subject:(Autonomous Robots)

University of Utah

1. 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 (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 January 24, 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. 24 Jan 2021.

Vancouver:

Hetrick A. Implementation of kinematic control for a DARPA Urban Challenge vehicle. [Internet] [Masters thesis]. University of Utah; 2010. [cited 2021 Jan 24]. 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

Michigan State University

2. 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)

▼

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 January 24, 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. 24 Jan 2021.

Vancouver:

Clark AJ. Automatically addressing uncertainty in autonomous robots with computational evolution. [Internet] [Thesis]. Michigan State University; 2016. [cited 2021 Jan 24]. 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

3. 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

5 more images…

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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 January 24, 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. 24 Jan 2021.

Vancouver:

Wang, Pengcheng 1. Dynamics and control of rider-bicycle systems. [Internet] [Doctoral dissertation]. Rutgers University; 2018. [cited 2021 Jan 24]. 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/

Columbia University

4. Dou, Yong. Colloidal Robotics: autonomous propulsion and navigation of active particles.

Degree: 2020, Columbia University

URL: https://doi.org/10.7916/d8-ydvh-8p48

► Colloidal robots refer to the colloid scale (from nm to μm) machines capable of carrying out programmed actions for complex tasks automatically. Because of its… (more)

▼ Colloidal robots refer to the colloid scale (from nm to μm) machines capable of carrying out programmed actions for complex tasks automatically. Because of its promising application in engineering and medical service, colloidal robotics have been of much recent research interest in both theoretical and technological relevance. However, there remain many open challenges on increasing actuation efficiency, achieving high level tasks (e.g., autonomous navigation), etc. This dissertation, in general, focuses on developing new actuation mechanisms and designing autonomous navigation strategies for colloidal robots with both experimental and computational efforts. Firstly, the motivation, background and recent research advances on colloidal robots are reviewed. In Chapter 2, a high-efficiency actuation method called contact charge electrophoresis(CCEP) is introduced to propel the dielectric metallic Janus colloid particles. The autonomous propulsion of Janus particles shows colloidal particle asymmetries can be used to direct the motions of colloidal robots. Beyond single colloidal particle's propulsion, Chapter 3 shows multi-colloidal particles' motions can be coupled and synchronized to generate traveling waves via electrostatic interactions. Our results in Chapter 3 suggest that simple energy inputs can coordinate complex motions for colloidal robots. Then inspired by active particles motions' guided by their symmetry in Chapter 2, we show in Chapter 4 how multiple autonomous navigation can be achieved by designing the active particle's geometry and its stimulus response. Chapter 4 describes a strategy that colloid particles can sense the stimulus in environment via shape-shifting. The feedback loop of sensing and motion enables colloid particles to achieve positive or negative chemotaxis-like navigation. To experimentally realize similar navigation behaviors introduced in Chapter 4, we described a magnetic driven colloidal robot system in Chapter 5, which could show navigation behaviors (uphill and downhill) on a slope by rationally programming the external magnetic field. Chapter 6 highlights future research directions and potential applications of colloidal robots.

Subjects/Keywords: Engineering; Physics; Robots; Robotics; Autonomous robots

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

APA (6^th Edition):

Dou, Y. (2020). Colloidal Robotics: autonomous propulsion and navigation of active particles. (Doctoral Dissertation). Columbia University. Retrieved from https://doi.org/10.7916/d8-ydvh-8p48

Chicago Manual of Style (16^th Edition):

Dou, Yong. “Colloidal Robotics: autonomous propulsion and navigation of active particles.” 2020. Doctoral Dissertation, Columbia University. Accessed January 24, 2021. https://doi.org/10.7916/d8-ydvh-8p48.

MLA Handbook (7^th Edition):

Dou, Yong. “Colloidal Robotics: autonomous propulsion and navigation of active particles.” 2020. Web. 24 Jan 2021.

Vancouver:

Dou Y. Colloidal Robotics: autonomous propulsion and navigation of active particles. [Internet] [Doctoral dissertation]. Columbia University; 2020. [cited 2021 Jan 24]. Available from: https://doi.org/10.7916/d8-ydvh-8p48.

Council of Science Editors:

Dou Y. Colloidal Robotics: autonomous propulsion and navigation of active particles. [Doctoral Dissertation]. Columbia University; 2020. Available from: https://doi.org/10.7916/d8-ydvh-8p48

Oregon State University

5. Knudson, Matthew D. Navigation and coordination of autonomous mobile robots with limited resources.

Degree: PhD, Mechanical Engineering, 2009, Oregon State University

URL: http://hdl.handle.net/1957/13326

► The use of autonomous robots in complex exploration tasks is rapidly increasing. Indeed, robots can provide speed and cost effectiveness in many tasks, as well… (more)

▼ The use of autonomous robots in complex exploration tasks is rapidly increasing. Indeed, robots can provide speed and cost effectiveness in many tasks, as well as allow operation in environments that are hostile to humans. In this dissertation we: 1) provide two adaptive navigation algorithms; 2) develop a coordination mechanism; 3) develop a dynamic partnership formation mechanism; and 4) demonstrate the use of algorithms in a hardware implementation. The two adaptive navigation algorithms are neuro-evolution and policy gradient, where the results show that effective, adaptive navigation techniques can be developed for mobile robots in an exploration domain when the robots have limited capabilities. In addition, we show that policy gradient approaches thrive on short-term objective values, whereas neuro-evolutionary approaches provide more robust results with a time-extended objective value. Finally, we show that summing short-term values to generate a time-extended value does not capture the complexities of some real world exploration tasks. Coordinating multi-robot systems to maximize global information collection in these exploration domains presents additional challenges. In particular, in many multi-robot domains where communication is expensive, the coordination must be achieved in a passive manner. This is done in this dissertation via objective design on a hierarchical control scheme where both a navigation algorithm and coordination algorithm are operating simultaneously. We then extend results on such multi-robot coordination algorithms to domains where the robots cannot achieve the required tasks without forming teams. We investigate team formation where: i) robots must perform a task together; ii) there is an optimal number of robots; and iii) individuals vary, forming heterogeneous teams. The results show that using neuro-evolutionary robot teams with objective functions that are aligned with the global objective and locally computable significantly improve over robots using the global objective directly, particularly in dynamic environments. Finally, we develop a path to implementation of all of the coordination research done to date into robot hardware. The design represents a stable, robust robotic platform on which navigation and coordination algorithms can be run in the fashion they were developed and intricacies of real-world operation can be analyzed. Functional experiments show that the platform operates as expected and performs similarly to algorithm work done in simulation. Advisors/Committee Members: Tumer, Kagan (advisor), Batten, Belinda (committee member).

Subjects/Keywords: artificial intelligence; Autonomous robots

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

APA (6^th Edition):

Knudson, M. D. (2009). Navigation and coordination of autonomous mobile robots with limited resources. (Doctoral Dissertation). Oregon State University. Retrieved from http://hdl.handle.net/1957/13326

Chicago Manual of Style (16^th Edition):

Knudson, Matthew D. “Navigation and coordination of autonomous mobile robots with limited resources.” 2009. Doctoral Dissertation, Oregon State University. Accessed January 24, 2021. http://hdl.handle.net/1957/13326.

MLA Handbook (7^th Edition):

Knudson, Matthew D. “Navigation and coordination of autonomous mobile robots with limited resources.” 2009. Web. 24 Jan 2021.

Vancouver:

Knudson MD. Navigation and coordination of autonomous mobile robots with limited resources. [Internet] [Doctoral dissertation]. Oregon State University; 2009. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/1957/13326.

Council of Science Editors:

Knudson MD. Navigation and coordination of autonomous mobile robots with limited resources. [Doctoral Dissertation]. Oregon State University; 2009. Available from: http://hdl.handle.net/1957/13326

University of Manchester

6. Veerappan, Chithambaram Anand. Development of Condition Monitoring Robots for High Voltage Equipment.

Degree: 2012, University of Manchester

URL: http://www.manchester.ac.uk/escholar/uk-ac-man-scw:157473

► Society has an every increasing thirst for electrical energy; this is only set to increase as the 21st Century progresses. In order to sustain this… (more)

▼ Society has an every increasing thirst for electrical energy; this is only set to increase as the 21st Century progresses. In order to sustain this increasing demand, the power industry needs to consider a number of factors; adding generation capacity and maintaining the transmission and distribution networks that connect the producers to the consumers. This work focuses on the development of systems to aid maintenance operations.Parts of the transmission network in the UK date back to the 1950's and 60's, consisting of over 22,500 circuit km of overhead lines. The monitoring of this network is a significant ongoing task and needs to locate potential problems prior to failure. Numerous assessment techniques are presented in literature which discuss the examination of line components from the air or ground using the visual, infra-red or ultra-violet spectrums.Of particular interest in this work is the live-line inspection of composite insulators; thereby aligning with other ongoing work at The University of Manchester. While existing techniques have proved adequate to date, not all insulator surfaces can be appropriately seen. The ideal solution would be a device capable of photographing all insulator surfaces from a camera mounted on the insulator itself. While a number of live-line robotic systems are both in development and use around the world, operation and performance information is lacking; possibly due to commercial sensitivity issues.This work aims to clarify this situation, in particular focusing on the nature of broadband communication from, and survivability of complex electronics in areas of intense electric field strength and partial discharges. These areas are explored through the development of a technology demonstrator, a robot capable of imaging composite insulator surfaces in real-time and transmitting them to a ground station. Knowledge gained can then be adapted to create systems for other high-voltage monitoring situations. A systems level approach is taken whereby the technology demonstrator is divided into its constituent functional components. The requirements of each are assessed and research and development needs are detailed. Literature is reviewed to collate existing knowledge and enable comparison with the envisaged requirements.Prototype systems are developed to test the selected communication mechanism under high voltage conditions, while designs are created and fabricated for imaging and mechanical needs. The separate systems are then combined into the technology demonstrator and examined as a single unit under energised conditions.The author presents extensive results on the capability and nature of broadband radio frequency communication from areas of high electric field strength and partial discharges. They show that high data rates from such environments is possible up to a certain point at which high enhanced shield and antenna protection needs to be considered. They additionally demonstrate the transmission of live video from an energised composite insulator. This knowledge can… Advisors/Committee Members: Green, Peter, Rowland, Simon.

Subjects/Keywords: Autonomous; Robots; High Voltage

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

APA (6^th Edition):

Veerappan, C. A. (2012). Development of Condition Monitoring Robots for High Voltage Equipment. (Doctoral Dissertation). University of Manchester. Retrieved from http://www.manchester.ac.uk/escholar/uk-ac-man-scw:157473

Chicago Manual of Style (16^th Edition):

Veerappan, Chithambaram Anand. “Development of Condition Monitoring Robots for High Voltage Equipment.” 2012. Doctoral Dissertation, University of Manchester. Accessed January 24, 2021. http://www.manchester.ac.uk/escholar/uk-ac-man-scw:157473.

MLA Handbook (7^th Edition):

Veerappan, Chithambaram Anand. “Development of Condition Monitoring Robots for High Voltage Equipment.” 2012. Web. 24 Jan 2021.

Vancouver:

Veerappan CA. Development of Condition Monitoring Robots for High Voltage Equipment. [Internet] [Doctoral dissertation]. University of Manchester; 2012. [cited 2021 Jan 24]. Available from: http://www.manchester.ac.uk/escholar/uk-ac-man-scw:157473.

Council of Science Editors:

Veerappan CA. Development of Condition Monitoring Robots for High Voltage Equipment. [Doctoral Dissertation]. University of Manchester; 2012. Available from: http://www.manchester.ac.uk/escholar/uk-ac-man-scw:157473

California State Polytechnic University – Pomona

7. Hartono, Gunawan. Autonomous Vehicle (AV) With Accident Avoidance.

Degree: MS, Computer Science, 2007, California State Polytechnic University – Pomona

URL: http://hdl.handle.net/10211.3/99538

► According to Fatality Analysis Report System Web-Based Encyclopedia (http://www-fars.nhtsa.dot.gov), there was 39,189 motor vehicle traffic crashed in United States in the year of 2006. Obstacle… (more)

Subjects/Keywords: Autonomous robots

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

APA (6^th Edition):

Hartono, G. (2007). Autonomous Vehicle (AV) With Accident Avoidance. (Masters Thesis). California State Polytechnic University – Pomona. Retrieved from http://hdl.handle.net/10211.3/99538

Chicago Manual of Style (16^th Edition):

Hartono, Gunawan. “Autonomous Vehicle (AV) With Accident Avoidance.” 2007. Masters Thesis, California State Polytechnic University – Pomona. Accessed January 24, 2021. http://hdl.handle.net/10211.3/99538.

MLA Handbook (7^th Edition):

Hartono, Gunawan. “Autonomous Vehicle (AV) With Accident Avoidance.” 2007. Web. 24 Jan 2021.

Vancouver:

Hartono G. Autonomous Vehicle (AV) With Accident Avoidance. [Internet] [Masters thesis]. California State Polytechnic University – Pomona; 2007. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/10211.3/99538.

Council of Science Editors:

Hartono G. Autonomous Vehicle (AV) With Accident Avoidance. [Masters Thesis]. California State Polytechnic University – Pomona; 2007. Available from: http://hdl.handle.net/10211.3/99538

University of Manchester

8. Veerappan, Chithambaram Anand. Development of condition monitoring robots for high voltage equipment.

Degree: PhD, 2012, University of Manchester

URL: https://www.research.manchester.ac.uk/portal/en/theses/development-of-condition-monitoring-robots-for-high-voltage-equipment(acef35af-974e-48ed-99e3-f71c92d88dc2).html ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.553434

► Society has an every increasing thirst for electrical energy; this is only set to increase as the 21st Century progresses. In order to sustain this… (more)

▼ Society has an every increasing thirst for electrical energy; this is only set to increase as the 21st Century progresses. In order to sustain this increasing demand, the power industry needs to consider a number of factors; adding generation capacity and maintaining the transmission and distribution networks that connect the producers to the consumers. This work focuses on the development of systems to aid maintenance operations. Parts of the transmission network in the UK date back to the 1950's and 60's, consisting of over 22,500 circuit km of overhead lines. The monitoring of this network is a significant ongoing task and needs to locate potential problems prior to failure. Numerous assessment techniques are presented in literature which discuss the examination of line components from the air or ground using the visual, infra-red or ultra-violet spectrums. Of particular interest in this work is the live-line inspection of composite insulators; thereby aligning with other ongoing work at The University of Manchester. While existing techniques have proved adequate to date, not all insulator surfaces can be appropriately seen. The ideal solution would be a device capable of photographing all insulator surfaces from a camera mounted on the insulator itself. While a number of live-line robotic systems are both in development and use around the world, operation and performance information is lacking; possibly due to commercial sensitivity issues. This work aims to clarify this situation, in particular focusing on the nature of broadband communication from, and survivability of complex electronics in areas of intense electric field strength and partial discharges. These areas are explored through the development of a technology demonstrator, a robot capable of imaging composite insulator surfaces in real-time and transmitting them to a ground station. Knowledge gained can then be adapted to create systems for other high-voltage monitoring situations. A systems level approach is taken whereby the technology demonstrator is divided into its constituent functional components. The requirements of each are assessed and research and development needs are detailed. Literature is reviewed to collate existing knowledge and enable comparison with the envisaged requirements. Prototype systems are developed to test the selected communication mechanism under high voltage conditions, while designs are created and fabricated for imaging and mechanical needs. The separate systems are then combined into the technology demonstrator and examined as a single unit under energised conditions. The author presents extensive results on the capability and nature of broadband radio frequency communication from areas of high electric field strength and partial discharges. They show that high data rates from such environments is possible up to a certain point at which high enhanced shield and antenna protection needs to be considered. They additionally demonstrate the transmission of live video from an energised composite insulator. This knowledge…

Subjects/Keywords: 621.319; Autonomous; Robots; High Voltage

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):

Veerappan, C. A. (2012). Development of condition monitoring robots for high voltage equipment. (Doctoral Dissertation). University of Manchester. Retrieved from https://www.research.manchester.ac.uk/portal/en/theses/development-of-condition-monitoring-robots-for-high-voltage-equipment(acef35af-974e-48ed-99e3-f71c92d88dc2).html ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.553434

Chicago Manual of Style (16^th Edition):

Veerappan, Chithambaram Anand. “Development of condition monitoring robots for high voltage equipment.” 2012. Doctoral Dissertation, University of Manchester. Accessed January 24, 2021. https://www.research.manchester.ac.uk/portal/en/theses/development-of-condition-monitoring-robots-for-high-voltage-equipment(acef35af-974e-48ed-99e3-f71c92d88dc2).html ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.553434.

MLA Handbook (7^th Edition):

Veerappan, Chithambaram Anand. “Development of condition monitoring robots for high voltage equipment.” 2012. Web. 24 Jan 2021.

Vancouver:

Veerappan CA. Development of condition monitoring robots for high voltage equipment. [Internet] [Doctoral dissertation]. University of Manchester; 2012. [cited 2021 Jan 24]. Available from: https://www.research.manchester.ac.uk/portal/en/theses/development-of-condition-monitoring-robots-for-high-voltage-equipment(acef35af-974e-48ed-99e3-f71c92d88dc2).html ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.553434.

Council of Science Editors:

Veerappan CA. Development of condition monitoring robots for high voltage equipment. [Doctoral Dissertation]. University of Manchester; 2012. Available from: https://www.research.manchester.ac.uk/portal/en/theses/development-of-condition-monitoring-robots-for-high-voltage-equipment(acef35af-974e-48ed-99e3-f71c92d88dc2).html ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.553434

Hong Kong University of Science and Technology

9. Leung, Chun Yin. Improve walking module with path planning for NAO robot.

Degree: 2013, Hong Kong University of Science and Technology

URL: http://repository.ust.hk/ir/Record/1783.1-62322 ; https://doi.org/10.14711/thesis-b1255635 ; http://repository.ust.hk/ir/bitstream/1783.1-62322/1/th_redirect.html

► Bipedal humanoid walking behavior is a very hot topic in robotics research. It is a challenging topic for humanoid robots as various factors ranging from… (more)

Subjects/Keywords: Autonomous robots ; Locomotion ; Automatic control

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APA (6^th Edition):

Leung, C. Y. (2013). Improve walking module with path planning for NAO robot. (Thesis). Hong Kong University of Science and Technology. Retrieved from http://repository.ust.hk/ir/Record/1783.1-62322 ; https://doi.org/10.14711/thesis-b1255635 ; http://repository.ust.hk/ir/bitstream/1783.1-62322/1/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):

Leung, Chun Yin. “Improve walking module with path planning for NAO robot.” 2013. Thesis, Hong Kong University of Science and Technology. Accessed January 24, 2021. http://repository.ust.hk/ir/Record/1783.1-62322 ; https://doi.org/10.14711/thesis-b1255635 ; http://repository.ust.hk/ir/bitstream/1783.1-62322/1/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):

Leung, Chun Yin. “Improve walking module with path planning for NAO robot.” 2013. Web. 24 Jan 2021.

Vancouver:

Leung CY. Improve walking module with path planning for NAO robot. [Internet] [Thesis]. Hong Kong University of Science and Technology; 2013. [cited 2021 Jan 24]. Available from: http://repository.ust.hk/ir/Record/1783.1-62322 ; https://doi.org/10.14711/thesis-b1255635 ; http://repository.ust.hk/ir/bitstream/1783.1-62322/1/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:

Leung CY. Improve walking module with path planning for NAO robot. [Thesis]. Hong Kong University of Science and Technology; 2013. Available from: http://repository.ust.hk/ir/Record/1783.1-62322 ; https://doi.org/10.14711/thesis-b1255635 ; http://repository.ust.hk/ir/bitstream/1783.1-62322/1/th_redirect.html

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

Hong Kong University of Science and Technology

10. 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 January 24, 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. 24 Jan 2021.

Vancouver:

Kuse MPE. Techniques for a failsafe visual inertial SLAM system. [Internet] [Thesis]. Hong Kong University of Science and Technology; 2020. [cited 2021 Jan 24]. 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

11. Kim, DAL HYUNG. Control of Tetrahymena pyriformis as a cellular microrobot using various stimuli at low Reynolds numbers.

Degree: 2013, Drexel University

URL: http://hdl.handle.net/1860/4098

►

Recently, there are growing interests in microrobotics to accomplish micro scale tasks such as single cell manipulation, cell therapy and drug delivery. Due to the… (more)

▼

Recently, there are growing interests in microrobotics to accomplish micro scale tasks such as single cell manipulation, cell therapy and drug delivery. Due to the need for complicated fabrication techniques and the absence of sensing elements of artificial microrobots, biological microrobots which utilize motile microorganisms as a platform have been highlighted as an alternative. In this thesis, control of the Tetrahymena pyriformis (T. pyriformis), a biological cellular microrobot using galvanotaxis, phototaxis, and magnetotaxis is demonstrated.Electrical stimulation, in the form of a direct current (DC) electric field through the containing fluid, causes a change in swimming direction towards the cathode. Photo-stimulation, by high intensity broadband light, results in a rotational motion of the cells.Magnetotaxis is the ability to sense magnetic fields which allows a cell to coordinate its motion in response. Magnetotaxis is artificially implemented to T. pyriformis by internalizing magnetic nano-particles into the cell body in order to develop the robustly controllable biological microrobot. Since the artificial control modules are combined into the biological system, the motion of artificial magnetotactic T. pyriformis is finely controllable.Using external time-varying magnetic fields, the swimming direction of artificial magnetotactic T. pyriformis can be controlled while the propulsive swimming force is exerted by the endogenous motility of the cell.In this thesis, the fabrication and control methods of artificial magnetotactic T. pyriformis have been introduced and demonstrated. In order to develop a kinematic model, the magnetic properties of the developed microrobot are characterized and proved experimentally. In the results, real-time autonomous control is demonstrated using an integrated system with feedback control schemes and feasible path planning algorithms. In addition, three-dimensional control is developed and demonstrated as well.

Ph.D., Mechanical Engineering – Drexel University, 2013

Advisors/Committee Members: Kim, MinJun.

Subjects/Keywords: Mechanical engineering; Autonomous robots; Tetrahymena pyriformis

10 more images…

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APA (6^th Edition):

Kim, D. H. (2013). Control of Tetrahymena pyriformis as a cellular microrobot using various stimuli at low Reynolds numbers. (Thesis). Drexel University. Retrieved from http://hdl.handle.net/1860/4098

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):

Kim, DAL HYUNG. “Control of Tetrahymena pyriformis as a cellular microrobot using various stimuli at low Reynolds numbers.” 2013. Thesis, Drexel University. Accessed January 24, 2021. http://hdl.handle.net/1860/4098.

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

MLA Handbook (7^th Edition):

Kim, DAL HYUNG. “Control of Tetrahymena pyriformis as a cellular microrobot using various stimuli at low Reynolds numbers.” 2013. Web. 24 Jan 2021.

Vancouver:

Kim DH. Control of Tetrahymena pyriformis as a cellular microrobot using various stimuli at low Reynolds numbers. [Internet] [Thesis]. Drexel University; 2013. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/1860/4098.

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

Council of Science Editors:

Kim DH. Control of Tetrahymena pyriformis as a cellular microrobot using various stimuli at low Reynolds numbers. [Thesis]. Drexel University; 2013. Available from: http://hdl.handle.net/1860/4098

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

Drexel University

12. Ramesh, Bharadwaj. Door Opening by a Miniature Humanoid Robot.

Degree: 2014, Drexel University

URL: http://hdl.handle.net/1860/4491

► Robots working in human environments will often encounter tasks like cleaning apartments/o ce oors, cooking food, moving heavy items, etc. To perform such high level… (more)

Subjects/Keywords: Electrical engineering; Androids – Doors; Autonomous robots – Doors

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APA (6^th Edition):

Ramesh, B. (2014). Door Opening by a Miniature Humanoid Robot. (Thesis). Drexel University. Retrieved from http://hdl.handle.net/1860/4491

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):

Ramesh, Bharadwaj. “Door Opening by a Miniature Humanoid Robot.” 2014. Thesis, Drexel University. Accessed January 24, 2021. http://hdl.handle.net/1860/4491.

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

MLA Handbook (7^th Edition):

Ramesh, Bharadwaj. “Door Opening by a Miniature Humanoid Robot.” 2014. Web. 24 Jan 2021.

Vancouver:

Ramesh B. Door Opening by a Miniature Humanoid Robot. [Internet] [Thesis]. Drexel University; 2014. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/1860/4491.

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

Council of Science Editors:

Ramesh B. Door Opening by a Miniature Humanoid Robot. [Thesis]. Drexel University; 2014. Available from: http://hdl.handle.net/1860/4491

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

13. Kim, Paul Seung Soo. The Control of Tetrahymena pyriformis Using Behavioral Responses to Various Stimuli as a Biological Actuator.

Degree: 2015, Drexel University

URL: http://hdl.handle.net/1860/idea:6355

►

There is great interest in developing viable robotic swimmers at the microscale for applications such as microassembly, micromanipulation, and drug efficacy testing and other biomedical… (more)

▼

There is great interest in developing viable robotic swimmers at the microscale for applications such as microassembly, micromanipulation, and drug efficacy testing and other biomedical tasks. One of the greatest obstacles for developing microrobots is the often expensive and complicated fabrication techniques. Microorganisms are continuously targeted for microrobotics research because they possess many of the required components needed for robotic systems, including power systems, sensing abilities, and swimming mechanisms. They are also relatively inexpensive to produce. We investigated the single cell microorganism Tetrahymena pyriformis as a candidate for a microrobot. This ciliated protozoan responds to a variety of stimuli. Here, we demonstrated its control through a variety of control modalities, including electric and magnetic fields. Turning behavior and response to electric fields were quantitatively characterized. We also investigated its swimming capabilities by stripping the cell of its motile organelles and observe their regeneration and recovery. While this cell does not naturally respond to magnetic fields, they were modified through the uptake iron oxide particles and then imparted with a magnetic dipole using a permanent magnet. Magnetic control was used only to steer the cell with negligible translational force. Each cell possessed a magnetic dipole after magnetization, whose strength is a function of the strength the a permanent magnet used to magnetize the cells as well as function of the amount of ingested iron oxide. By studying the effects of rotational fields and each cell’s unique response to the rotational frequency, discrete multi-cell control becomes possible. This swarm control was validated in theory, simulation, and experiments. The development and control of this organism as a microrobot will give us valuable insight to harness and develop versatile biologically inspired robotic systems in the microscale.

Ph.D., Mechanical Engineering – Drexel University, 2015

Advisors/Committee Members: Kim, Min Jun.

Subjects/Keywords: Mechanical engineering; Autonomous robots; Tetrahymena pyriformis

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APA (6^th Edition):

Kim, P. S. S. (2015). The Control of Tetrahymena pyriformis Using Behavioral Responses to Various Stimuli as a Biological Actuator. (Thesis). Drexel University. Retrieved from http://hdl.handle.net/1860/idea:6355

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):

Kim, Paul Seung Soo. “The Control of Tetrahymena pyriformis Using Behavioral Responses to Various Stimuli as a Biological Actuator.” 2015. Thesis, Drexel University. Accessed January 24, 2021. http://hdl.handle.net/1860/idea:6355.

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

MLA Handbook (7^th Edition):

Kim, Paul Seung Soo. “The Control of Tetrahymena pyriformis Using Behavioral Responses to Various Stimuli as a Biological Actuator.” 2015. Web. 24 Jan 2021.

Vancouver:

Kim PSS. The Control of Tetrahymena pyriformis Using Behavioral Responses to Various Stimuli as a Biological Actuator. [Internet] [Thesis]. Drexel University; 2015. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/1860/idea:6355.

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

Council of Science Editors:

Kim PSS. The Control of Tetrahymena pyriformis Using Behavioral Responses to Various Stimuli as a Biological Actuator. [Thesis]. Drexel University; 2015. Available from: http://hdl.handle.net/1860/idea:6355

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

14. Almeida, Rafael Tavares. Indoor positioning system for an autonomous drone .

Degree: 2018, Universidade de Aveiro

URL: http://hdl.handle.net/10773/25974

► In robotics, the decision capabilities according to the surrounding environment evaluation are under constant evolution, subject to sudden changes, with the aim of merging the… (more)

Subjects/Keywords: Indoor position; Autonomous robots; Drone; RFID; Marvelmind

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APA (6^th Edition):

Almeida, R. T. (2018). Indoor positioning system for an autonomous drone . (Thesis). Universidade de Aveiro. Retrieved from http://hdl.handle.net/10773/25974

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):

Almeida, Rafael Tavares. “Indoor positioning system for an autonomous drone .” 2018. Thesis, Universidade de Aveiro. Accessed January 24, 2021. http://hdl.handle.net/10773/25974.

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

MLA Handbook (7^th Edition):

Almeida, Rafael Tavares. “Indoor positioning system for an autonomous drone .” 2018. Web. 24 Jan 2021.

Vancouver:

Almeida RT. Indoor positioning system for an autonomous drone . [Internet] [Thesis]. Universidade de Aveiro; 2018. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/10773/25974.

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

Council of Science Editors:

Almeida RT. Indoor positioning system for an autonomous drone . [Thesis]. Universidade de Aveiro; 2018. Available from: http://hdl.handle.net/10773/25974

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

Delft University of Technology

15. Karageorgos, Dimitrios (author). Human-Aware Autonomous Navigation of a Care Robot in Domestic Environments.

Degree: 2017, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:849660e5-330a-496b-984b-f9ed94b03142

► A major societal challenge in occidental countries nowadays is the continuously increasing ageing population. Due to this ageing society, solutions are needed to alleviate the… (more)

▼ A major societal challenge in occidental countries nowadays is the continuously increasing ageing population. Due to this ageing society, solutions are needed to alleviate the limited care personnel and the ever increasing healthcare costs. To this end, service robots are proposed to meet this demand by assisting the elderly with their daily activities and providing them with a more independent life. When people are present, new behavioral concepts are necessary to assure acceptance of robots as daily assistants. Robot motion must take safety, as well as human comfort into account. This is the goal of Human-Aware Navigation (HAN). Most current HAN approaches focus on maintaining appropriate interaction spatial distances between the robot and the human, aiming at respecting their proximity space. However, these approaches are effective only when the human lies in the close vicinity of the robot. Predictive methods, on the other hand, aim at foreseeing how humans will move in the environment and plan a navigational behavior based on this anticipated motion. Though, these methods usually fail to produce socially acceptable robot motion as they do not account for proximity constraints. This thesis is concerned with the implementation of a Human-Aware navigation framework that incorporates the proximity space around a human as well as human intention, as layers of a layered 2D costmap architecture, used for navigation. The proximity space is modeled as a Gaussian cost function around the person. Human intention is defined by the probability that a person will move to a specific destination within the environment and is used as a means of human motion prediction model. In order to infer the path that the human will follow to reach the destination, a simplistic path planner is implemented. Then the intention cost model is assigned along this expected path. The proposed framework is benchmarked against two current state-of-the-art navigation methods. The contestants are: the navigation method used in the ubiquitous Robot Operating System (ROS) and a social navigation method that accounts only for the proximity space around humans. The goal of the thesis is to show that the incorporation of human intention in the robot path planning process is able to produce friendlier motion and increase human comfort. Simulated experiments have been conducted and metrics have been defined to evaluate the methods in terms of human comfort and navigation performance. Results demonstrate that the proposed navigation framework outperformed the other two methods, proving to be able to produce friendlier robot motion while exhibiting similar navigation performance. Advisors/Committee Members: Mol, Nicky (mentor), Babuska, Robert (graduation committee), Delft University of Technology (degree granting institution).

Subjects/Keywords: Human-aware navigation; service robots; autonomous navigation

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APA (6^th Edition):

Karageorgos, D. (. (2017). Human-Aware Autonomous Navigation of a Care Robot in Domestic Environments. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:849660e5-330a-496b-984b-f9ed94b03142

Chicago Manual of Style (16^th Edition):

Karageorgos, Dimitrios (author). “Human-Aware Autonomous Navigation of a Care Robot in Domestic Environments.” 2017. Masters Thesis, Delft University of Technology. Accessed January 24, 2021. http://resolver.tudelft.nl/uuid:849660e5-330a-496b-984b-f9ed94b03142.

MLA Handbook (7^th Edition):

Karageorgos, Dimitrios (author). “Human-Aware Autonomous Navigation of a Care Robot in Domestic Environments.” 2017. Web. 24 Jan 2021.

Vancouver:

Karageorgos D(. Human-Aware Autonomous Navigation of a Care Robot in Domestic Environments. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Jan 24]. Available from: http://resolver.tudelft.nl/uuid:849660e5-330a-496b-984b-f9ed94b03142.

Council of Science Editors:

Karageorgos D(. Human-Aware Autonomous Navigation of a Care Robot in Domestic Environments. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:849660e5-330a-496b-984b-f9ed94b03142

Massey University

16. Subramaniam, Karthikeya Krishna. Distributed intelligent robotics : research & development in fault-tolerant control and size/position identification.

Degree: M. Eng., Computer Systems Engineering, 2002, Massey University

URL: http://hdl.handle.net/10179/11933

► This thesis presents research conducted on aspects of intelligent robotic systems. In the past two decades, robotics has become one of the most rapidly expanding… (more)

Subjects/Keywords: Robotics; Autonomous robots

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APA (6^th Edition):

Subramaniam, K. K. (2002). Distributed intelligent robotics : research & development in fault-tolerant control and size/position identification. (Masters Thesis). Massey University. Retrieved from http://hdl.handle.net/10179/11933

Chicago Manual of Style (16^th Edition):

Subramaniam, Karthikeya Krishna. “Distributed intelligent robotics : research & development in fault-tolerant control and size/position identification.” 2002. Masters Thesis, Massey University. Accessed January 24, 2021. http://hdl.handle.net/10179/11933.

MLA Handbook (7^th Edition):

Subramaniam, Karthikeya Krishna. “Distributed intelligent robotics : research & development in fault-tolerant control and size/position identification.” 2002. Web. 24 Jan 2021.

Vancouver:

Subramaniam KK. Distributed intelligent robotics : research & development in fault-tolerant control and size/position identification. [Internet] [Masters thesis]. Massey University; 2002. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/10179/11933.

Council of Science Editors:

Subramaniam KK. Distributed intelligent robotics : research & development in fault-tolerant control and size/position identification. [Masters Thesis]. Massey University; 2002. Available from: http://hdl.handle.net/10179/11933

Ryerson University

17. Ignakov, Dmitri. Object segmentation methods for online model acquisition to guide robotic grasping.

Degree: 2013, Ryerson University

URL: https://digital.library.ryerson.ca/islandora/object/RULA%3A2933

► A vision system is an integral component of many autonomous robots. It enables the robot to perform essential tasks such as mapping, localization, or path… (more)

▼ A vision system is an integral component of many autonomous robots. It enables the robot to perform essential tasks such as mapping, localization, or path planning. A vision system also assists with guiding the robot's grasping and manipulation tasks. As an increased demand is placed on service robots to operate in uncontrolled environments, advanced vision systems must be created that can function effectively in visually complex and cluttered settings. This thesis presents the development of segmentation algorithms to assist in online model acquisition for guiding robotic manipulation tasks. Specifically, the focus is placed on localizing door handles to assist in robotic door opening, and on acquiring partial object models to guide robotic grasping. . First, a method for localizing a door handle of unknown geometry based on a proposed 3D segmentation method is presented. Following segmentation, localization is performed by fitting a simple box model to the segmented handle. The proposed method functions without requiring assumptions about the appearance of the handle or the door, and without a geometric model of the handle. Next, an object segmentation algorithm is developed, which combines multiple appearance (intensity and texture) and geometric (depth and curvature) cues. The algorithm is able to segment objects without utilizing any a priori appearance or geometric information in visually complex and cluttered environments. The segmentation method is based on the Conditional Random Fields (CRF) framework, and the graph cuts energy minimization technique. A simple and efficient method for initializing the proposed algorithm which overcomes graph cuts' reliance on user interaction is also developed. Finally, an improved segmentation algorithm is developed which incorporates a distance metric learning (DML) step as a means of weighing various appearance and geometric segmentation cues, allowing the method to better adapt to the available data. The improved method also models the distribution of 3D points in space as a distribution of algebraic distances from an ellipsoid fitted to the object, improving the method's ability to predict which points are likely to belong to the object or the background. Experimental validation of all methods is performed. Each method is evaluated in a realistic setting, utilizing scenarios of various complexities. Experimental results have demonstrated the effectiveness of the handle localization method, and the object segmentation methods. Advisors/Committee Members: Ryerson University (Degree grantor).

Subjects/Keywords: Robots – Motion – Mathematical models.; Autonomous robots.; Robot hands – Design and construction.

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APA (6^th Edition):

Ignakov, D. (2013). Object segmentation methods for online model acquisition to guide robotic grasping. (Thesis). Ryerson University. Retrieved from https://digital.library.ryerson.ca/islandora/object/RULA%3A2933

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):

Ignakov, Dmitri. “Object segmentation methods for online model acquisition to guide robotic grasping.” 2013. Thesis, Ryerson University. Accessed January 24, 2021. https://digital.library.ryerson.ca/islandora/object/RULA%3A2933.

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

MLA Handbook (7^th Edition):

Ignakov, Dmitri. “Object segmentation methods for online model acquisition to guide robotic grasping.” 2013. Web. 24 Jan 2021.

Vancouver:

Ignakov D. Object segmentation methods for online model acquisition to guide robotic grasping. [Internet] [Thesis]. Ryerson University; 2013. [cited 2021 Jan 24]. Available from: https://digital.library.ryerson.ca/islandora/object/RULA%3A2933.

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

Council of Science Editors:

Ignakov D. Object segmentation methods for online model acquisition to guide robotic grasping. [Thesis]. Ryerson University; 2013. Available from: https://digital.library.ryerson.ca/islandora/object/RULA%3A2933

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

Drexel University

18. Rogoff, Joshua W. Distributed assembly strategies for teams of autonomous robots.

Degree: 2011, Drexel University

URL: http://hdl.handle.net/1860/3734

►

The distributed assembly problem involves using a team of robots to assemble a structure autonomously. The goal is to develop a strategy such that the… (more)

Subjects/Keywords: Mechanical Engineering; Autonomous robots – Design and construction; Robots – Design and construction

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APA (6^th Edition):

Rogoff, J. W. (2011). Distributed assembly strategies for teams of autonomous robots. (Thesis). Drexel University. Retrieved from http://hdl.handle.net/1860/3734

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):

Rogoff, Joshua W. “Distributed assembly strategies for teams of autonomous robots.” 2011. Thesis, Drexel University. Accessed January 24, 2021. http://hdl.handle.net/1860/3734.

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

MLA Handbook (7^th Edition):

Rogoff, Joshua W. “Distributed assembly strategies for teams of autonomous robots.” 2011. Web. 24 Jan 2021.

Vancouver:

Rogoff JW. Distributed assembly strategies for teams of autonomous robots. [Internet] [Thesis]. Drexel University; 2011. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/1860/3734.

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

Council of Science Editors:

Rogoff JW. Distributed assembly strategies for teams of autonomous robots. [Thesis]. Drexel University; 2011. Available from: http://hdl.handle.net/1860/3734

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

Universidade Nova

19. Lourenço, André Filipe Lopes. A volumetric hybrid representation for obstacle detection in all-terrain robots.

Degree: 2014, Universidade Nova

URL: http://www.rcaap.pt/detail.jsp?id=oai:run.unl.pt:10362/13187

► This dissertation presents an approach aimed at three-dimensional perception’s obstacle detection on all-terrain robots. Given the huge amount of acquired information, the adversities such environments… (more)

Subjects/Keywords: Obstacle detection; Vegetation detection; 3D perception; Autonomous robots; All-terrain robots

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APA (6^th Edition):

Lourenço, A. F. L. (2014). A volumetric hybrid representation for obstacle detection in all-terrain robots. (Thesis). Universidade Nova. Retrieved from http://www.rcaap.pt/detail.jsp?id=oai:run.unl.pt:10362/13187

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):

Lourenço, André Filipe Lopes. “A volumetric hybrid representation for obstacle detection in all-terrain robots.” 2014. Thesis, Universidade Nova. Accessed January 24, 2021. http://www.rcaap.pt/detail.jsp?id=oai:run.unl.pt:10362/13187.

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

MLA Handbook (7^th Edition):

Lourenço, André Filipe Lopes. “A volumetric hybrid representation for obstacle detection in all-terrain robots.” 2014. Web. 24 Jan 2021.

Vancouver:

Lourenço AFL. A volumetric hybrid representation for obstacle detection in all-terrain robots. [Internet] [Thesis]. Universidade Nova; 2014. [cited 2021 Jan 24]. Available from: http://www.rcaap.pt/detail.jsp?id=oai:run.unl.pt:10362/13187.

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

Council of Science Editors:

Lourenço AFL. A volumetric hybrid representation for obstacle detection in all-terrain robots. [Thesis]. Universidade Nova; 2014. Available from: http://www.rcaap.pt/detail.jsp?id=oai:run.unl.pt:10362/13187

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

20. NC DOCKS at Western Carolina University; Stender, Matthew George. Adapting canonical particle swarm optimization to a swarm of Kilobots in event location tasks.

Degree: 2018, NC Docks

URL: http://libres.uncg.edu/ir/wcu/f/Stender2018.pdf

► In nature, there are many species who are tiny and simple as individuals, but are very organized and effective as a group, for foraging, defense,… (more)

▼ In nature, there are many species who are tiny and simple as individuals, but are very organized and effective as a group, for foraging, defense, and other tasks. This phenomenon has inspired the development of swarm robotics, which has been applied from simulating nano-particle based medication administering to controlling hundreds of UAVs in formation for ceremonial display and/or surveillance. This dissertation aims to explore the idea of swarm intelligence, in a search and rescue simulation scenario, to establish a test-bed and to make the idea practical for the control of a swarm of robots. In order to do this efficiently, the robots will have some swarm intelligence method to govern their behavior. One such swarm intelligence method is Particle Swarm Optimization (PSO), originally developed by Kennedy and Eberhart in 1995 as a way of modelling natural swarm behavior. However, canonical PSO presents a challenge in needing to be adapted to limitations of a physical robot swarm. There are several popular options of swarm robots from research groups and many are available for sale at K-team, Seeedstudios, etc. However, these robots are still too expensive to purchase in a large quantity. We chose Kilobot designed by Harvard Self-organizing system research group, the most cost efficient option, yet with a suite of functionality. The team at Western Carolina University has improved/updated the design while building a few dozen of these robots. Therefore, the experimenting agent is set to be Kilobot, and the practical constraints of Kilobots, such as communication range, movement mechanisms, are all taken into account when adapting the idea of PSO for swarm robotic control. To address the issues of limited communication range of Kilobot and measurement noises, we first proposed the Neighborhood PSO (NPSO) algorithm and examined it in the Matlab simulation environment. Three benchmark functions are used to simulate the measurements on the interest level at each location: when there is an emergency event like a fire, the fitness value at that location will be higher than that in its neighboring region (for calculation simplicity, though, the fitness is assumed to be the smaller the better, and the global minima is with a fitness value of 0.) Monte Carlo simulations are carried out given the random nature of the algorithms, and the results are reported in convergence speed, accuracy and consistency. Once NPSO was established as comparable to PSO in Matlab simulations, we adopted the NPSO idea into a more realistic Kilobot simulation environment, Kilombo, in Linux. Kilombo has incorporated many practical aspects of Kilobots, such as its physical size, its moving and turning speed, and its communication channel. The code developed in Kilombo should be portable to Kilobots. In Kilombo, the Kilobots' movements can be sped up saving simulation time. The Kilobots are given the tasks of locating the spot with the best fitness, simulating the search of an event of interest. The fitness values are provided by the call-back…

Subjects/Keywords: Microrobots; Autonomous robots; Swarm intelligence; Robots – Control systems

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

APA (6^th Edition):

NC DOCKS at Western Carolina University; Stender, M. G. (2018). Adapting canonical particle swarm optimization to a swarm of Kilobots in event location tasks. (Thesis). NC Docks. Retrieved from http://libres.uncg.edu/ir/wcu/f/Stender2018.pdf

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):

NC DOCKS at Western Carolina University; Stender, Matthew George. “Adapting canonical particle swarm optimization to a swarm of Kilobots in event location tasks.” 2018. Thesis, NC Docks. Accessed January 24, 2021. http://libres.uncg.edu/ir/wcu/f/Stender2018.pdf.

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

MLA Handbook (7^th Edition):

NC DOCKS at Western Carolina University; Stender, Matthew George. “Adapting canonical particle swarm optimization to a swarm of Kilobots in event location tasks.” 2018. Web. 24 Jan 2021.

Vancouver:

NC DOCKS at Western Carolina University; Stender MG. Adapting canonical particle swarm optimization to a swarm of Kilobots in event location tasks. [Internet] [Thesis]. NC Docks; 2018. [cited 2021 Jan 24]. Available from: http://libres.uncg.edu/ir/wcu/f/Stender2018.pdf.

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

Council of Science Editors:

NC DOCKS at Western Carolina University; Stender MG. Adapting canonical particle swarm optimization to a swarm of Kilobots in event location tasks. [Thesis]. NC Docks; 2018. Available from: http://libres.uncg.edu/ir/wcu/f/Stender2018.pdf

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

Georgia Tech

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

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 January 24, 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. 24 Jan 2021.

Vancouver:

Cowlagi RV. Hierarchical motion planning for autonomous aerial and terrestrial vehicles. [Internet] [Doctoral dissertation]. Georgia Tech; 2011. [cited 2021 Jan 24]. 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

22. 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 January 24, 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. 24 Jan 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 Jan 24]. 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

Hong Kong University of Science and Technology

23. Li, Siyi CSE. Learning perception and control for robot intelligence.

Degree: 2019, Hong Kong University of Science and Technology

URL: http://repository.ust.hk/ir/Record/1783.1-100352 ; https://doi.org/10.14711/thesis-991012730762103412 ; http://repository.ust.hk/ir/bitstream/1783.1-100352/1/th_redirect.html

► Autonomous robots that can assist humans in the daily unstructured world have been a long standing vision of robotics and artificial intelligence (AI). Such autonomous… (more)

▼ Autonomous robots that can assist humans in the daily unstructured world have been a long standing vision of robotics and artificial intelligence (AI). Such autonomous intelligent robotic system requires two essential building blocks: perception and control. Meanwhile, the past few years have seen major advances in many perception and control tasks empowered by deep learning and reinforcement learning methods. Hence one natural question to ask is how AI techniques could help to accomplish those robotic tasks. In this thesis, we explore learning-based solutions to robotic tasks. Our first attempt is constructing a unified benchmark for visual object tracking on the unmanned aerial vehicle (UAV) platform. We manually built a drone tracking dataset, consisting of a variety of videos with high diversity captured by drone cameras. We performed an extensive empirical study of the state-of-the-art methods on the dataset and identified their major weakness in the motion model. We also devised new motion models by explicitly estimating the camera motion in the tracking phase, which are especially suitable and effective for the drone tracking scenario. Collecting real-world data with robotic systems is generally expensive due to the hardware cost and the manual labeling effort. However, deep learning and reinforcement learning methods require a data-hungry training paradigm. We proposed to address this issue by learning from synthetic data while minimizing the gap from simulation to reality at the same time. For robotic perception task, we investigated instance segmentation for robot manipulation. We developed an automated rendering pipeline to generate a variety of photorealistic synthetic images with pixel-level labels. The synthetic dataset is then used to train an objectness deep neural network model which can successfully generalize to real-world manipulation scenarios. For robotic control task, we focused on the challenging problem of learning UAV control for actively tracking a moving target. We proposed a hierarchical approach that combines model-free reinforcement learning methods with conventional feedback controllers to enable efficient and safe exploration in the training phase. We showed that this hierarchical control scheme can learn a target following policy in a simulator efficiently and the learned behavior can be successfully transferred to real-world quadrotor control.

Subjects/Keywords: Autonomous robots ; Mathematical models ; Robots ; Control systems ; Machine learning ; Artificial intelligence ; Perception

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

APA (6^th Edition):

Li, S. C. (2019). Learning perception and control for robot intelligence. (Thesis). Hong Kong University of Science and Technology. Retrieved from http://repository.ust.hk/ir/Record/1783.1-100352 ; https://doi.org/10.14711/thesis-991012730762103412 ; http://repository.ust.hk/ir/bitstream/1783.1-100352/1/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):

Li, Siyi CSE. “Learning perception and control for robot intelligence.” 2019. Thesis, Hong Kong University of Science and Technology. Accessed January 24, 2021. http://repository.ust.hk/ir/Record/1783.1-100352 ; https://doi.org/10.14711/thesis-991012730762103412 ; http://repository.ust.hk/ir/bitstream/1783.1-100352/1/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):

Li, Siyi CSE. “Learning perception and control for robot intelligence.” 2019. Web. 24 Jan 2021.

Vancouver:

Li SC. Learning perception and control for robot intelligence. [Internet] [Thesis]. Hong Kong University of Science and Technology; 2019. [cited 2021 Jan 24]. Available from: http://repository.ust.hk/ir/Record/1783.1-100352 ; https://doi.org/10.14711/thesis-991012730762103412 ; http://repository.ust.hk/ir/bitstream/1783.1-100352/1/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:

Li SC. Learning perception and control for robot intelligence. [Thesis]. Hong Kong University of Science and Technology; 2019. Available from: http://repository.ust.hk/ir/Record/1783.1-100352 ; https://doi.org/10.14711/thesis-991012730762103412 ; http://repository.ust.hk/ir/bitstream/1783.1-100352/1/th_redirect.html

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

University of Sydney

24. Arora, Akash. Multi-Modal Active Perception for Robotic Information Gathering in Science Missions .

Degree: 2018, University of Sydney

URL: http://hdl.handle.net/2123/18415

► Information gathering using mobile robots in dangerous and remote environments such as deep sea, underground, and outer space has significantly improved humanity's ability to understand… (more)

▼ Information gathering using mobile robots in dangerous and remote environments such as deep sea, underground, and outer space has significantly improved humanity's ability to understand the world. Typically in such science missions, a robot's role is limited to that of a sensing platform which passively gathers data along prescribed waypoints. Higher level decision making such as planning where to go in the context of mission objectives, making inferences from observations, and deciding which sensing modalities to deploy, is largely handled by a supervisory science team working remotely. However, communication constraints can hinder these processes and hence the rate of scientific progress. This thesis presents a novel active perception approach to science missions that aims to reduce robots' reliance on human supervision and improve science productivity by encoding an approximation of scientists' domain knowledge, inference, and decision making processes on-board the robot. Science missions can involve two complexities that are not addressed by existing approaches to robotic information gathering. Firstly, the variables of scientific interest may not be directly observable from on-board sensors, and instead require combining multi-modal proxy measurements with non-trivial amounts of scientific domain knowledge to infer. Secondly, robots may be equipped with multiple sensing modalities which measure different environmental variables and have some sensing cost associated with their usage. The first contribution of the thesis is the formulation of these requirements into a new information gain maximization sensor planning problem called scientific information gathering. An initial solution is presented which addresses scientific information gathering as two separate subproblems- estimating the variables of interest from sensor data by encoding an approximation of scientific domain knowledge, and planning paths and sensing actions that maximize the information gained on the variable of interest. Efficient solutions to these subproblems form the next two contributions. To tackle the first subproblem, a Bayesian network (BN) architecture that creates a probabilistic mapping between observations and the variables of scientific interest is proposed. The BN intuitively and jointly models critical aspects of scientific knowledge, as well as other prior knowledge such as sensor and classifier models, while the proposed network structure allows the robot to robustly handle noisy observations, has fast inference times, allows recursive estimation of key variables, and can utilize online parameter tuning to overcome initial modeling uncertainties. To address the second subproblem, a sampling-based forward simulation approach based on Monte Carlo tree search (MCTS) is proposed, which exploits the domain knowledge encoded in the BN and efficiently plans informative sensing actions with multiple sensing modalities in partially observable environments. The computational complexity of the BN-MCTS active perception framework does…

Subjects/Keywords: active perception; information gathering; field robots; space robots; autonomous science; sampling based planning

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

APA (6^th Edition):

Arora, A. (2018). Multi-Modal Active Perception for Robotic Information Gathering in Science Missions . (Thesis). University of Sydney. Retrieved from http://hdl.handle.net/2123/18415

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):

Arora, Akash. “Multi-Modal Active Perception for Robotic Information Gathering in Science Missions .” 2018. Thesis, University of Sydney. Accessed January 24, 2021. http://hdl.handle.net/2123/18415.

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

MLA Handbook (7^th Edition):

Arora, Akash. “Multi-Modal Active Perception for Robotic Information Gathering in Science Missions .” 2018. Web. 24 Jan 2021.

Vancouver:

Arora A. Multi-Modal Active Perception for Robotic Information Gathering in Science Missions . [Internet] [Thesis]. University of Sydney; 2018. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/2123/18415.

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

Council of Science Editors:

Arora A. Multi-Modal Active Perception for Robotic Information Gathering in Science Missions . [Thesis]. University of Sydney; 2018. Available from: http://hdl.handle.net/2123/18415

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

University of Texas – Austin

25. 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 January 24, 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. 24 Jan 2021.

Vancouver:

Sridharan M. Robust structure-based autonomous color learning on a mobile robot. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2007. [cited 2021 Jan 24]. 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

University of New South Wales

26. 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 January 24, 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. 24 Jan 2021.

Vancouver:

Low MPE. Vision-based navigation and decentralized control of mobile robots. [Internet] [Doctoral dissertation]. University of New South Wales; 2007. [cited 2021 Jan 24]. 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

Texas A&M University

27. Bay, Christopher Joseph. Advancing Embedded and Extrinsic Solutions for Optimal Control and Efficiency of Energy Systems in Buildings.

Degree: PhD, Mechanical Engineering, 2017, Texas A&M University

URL: http://hdl.handle.net/1969.1/165698

► Buildings account for approximately 40% of all U.S. energy usage and carbon emissions. Reducing energy usage and improving efficiency in buildings has the potential for… (more)

▼ Buildings account for approximately 40% of all U.S. energy usage and carbon emissions. Reducing energy usage and improving efficiency in buildings has the potential for significant environmental and economic impacts. To do so, reoccurring identification of hardware and operational opportunities is needed to maintain building efficiency. Additionally, the development of controls that continually operate building systems and equipment at energy optimal conditions is required. This dissertation provides contributions to both of the aforementioned areas, which can be divided into two distinct portions. The first presents the framework for the development of an automated energy audit process, termed Autonomous Robotic Assessments of Energy (AuRAE). The automation of energy audits would decrease the cost of audits to customers, reduce the time auditors need to invest in an audit, and provide repeatable audit processes with enhanced data collection. In this framework of AuRAE, novel, audit-centric navigational strategies are presented that enable the complete exploration of a previously unknown space in a building while identifying and navigating to objects of interest in real-time as well as navigation around external building perimeters. Simulations of the navigational strategies show success in a variety of building layouts and size of objects of interest. Additionally, prototypes of robotic audit capabilities are demonstrated in the form of a lighting identification and analysis package on a ground vehicle and an environmental baseline measurement package on an aerial vehicle. The second portion presents the development and simulation of two advanced economic building energy controllers: one utilizes steady-state relationships for optimizing control setpoints while the other is an economic MPC method using dynamic models to optimize the same control setpoints. Both control methods balance the minimization of utility cost from energy usage with the cost of lost productivity due to occupant discomfort, differing from standard building optimal control that generally addresses occupant comfort through setpoint limits or comfort measure constraints. This is accomplished through the development of component-level economic objective functions for each subsystem in the modeled building. The results show that utility cost and the cost of occupant productivity from optimal comfort can be successfully balanced, and even improved over current control methods. The relative magnitude of the cost of lost productivity is shown to be significantly higher than the cost of utilities, suggesting that building operators, technicians, and researchers should make maintaining occupant comfort a top priority to achieve the greatest economic savings. Furthermore, the results demonstrate that by using steady-state predictions, the majority of the performance gains produced with a fully dynamic MPC solution can be recovered. Advisors/Committee Members: Rasmussen, Bryan P (advisor), McAdams, Daniel A (committee member), Claridge, David E (committee member), Datta, Aniruddha (committee member).

Subjects/Keywords: Energy Efficiency; Buildings; Optimal Control; Model Predictive Control; Buildings Control; Energy Audits; Autonomous Energy Audits; Autonomous Robots; Robotics; Autonomous Navigation

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

APA (6^th Edition):

Bay, C. J. (2017). Advancing Embedded and Extrinsic Solutions for Optimal Control and Efficiency of Energy Systems in Buildings. (Doctoral Dissertation). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/165698

Chicago Manual of Style (16^th Edition):

Bay, Christopher Joseph. “Advancing Embedded and Extrinsic Solutions for Optimal Control and Efficiency of Energy Systems in Buildings.” 2017. Doctoral Dissertation, Texas A&M University. Accessed January 24, 2021. http://hdl.handle.net/1969.1/165698.

MLA Handbook (7^th Edition):

Bay, Christopher Joseph. “Advancing Embedded and Extrinsic Solutions for Optimal Control and Efficiency of Energy Systems in Buildings.” 2017. Web. 24 Jan 2021.

Vancouver:

Bay CJ. Advancing Embedded and Extrinsic Solutions for Optimal Control and Efficiency of Energy Systems in Buildings. [Internet] [Doctoral dissertation]. Texas A&M University; 2017. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/1969.1/165698.

Council of Science Editors:

Bay CJ. Advancing Embedded and Extrinsic Solutions for Optimal Control and Efficiency of Energy Systems in Buildings. [Doctoral Dissertation]. Texas A&M University; 2017. Available from: http://hdl.handle.net/1969.1/165698

28. Milligan, T. James. Collaborative Localization for Small Networked Robot Teams.

Degree: 2013, Drexel University

URL: http://hdl.handle.net/1860/4250

►

This work describes the development of a collaborative localization and state estimation framework for a team of small autonomous ground robots working in a heterogeneous… (more)

Subjects/Keywords: Mechanical engineering; Autonomous robots – Design and construction; Robotics

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

APA (6^th Edition):

Milligan, T. J. (2013). Collaborative Localization for Small Networked Robot Teams. (Thesis). Drexel University. Retrieved from http://hdl.handle.net/1860/4250

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):

Milligan, T James. “Collaborative Localization for Small Networked Robot Teams.” 2013. Thesis, Drexel University. Accessed January 24, 2021. http://hdl.handle.net/1860/4250.

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

MLA Handbook (7^th Edition):

Milligan, T James. “Collaborative Localization for Small Networked Robot Teams.” 2013. Web. 24 Jan 2021.

Vancouver:

Milligan TJ. Collaborative Localization for Small Networked Robot Teams. [Internet] [Thesis]. Drexel University; 2013. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/1860/4250.

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

Council of Science Editors:

Milligan TJ. Collaborative Localization for Small Networked Robot Teams. [Thesis]. Drexel University; 2013. Available from: http://hdl.handle.net/1860/4250

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

University of Miami

29. Poore, Kyle. DTMF Audio Communication for Nao Robots.

Degree: MS, Computer Science (Arts and Sciences), 2017, University of Miami

URL: https://scholarlyrepository.miami.edu/oa_theses/683

► We propose an alternative to Wi-Fi for robotic communication, as its increased use in a competition environment has lead to highly overlapping and interfering… (more)

Subjects/Keywords: DTMF; Autonomous Robots; Audio; Communication; Digital Signal Processing

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

APA (6^th Edition):

Poore, K. (2017). DTMF Audio Communication for Nao Robots. (Thesis). University of Miami. Retrieved from https://scholarlyrepository.miami.edu/oa_theses/683

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):

Poore, Kyle. “DTMF Audio Communication for Nao Robots.” 2017. Thesis, University of Miami. Accessed January 24, 2021. https://scholarlyrepository.miami.edu/oa_theses/683.

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

MLA Handbook (7^th Edition):

Poore, Kyle. “DTMF Audio Communication for Nao Robots.” 2017. Web. 24 Jan 2021.

Vancouver:

Poore K. DTMF Audio Communication for Nao Robots. [Internet] [Thesis]. University of Miami; 2017. [cited 2021 Jan 24]. Available from: https://scholarlyrepository.miami.edu/oa_theses/683.

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

Council of Science Editors:

Poore K. DTMF Audio Communication for Nao Robots. [Thesis]. University of Miami; 2017. Available from: https://scholarlyrepository.miami.edu/oa_theses/683

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

30. Azizul Hasan, Zati Hakim. Robot mapping without a precise map .

Degree: 2014, AUT University

URL: http://hdl.handle.net/10292/7202

► In this thesis, I took two key ideas of cognitive mapping developed in Yeap’s (1988) theory of cognitive mapping and developed a robot mapping system… (more)

▼ In this thesis, I took two key ideas of cognitive mapping developed in Yeap’s (1988) theory of cognitive mapping and developed a robot mapping system that maps without having a precise map. Yeap argues that in a cognitive mapping process, it is important to compute a local space representation that affords boundedness and a global map that tells one roughly where things are located with respect to the self. While these two representations appear to be similar to the global map and a topological network of local spaces that robotics researchers compute for their robots, there are two major differences. First, Yeap’s global map is a transient, inexact map and second, the local space computed is often inexact and incomplete. Computing such representations meant that one does not need to correct errors due to sensors and generate an exact map. I have successfully developed one such algorithm and tested it successfully on a mobile robot equipped with laser and odometer sensors in a large office environment. The journey through the environment before loop closing is about 30m x 30m. The robot went round the environment twice and in a clockwise and anti-clockwise direction. It also finds its way from one part of the environment to another. There are three key steps in my approach. The first step is to constantly detect “landmarks” in two consecutive views (the current view and the previous view). Having two consecutive views meant that any errors due to the sensors are not accumulative. Furthermore, one gets two copies of the landmark – one currently in view and the other in memory. Consequently, their position in space need not be absolute. The second step is to use the landmarks identified to provide a frame of reference to localize unknown surfaces that appear in the current view. The third is to enter those unknown surfaces into its global map using its own landmarks. The development of such an algorithm has led to better insights into cognitive and robot mapping. From a cognitive standpoint, what is important is that we now have an algorithm that computes an inexact map by attending to recognizable surfaces (referred to as landmark surfaces) in successive views rather than dependent on continuous tracking of one’s position and orientation in the environment. Furthermore, it does not require continuous updating of the map as long as there are some overlapping surfaces between views. Both are characteristics of the human cognitive mapping process. From a robot mapping standpoint, my new algorithm shows that it is possible to compute and utilize an inexact map for navigation. This could be a new paradigm for robot mapping. Advisors/Committee Members: Yeap, Albert (Wai) (advisor), Chee, Kit Wong (advisor).

Subjects/Keywords: Cognitive mapping; Autonomous robots

…availability of more powerful robots for autonomous exploration and mapping provide a platform for… …local spaces that robotics researchers compute for their robots, there are two major… …and development were done on wheeled mobile robots with either sonar and/or laser sensors… …field is advancing to develop robots mapping outdoor environments and using other sensors… …any, generate such representations for their robots since they claim that without error…

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

APA (6^th Edition):

Azizul Hasan, Z. H. (2014). Robot mapping without a precise map . (Thesis). AUT University. Retrieved from http://hdl.handle.net/10292/7202

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):

Azizul Hasan, Zati Hakim. “Robot mapping without a precise map .” 2014. Thesis, AUT University. Accessed January 24, 2021. http://hdl.handle.net/10292/7202.

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

MLA Handbook (7^th Edition):

Azizul Hasan, Zati Hakim. “Robot mapping without a precise map .” 2014. Web. 24 Jan 2021.

Vancouver:

Azizul Hasan ZH. Robot mapping without a precise map . [Internet] [Thesis]. AUT University; 2014. [cited 2021 Jan 24]. Available from: http://hdl.handle.net/10292/7202.

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

Council of Science Editors:

Azizul Hasan ZH. Robot mapping without a precise map . [Thesis]. AUT University; 2014. Available from: http://hdl.handle.net/10292/7202

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

Open Access Theses and Dissertations