl.handle.net/2152/17798.

MLA Handbook (7^th Edition):

Stronger, Daniel Adam. “Autonomous sensor and action model learning for mobile robots.” 2008. Web. 14 Apr 2021.

Vancouver:

Stronger DA. Autonomous sensor and action model learning for mobile robots. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2008. [cited 2021 Apr 14]. Available from: http://hdl.handle.net/2152/17798.

Council of Science Editors:

Stronger DA. Autonomous sensor and action model learning for mobile robots. [Doctoral Dissertation]. University of Texas – Austin; 2008. Available from: http://hdl.handle.net/2152/17798

14. Mohsin, Omar Q. Mobile Robot Localization Based on Kalman Filter.

Degree: MS(M.S.) in Electrical and Computer Engineering, Electrical and Computer Engineering, 2014, Portland State University

URL: https://pdxscholar.library.pdx.edu/open_access_etds/1529

► Robot localization is one of the most important subjects in the Robotics science. It is an interesting and complicated topic. There are many algorithms… (more)

▼ Robot localization is one of the most important subjects in the Robotics science. It is an interesting and complicated topic. There are many algorithms to solve the problem of localization. Each localization system has its own set of features, and based on them, a solution will be chosen. In my thesis, I want to present a solution to find the best estimate for a robot position in certain space for which a map is available. The thesis started with an elementary introduction to the probability and the Gaussian theories. Simple and advanced practical examples are presented to illustrate each concept related to localization. Extended Kalman Filter is chosen to be the main algorithm to find the best estimate of the robot position. It was presented through two chapters with many examples. All these examples were simulated in Matlab in this thesis in order to give the readers and future students a clear and complete introduction to Kalman Filter. Fortunately, I applied this algorithm on a robot that I have built its base from scratch. MCECS-Bot was a project started in Winter 2012 and it was assigned to me from my adviser, Dr. Marek Perkowski. This robot consists of the base with four Mecanum wheels, the waist based on four linear actuators, an arm, neck and head. The base is equipped with many sensors, which are bumper switches, encoders, sonars, LRF and Kinect. Additional devices can provide extra information as backup sensors, which are a tablet and a camera. The ultimate goal of this thesis is to have the MCECS-Bot as an open source system accessed by many future classes, capstone projects and graduate thesis students for education purposes. A well-known MRPT software system was used to present the results of the Extended Kalman Filter (EKF). These results are simply the robot positions estimated by EKF. They are demonstrated on the base floor of the FAB building of PSU. In parallel, simulated results to all different solutions derived in this thesis are presented using Matlab. A future students will have a ready platform and a good start to continue developing this system. Advisors/Committee Members: Marek A. Perkowski.

Subjects/Keywords: Mobile robots – Design and construction; Autonomous robots – Design and construction; Kalman filtering; Multisensor data fusion; Robotics

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

APA (6^th Edition):

Mohsin, O. Q. (2014). Mobile Robot Localization Based on Kalman Filter. (Masters Thesis). Portland State University. Retrieved from https://pdxscholar.library.pdx.edu/open_access_etds/1529

Chicago Manual of Style (16^th Edition):

Mohsin, Omar Q. “Mobile Robot Localization Based on Kalman Filter.” 2014. Masters Thesis, Portland State University. Accessed April 14, 2021. https://pdxscholar.library.pdx.edu/open_access_etds/1529.

MLA Handbook (7^th Edition):

Mohsin, Omar Q. “Mobile Robot Localization Based on Kalman Filter.” 2014. Web. 14 Apr 2021.

Vancouver:

Mohsin OQ. Mobile Robot Localization Based on Kalman Filter. [Internet] [Masters thesis]. Portland State University; 2014. [cited 2021 Apr 14]. Available from: https://pdxscholar.library.pdx.edu/open_access_etds/1529.

Council of Science Editors:

Mohsin OQ. Mobile Robot Localization Based on Kalman Filter. [Masters Thesis]. Portland State University; 2014. Available from: https://pdxscholar.library.pdx.edu/open_access_etds/1529

15. Diogo Santos Ortiz Correa. Navegação autônoma de robôs móveis e detecção de intrusos em ambientes internos utilizando sensores 2D e 3D.

Degree: 2013, University of São Paulo

URL: http://www.teses.usp.br/teses/disponiveis/55/55134/tde-26082013-100127/

►

Os robôs móveis e de serviço vêm assumindo um papel cada vez mais amplo e importante junto à sociedade moderna. Um tipo importante de robô… (more)

▼

Os robôs móveis e de serviço vêm assumindo um papel cada vez mais amplo e importante junto à sociedade moderna. Um tipo importante de robô móvel autônomo são os robôs voltados para a vigilância e segurança em ambientes internos (indoor). Estes robôs móveis de vigilância permitem a execução de tarefas repetitivas de monitoramento de ambientes, as quais podem inclusive apresentar riscos à integridade física das pessoas, podendo assim ser executadas de modo autônomo e seguro pelo robô. Este trabalho teve por objetivo o desenvolvimento dos principais módulos que compõem a arquitetura de um sistema robótico de vigilância, que incluem notadamente: (i) a aplicação de sensores com percepção 3D (Kinect) e térmica (Câmera FLIR), de relativo baixo custo, junto a este sistema robótico; (ii) a detecção de intrusos (pessoas) através do uso conjunto dos sensores 3D e térmico; (iii) a navegação de robôs móveis autônomos com detecção e desvio de obstáculos, para a execução de tarefas de monitoramento e vigilância de ambientes internos; (iv) a identificação e reconhecimento de elementos do ambiente que permitem ao robô realizar uma navegação baseada em mapas topológicos. Foram utilizados métodos de visão computacional, processamento de imagens e inteligência computacional para a realização das tarefas de vigilância. O sensor de distância Kinect foi utilizado na percepção do sistema robótico, permitindo a navegação, desvio de obstáculos, e a identificação da posição do robô em relação a um mapa topológico utilizado. Para a tarefa de detecção de pessoas no ambiente foram utilizados os sensores Kinect e câmera térmica FLIR, integrando os dados fornecidos por ambos sensores, e assim, permitindo obter uma melhor percepção do ambiente e também permitindo uma maior confiabilidade na detecção de pessoas. Como principal resultado deste trabalho foi desenvolvido um iii sistema, capaz de navegar com o uso de um mapa topológico global, capaz de se deslocar em um ambiente interno evitando colisões, e capaz de detectar a presença de seres humanos (intrusos) no ambiente. O sistema proposto foi testado em situações reais com o uso de um robô móvel Pioneer P3AT equipado com os sensores Kinect e com uma Câmera FLIR, realizando as tarefas de navegação definidas com sucesso. Outras funcionalidades foram implementadas, como o acompanhamento da pessoa (follow me) e o reconhecimento de comandos gestuais, onde a integração destes módulos com o sistema desenvolvido constituem-se de trabalhos futuros propostos

Mobile robots and service robots are increasing their applications and importance in our modern society. An important type of autonomous mobile robot application is indoor monitoring and surveillance tasks. The adoption of mobile robots for indoor surveillance tasks allows the execution of repetitive environment patrolling, which may even pose risks to the physical integrity of persons. Thus these activities can be autonomously and safely performed by security robots. This work aimed at the development of key modules and components that…

Advisors/Committee Members: Fernando Santos Osório, Emerson Carlos Pedrino, Roseli Aparecida Francelin Romero.

Subjects/Keywords: Calibração de sensores; Detecção de pessoas; Robôs de vigilância; Robôs móveis autônomos; Autonomous mobile robots; People detection; Sensor calibration; Surveillance robots

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

APA (6^th Edition):

Correa, D. S. O. (2013). Navegação autônoma de robôs móveis e detecção de intrusos em ambientes internos utilizando sensores 2D e 3D. (Masters Thesis). University of São Paulo. Retrieved from http://www.teses.usp.br/teses/disponiveis/55/55134/tde-26082013-100127/

Chicago Manual of Style (16^th Edition):

Correa, Diogo Santos Ortiz. “Navegação autônoma de robôs móveis e detecção de intrusos em ambientes internos utilizando sensores 2D e 3D.” 2013. Masters Thesis, University of São Paulo. Accessed April 14, 2021. http://www.teses.usp.br/teses/disponiveis/55/55134/tde-26082013-100127/.

MLA Handbook (7^th Edition):

Correa, Diogo Santos Ortiz. “Navegação autônoma de robôs móveis e detecção de intrusos em ambientes internos utilizando sensores 2D e 3D.” 2013. Web. 14 Apr 2021.

Vancouver:

Correa DSO. Navegação autônoma de robôs móveis e detecção de intrusos em ambientes internos utilizando sensores 2D e 3D. [Internet] [Masters thesis]. University of São Paulo; 2013. [cited 2021 Apr 14]. Available from: http://www.teses.usp.br/teses/disponiveis/55/55134/tde-26082013-100127/.

Council of Science Editors:

Correa DSO. Navegação autônoma de robôs móveis e detecção de intrusos em ambientes internos utilizando sensores 2D e 3D. [Masters Thesis]. University of São Paulo; 2013. Available from: http://www.teses.usp.br/teses/disponiveis/55/55134/tde-26082013-100127/

University of Waterloo

16. Osman, Mostafa. On the Enhancement of the Localization of Autonomous Mobile Platforms.

Degree: 2020, University of Waterloo

URL: http://hdl.handle.net/10012/16174

► The focus of many industrial and research entities on achieving full robotic autonomy increased in the past few years. In order to achieve full robotic… (more)

▼ The focus of many industrial and research entities on achieving full robotic autonomy increased in the past few years. In order to achieve full robotic autonomy, a fundamental problem is the localization, which is the ability of a mobile platform to determine its position and orientation in the environment. In this thesis, several problems related to the localization of autonomous platforms are addressed, namely, visual odometry accuracy and robustness; uncertainty estimation in odometries; and accurate multi-sensor fusion-based localization. Beside localization, the control of mobile manipulators is also tackled in this thesis. First, a generic image processing pipeline is proposed which, when integrated with a feature-based Visual Odometry (VO), can enhance robustness, accuracy and reduce the accumulation of errors (drift) in the pose estimation. Afterwards, since odometries (e.g. wheel odometry, LiDAR odometry, or VO) suffer from drift errors due to integration, and because such errors need to be quantified in order to achieve accurate localization through multi-sensor fusion schemes (e.g. extended or unscented kalman filters). A covariance estimation algorithm is proposed, which estimates the uncertainty of odometry measurements using another sensor which does not rely on integration. Furthermore, optimization-based multi-sensor fusion techniques are known to achieve better localization results compared to filtering techniques, but with higher computational cost. Consequently, an efficient and generic multi-sensor fusion scheme, based on Moving Horizon Estimation (MHE), is developed. The proposed multi-sensor fusion scheme: is capable of operating with any number of sensors; and considers different sensors measurements rates, missing measurements, and outliers. Moreover, the proposed multi-sensor scheme is based on a multi-threading architecture, in order to reduce its computational cost, making it more feasible for practical applications. Finally, the main purpose of achieving accurate localization is navigation. Hence, the last part of this thesis focuses on developing a stabilization controller of a 10-DOF mobile manipulator based on Model Predictive Control (MPC). All of the aforementioned works are validated using numerical simulations; real data from: EU Long-term Dataset, KITTI Dataset, TUM Dataset; and/or experimental sequences using an omni-directional mobile robot. The results show the efficacy and importance of each part of the proposed work.

Subjects/Keywords: localization; autonomous mobile robots; autonomous driving; model predictive control; moving horizon estimation; covariance estimation; visual odometry

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

APA (6^th Edition):

Osman, M. (2020). On the Enhancement of the Localization of Autonomous Mobile Platforms. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/16174

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

Chicago Manual of Style (16^th Edition):

Osman, Mostafa. “On the Enhancement of the Localization of Autonomous Mobile Platforms.” 2020. Thesis, University of Waterloo. Accessed April 14, 2021. http://hdl.handle.net/10012/16174.

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

MLA Handbook (7^th Edition):

Osman, Mostafa. “On the Enhancement of the Localization of Autonomous Mobile Platforms.” 2020. Web. 14 Apr 2021.

Vancouver:

Osman M. On the Enhancement of the Localization of Autonomous Mobile Platforms. [Internet] [Thesis]. University of Waterloo; 2020. [cited 2021 Apr 14]. Available from: http://hdl.handle.net/10012/16174.

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

Council of Science Editors:

Osman M. On the Enhancement of the Localization of Autonomous Mobile Platforms. [Thesis]. University of Waterloo; 2020. Available from: http://hdl.handle.net/10012/16174

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

17. Wang, Pengcheng, 1985-. Dynamics and control of rider-bicycle systems.

Degree: PhD, Mechanical and Aerospace Engineering, 2018, Rutgers University

URL: https://rucore.libraries.rutgers.edu/rutgers-lib/59269/

► How can an autonomous bicycle robot system keep balance and track a path? How does a human rider ride a bicycle? And how can we… (more)

▼ How can an autonomous bicycle robot system keep balance and track a path? How does a human rider ride a bicycle? And how can we enhance human riding safety and efficiency? Answers of these questions can provide guidance for autonomous single-track vehicle control system design, understanding human riding skills and vehicle assistive design. Furthermore, riding a bicycle is an unstable physical human-machine interaction (upHMI). Riding skills analysis is a good example about understanding human control mechanism, including human body movement control and human neuro-control. The bicycle assisted balancing system also provides the inspiration for designing other human-robot cooperation system. This dissertation has three objectives: the first one is to design control system for autonomous bicycle for balancing and tracking; the second one is to model and analyze the human riding skills of balancing and tracking; and the last one is to design tuning method for human riding balancing skills. The first part of this dissertation focuses on the autonomous bicycle control system design for balancing and path following. The bikebot, an autonomous bicycle system, is designed for these control mechanism implementation. The gyro-balancer control law and steering motion control law are designed for balancing the bikebot system in the stationary and moving stages, respectively. Using these two control laws, a switching control strategy is proposed for a stationary-moving transition process. The control performances are demonstrated by the experimental results for a complete maneuver. For the trajectory tracking tasks, the external/internal convertible (EIC) structure-based control strategies are proposed and implemented. The EIC-based control takes the advantages of the non-minimum phase underactuated dynamics structure. We first analyze and demonstrate the EIC-based motion tracking controller. An auxiliary gyro subsystem control law is then designed to enhance the tracking performance of the EIC-based controller. The errors dynamics and control properties are discussed and analyzed. Finally, the control strategies are implemented on the bikebot system. The experiments results confirm and demonstrate the controllers effectiveness. The second part of the dissertation focuses on the analysis of human riding skills, including the balance control and the tracking skills. For the motion tracking with balancing motor skills, using the EIC structure, a balance equilibrium manifold (BEM) concept is proposed for analyzing the human trajectory tracking behaviors and balancing properties. The contributions of steering and upper-body motion are analyzed quantitatively. Finally, performance metrics are introduced to quantify the balance motor skills using the BEM concept. These analysis and discussions are demonstrated and validated by extensive human riding experiments. Comparison between the EIC-based control and human control is also presented and demonstrated. For the balance skill studies, we first present the control models of human… Advisors/Committee Members: Yi, Jingang (chair), Zou, Qingze (internal member), Bai, Xiaoli (internal member), Torres, Elizabeth (outside member), School of Graduate Studies.

Subjects/Keywords: Autonomous robots; Cycling

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APA (6^th Edition):

Wang, Pengcheng, 1. (2018). Dynamics and control of rider-bicycle systems. (Doctoral Dissertation). Rutgers University. Retrieved from https://rucore.libraries.rutgers.edu/rutgers-lib/59269/

Chicago Manual of Style (16^th Edition):

Wang, Pengcheng, 1985-. “Dynamics and control of rider-bicycle systems.” 2018. Doctoral Dissertation, Rutgers University. Accessed April 14, 2021. https://rucore.libraries.rutgers.edu/rutgers-lib/59269/.

MLA Handbook (7^th Edition):

Wang, Pengcheng, 1985-. “Dynamics and control of rider-bicycle systems.” 2018. Web. 14 Apr 2021.

Vancouver:

Wang, Pengcheng 1. Dynamics and control of rider-bicycle systems. [Internet] [Doctoral dissertation]. Rutgers University; 2018. [cited 2021 Apr 14]. Available from: https://rucore.libraries.rutgers.edu/rutgers-lib/59269/.

Council of Science Editors:

Wang, Pengcheng 1. Dynamics and control of rider-bicycle systems. [Doctoral Dissertation]. Rutgers University; 2018. Available from: https://rucore.libraries.rutgers.edu/rutgers-lib/59269/

University of Johannesburg

18. Sabatta, Deon George. Modelling and control of an autonomous vehicle.

Degree: 2012, University of Johannesburg

URL: http://hdl.handle.net/10210/5674

►

M.Ing.

This thesis deals with the modelling and control of an autonomous four-wheeled car-like vehicle. The autonomous vehicle is built on the chassis of a… (more)

Subjects/Keywords: Mobile robots

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

APA (6^th Edition):

Sabatta, D. G. (2012). Modelling and control of an autonomous vehicle. (Thesis). University of Johannesburg. Retrieved from http://hdl.handle.net/10210/5674

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

Chicago Manual of Style (16^th Edition):

Sabatta, Deon George. “Modelling and control of an autonomous vehicle.” 2012. Thesis, University of Johannesburg. Accessed April 14, 2021. http://hdl.handle.net/10210/5674.

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

MLA Handbook (7^th Edition):

Sabatta, Deon George. “Modelling and control of an autonomous vehicle.” 2012. Web. 14 Apr 2021.

Vancouver:

Sabatta DG. Modelling and control of an autonomous vehicle. [Internet] [Thesis]. University of Johannesburg; 2012. [cited 2021 Apr 14]. Available from: http://hdl.handle.net/10210/5674.

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

Council of Science Editors:

Sabatta DG. Modelling and control of an autonomous vehicle. [Thesis]. University of Johannesburg; 2012. Available from: http://hdl.handle.net/10210/5674

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

19. Spaenlehauer, Ariane. Decentralized monocular-inertial multi-UAV SLAM system : SLAM monoculaire-inertiel multi-UAV décentralisé.

Degree: Docteur es, Robotique : Unité de recherche Heudyasic (UMR-7253), 2019, Compiègne

URL: http://www.theses.fr/2019COMP2494

► Dans cette thèse, nous proposons un algorithme pour la localisation d’une flotte de UAVs autonomes dans le cadre de l’architecture des Systèmes-de-Systèmes. En particulier, notre… (more)

▼ Dans cette thèse, nous proposons un algorithme pour la localisation d’une flotte de UAVs autonomes dans le cadre de l’architecture des Systèmes-de-Systèmes. En particulier, notre objectif est que les UAVs autonomes puissent se localiser et générer une carte d’un environnement inconnu en utilisant le moins possible de capteurs embarqués sur chaque UAV : une caméra monoculaire dirigée vers l’avant et une centrale inertielle. Cette problématique est cruciale pour des applications telles que l’exploration de zones inconnues ou de missions de sauvetage et de reconnaissance. Les choix de conception algorithmique sont motivés par une étude de l’état de l’art dans les domaines des systèmes multi-robots réalisant de la localisation, de la cartographie, de la navigation et/ou de l’exploration, ainsi que des approches de SLAM visuel, monoculaire, temps réel et monoculaire-inertiel. Le traitement des mesures en vision monoculaire, par nature, n’est pas capable d’estimer des distances métriques à cause de la perte d’information sur la profondeur lors de la projection de l’environnement sur le plan image. Bien que cela ne représente pas un problème majeur pour la plupart des systèmes simple-robot, l’obtention de distances métriques est nécessaire pour permettre la collaboration inter-robots. De plus, lorsque les problématiques de contrôle, de navigation et d’exploration sont ajoutées au problème initial, les distances métriques deviennent d’autant plus importantes. Dans cette thèse, nous proposons une nouvelle approche pour estimer des distances métriques pour un système mobile embarquant seulement une caméra monoculaire et une centrale inertielle via une fusion lâche des mesures.Ce travail de recherche explore également la conception d’un système de localisation pour une flotte de UAVs soumise à des hypothèses minimales : pas de connaissance a priori sur les poses initiales et terminales, pas de connaissance sur l’environnement et pas de mesures absolues ou extérieures aux robots. De plus, notre système est capable de gérer des trajectoires agressives, des changements de vitesse et de cap abrupts ainsi que des mesures bruitées telles que des images floues. Dans les systèmes multi-robots, la gestion des repères est critique et nécessite une attention particulière. La plupart des travaux simplifie ce problème dans un premier temps, en représentant l’ensemble des repères par rapport à un repère « monde » arbitraire. Toutefois, ce genre d’hypothèse nécessite soit des mesures de capteurs que nous n’utilisons pas dans notre système car externes aux robots, soit une connaissance a priori sur l’environnement ou les conditions expérimentales que nous n’avons pas. Dans notre système, chaque robot évolue dans son propre repère, l’ensemble des relations entre les repères nécessaires à la collaboration inter-robots est estimé par notre algorithme. De ce fait, nous pouvons nous abstraire de système de positionnement absolu tel que le GPS. Dans ce but, nous proposons une généralisation du concept de fermeture de boucle bien connu dans le SLAM… Advisors/Committee Members: Fantoni-Coichot, Isabelle (thesis director), Frémont, Vincent (thesis director), Şekercioğlu, Ahmet (thesis director).

Subjects/Keywords: Multi-robots; Multi-UAV; Fusion monoculaire-inertielle; SLAM; Multi-robots; Multi-UAV; Monocular-inertial fusion; Autonomous vehicles; Mobile robots; Monocular vision; Sensor; Inertial navigation

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

APA (6^th Edition):

Spaenlehauer, A. (2019). Decentralized monocular-inertial multi-UAV SLAM system : SLAM monoculaire-inertiel multi-UAV décentralisé. (Doctoral Dissertation). Compiègne. Retrieved from http://www.theses.fr/2019COMP2494

Chicago Manual of Style (16^th Edition):

Spaenlehauer, Ariane. “Decentralized monocular-inertial multi-UAV SLAM system : SLAM monoculaire-inertiel multi-UAV décentralisé.” 2019. Doctoral Dissertation, Compiègne. Accessed April 14, 2021. http://www.theses.fr/2019COMP2494.

MLA Handbook (7^th Edition):

Spaenlehauer, Ariane. “Decentralized monocular-inertial multi-UAV SLAM system : SLAM monoculaire-inertiel multi-UAV décentralisé.” 2019. Web. 14 Apr 2021.

Vancouver:

Spaenlehauer A. Decentralized monocular-inertial multi-UAV SLAM system : SLAM monoculaire-inertiel multi-UAV décentralisé. [Internet] [Doctoral dissertation]. Compiègne; 2019. [cited 2021 Apr 14]. Available from: http://www.theses.fr/2019COMP2494.

Council of Science Editors:

Spaenlehauer A. Decentralized monocular-inertial multi-UAV SLAM system : SLAM monoculaire-inertiel multi-UAV décentralisé. [Doctoral Dissertation]. Compiègne; 2019. Available from: http://www.theses.fr/2019COMP2494

Kent State University

20. Alsaedi, Rusul Jabbar. ON THE MUTUAL VISIBILITY OF FAT MOBILE ROBOTS.

Degree: MS, College of Arts and Sciences / Department of Computer Science, 2016, Kent State University

URL: http://rave.ohiolink.edu/etdc/view?acc_num=kent1461087347

► Given a set of n >= 1 autonomous, anonymous, history-oblivious, silent, and possibly disoriented mobile robots operating following Look-Compute-Move cycles in the Euclidean plane, we… (more)

Subjects/Keywords: Computer Science; Distributed Algorithms, Autonomous Mobile Robots, Fat Robots, Obstructed Visibility, Robots with Lights Model, Run-time, Configuration, Convex Hull, Mutual Visibility, Collisions

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APA (6^th Edition):

Alsaedi, R. J. (2016). ON THE MUTUAL VISIBILITY OF FAT MOBILE ROBOTS. (Masters Thesis). Kent State University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=kent1461087347

Chicago Manual of Style (16^th Edition):

Alsaedi, Rusul Jabbar. “ON THE MUTUAL VISIBILITY OF FAT MOBILE ROBOTS.” 2016. Masters Thesis, Kent State University. Accessed April 14, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=kent1461087347.

MLA Handbook (7^th Edition):

Alsaedi, Rusul Jabbar. “ON THE MUTUAL VISIBILITY OF FAT MOBILE ROBOTS.” 2016. Web. 14 Apr 2021.

Vancouver:

Alsaedi RJ. ON THE MUTUAL VISIBILITY OF FAT MOBILE ROBOTS. [Internet] [Masters thesis]. Kent State University; 2016. [cited 2021 Apr 14]. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=kent1461087347.

Council of Science Editors:

Alsaedi RJ. ON THE MUTUAL VISIBILITY OF FAT MOBILE ROBOTS. [Masters Thesis]. Kent State University; 2016. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=kent1461087347

Hong Kong University of Science and Technology

21. Huang, Kun ECE. Design and development of an intelligent mobility robot.

Degree: 2017, Hong Kong University of Science and Technology

URL: http://repository.ust.hk/ir/Record/1783.1-91070 ; https://doi.org/10.14711/thesis-991012554966503412 ; http://repository.ust.hk/ir/bitstream/1783.1-91070/1/th_redirect.html

► To meet the demand of short-distance transportation, a novel type of intelligent mobility robot is proposed by this thesis. The robot features high portability, reliable… (more)

▼ To meet the demand of short-distance transportation, a novel type of intelligent mobility robot is proposed by this thesis. The robot features high portability, reliable safety and multiple control and interaction methods, including posture control and remote interaction. The robot has wide range of application prospects in both industrial production and daily life, such as travel, services, entertainment, etc. To realize posture control of the robot, a complete set of posture perception system is designed and developed. Firstly, the pressures on different sections are real-time acquired by specific sensors and corresponding detection circuit. Then based on the pressure distributions and statistic information, the posture is perceived by a series of processing algorithms, including sampling a reference posture when the user is standing stably and calculating current user posture by an non-linear mapping. Next, the posture is quantitatively described as the inclination angles of the body gravity center in two dimensions. Moreover, two machine learning are applied to further improve the accuracy of posture detection, including parameter regression method and Gaussian Process Dynamic Model. In addition, some auxiliary sensors are also applied to ensure the robustness and reliability through fusion of multi-sensor information. At last, with the help of hybrid neural network, some interaction via posture patterns are achieved. This thesis also analyzes the planar kinematics of the intelligent mobility robot, considering its steering mechanisms, suspension systems, and differential speed of wheel pairs. The motion planning algorithm outputs desired motion parameters of the robot, such as longitudinal speed and turning curvature, based on both user input and kinematic constrains. To control the motion of the robot, the distribute control strategy as well as fuzzy logic control algorithm are applied to coordinately assign appropriate control amount to multiple actuators of different types. The design and control methods of actuators are discussed at last. This thesis designs and implements the Field Oriented Control to drive the Permanent Magnet Synchronous Motor and to control its speed and toque. The FOC system improves energy efficiency and decreases the operation noise and toque ripple. Meanwhile, a kind of brake device is also designed by the thesis to provide reliable and timely braking performance, wherein the braking force is adjustable.

Subjects/Keywords: Mobile robots ; Robots ; Control systems

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APA (6^th Edition):

Huang, K. E. (2017). Design and development of an intelligent mobility robot. (Thesis). Hong Kong University of Science and Technology. Retrieved from http://repository.ust.hk/ir/Record/1783.1-91070 ; https://doi.org/10.14711/thesis-991012554966503412 ; http://repository.ust.hk/ir/bitstream/1783.1-91070/1/th_redirect.html

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

Chicago Manual of Style (16^th Edition):

Huang, Kun ECE. “Design and development of an intelligent mobility robot.” 2017. Thesis, Hong Kong University of Science and Technology. Accessed April 14, 2021. http://repository.ust.hk/ir/Record/1783.1-91070 ; https://doi.org/10.14711/thesis-991012554966503412 ; http://repository.ust.hk/ir/bitstream/1783.1-91070/1/th_redirect.html.

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

MLA Handbook (7^th Edition):

Huang, Kun ECE. “Design and development of an intelligent mobility robot.” 2017. Web. 14 Apr 2021.

Vancouver:

Huang KE. Design and development of an intelligent mobility robot. [Internet] [Thesis]. Hong Kong University of Science and Technology; 2017. [cited 2021 Apr 14]. Available from: http://repository.ust.hk/ir/Record/1783.1-91070 ; https://doi.org/10.14711/thesis-991012554966503412 ; http://repository.ust.hk/ir/bitstream/1783.1-91070/1/th_redirect.html.

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

Council of Science Editors:

Huang KE. Design and development of an intelligent mobility robot. [Thesis]. Hong Kong University of Science and Technology; 2017. Available from: http://repository.ust.hk/ir/Record/1783.1-91070 ; https://doi.org/10.14711/thesis-991012554966503412 ; http://repository.ust.hk/ir/bitstream/1783.1-91070/1/th_redirect.html

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

San Jose State University

22. Thakkar, Pinky. Robot assisted herding.

Degree: MS, Computer Engineering, 2009, San Jose State University

URL: https://doi.org/10.31979/etd.f34f-ucxz ; https://scholarworks.sjsu.edu/etd_theses/3345

► This thesis addresses issues relating to the development of a robotic capability to assist a human in performing a complex task. It describes research and… (more)

Subjects/Keywords: Assisted robotics; Autonomous human assistance; Autonomous mobile robots; Autonomous robotics; Herding; Robotics

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APA (6^th Edition):

Thakkar, P. (2009). Robot assisted herding. (Masters Thesis). San Jose State University. Retrieved from https://doi.org/10.31979/etd.f34f-ucxz ; https://scholarworks.sjsu.edu/etd_theses/3345

Chicago Manual of Style (16^th Edition):

Thakkar, Pinky. “Robot assisted herding.” 2009. Masters Thesis, San Jose State University. Accessed April 14, 2021. https://doi.org/10.31979/etd.f34f-ucxz ; https://scholarworks.sjsu.edu/etd_theses/3345.

MLA Handbook (7^th Edition):

Thakkar, Pinky. “Robot assisted herding.” 2009. Web. 14 Apr 2021.

Vancouver:

Thakkar P. Robot assisted herding. [Internet] [Masters thesis]. San Jose State University; 2009. [cited 2021 Apr 14]. Available from: https://doi.org/10.31979/etd.f34f-ucxz ; https://scholarworks.sjsu.edu/etd_theses/3345.

Council of Science Editors:

Thakkar P. Robot assisted herding. [Masters Thesis]. San Jose State University; 2009. Available from: https://doi.org/10.31979/etd.f34f-ucxz ; https://scholarworks.sjsu.edu/etd_theses/3345

Rochester Institute of Technology

23. Ballamajalu, Rashmi. Turn and Orientation Sensitive A* for Autonomous Vehicles in Intelligent Material Handling Systems.

Degree: MS, Electrical Engineering, 2020, Rochester Institute of Technology

URL: https://scholarworks.rit.edu/theses/10377

► Autonomous mobile robots are taking on more tasks in warehouses, speeding up operations and reducing accidents that claim many lives each year. This work… (more)

Subjects/Keywords: Autonomous mobile robots; Intelligent material handling; Modified heuristic A* search method; Path planning algorithm; Smart warehouse application

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APA (6^th Edition):

Ballamajalu, R. (2020). Turn and Orientation Sensitive A* for Autonomous Vehicles in Intelligent Material Handling Systems. (Masters Thesis). Rochester Institute of Technology. Retrieved from https://scholarworks.rit.edu/theses/10377

Chicago Manual of Style (16^th Edition):

Ballamajalu, Rashmi. “Turn and Orientation Sensitive A* for Autonomous Vehicles in Intelligent Material Handling Systems.” 2020. Masters Thesis, Rochester Institute of Technology. Accessed April 14, 2021. https://scholarworks.rit.edu/theses/10377.

MLA Handbook (7^th Edition):

Ballamajalu, Rashmi. “Turn and Orientation Sensitive A* for Autonomous Vehicles in Intelligent Material Handling Systems.” 2020. Web. 14 Apr 2021.

Vancouver:

Ballamajalu R. Turn and Orientation Sensitive A* for Autonomous Vehicles in Intelligent Material Handling Systems. [Internet] [Masters thesis]. Rochester Institute of Technology; 2020. [cited 2021 Apr 14]. Available from: https://scholarworks.rit.edu/theses/10377.

Council of Science Editors:

Ballamajalu R. Turn and Orientation Sensitive A* for Autonomous Vehicles in Intelligent Material Handling Systems. [Masters Thesis]. Rochester Institute of Technology; 2020. Available from: https://scholarworks.rit.edu/theses/10377

Linköping University

24. Selin, Magnus. Efficient Autonomous Exploration Planning of Large-Scale 3D-Environments : A tool for autonomous 3D exploration indoor.

Degree: Artificial Intelligence and Integrated Computer Systems, 2019, Linköping University

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-163329

► Exploration is of interest for autonomous mapping and rescue applications using unmanned vehicles. The objective is to, without any prior information, explore all initially… (more)

Subjects/Keywords: Exploration; Planning; Sensors; Uncertainty; Drones; Mobile robots; Path planning; Computer Vision and Robotics (Autonomous Systems); Datorseende och robotik (autonoma system)

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APA (6^th Edition):

Selin, M. (2019). Efficient Autonomous Exploration Planning of Large-Scale 3D-Environments : A tool for autonomous 3D exploration indoor. (Thesis). Linköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-163329

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

Chicago Manual of Style (16^th Edition):

Selin, Magnus. “Efficient Autonomous Exploration Planning of Large-Scale 3D-Environments : A tool for autonomous 3D exploration indoor.” 2019. Thesis, Linköping University. Accessed April 14, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-163329.

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

MLA Handbook (7^th Edition):

Selin, Magnus. “Efficient Autonomous Exploration Planning of Large-Scale 3D-Environments : A tool for autonomous 3D exploration indoor.” 2019. Web. 14 Apr 2021.

Vancouver:

Selin M. Efficient Autonomous Exploration Planning of Large-Scale 3D-Environments : A tool for autonomous 3D exploration indoor. [Internet] [Thesis]. Linköping University; 2019. [cited 2021 Apr 14]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-163329.

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

Council of Science Editors:

Selin M. Efficient Autonomous Exploration Planning of Large-Scale 3D-Environments : A tool for autonomous 3D exploration indoor. [Thesis]. Linköping University; 2019. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-163329

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

25. Ben Said, Hela. Navigation autonome et commande référencée capteurs de robots d'assistance à la personne : Autonomous navigation and sensor based control of personal assistance robots.

Degree: Docteur es, Electronique, microelectronique, optique et lasers, optoelectronique microondes robotique, 2018, Limoges

URL: http://www.theses.fr/2018LIMO0016

►

L’autonomie d’un agent mobile se définit par sa capacité à naviguer dans un environnement sans intervention humaine. Cette tâche s’avère très demandée pour les robots… (more)

▼

L’autonomie d’un agent mobile se définit par sa capacité à naviguer dans un environnement sans intervention humaine. Cette tâche s’avère très demandée pour les robots d’assistance à la personne. C’est pour cela que notre contribution s’est portée en particulier sur l’instrumentation et l’augmentation de l’autonomie d’un fauteuil roulant pour les personnes à mobilité réduite. L’objectif de ce travail est de concevoir des lois de commande qui permettent à un robot de naviguer en temps réel et en toute autonomie dans un environnement inconnu. Un cadre de perception virtuelle unifié est introduit et permet de projeter l’espace navigable obtenu par des observations éventuellement multiples. Une approche de navigation autonome et sûre a été conçue pour se déplacer dans un environnement peu encombré dont la structure peut être assimilée à un couloir (lignes au sol, murs, délimitation herbes, routes...). La problématique a été résolue en utilisant le formalisme de l’asservissement visuel. Les caractéristiques visuelles utilisées dans la loi de commande ont été construites à partir de la représentation virtuelle (à savoir la position du point de fuite et l’orientation de la ligne médiane du couloir). Pour assurer une navigation sûre et lisse, même lorsque ces paramètres ne peuvent pas être extraits, nous avons conçu un observateur d’état pour estimer les caractéristiques visuelles dans le but de maintenir la commande fonctionnelle du robot. Cette approche permet de faire naviguer un robot mobile dans un couloir même en cas de défaillance sensorielle (données non fiables) et/ou de perte de mesure. La première contribution de cette thèse a été étendue en traitant tout type d’environnement encombré statique ou dynamique. Cela a été réalisé en utilisant le diagramme de Voronoï. Le diagramme de Voronoï généralisé, également appelé squelette, est une représentation puissante de l’environnement. Il définit un ensemble de chemins à la distance maximale des obstacles. Dans ce travail, une approche d’asservissement visuel basée sur le squelette extrait en temps réel était proposée pour une navigation autonome et sûre des robots mobiles. La commande est basée sur une approximation du DVG local en utilisant le Delta Medial axis, un algorithme de squelettisation rapide et robuste. Ce dernier produit un squelette filtré de l’espace libre entourant le robot en utilisant un paramètre qui prend en compte la taille du robot. Cette approche peut faire face aux bruits de mesure au niveau de la perception et au niveau de la commande à cause des glissement des roues. C’est pour cela que nous avons conçu une approche d’asservissement visuel sur une prédiction d’une linéarisation du DVG. Une analyse complète a été réalisée pour montrer la stabilité des lois de commandes proposées. Des simulations et des tests expérimentaux valident l’approche proposée.

The autonomy of a mobile agent is defined by its ability to navigate in an environment without human intervention. This task is very required for personal assistance robots. That’s why our…

Advisors/Committee Members: Labbani-Igbida, Ouiddad (thesis director), Stephant, Joanny (thesis director).

Subjects/Keywords: Robots mobiles; Navigation autonome; Asservissement visuel; Diagramme de Voronoï; Mobile robot; Autonomous navigation; Visual servoing; Voronoï diagram; 629.892

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

APA (6^th Edition):

Ben Said, H. (2018). Navigation autonome et commande référencée capteurs de robots d'assistance à la personne : Autonomous navigation and sensor based control of personal assistance robots. (Doctoral Dissertation). Limoges. Retrieved from http://www.theses.fr/2018LIMO0016

Chicago Manual of Style (16^th Edition):

Ben Said, Hela. “Navigation autonome et commande référencée capteurs de robots d'assistance à la personne : Autonomous navigation and sensor based control of personal assistance robots.” 2018. Doctoral Dissertation, Limoges. Accessed April 14, 2021. http://www.theses.fr/2018LIMO0016.

MLA Handbook (7^th Edition):

Ben Said, Hela. “Navigation autonome et commande référencée capteurs de robots d'assistance à la personne : Autonomous navigation and sensor based control of personal assistance robots.” 2018. Web. 14 Apr 2021.

Vancouver:

Ben Said H. Navigation autonome et commande référencée capteurs de robots d'assistance à la personne : Autonomous navigation and sensor based control of personal assistance robots. [Internet] [Doctoral dissertation]. Limoges; 2018. [cited 2021 Apr 14]. Available from: http://www.theses.fr/2018LIMO0016.

Council of Science Editors:

Ben Said H. Navigation autonome et commande référencée capteurs de robots d'assistance à la personne : Autonomous navigation and sensor based control of personal assistance robots. [Doctoral Dissertation]. Limoges; 2018. Available from: http://www.theses.fr/2018LIMO0016

RMIT University

26. Guan, R. Contributions to mobile robot localisation in GPS-denied environments.

Degree: 2019, RMIT University

URL: http://researchbank.rmit.edu.au/view/rmit:162864

► Localisation of mobile robots is an important area of research where the aim is to produce mobile robots that can assist with automating human activities… (more)

▼ Localisation of mobile robots is an important area of research where the aim is to produce mobile robots that can assist with automating human activities in environments without GPS. These GPS-denied environments could be indoor, underground, undersea, or extra-terrestrial. Mobile robot localisation is most commonly performed using cameras, and LIDAR/sonar range sensors. The novel possibility of achieving the same goal with Doppler radars could produce robots that are smaller, cheaper and use less power. This thesis presents the following contributions: First, it demonstrates that mobile robot localisation using a Doppler radar in a known, feature-based map is possible under basic assumptions such as: information of the initial pose, Gaussian measurement noise, and known landmark-measurement associations. The extended Kalman filter, particle filter and state-of-the-art Exact Daum-Huang particle flow particle filter were applied. The feasibility is studied using the Cramer-Rao lower bound. Second, the thesis demonstrates that mobile robot localisation using a Doppler radar in a known, feature-based map is possible under more realistic assumptions. There is no longer any information about the robot's initial pose, and the radar noise is no longer Gaussian - it is possible for the radar to produce missed, and false detections. Landmark-measurement associations are now unknown. The solution is based on the random finite set particle filter, combined with an adaptive sample size algorithm to reduce computation. The number of hypothesis evaluated by the particle filter is limited by use of Murty's algorithm, also for the purpose of reducing computation.  Third, the thesis combines particle filters with intelligent proposal distributions, with an adaptive sample size algorithm. The resulting algorithm has been proven to be effective in mobile robot localisation applications in both, simulated and experimental datasets using a LIDAR sensor. The resulting algorithm has a greater accuracy with a lower number of particles compared to a benchmark algorithm.

Subjects/Keywords: Fields of Research; Localisation; Kalman filter; Particle filter; Doppler radar; Mobile robots; Bayesian estimation; Autonomous robot exploration

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APA (6^th Edition):

Guan, R. (2019). Contributions to mobile robot localisation in GPS-denied environments. (Thesis). RMIT University. Retrieved from http://researchbank.rmit.edu.au/view/rmit:162864

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

Chicago Manual of Style (16^th Edition):

Guan, R. “Contributions to mobile robot localisation in GPS-denied environments.” 2019. Thesis, RMIT University. Accessed April 14, 2021. http://researchbank.rmit.edu.au/view/rmit:162864.

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

MLA Handbook (7^th Edition):

Guan, R. “Contributions to mobile robot localisation in GPS-denied environments.” 2019. Web. 14 Apr 2021.

Vancouver:

Guan R. Contributions to mobile robot localisation in GPS-denied environments. [Internet] [Thesis]. RMIT University; 2019. [cited 2021 Apr 14]. Available from: http://researchbank.rmit.edu.au/view/rmit:162864.

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

Council of Science Editors:

Guan R. Contributions to mobile robot localisation in GPS-denied environments. [Thesis]. RMIT University; 2019. Available from: http://researchbank.rmit.edu.au/view/rmit:162864

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

University of New South Wales

27. Hoy, Michael. Methods for Collision-Free Navigation of Multiple Mobile Robots in Unknown Cluttered Environments.

Degree: Electrical Engineering & Telecommunications, 2012, University of New South Wales

URL: http://handle.unsw.edu.au/1959.4/52644 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:11317/SOURCE01?view=true

► Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This thesis is mainly concerned… (more)

▼ Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This thesis is mainly concerned with provable collision avoidance of multiple autonomous vehicles operating in unknown cluttered environments, using reactive decentralized navigation laws, where obstacle information is supplied by some sensor system.Recently, robust and decentralized variants of model predictive control based navigation systems have been applied to vehicle navigation problems. Properties such as provable collision avoidance under disturbance and provable convergence to a target have been shown; however these often require significant computational and communicative capabilities, and don’t consider sensor constraints, making real time use somewhat difficult. There also seems to be opportunity to develop a better trade-off between tractability, optimality, and robustness.The main contributions of this work are as follows; firstly, the integration of the robust model predictive control concept with reactive navigation strategies based on local path planning, which is applied to both holonomic and unicycle vehicle models subjected to acceleration bounds and disturbance; secondly, the extension of model predictive control type methods to situations where the information about the obstacle is limited to a discrete ray-based sensor model, for which provably safe, convergent boundary following can be shown; and thirdly thedevelopment of novel constraints allowing decentralized coordination of multiple vehicles using a robust model predictive control type approach, where a single communication exchange is used per control update, vehicles are allowed to perform planning simultaneously, and coherency objectives are avoided.Additionally, a thorough review of the literature relating to collision avoidance is performed; a simple method of preventing deadlocks between pairs of vehicles is proposed which avoids graph-based abstractions of the state space; and a discussion of possible extensions of the proposed methods to cases of moving obstacles is provided. Many computer simulations and real world tests with multiple wheeled mobile robots throughout this thesis confirm the viability of the proposed methods. Several other control systems for different navigation problems are also described, with simulations and testing demonstrating the feasibility of these methods. Advisors/Committee Members: Savkin, Andrey, Electrical Engineering & Telecommunications, Faculty of Engineering, UNSW.

Subjects/Keywords: Collision-Free Navigation; Multiple Mobile Robots; Unknown Cluttered Environments; Navigation; Guidance; Autonomous vehicles; Tractability; Optimality; Robustness

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APA (6^th Edition):

Hoy, M. (2012). Methods for Collision-Free Navigation of Multiple Mobile Robots in Unknown Cluttered Environments. (Doctoral Dissertation). University of New South Wales. Retrieved from http://handle.unsw.edu.au/1959.4/52644 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:11317/SOURCE01?view=true

Chicago Manual of Style (16^th Edition):

Hoy, Michael. “Methods for Collision-Free Navigation of Multiple Mobile Robots in Unknown Cluttered Environments.” 2012. Doctoral Dissertation, University of New South Wales. Accessed April 14, 2021. http://handle.unsw.edu.au/1959.4/52644 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:11317/SOURCE01?view=true.

MLA Handbook (7^th Edition):

Hoy, Michael. “Methods for Collision-Free Navigation of Multiple Mobile Robots in Unknown Cluttered Environments.” 2012. Web. 14 Apr 2021.

Vancouver:

Hoy M. Methods for Collision-Free Navigation of Multiple Mobile Robots in Unknown Cluttered Environments. [Internet] [Doctoral dissertation]. University of New South Wales; 2012. [cited 2021 Apr 14]. Available from: http://handle.unsw.edu.au/1959.4/52644 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:11317/SOURCE01?view=true.

Council of Science Editors:

Hoy M. Methods for Collision-Free Navigation of Multiple Mobile Robots in Unknown Cluttered Environments. [Doctoral Dissertation]. University of New South Wales; 2012. Available from: http://handle.unsw.edu.au/1959.4/52644 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:11317/SOURCE01?view=true

Virginia Tech

28. Bacha, Andrew Reed. Line Detection and Lane Following for an Autonomous Mobile Robot.

Degree: MS, Mechanical Engineering, 2005, Virginia Tech

URL: http://hdl.handle.net/10919/33261

► The Autonomous Challenge component of the Intelligent Ground Vehicle Competition (IGVC) requires robots to autonomously navigate a complex obstacle course. The roadway-type course is bounded… (more)

Subjects/Keywords: Image Processing; Mobile Robots; Autonomous Vehicles; Vision; Line Recognition

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

APA (6^th Edition):

Bacha, A. R. (2005). Line Detection and Lane Following for an Autonomous Mobile Robot. (Masters Thesis). Virginia Tech. Retrieved from http://hdl.handle.net/10919/33261

Chicago Manual of Style (16^th Edition):

Bacha, Andrew Reed. “Line Detection and Lane Following for an Autonomous Mobile Robot.” 2005. Masters Thesis, Virginia Tech. Accessed April 14, 2021. http://hdl.handle.net/10919/33261.

MLA Handbook (7^th Edition):

Bacha, Andrew Reed. “Line Detection and Lane Following for an Autonomous Mobile Robot.” 2005. Web. 14 Apr 2021.

Vancouver:

Bacha AR. Line Detection and Lane Following for an Autonomous Mobile Robot. [Internet] [Masters thesis]. Virginia Tech; 2005. [cited 2021 Apr 14]. Available from: http://hdl.handle.net/10919/33261.

Council of Science Editors:

Bacha AR. Line Detection and Lane Following for an Autonomous Mobile Robot. [Masters Thesis]. Virginia Tech; 2005. Available from: http://hdl.handle.net/10919/33261

University of Cincinnati

29. Tennety, Srinivas. Mobile robot navigation in hilly terrains.

Degree: MS, Engineering and Applied Science: Computer Science, 2011, University of Cincinnati

URL: http://rave.ohiolink.edu/etdc/view?acc_num=ucin1313757135

► Mobile robot navigation in hilly terrains is challenging since the environment is unstructured, ill-conditioned and complex. The features of the terrain cannot be easily classified… (more)

▼ Mobile robot navigation in hilly terrains is challenging since the environment is unstructured, ill-conditioned and complex. The features of the terrain cannot be easily classified as traversable or non-traversable and therefore identification of paths that pose minimum danger to the robot becomes difficult. One approach to navigation in hilly terrain is based on unsupervised learning where robot learns via interacting with the environment based on trial and error. This method can be implemented using reinforcement learning. However, this approach is not applicable to real world applications as the robot might incur unrecoverable damage while interacting with the environment. Another approach is using human expert knowledge. Humans learn from their past experiences and display an uncanny ability to identify safe paths even in the presence of uncertainties. Therefore, it is beneficial to use the human expert knowledge when available, to aid in navigation of robots in complex terrains. This thesis presents a framework where human expert assistance is used to guide the robot to the goal through reinforcement learning techniques. When a prior knowledge of the terrain such as low resolution aerial view is available, a human expert can identify one or more paths from start to goal that are relatively safe to traverse. These expert paths are used to approximate a value matrix that would steer the robot from any start position in the terrain to the goal avoiding any unsafe regions that pose obvious danger. This approach aids in global path planning and does not take local terrain information in to the consideration that might not be available to the expert. To facilitate incorporation of local terrain information, a fuzzy logic controller is designed which can be used to update the value matrix based on the local sensor data. Experiments have been carried out in simulated hilly terrains with and without the expert paths to show the effectiveness of the approach. Different scenarios have been discussed to demonstrate the advantages of specifying multiple expert paths over few and also the integration of the fuzzy logic controller. Advisors/Committee Members: Bhatnagar, Raj (Committee Chair).

Subjects/Keywords: Robots; Mobile robot; Reinforcement learning; Hilly terrains; Autonomous Navigation

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

APA (6^th Edition):

Tennety, S. (2011). Mobile robot navigation in hilly terrains. (Masters Thesis). University of Cincinnati. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=ucin1313757135

Chicago Manual of Style (16^th Edition):

Tennety, Srinivas. “Mobile robot navigation in hilly terrains.” 2011. Masters Thesis, University of Cincinnati. Accessed April 14, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1313757135.

MLA Handbook (7^th Edition):

Tennety, Srinivas. “Mobile robot navigation in hilly terrains.” 2011. Web. 14 Apr 2021.

Vancouver:

Tennety S. Mobile robot navigation in hilly terrains. [Internet] [Masters thesis]. University of Cincinnati; 2011. [cited 2021 Apr 14]. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=ucin1313757135.

Council of Science Editors:

Tennety S. Mobile robot navigation in hilly terrains. [Masters Thesis]. University of Cincinnati; 2011. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=ucin1313757135

30. Alexandre Padilha Senni. Projeto de hardware dedicado para processamento de imagens em aplicações de navegação autônoma de robôs móveis agrícolas.

Degree: 2016, University of São Paulo

URL: http://www.teses.usp.br/teses/disponiveis/18/18145/tde-08122016-135216/

►

O emprego de veículos autônomos é uma prática comumente adotada para a melhoria da produtividade no setor agrícola. No entanto, o custo computacional é um… (more)

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O emprego de veículos autônomos é uma prática comumente adotada para a melhoria da produtividade no setor agrícola. No entanto, o custo computacional é um fator limitante na implementação desses dispositivos autônomos. A alternativa apresentada neste trabalho consistiu no desenvolvimento de um dispositivo de hardware dedicado para a navegação de robôs móveis agrícolas, o qual indica áreas navegáveis e não navegáveis, além do ângulo de inclinação do veículo em relação à linha de plantio. O desenvolvimento do projeto foi baseado em um método de extração de características visuais locais por meio do processamento de imagens coloridas obtidas por uma câmera de vídeo. O circuito foi implementado por meio de uma ferramenta de desenvolvimento baseado em um FPGA de baixo custo. O circuito consiste nas etapas de classificação, processamento morfológico e extração das linhas de navegação. Na primeira etapa, os pixels são classificados a partir do modelo de cores HSL em classes que representam as áreas passíveis e não passíveis de navegação. Posteriormente, a etapa de processamento morfológico realiza as tarefas de filtragem, agrupamento e extração de bordas. O processamento morfológico é realizado por meio de um arranjo de unidades de processamento dedicadas. Cada unidade pode realizar uma operação básica de morfologia matemática. O elemento estruturante utilizado na operação, bem como a operação realizada pela unidade, é configurado por meio de parâmetros do projeto. O processo de extração das linhas de orientação é realizado por meio do método de regressão linear por mínimos quadrados. A arquitetura proposta no projeto permitiu o processamento em tempo real de imagens para a aplicação de navegação autônoma de robôs móveis em ambientes agrícolas.

The use of autonomous vehicles is a generally adopted practice to improve the productivity in the agriculture sector. However, the computer requirements are a limiting factor for implementation of these autonomous devices. The alternative shown in this paper is the design of a dedicated hardware for the autonomous agricultural robot navigation. The project development was based on a local visual feature extraction method by processing digital images obtained from a color video camera. The circuit was implemented through a development tool based on a low cost FPGA. The circuit consists of stages of classification, morphological processing and guidance line extraction. In the first stage, the pixels are classified through HSL color model into classes that represent suitable and unsuitable area for navigation. Then, the morphological processing stage performs filtering, grouping and edge detection tasks. The morphological processing is carried out by an arrangement of dedicated processing units. Each unit can perform a basic operation of mathematical morphology. The structuring element used in the operation and the operation performed by the unit are configured through project parameters. The guidance line extraction process is performed through the linear regression method…

Advisors/Committee Members: Mario Luiz Tronco, Emerson Carlos Pedrino, Evandro Luis Linhari Rodrigues.

Subjects/Keywords: FPGA; Navegação autônoma; Robôs móveis agrícolas; Visão computacional; Agricultural mobile robots; Autonomous navigation; Computer vision; FPGA

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

APA (6^th Edition):

Senni, A. P. (2016). Projeto de hardware dedicado para processamento de imagens em aplicações de navegação autônoma de robôs móveis agrícolas. (Masters Thesis). University of São Paulo. Retrieved from http://www.teses.usp.br/teses/disponiveis/18/18145/tde-08122016-135216/

Chicago Manual of Style (16^th Edition):

Senni, Alexandre Padilha. “Projeto de hardware dedicado para processamento de imagens em aplicações de navegação autônoma de robôs móveis agrícolas.” 2016. Masters Thesis, University of São Paulo. Accessed April 14, 2021. http://www.teses.usp.br/teses/disponiveis/18/18145/tde-08122016-135216/.

MLA Handbook (7^th Edition):

Senni, Alexandre Padilha. “Projeto de hardware dedicado para processamento de imagens em aplicações de navegação autônoma de robôs móveis agrícolas.” 2016. Web. 14 Apr 2021.

Vancouver:

Senni AP. Projeto de hardware dedicado para processamento de imagens em aplicações de navegação autônoma de robôs móveis agrícolas. [Internet] [Masters thesis]. University of São Paulo; 2016. [cited 2021 Apr 14]. Available from: http://www.teses.usp.br/teses/disponiveis/18/18145/tde-08122016-135216/.

Council of Science Editors:

Senni AP. Projeto de hardware dedicado para processamento de imagens em aplicações de navegação autônoma de robôs móveis agrícolas. [Masters Thesis]. University of São Paulo; 2016. Available from: http://www.teses.usp.br/teses/disponiveis/18/18145/tde-08122016-135216/

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