subject:(Distributed robotics)

Duke University

1. Freundlich, Charles. Decentralized State Estimation using Robotic Sensor Networks .

Degree: 2016, Duke University

► This dissertation proposes three control algorithms for active sensing with one or several autonomous robots. The algorithms all rely on models of the information… (more)

▼ This dissertation proposes three control algorithms for active sensing with one or several autonomous robots. The algorithms all rely on models of the information content of the sensor measurement with respect to the relative poses between sensors and subjects. The approaches each predict how new information may impact the uncertainty in the subjects, controlling sensors to new locations or trajectories from where these uncertainties will me minimized. The first algorithm deals with the Next-Best-View (NBV) problem for a single robot, where the goal is to control a mobile camera so that the next image of a set of possibly mobile targets will be as informative as possible. The NBV controller is designed for a rig that hosts two cameras in a fronto-parallel arrangement, commonly known as stereo vision. Assuming that the objects, landmarks, or targets being estimated are visible by both cameras in the rig and that these observations are corrupted by zero-mean Gaussian errors, the control algorithm moves the rig through pose space in order to reduce the expected Kalman-filtered uncertainty in the next location point-estimate. This is done by differentiating the KF output error covariance matrix with respect to the sensor pose, which results in a nonlinear control problem. The controller is decomposed so that first the robot computes the NBV in coordinates relative to the body-frame of the stereo rig, and then it moves in pose space to realize this view. When an image is acquired, a switching signal changes the goal of pose control, giving rise to a stable hybrid system. Experiments of on a real robot localizing targets in a laboratory setting are presented. The second algorithm addresses the problem of estimating a finite set of hidden state vectors using a mobile robotic sensor network. For every hidden state that needs to be estimated, a local Dynamic Program (DP) in the joint state-space of robot positions and state uncertainties determines robot paths and associated sequences of state observations that collectively minimize the estimation uncertainty. It divides the collection of hidden states into clusters based on a prior belief of their geographic locations and, for each cluster, defines a second DP that determines how far along the local optimal trajectories the robot should travel before transitioning to estimating the next hidden state within the cluster. Finally, a distributed assignment algorithm dynamically allocates controllers to the robot team from the set of optimal control policies at every cluster. Assuming Gaussian priors on the hidden state vectors, the distributed state estimation method scales gracefully to large teams of mobile robots and hidden vectors and provide extensive simulations and real-world experiments using stereoscopic vision sensors to illustrate the approach. The third chapter addresses the problem of controlling a network of mobile sensors so that a set of hidden states are estimated up to… Advisors/Committee Members: Zavlanos, Michael M (advisor), Cummings, Mary (advisor).

Subjects/Keywords: Mechanical engineering; Robotics; Active Sensing; Distributed Robotics

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APA (6^th Edition):

Freundlich, C. (2016). Decentralized State Estimation using Robotic Sensor Networks . (Thesis). Duke University. Retrieved from http://hdl.handle.net/10161/14364

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):

Freundlich, Charles. “Decentralized State Estimation using Robotic Sensor Networks .” 2016. Thesis, Duke University. Accessed March 02, 2021. http://hdl.handle.net/10161/14364.

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

MLA Handbook (7^th Edition):

Freundlich, Charles. “Decentralized State Estimation using Robotic Sensor Networks .” 2016. Web. 02 Mar 2021.

Vancouver:

Freundlich C. Decentralized State Estimation using Robotic Sensor Networks . [Internet] [Thesis]. Duke University; 2016. [cited 2021 Mar 02]. Available from: http://hdl.handle.net/10161/14364.

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

Council of Science Editors:

Freundlich C. Decentralized State Estimation using Robotic Sensor Networks . [Thesis]. Duke University; 2016. Available from: http://hdl.handle.net/10161/14364

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

University of Georgia

2. Barnhard, David Howard. Distributed collaborative robotic mapping.

Degree: 2014, University of Georgia

URL: http://hdl.handle.net/10724/22575

► The utilization of multiple robots to map an unknown environment is a challenging problem within Artificial Intelligence. This thesis first presents previous efforts to develop… (more)

Subjects/Keywords: Robotics; Artificial Intelligence; Distributed Processing; Collaborative Robotics

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APA (6^th Edition):

Barnhard, D. H. (2014). Distributed collaborative robotic mapping. (Thesis). University of Georgia. Retrieved from http://hdl.handle.net/10724/22575

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):

Barnhard, David Howard. “Distributed collaborative robotic mapping.” 2014. Thesis, University of Georgia. Accessed March 02, 2021. http://hdl.handle.net/10724/22575.

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

MLA Handbook (7^th Edition):

Barnhard, David Howard. “Distributed collaborative robotic mapping.” 2014. Web. 02 Mar 2021.

Vancouver:

Barnhard DH. Distributed collaborative robotic mapping. [Internet] [Thesis]. University of Georgia; 2014. [cited 2021 Mar 02]. Available from: http://hdl.handle.net/10724/22575.

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

Council of Science Editors:

Barnhard DH. Distributed collaborative robotic mapping. [Thesis]. University of Georgia; 2014. Available from: http://hdl.handle.net/10724/22575

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

Boston University

3. Pierson, Alyssa. Analysis of multi-agent systems under varying degrees of trust, cooperation, and competition.

Degree: PhD, Mechanical Engineering, 2017, Boston University

URL: http://hdl.handle.net/2144/20848

► Multi-agent systems rely heavily on coordination and cooperation to achieve a variety of tasks. It is often assumed that these agents will be fully cooperative,… (more)

▼ Multi-agent systems rely heavily on coordination and cooperation to achieve a variety of tasks. It is often assumed that these agents will be fully cooperative, or have reliable and equal performance among group members. Instead, we consider cooperation as a spectrum of possible interactions, ranging from performance variations within the group to adversarial agents. This thesis examines several scenarios where cooperation and performance are not guaranteed. Potential applications include sensor coverage, emergency response, wildlife management, tracking, and surveillance. We use geometric methods, such as Voronoi tessellations, for design insight and Lyapunov-based stability theory to analyze our proposed controllers. Performance is verified through simulations and experiments on a variety of ground and aerial robotic platforms. First, we consider the problem of Voronoi-based coverage control, where a group of robots must spread out over an environment to provide coverage. Our approach adapts online to sensing and actuation performance variations with the group. The robots have no prior knowledge of their relative performance, and in a distributed fashion, compensate by assigning weaker robots a smaller portion of the environment. Next, we consider the problem of multi-agent herding, akin to shepherding. Here, a group of dog-like robots must drive a herd of non-cooperative sheep-like agents around the environment. Our key insight in designing the control laws for the herders is to enforce geometrical relationships that allow for the combined system dynamics to reduce to a single nonholonomic vehicle. We also investigate the cooperative pursuit of an evader by a group of quadrotors in an environment with no-fly zones. While the pursuers cannot enter the no-fly zones, the evader moves freely through the zones to avoid capture. Using tools for Voronoi-based coverage control, we provide an algorithm to distribute the pursuers around the zone's boundary and minimize capture time once the evader emerges. Finally, we present an algorithm for the guaranteed capture of multiple evaders by one or more pursuers in a bounded, convex environment. The pursuers utilize properties of the evader's Voronoi cell to choose a control strategy that minimizes the safe-reachable area of the evader, which in turn leads to the evader's capture.

Subjects/Keywords: Robotics; Distributed networks; Multi-agent systems

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APA (6^th Edition):

Pierson, A. (2017). Analysis of multi-agent systems under varying degrees of trust, cooperation, and competition. (Doctoral Dissertation). Boston University. Retrieved from http://hdl.handle.net/2144/20848

Chicago Manual of Style (16^th Edition):

Pierson, Alyssa. “Analysis of multi-agent systems under varying degrees of trust, cooperation, and competition.” 2017. Doctoral Dissertation, Boston University. Accessed March 02, 2021. http://hdl.handle.net/2144/20848.

MLA Handbook (7^th Edition):

Pierson, Alyssa. “Analysis of multi-agent systems under varying degrees of trust, cooperation, and competition.” 2017. Web. 02 Mar 2021.

Vancouver:

Pierson A. Analysis of multi-agent systems under varying degrees of trust, cooperation, and competition. [Internet] [Doctoral dissertation]. Boston University; 2017. [cited 2021 Mar 02]. Available from: http://hdl.handle.net/2144/20848.

Council of Science Editors:

Pierson A. Analysis of multi-agent systems under varying degrees of trust, cooperation, and competition. [Doctoral Dissertation]. Boston University; 2017. Available from: http://hdl.handle.net/2144/20848

Rice University

4. Zhou, Yu. Swarm Robotics: Measurement and Sorting.

Degree: MS, Engineering, 2015, Rice University

URL: http://hdl.handle.net/1911/88413

► To measure is an important ability for robots to sense the environment and nearby robots. Although camera, laser, and ultrasonic provide very accurate measurements, they… (more)

▼ To measure is an important ability for robots to sense the environment and nearby robots. Although camera, laser, and ultrasonic provide very accurate measurements, they are expensive and not scalable for large swarm of low-cost robots. The r-one robot designed at Rice University is equipped with infrared transmitters and receivers, which are designed for remote control and are very inexpensive in mass production. They are a good solution for short-range communication, since the signal attenuates at about 1 to 2 meters with appropriate voltage. This work describes my results in using them to measure bearing, orientation, and distance between nearby robots. However, infrared receivers are not designed for this kind of use, so I present a variable transmit power approach to allow useful and efficient local geometry measurements. With the ability to measure bearing and distance, I am able to solve the problem of sorting a group of n robots in a two-dimensional space. I want to organize robots into a sorted and equally-spaced path between the robots with lowest and highest label, while maintaining a connected communication network throughout the process. I begin with a straightforward geometry-based version of sorting algorithm, and point out there are many difficulties when communication range becomes limited. Then I describe a topology-based distributed algorithm for this task. I introduce operations to break the symmetry between minimum and maximum, in order to keep time, travel distance, and communication costs low without using central control. I run a set of algorithms (leader election, tree formation, path formation, path modification, and geometric straightening) in parallel. I show that my overall approach is safe, correct, and efficient. It is robust to population changes, network connectivity changes, and sensor errors. I validate my theoretical results with simulation results. My algorithm implementation uses communication messages of fixed size and constant memory on each robot, and is a practical solution for large populations of low-cost robots. Advisors/Committee Members: McLurkin, James D. (advisor), Kavraki, Lydia E (committee member), Chaudhuri, Swarat (committee member).

Subjects/Keywords: Swarm Robotics; Physical Sorting; Distributed Algorithms

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

APA (6^th Edition):

Zhou, Y. (2015). Swarm Robotics: Measurement and Sorting. (Masters Thesis). Rice University. Retrieved from http://hdl.handle.net/1911/88413

Chicago Manual of Style (16^th Edition):

Zhou, Yu. “Swarm Robotics: Measurement and Sorting.” 2015. Masters Thesis, Rice University. Accessed March 02, 2021. http://hdl.handle.net/1911/88413.

MLA Handbook (7^th Edition):

Zhou, Yu. “Swarm Robotics: Measurement and Sorting.” 2015. Web. 02 Mar 2021.

Vancouver:

Zhou Y. Swarm Robotics: Measurement and Sorting. [Internet] [Masters thesis]. Rice University; 2015. [cited 2021 Mar 02]. Available from: http://hdl.handle.net/1911/88413.

Council of Science Editors:

Zhou Y. Swarm Robotics: Measurement and Sorting. [Masters Thesis]. Rice University; 2015. Available from: http://hdl.handle.net/1911/88413

University of Colorado

5. Kanakia, Anshul Pradip. Response Threshold Based Task Allocation in Multi-Agent Systems Performing Concurrent Benefit Tasks with Limited Information.

Degree: PhD, Computer Science, 2015, University of Colorado

URL: https://scholar.colorado.edu/csci_gradetds/108

► One of the most elusive but important goals of swarm robotics is to reproduce the emergent collaborative behavior observed in natural swarming systems through… (more)

▼ One of the most elusive but important goals of swarm robotics is to reproduce the emergent collaborative behavior observed in natural swarming systems through the use of simple decision rules. Examples of collaborative processes in insect colonies such as foraging, scouting (finding shortest paths) for food, and colony defense involve some form of task allocation among individual agents. The robustness of task completion even after major environmental changes is also observed in natural swarm systems. Ants and bees are often unphased by the fact that the magnitude of a task – such as carrying a heavy piece of food – is unknown to every individual and manage to complete the task elegantly even without such critical knowledge. This robustness property is of paramount importance when recreating natural behavior in artificial systems and I believe the use of decentralized agent based task allocation rules is closely related to this property. I therefore present a novel response threshold based strategy for task allocation in multi-agent systems in this dissertation. I prove, using a well known result from the theory of global games, that under the constraints of imperfect knowledge of the environment and imperfect communication response threshold based task allocation leads to an equilibrium inducing strategy for the swarm system. The importance of this result is to provide a formal mathematical basis for the phenomenological justification currently provided in the field of swarm robotics to mimic biological systems. This result therefore provides both, a hypothesis about the inner workings of a wide range of existing approaches with limited communication between agents in artificial swarm systems and also a formal explanation for threshold based task allocation in social insects. These game theory results lead to a novel continuous response threshold algorithm for multi-agent task allocation that generalizes fixed-group task allocation (stick-pulling experiment) and stochastic team size task allocation. This allows variable team sizes to form at task sites within tolerance limits thereby providing a trade-off between exploration and exploitation. The claims made by theoretical proofs for response threshold based task allocation are backed up by physical experiments using the Droplet swarm robot platform. Further simulation experiments provide a basis of comparison between optimal centralized approaches and hybrid approaches for task allocation where each robot decides whether to participate in a task based on its own noisy sensory input and imperfect knowledge from the system controller. I show that in many real world situations it is often impractical to rely on the assumption of perfect system information for controlling a swarm and that centralized task allocation becomes comparable to a response threshold based policy under the influence of noise. Advisors/Committee Members: Nikolaus Correll, Sriram Sankaranarayanan, Gabe Sibley, Ani Hsieh, Behrouz Touri.

Subjects/Keywords: Distributed Algorithms; Game Theory; Multi-Agent Systems; Robotics; Swarm Robotics; Task Allocation; Artificial Intelligence and Robotics; Theory and Algorithms

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

APA (6^th Edition):

Kanakia, A. P. (2015). Response Threshold Based Task Allocation in Multi-Agent Systems Performing Concurrent Benefit Tasks with Limited Information. (Doctoral Dissertation). University of Colorado. Retrieved from https://scholar.colorado.edu/csci_gradetds/108

Chicago Manual of Style (16^th Edition):

Kanakia, Anshul Pradip. “Response Threshold Based Task Allocation in Multi-Agent Systems Performing Concurrent Benefit Tasks with Limited Information.” 2015. Doctoral Dissertation, University of Colorado. Accessed March 02, 2021. https://scholar.colorado.edu/csci_gradetds/108.

MLA Handbook (7^th Edition):

Kanakia, Anshul Pradip. “Response Threshold Based Task Allocation in Multi-Agent Systems Performing Concurrent Benefit Tasks with Limited Information.” 2015. Web. 02 Mar 2021.

Vancouver:

Kanakia AP. Response Threshold Based Task Allocation in Multi-Agent Systems Performing Concurrent Benefit Tasks with Limited Information. [Internet] [Doctoral dissertation]. University of Colorado; 2015. [cited 2021 Mar 02]. Available from: https://scholar.colorado.edu/csci_gradetds/108.

Council of Science Editors:

Kanakia AP. Response Threshold Based Task Allocation in Multi-Agent Systems Performing Concurrent Benefit Tasks with Limited Information. [Doctoral Dissertation]. University of Colorado; 2015. Available from: https://scholar.colorado.edu/csci_gradetds/108

Delft University of Technology

6. Simonetto, A. Distributed Estimation and Control for Robotic Networks.

Degree: 2012, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:5813eccb-4292-4fbf-8dbe-b0d31bdaede3 ; urn:NBN:nl:ui:24-uuid:5813eccb-4292-4fbf-8dbe-b0d31bdaede3 ; urn:NBN:nl:ui:24-uuid:5813eccb-4292-4fbf-8dbe-b0d31bdaede3 ; http://resolver.tudelft.nl/uuid:5813eccb-4292-4fbf-8dbe-b0d31bdaede3

► Mobile robots that communicate and cooperate to achieve a common task have been the subject of an increasing research interest in recent years. These possibly… (more)

Subjects/Keywords: Distributed Optimization; Robotics; Sensor Networks; Distributed Control; Distributed Estimation

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APA (6^th Edition):

Simonetto, A. (2012). Distributed Estimation and Control for Robotic Networks. (Doctoral Dissertation). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:5813eccb-4292-4fbf-8dbe-b0d31bdaede3 ; urn:NBN:nl:ui:24-uuid:5813eccb-4292-4fbf-8dbe-b0d31bdaede3 ; urn:NBN:nl:ui:24-uuid:5813eccb-4292-4fbf-8dbe-b0d31bdaede3 ; http://resolver.tudelft.nl/uuid:5813eccb-4292-4fbf-8dbe-b0d31bdaede3

Chicago Manual of Style (16^th Edition):

Simonetto, A. “Distributed Estimation and Control for Robotic Networks.” 2012. Doctoral Dissertation, Delft University of Technology. Accessed March 02, 2021. http://resolver.tudelft.nl/uuid:5813eccb-4292-4fbf-8dbe-b0d31bdaede3 ; urn:NBN:nl:ui:24-uuid:5813eccb-4292-4fbf-8dbe-b0d31bdaede3 ; urn:NBN:nl:ui:24-uuid:5813eccb-4292-4fbf-8dbe-b0d31bdaede3 ; http://resolver.tudelft.nl/uuid:5813eccb-4292-4fbf-8dbe-b0d31bdaede3.

MLA Handbook (7^th Edition):

Simonetto, A. “Distributed Estimation and Control for Robotic Networks.” 2012. Web. 02 Mar 2021.

Vancouver:

Simonetto A. Distributed Estimation and Control for Robotic Networks. [Internet] [Doctoral dissertation]. Delft University of Technology; 2012. [cited 2021 Mar 02]. Available from: http://resolver.tudelft.nl/uuid:5813eccb-4292-4fbf-8dbe-b0d31bdaede3 ; urn:NBN:nl:ui:24-uuid:5813eccb-4292-4fbf-8dbe-b0d31bdaede3 ; urn:NBN:nl:ui:24-uuid:5813eccb-4292-4fbf-8dbe-b0d31bdaede3 ; http://resolver.tudelft.nl/uuid:5813eccb-4292-4fbf-8dbe-b0d31bdaede3.

Council of Science Editors:

Simonetto A. Distributed Estimation and Control for Robotic Networks. [Doctoral Dissertation]. Delft University of Technology; 2012. Available from: http://resolver.tudelft.nl/uuid:5813eccb-4292-4fbf-8dbe-b0d31bdaede3 ; urn:NBN:nl:ui:24-uuid:5813eccb-4292-4fbf-8dbe-b0d31bdaede3 ; urn:NBN:nl:ui:24-uuid:5813eccb-4292-4fbf-8dbe-b0d31bdaede3 ; http://resolver.tudelft.nl/uuid:5813eccb-4292-4fbf-8dbe-b0d31bdaede3

Texas A&M University

7. Fine, Benjamin Thomas. Constructing Geometries for Group Control: Methods for Reasoning about Social Behaviors.

Degree: PhD, Computer Science, 2015, Texas A&M University

URL: http://hdl.handle.net/1969.1/174671

► Social behaviors in groups has been the subjects of hundreds of studies in a variety of research disciplines, including biology, physics, and robotics. In particular,… (more)

▼ Social behaviors in groups has been the subjects of hundreds of studies in a variety of research disciplines, including biology, physics, and robotics. In particular, flocking behaviors (commonly exhibited by birds and fish) are widely considered archetypical social behavioris and are due, in part, to the local interactions among the individuals and the environment. Despite a large number of investigations and a significant fraction of these providing algorithmic descriptions of flocking models, incompleteness and imprecision are readily identifiable in these algorithms, algorithmic input, and validation of the models. This has led to a limited understanding of the group level behaviors. Through two case-studies and a detailed meta-study of the literature, this dissertation shows that study of the individual behaviors are not adequate for understanding the behaviors displayed by the group. To highlight the limitations in only studying the individuals, this dissertation introduces a set of tools, that together, unify many of the existing microscopic approaches. A meta-study of the literature using these tools reveal that there are many small differences and ambiguities in the flocking scenarios being studied by different researchers and domains; unfortunately, these differences are of considerable significance. To address this issue, this dissertation exploits the predictable nature of the group’s behaviors in order to control the given group and thus hope to gain a fuller understanding of the collective. From the current literature, it is clear the environment is an important determinant in the resulting collective behaviors. This dissertation presents a method for reasoning about the effects the geometry of an environment has on individuals that exhibit collective behaviors in order to control them. This work formalizes the problem of controlling such groups by means of changing the environment in which the group operates and shows this problem to be PSPACE-Hard. A general methodology and basic framework is presented to address this problem. The proposed approach is general in that it is agnostic to the individual’s behaviors and geometric representations of the environment; allowing for a large variety in groups, desired behaviors, and environmental constraints to be considered. The results from both the simulations and over 80 robot trials show (1) the solution can automatically generate environments for reliably controlling various groups and (2) the solution can apply to other application domains; such as multi-agent formation planning for shepherding and piloting applications. Advisors/Committee Members: Shell, Dylan (advisor), Amato, Nancy (committee member), Choe, Yoonsuck (committee member), Sword, Gregory (committee member).

Subjects/Keywords: Distributed Robotics; Group Control; Group Manipulation; Emergent Behaviors; Collective Motion

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

APA (6^th Edition):

Fine, B. T. (2015). Constructing Geometries for Group Control: Methods for Reasoning about Social Behaviors. (Doctoral Dissertation). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/174671

Chicago Manual of Style (16^th Edition):

Fine, Benjamin Thomas. “Constructing Geometries for Group Control: Methods for Reasoning about Social Behaviors.” 2015. Doctoral Dissertation, Texas A&M University. Accessed March 02, 2021. http://hdl.handle.net/1969.1/174671.

MLA Handbook (7^th Edition):

Fine, Benjamin Thomas. “Constructing Geometries for Group Control: Methods for Reasoning about Social Behaviors.” 2015. Web. 02 Mar 2021.

Vancouver:

Fine BT. Constructing Geometries for Group Control: Methods for Reasoning about Social Behaviors. [Internet] [Doctoral dissertation]. Texas A&M University; 2015. [cited 2021 Mar 02]. Available from: http://hdl.handle.net/1969.1/174671.

Council of Science Editors:

Fine BT. Constructing Geometries for Group Control: Methods for Reasoning about Social Behaviors. [Doctoral Dissertation]. Texas A&M University; 2015. Available from: http://hdl.handle.net/1969.1/174671

University of Colorado

8. Klingner, John. Distributed and Decentralized Algorithms for Functional Programmable Matter.

Degree: PhD, 2018, University of Colorado

URL: https://scholar.colorado.edu/csci_gradetds/194

► Programmable matter is made up of large quantities of particles that can sense, actuate, communicate, and compute. Motivated to imbue these materials with functionality,… (more)

Subjects/Keywords: decentralized; distributed; localization; programmable matter; spatial computing; swarm; Computer Sciences; Robotics

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

APA (6^th Edition):

Klingner, J. (2018). Distributed and Decentralized Algorithms for Functional Programmable Matter. (Doctoral Dissertation). University of Colorado. Retrieved from https://scholar.colorado.edu/csci_gradetds/194

Chicago Manual of Style (16^th Edition):

Klingner, John. “Distributed and Decentralized Algorithms for Functional Programmable Matter.” 2018. Doctoral Dissertation, University of Colorado. Accessed March 02, 2021. https://scholar.colorado.edu/csci_gradetds/194.

MLA Handbook (7^th Edition):

Klingner, John. “Distributed and Decentralized Algorithms for Functional Programmable Matter.” 2018. Web. 02 Mar 2021.

Vancouver:

Klingner J. Distributed and Decentralized Algorithms for Functional Programmable Matter. [Internet] [Doctoral dissertation]. University of Colorado; 2018. [cited 2021 Mar 02]. Available from: https://scholar.colorado.edu/csci_gradetds/194.

Council of Science Editors:

Klingner J. Distributed and Decentralized Algorithms for Functional Programmable Matter. [Doctoral Dissertation]. University of Colorado; 2018. Available from: https://scholar.colorado.edu/csci_gradetds/194

Delft University of Technology

9. Agrawal, Charu (author). Autonomous Exploration by Cooperative Robots.

Degree: 2019, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:983973b6-a94e-4011-a967-ad4da7001003

►

Imagine being lost in a desert with a bunch of friends, all of a sudden. Survival will be difficult. You will have mirages, distrust among… (more)

▼

Imagine being lost in a desert with a bunch of friends, all of a sudden. Survival will be difficult. You will have mirages, distrust among friends and no means to leave landmarks on the sand. Unable to locate yourself, you will have no means to contact people with maps. The best you can do in such a situation is to stay together in the vicinity of each other and look for food and water. By staying together, you can see more and decrease faulty data; thereby increasing your survival probability. Robots when left to explore the moon encounter the same issues. They do not have a Geo-Positioning System to locate them nor do they have a map. They have faulty sensor readings and might find it difficult to contact a human operator on earth all the time to solve issues on the moon. Since everything looks the same, there are no landmarks to memorise. As they walk around, their battery will also get exhausted. The more we equip the robot outside earth, chances of faults do not decrease, they increase. Therefore, there is a need to make primitive robots capable of autonomous exploration. We prefer sending more than one robot, inspired by the success of the collective strength of insects in harsh environments. This thesis aims at engineering collective behaviour for a group of robots in such resource-less environments like the moon. We expect this collective behaviour to perform searching in time-critical events like earthquake-stricken areas. The thesis is designed to be implemented on legged robots called Zebros. Using communication, they will collectively perform activities such that they appear as one body of tightly coupled autonomous units. We design three distinct algorithms for such missions. Emergent behaviour is expected from the robots running these algorithms. The swarm should collectively choose the best among the possible options without disintegrating into subgroups. (https://www.youtube.com/watch?v=Yf3ToRk7YHY&feature=youtu.be)

Embedded Systems

Advisors/Committee Members: Verhoeven, Chris (mentor), Epema, Dick (mentor), Roos, Stefanie (graduation committee), Mastrangeli, Massimo (graduation committee), Delft University of Technology (degree granting institution).

Subjects/Keywords: distributed systems; adaptive networks; decision making; robotics; Zebro

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APA (6^th Edition):

Agrawal, C. (. (2019). Autonomous Exploration by Cooperative Robots. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:983973b6-a94e-4011-a967-ad4da7001003

Chicago Manual of Style (16^th Edition):

Agrawal, Charu (author). “Autonomous Exploration by Cooperative Robots.” 2019. Masters Thesis, Delft University of Technology. Accessed March 02, 2021. http://resolver.tudelft.nl/uuid:983973b6-a94e-4011-a967-ad4da7001003.

MLA Handbook (7^th Edition):

Agrawal, Charu (author). “Autonomous Exploration by Cooperative Robots.” 2019. Web. 02 Mar 2021.

Vancouver:

Agrawal C(. Autonomous Exploration by Cooperative Robots. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Mar 02]. Available from: http://resolver.tudelft.nl/uuid:983973b6-a94e-4011-a967-ad4da7001003.

Council of Science Editors:

Agrawal C(. Autonomous Exploration by Cooperative Robots. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:983973b6-a94e-4011-a967-ad4da7001003

University of Illinois – Urbana-Champaign

10. Ghosh, Ritwika. Separation of distributed coordination and control for programming reliable robotics.

Degree: PhD, Computer Science, 2020, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/108501

► A robot's code needs to sense the environment, control the hardware, and communicate with other robots. Current programming languages do not provide the necessary hardware… (more)

▼ A robot's code needs to sense the environment, control the hardware, and communicate with other robots. Current programming languages do not provide the necessary hardware platform-independent abstractions, and therefore, developing robot applications require detailed knowledge of signal processing, control, path planning, network protocols, and various platform-specific details. Further, porting applications across hardware platforms becomes tedious. With the aim of separating these hardware dependent and independent concerns, we have developed Koord: a domain specific language for distributed robotics. Koord abstracts platform-specific functions for sensing, communication, and low-level control. Koord makes the platform-independent control and coordination code portable and modularly verifiable. It raises the level of abstraction in programming by providing distributed shared memory for coordination and port interfaces for sensing and control. We have developed the formal executable semantics of Koord in the K framework. With this symbolic execution engine, we can identify proof obligations for gaining high assurance from Koord applications. Koord is deployed on CyPhyHouse – a toolchain that aims to provide programming, debugging, and deployment benefits for distributed mobile robotic applications. The modular, platform-independent middleware of CyPhyHouse implements these functionalities using standard algorithms for path planning (RRT), control (MPC), mutual exclusion, etc. A high-fidelity, scalable, multi-threaded simulator for Koord applications is developed to simulate the same application code for dozens of heterogeneous agents. The same compiled code can also be deployed on heterogeneous mobile platforms. This thesis outlines the design, implementation and formalization of the Koord language and the main components of CyPhyHouse that it is deployed on. Advisors/Committee Members: Mitra, Sayan (advisor), Mitra, Sayan (Committee Chair), Dullerud, Geir E (committee member), Johnson, Taylor T (committee member), Misailovic, Sasa (committee member).

Subjects/Keywords: Programming Languages; Robotics; Distributed Systems; Formal Methods; Verification

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APA (6^th Edition):

Ghosh, R. (2020). Separation of distributed coordination and control for programming reliable robotics. (Doctoral Dissertation). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/108501

Chicago Manual of Style (16^th Edition):

Ghosh, Ritwika. “Separation of distributed coordination and control for programming reliable robotics.” 2020. Doctoral Dissertation, University of Illinois – Urbana-Champaign. Accessed March 02, 2021. http://hdl.handle.net/2142/108501.

MLA Handbook (7^th Edition):

Ghosh, Ritwika. “Separation of distributed coordination and control for programming reliable robotics.” 2020. Web. 02 Mar 2021.

Vancouver:

Ghosh R. Separation of distributed coordination and control for programming reliable robotics. [Internet] [Doctoral dissertation]. University of Illinois – Urbana-Champaign; 2020. [cited 2021 Mar 02]. Available from: http://hdl.handle.net/2142/108501.

Council of Science Editors:

Ghosh R. Separation of distributed coordination and control for programming reliable robotics. [Doctoral Dissertation]. University of Illinois – Urbana-Champaign; 2020. Available from: http://hdl.handle.net/2142/108501

University of Toronto

11. Roza, Ashton. Distributed Coordination Theory for Ground and Aerial Robot Teams.

Degree: PhD, 2019, University of Toronto

URL: http://hdl.handle.net/1807/95970

► This thesis investigates distributed coordination problems for two important classes of robots. One class corresponds to ground-based mobile robots, each modelled as a kinematic unicycle.… (more)

▼ This thesis investigates distributed coordination problems for two important classes of robots. One class corresponds to ground-based mobile robots, each modelled as a kinematic unicycle. The second corresponds to flying robots, each propelled by a thrust vector and endowed with an actuation mechanism producing torques about three orthogonal body axes. The following coordination problems are studied in this thesis: rendezvous, formation control, linear and circular formation flocking and formation path following. For rendezvous of kinematic unicycles, a smooth, time-independent control law is presented that drives the unicycles to a common position from arbitrary initial conditions, under the assumption that the sensing digraph is time-invariant and contains a globally reachable node. The proposed feedback is very simple and is local and distributed. For rendezvous of flying robots, a control strategy is presented that makes the centres of mass of the vehicles converge to an arbitrarily small neighborhood of one another. The convergence is global, and each vehicle can compute its own control input using local and distributed feedback. For formation control, the objective is to make an ensemble of kinematic unicycles achieve pre-defined inter-agent spacings with parallel heading angles. We consider scenarios where the formation either stops or moves with a final collective motion. In the latter case, problems of linear and circular formation flocking and formation path following are studied. A control law is presented in each case that solves the problem for almost all initial conditions. For stopping and flocking formations, the proposed control laws are local and distributed while for formation path following, the control laws additionally require each agent to measure its displacement from the path. The idea used to solve the formation control problems is to rigidly attach an offset vector to the body frame of each unicycle. It is shown that stabilizing the desired formation amounts to achieving consensus of the endpoints of the offset vectors, and simultaneously synchronizing the unicycles' heading angles. Extension of formation control to flying robots using strictly local and distributed feedback is not addressed in this work and remains a challenging open problem. Advisors/Committee Members: Maggiore, Manfredi, Scardovi, Luca, Electrical and Computer Engineering.

Subjects/Keywords: Autonomous robotics; Cooperative control; Distributed control; Stability of nonlinear systems; 0771

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APA (6^th Edition):

Roza, A. (2019). Distributed Coordination Theory for Ground and Aerial Robot Teams. (Doctoral Dissertation). University of Toronto. Retrieved from http://hdl.handle.net/1807/95970

Chicago Manual of Style (16^th Edition):

Roza, Ashton. “Distributed Coordination Theory for Ground and Aerial Robot Teams.” 2019. Doctoral Dissertation, University of Toronto. Accessed March 02, 2021. http://hdl.handle.net/1807/95970.

MLA Handbook (7^th Edition):

Roza, Ashton. “Distributed Coordination Theory for Ground and Aerial Robot Teams.” 2019. Web. 02 Mar 2021.

Vancouver:

Roza A. Distributed Coordination Theory for Ground and Aerial Robot Teams. [Internet] [Doctoral dissertation]. University of Toronto; 2019. [cited 2021 Mar 02]. Available from: http://hdl.handle.net/1807/95970.

Council of Science Editors:

Roza A. Distributed Coordination Theory for Ground and Aerial Robot Teams. [Doctoral Dissertation]. University of Toronto; 2019. Available from: http://hdl.handle.net/1807/95970

University of Minnesota

12. Jensen, Elizabeth. Online Multi-Robot Exploration with Communication Restrictions.

Degree: PhD, Computer Science, 2018, University of Minnesota

URL: http://hdl.handle.net/11299/201178

► In the aftermath of a disaster, such as an earthquake, it can be hours or even days before human rescue teams can safely enter damaged… (more)

Subjects/Keywords: distributed robotics; multi-robot systems; robot coverage; robot exploration

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APA (6^th Edition):

Jensen, E. (2018). Online Multi-Robot Exploration with Communication Restrictions. (Doctoral Dissertation). University of Minnesota. Retrieved from http://hdl.handle.net/11299/201178

Chicago Manual of Style (16^th Edition):

Jensen, Elizabeth. “Online Multi-Robot Exploration with Communication Restrictions.” 2018. Doctoral Dissertation, University of Minnesota. Accessed March 02, 2021. http://hdl.handle.net/11299/201178.

MLA Handbook (7^th Edition):

Jensen, Elizabeth. “Online Multi-Robot Exploration with Communication Restrictions.” 2018. Web. 02 Mar 2021.

Vancouver:

Jensen E. Online Multi-Robot Exploration with Communication Restrictions. [Internet] [Doctoral dissertation]. University of Minnesota; 2018. [cited 2021 Mar 02]. Available from: http://hdl.handle.net/11299/201178.

Council of Science Editors:

Jensen E. Online Multi-Robot Exploration with Communication Restrictions. [Doctoral Dissertation]. University of Minnesota; 2018. Available from: http://hdl.handle.net/11299/201178

University of Minnesota

13. Min, Hyeun Jeong. Multi-robot formation and cooperation using visual tracking.

Degree: PhD, Computer Science, 2013, University of Minnesota

URL: http://purl.umn.edu/147094

► Camera-based multi-robot formation is a core and challenging field of research in distributed robotics. The goal is to manage multiple robots maintaining them in a… (more)

▼ Camera-based multi-robot formation is a core and challenging field of research in distributed robotics. The goal is to manage multiple robots maintaining them in a group, capable of extending for various robotic missions. There has been a substantial body of work mostly based on the following assumptions: (i) The availability of inter-communication capability among the robots, (ii) the use of special sensors such as omni-directional cameras, laser scanners, etc., and (iii) the use of special (or fiduciary) markers on some objects of interest (e.g. the leader robot). Those who have pursued successful multi-robot formations have always used at least one of these assumptions. However, these assumptions limit the scope of applicability of the solutions that depend on them. These systems have the following representative limitations: (i) The size of robots should be large enough to be able to handle the large payload of the special sensors, (ii) the use of inter-communication requires that communication systems be either already installed or carried by robots, and (iii) robots are expected to have predictable motions. Many researchers have tried to address the vision-based formation problem using some or all of these assumptions, but none has attempted to go beyond these assumptions yet. In this thesis we approach the problem described above using a monocular camera to address the size limitation. This, in turn, allows us to use much smaller robots than in previous research. We also allow unpredictable motions of the robots, so that our solution can have broader applicability to several missions, such as, search, safety, surveillance, exploration, etc. In addition, because we impose fewer restrictions in the assumptions than in prior work, we are faced with various challenging issues when investigating object tracking and robot control. We present a new robotic formation methodology along with a unique technique for a group of robots based on visual tracking only. Instead of relying on prediction models about a target robot, our robots execute target tracking from consecutive images. For real-time processing, we propose a new object tracking method, limiting the pool of candidates and enhancing the matching performance. Our new multi-robot formation technique has great potential for many robotic applications. Accordingly, this technique motivates us to come up with a new solution to the multi-robot coverage problem. Specifically we deal with the challenging problem of determining the optimum set of robots and their optimized paths, given a set of locations of interest. In contrast, existing approaches to the coverage problem deal with a given set of robots and attempt to find optimized paths. Therefore, in this thesis, we have come up with a new approach, which addresses the coverage problem for a variety of real world applications.

Subjects/Keywords: Coverage problem; Distributed robotics; Multi-robot formation; Visual tracking

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APA (6^th Edition):

Min, H. J. (2013). Multi-robot formation and cooperation using visual tracking. (Doctoral Dissertation). University of Minnesota. Retrieved from http://purl.umn.edu/147094

Chicago Manual of Style (16^th Edition):

Min, Hyeun Jeong. “Multi-robot formation and cooperation using visual tracking.” 2013. Doctoral Dissertation, University of Minnesota. Accessed March 02, 2021. http://purl.umn.edu/147094.

MLA Handbook (7^th Edition):

Min, Hyeun Jeong. “Multi-robot formation and cooperation using visual tracking.” 2013. Web. 02 Mar 2021.

Vancouver:

Min HJ. Multi-robot formation and cooperation using visual tracking. [Internet] [Doctoral dissertation]. University of Minnesota; 2013. [cited 2021 Mar 02]. Available from: http://purl.umn.edu/147094.

Council of Science Editors:

Min HJ. Multi-robot formation and cooperation using visual tracking. [Doctoral Dissertation]. University of Minnesota; 2013. Available from: http://purl.umn.edu/147094

University of Colorado

14. Komendera, Erik. Precise Assembly of Truss Structures by Distributed Robots.

Degree: PhD, Computer Science, 2014, University of Colorado

URL: https://scholar.colorado.edu/csci_gradetds/91

► Assembly robots have been in operation in industry for decades, predictably repeating the same precise motions in closed workspaces to assemble products cheaply and… (more)

▼ Assembly robots have been in operation in industry for decades, predictably repeating the same precise motions in closed workspaces to assemble products cheaply and in mass quantities. However, in the field, robotic assembly has seen only spurts of progress, and no short-term feasible applications. NASA and the space industry desire robotic construction methods to remove the upper limit on size. Space telescopes are highly desired, but require structural precision on the order of microns. Previous approaches were ruled out because the precisely machined components were expensive, heavy, and prone to failure. The recent advent of cheap robotic swarms has revived interest in academia, but most research requires self-correcting, interlocking components, instead of commodity materials. In this thesis, I describe the Intelligent Precision Jigging paradigm, a solution to the problem of practical robotic assembly, with application to precision truss assembly. Intelligent Precision Jigging Robots (IPJRs) are robots that work in groups of three to incrementally assemble a structure. They set and hold distances with high precision, enabling coarse external manipulators to weld the commodity parts together and perform other tasks. To maximize the utility of the IPJR paradigm to the fullest extent, I present algorithms for finding near-optimal assembly sequences and for implementing Simultaneous Localization and Mapping (SLAM) to maintain an estimate of the assembly process through the accumulation of local strut length measurements. I define a model of truss assembly probability and a minimizing metric based on the covariance trace. I show that structure error grows cubically with node count. I present a three-step approach for generating near-optimal assembly sequences; commencing assembly on a central location of the structure, greedily assembling to minimize the covariance trace, and performing a local search on the space of sequences to swap steps until a local minimum is found. I show that this method consistently generates more precise sequences than any process alone. I then simulate the SLAM method with four different estimators commonly used in for SLAM; a least linear squares approach, the Extended Kalman Filter, the Unscented Kalman Filter, and the Maximum Likelihood Estimator. I show that when nonlinearity in the assembly process is dominant, the Maximum Likelihood Estimator is better than the other estimators, but for space telescopes with precision requirements, all four are functionally equivalent. I also show that when SLAM is used, the difference in covariance trace between sequences is reduced, reducing the need for finding globally optimal sequences. SLAM also mitigates the growth of structure error. Finally, I present the results of physical assembly trials on a telescope truss made of aluminum tubes, assembled by three IPJRs using two methods: an open loop approach, and an MLE-SLAM approach. I show that the MLE-SLAM assembly algorithm works even when the physical… Advisors/Committee Members: Nikolaus Correll, Sriram Sankaranarayanan, Tom Yeh, Eric Frew, Daniel Scheeres.

Subjects/Keywords: distributed robots; optimization; robotic assembly; simultaneous localization and mapping; space telescopes; truss structures; Artificial Intelligence and Robotics; Industrial Engineering; Robotics

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APA (6^th Edition):

Komendera, E. (2014). Precise Assembly of Truss Structures by Distributed Robots. (Doctoral Dissertation). University of Colorado. Retrieved from https://scholar.colorado.edu/csci_gradetds/91

Chicago Manual of Style (16^th Edition):

Komendera, Erik. “Precise Assembly of Truss Structures by Distributed Robots.” 2014. Doctoral Dissertation, University of Colorado. Accessed March 02, 2021. https://scholar.colorado.edu/csci_gradetds/91.

MLA Handbook (7^th Edition):

Komendera, Erik. “Precise Assembly of Truss Structures by Distributed Robots.” 2014. Web. 02 Mar 2021.

Vancouver:

Komendera E. Precise Assembly of Truss Structures by Distributed Robots. [Internet] [Doctoral dissertation]. University of Colorado; 2014. [cited 2021 Mar 02]. Available from: https://scholar.colorado.edu/csci_gradetds/91.

Council of Science Editors:

Komendera E. Precise Assembly of Truss Structures by Distributed Robots. [Doctoral Dissertation]. University of Colorado; 2014. Available from: https://scholar.colorado.edu/csci_gradetds/91

15. Lin, Yixiao. Programming platform for distributed robotics: primitives and portability.

Degree: MS, Electrical & Computer Engr, 2016, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/90689

► The Stabilizing Robotics Language (StarL) programming framework aims to simplify development of distributed robotic applications by providing programming abstractions and building blocks for communication, motion… (more)

Subjects/Keywords: Distributed systems; distributed robotics; programming platform; portability

…limits of custom-built software and hardware for distributed robotics (see [19, 20… …distributed robotics system, however, have to deal with nondeterminism arising from uncertainties in… …away. The primitives enable a programmer to reason and create distributed robotics… …CHAPTER 1 INTRODUCTION Distributed robotic systems enable distributed coordination, data… …distributed robotic systems have many potential advantages, in realizing their full potential, we…

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APA (6^th Edition):

Lin, Y. (2016). Programming platform for distributed robotics: primitives and portability. (Thesis). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/90689

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):

Lin, Yixiao. “Programming platform for distributed robotics: primitives and portability.” 2016. Thesis, University of Illinois – Urbana-Champaign. Accessed March 02, 2021. http://hdl.handle.net/2142/90689.

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

MLA Handbook (7^th Edition):

Lin, Yixiao. “Programming platform for distributed robotics: primitives and portability.” 2016. Web. 02 Mar 2021.

Vancouver:

Lin Y. Programming platform for distributed robotics: primitives and portability. [Internet] [Thesis]. University of Illinois – Urbana-Champaign; 2016. [cited 2021 Mar 02]. Available from: http://hdl.handle.net/2142/90689.

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

Council of Science Editors:

Lin Y. Programming platform for distributed robotics: primitives and portability. [Thesis]. University of Illinois – Urbana-Champaign; 2016. Available from: http://hdl.handle.net/2142/90689

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

16. Tamjidi, Amirhossein. Unifying Consensus and Covariance Intersection for Efficient Distributed State Estimation over Unreliable Networks.

Degree: MS, Aerospace Engineering, 2017, Texas A&M University

URL: http://hdl.handle.net/1969.1/161628

► This thesis studies the problem of recursive distributed state estimation over unreliable networks. The main contribution is to fuse the independent and dependent information separately.… (more)

Subjects/Keywords: Distributed Estimation; Sensor Networks; Robotics; Distributed Tracking

…average node value. The goal in distributed averaging is to 2 Figure 1.2: A typical robotics… …time of distributed averaging and ICI. . . . . . . . . . . 42 3.1 The grid map of the… …to keep a specific formation while moving toward a goal position. The distributed consensus… …distributed averaging problem. 1.3 Distributed Averaging Definition 3. Distributed Averaging: Assume… …scenario in which reaching to a target point is the objective. calculate xave in a distributed…

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APA (6^th Edition):

Tamjidi, A. (2017). Unifying Consensus and Covariance Intersection for Efficient Distributed State Estimation over Unreliable Networks. (Masters Thesis). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/161628

Chicago Manual of Style (16^th Edition):

Tamjidi, Amirhossein. “Unifying Consensus and Covariance Intersection for Efficient Distributed State Estimation over Unreliable Networks.” 2017. Masters Thesis, Texas A&M University. Accessed March 02, 2021. http://hdl.handle.net/1969.1/161628.

MLA Handbook (7^th Edition):

Tamjidi, Amirhossein. “Unifying Consensus and Covariance Intersection for Efficient Distributed State Estimation over Unreliable Networks.” 2017. Web. 02 Mar 2021.

Vancouver:

Tamjidi A. Unifying Consensus and Covariance Intersection for Efficient Distributed State Estimation over Unreliable Networks. [Internet] [Masters thesis]. Texas A&M University; 2017. [cited 2021 Mar 02]. Available from: http://hdl.handle.net/1969.1/161628.

Council of Science Editors:

Tamjidi A. Unifying Consensus and Covariance Intersection for Efficient Distributed State Estimation over Unreliable Networks. [Masters Thesis]. Texas A&M University; 2017. Available from: http://hdl.handle.net/1969.1/161628

17. Zimmerman, Adam. StarL for programming reliable robotic networks.

Degree: MS, 1200, 2013, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/42380

► Reasoning about programs controlling distributed robotic systems is challenging. These systems involve the interactions of multiple programs with each other over potentially unreliable communication channels… (more)

Subjects/Keywords: distributed robotics; distributed algorithms; verification; robotics; robot programming framework

…distributed robotics applications. It provides specifications and implementations of a number of… …CHAPTER 1 INTRODUCTION The challenge of reliably programming distributed systems becomes… …distributed search application for a swarm. The robots should collaboratively cover a collection of… …supporting analogous modular design, implementation, and verification of distributed robotic… …x5D;) around the globe focus on developing particular distributed algorithms and 1…

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APA (6^th Edition):

Zimmerman, A. (2013). StarL for programming reliable robotic networks. (Thesis). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/42380

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):

Zimmerman, Adam. “StarL for programming reliable robotic networks.” 2013. Thesis, University of Illinois – Urbana-Champaign. Accessed March 02, 2021. http://hdl.handle.net/2142/42380.

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

MLA Handbook (7^th Edition):

Zimmerman, Adam. “StarL for programming reliable robotic networks.” 2013. Web. 02 Mar 2021.

Vancouver:

Zimmerman A. StarL for programming reliable robotic networks. [Internet] [Thesis]. University of Illinois – Urbana-Champaign; 2013. [cited 2021 Mar 02]. Available from: http://hdl.handle.net/2142/42380.

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

Council of Science Editors:

Zimmerman A. StarL for programming reliable robotic networks. [Thesis]. University of Illinois – Urbana-Champaign; 2013. Available from: http://hdl.handle.net/2142/42380

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

18. Marcus Vinicius Duarte Veloso. SOM4R: Um Middleware para AplicaÃÃes RobÃticas baseado na Arquitetura Orientada a Recursos.

Degree: PhD, 2014, Universidade Federal do Ceará

URL: http://www.teses.ufc.br/tde_busca/arquivo.php?codArquivo=11927 ;

►

Middleware Ã a camada de software, situada entre o sistema operacional e a camada de aplicaÃÃes ou entre camadas de aplicaÃÃes, que fornece uma infraestrutura… (more)

▼

Middleware Ã a camada de software, situada entre o sistema operacional e a camada de aplicaÃÃes ou entre camadas de aplicaÃÃes, que fornece uma infraestrutura para integraÃÃo de programas aplicativos e dados em sistema de processamento distribuÃdo. Nesta tese propomos uma nova camada de software (Middleware) para integraÃÃo e compartilhamento inteligente dos recursos (sensores, atuadores e/ou serviÃos) robÃticos identificados por URIs (Uniform Resource Identifiers), empregando a rede TCP/IP, utilizando protocolos com menores restriÃÃes em firewall, uma interface de interaÃÃo humano-mÃquina (IHM) implementada atravÃs de um portal web e uma linguagem de descriÃÃo dos recursos que torna os dados mais portÃveis e interoperÃveis entre diferentes tipos de computadores, sistemas operacionais e linguagens de programaÃÃo. O middleware proposto facilita a computaÃÃo interativa de mÃltiplos aplicativos interconectados com a finalidade de criar uma aplicaÃÃo maior, geralmente distribuÃda sobre uma rede de computadores composta de vÃrios tipos heterogÃneos de hardware e software. Com este modelo de middleware, Ã possÃvel garantir seguranÃa de acesso aos recursos, abstrair a diversidade do hardware robÃtico, reutilizar a infraestrutura de software para robÃs entre mÃltiplos esforÃos de pesquisa, reduzir o acoplamento entre os mÃltiplos aplicativos, estimular a portabilidade do cÃdigo e suportar escalabilidade da arquitetura.

Middleware is the software layer situated between the operating system and applications layer or between layers of applications, which provides an infrastructure for integrating applications and data in a distributed processing system. In this thesis we propose a new software layer (middleware) for integration and intelligent sharing of robotic resources (sensors, actuators and / or services) identified by URIs (Uniform Resource Identifiers), using the TCP/IP network, employing protocols with minor firewall restrictions and a resource description language that makes data more portable and interoperable between different types of computers, operating systems and programming languages. The proposed middleware facilitates interactive computing of multiple interconnected applications with the purpose to create a larger application, usually distributed over a computer network consisting of various kinds of heterogeneous hardware and software. With this model of middleware, it is possible to ensure security of access to resources, abstracting the diversity of robotic hardware, to reuse the infrastructure of software for robots between multiple search efforts, reduce the coupling between multiple applications, encourage code portability and support scalability of the architecture.

Advisors/Committee Members: Luiz Marcos Garcia GonÃalves, AdriÃo Duarte DÃria Neto, Guilherme de Alencar Barreto, Jose Tarcisio Costa Filho, JosÃ Marques Soares.

Subjects/Keywords: ENGENHARIA ELETRICA; TeleinformÃtica; RobÃtica; Processamento distribuÃdo; Middleware; Mobile Robotics; Distributed Processing; Teleinformatics

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APA (6^th Edition):

Veloso, M. V. D. (2014). SOM4R: Um Middleware para AplicaÃÃes RobÃticas baseado na Arquitetura Orientada a Recursos. (Doctoral Dissertation). Universidade Federal do Ceará. Retrieved from http://www.teses.ufc.br/tde_busca/arquivo.php?codArquivo=11927 ;

Chicago Manual of Style (16^th Edition):

Veloso, Marcus Vinicius Duarte. “SOM4R: Um Middleware para AplicaÃÃes RobÃticas baseado na Arquitetura Orientada a Recursos.” 2014. Doctoral Dissertation, Universidade Federal do Ceará. Accessed March 02, 2021. http://www.teses.ufc.br/tde_busca/arquivo.php?codArquivo=11927 ;.

MLA Handbook (7^th Edition):

Veloso, Marcus Vinicius Duarte. “SOM4R: Um Middleware para AplicaÃÃes RobÃticas baseado na Arquitetura Orientada a Recursos.” 2014. Web. 02 Mar 2021.

Vancouver:

Veloso MVD. SOM4R: Um Middleware para AplicaÃÃes RobÃticas baseado na Arquitetura Orientada a Recursos. [Internet] [Doctoral dissertation]. Universidade Federal do Ceará 2014. [cited 2021 Mar 02]. Available from: http://www.teses.ufc.br/tde_busca/arquivo.php?codArquivo=11927 ;.

Council of Science Editors:

Veloso MVD. SOM4R: Um Middleware para AplicaÃÃes RobÃticas baseado na Arquitetura Orientada a Recursos. [Doctoral Dissertation]. Universidade Federal do Ceará 2014. Available from: http://www.teses.ufc.br/tde_busca/arquivo.php?codArquivo=11927 ;

University of California – San Diego

19. Mateos-Núñez, David. Distributed Algorithms for Convex Optimization: noisy channels, online computation, nuclear norm regularization, and separable constraints.

Degree: Engineering Sciences (Applied Mechanics), 2015, University of California – San Diego

URL: http://www.escholarship.org/uc/item/1xf0d3dr

► This thesis contributes to the body of research in the design and analysis of distributed algorithms for the optimization of a sum of convex functions,… (more)

▼ This thesis contributes to the body of research in the design and analysis of distributed algorithms for the optimization of a sum of convex functions, that finds applications in networked and multi-agent systems. In this framework, a group of agents cooperate with each other to optimize the sum of their local objectives in a decentralized way by means of local interactions. We consider four aspects. In the first scenario, the agents need to agree on a global decision vector that minimizes the unconstrained sum. In this case, we study a family of distributed,continuous-time algorithms that have each agent update its estimate of the global optimizer doing gradient descent on its local cost function while, at the same time, seeking to agree with its neighbors’ estimates via proportional-integral feedback on their disagreement. Our aim is to characterize the algorithm robustness properties against the additive persistent noise resulting from errors in communication and computation. We model this algorithm as a stochastic differential equation and develop a novel Lyapunov technique to establish the noise-to-state stability property in 2nd moment.In the second scenario, we consider the online case, whereby each agent in the network commits to a decision and incurs a local cost given by functions that are revealed over time and whose unknown evolution might be adversarially adaptive to the agent’s behavior. The goal of each agent is to incur a cumulative cost over time with respect to the sum of local functions across the network that is competitive with the best centralized decision in hindsight. The proposed algorithms evolve in discrete time using first-order information of the objectives in the form of subgradients, and the communication topology is modeled as a sequence of time-varying weight-balanced digraphs such that the consecutive unions over time periods of some length are strongly connected. We illustrate our results in an application to medical diagnosis, where networked hospitals use patient data to improve their decision models cooperatively in an online fashion.In the third scenario, we depart from the cooperative search of a global decision vector. Instead, the agents now wish to estimate local decision vectors that minimize the sum of their objectives and are coupled through a constraint that is a sum of convex functions. Motivated by dual-decompositions of constrained optimization problems through the Lagrangian formulation, we consider subgradient algorithms to find a saddle-point of general convex-concave functions underagreement constraints. This framework also encodes minimization problems with semidefinite constraints, which results in novel distributed strategies that are scalable if the order of the matrix inequalities is independent of the size of the network or under decompositions using chordal sparsity.In the fourth scenario, we show a distributed treatment of nuclear-norm regularization, a widely used convex surrogate of the rank function on the spectral ball. To this end, we exploit our…

Subjects/Keywords: Applied mathematics; Robotics; Mechanical engineering; Consensus; Convex optimization; Distributed algorithms; Machine learning; Multi-agent systems

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

APA (6^th Edition):

Mateos-Núñez, D. (2015). Distributed Algorithms for Convex Optimization: noisy channels, online computation, nuclear norm regularization, and separable constraints. (Thesis). University of California – San Diego. Retrieved from http://www.escholarship.org/uc/item/1xf0d3dr

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):

Mateos-Núñez, David. “Distributed Algorithms for Convex Optimization: noisy channels, online computation, nuclear norm regularization, and separable constraints.” 2015. Thesis, University of California – San Diego. Accessed March 02, 2021. http://www.escholarship.org/uc/item/1xf0d3dr.

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

MLA Handbook (7^th Edition):

Mateos-Núñez, David. “Distributed Algorithms for Convex Optimization: noisy channels, online computation, nuclear norm regularization, and separable constraints.” 2015. Web. 02 Mar 2021.

Vancouver:

Mateos-Núñez D. Distributed Algorithms for Convex Optimization: noisy channels, online computation, nuclear norm regularization, and separable constraints. [Internet] [Thesis]. University of California – San Diego; 2015. [cited 2021 Mar 02]. Available from: http://www.escholarship.org/uc/item/1xf0d3dr.

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

Council of Science Editors:

Mateos-Núñez D. Distributed Algorithms for Convex Optimization: noisy channels, online computation, nuclear norm regularization, and separable constraints. [Thesis]. University of California – San Diego; 2015. Available from: http://www.escholarship.org/uc/item/1xf0d3dr

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

20. Rossi, Luís Filipe Fragoso de Barros e Silva. Sistema para sensoriamento e controle para aplicações em biomecatrônica.

Degree: Mestrado, Microeletrônica, 2012, University of São Paulo

URL: http://www.teses.usp.br/teses/disponiveis/3/3140/tde-10052012-121527/ ;

►

Diversos trabalhos relacionados ao desenvolvimento de dispositivos robóticos biomecatrônicos estão sendo realizados em vários laboratórios no mundo. Apesar desta crescente tendência, devido a uma falta… (more)

▼

Diversos trabalhos relacionados ao desenvolvimento de dispositivos robóticos biomecatrônicos estão sendo realizados em vários laboratórios no mundo. Apesar desta crescente tendência, devido a uma falta de padronização nas tecnologias utilizadas, em especial no sistema de sensoriamento e controle, há uma grande divergência nos sistemas resultantes. De forma a se conseguir atender os requisitos dos projetos, muito tempo é despendido no desenvolvimento de sistemas de sensoriamento e controle dedicados. Dentro deste cenário, neste trabalho foi projetado e implementado um sistema de sensoriamento e controle modular específico para sistemas robóticos. Este foi desenvolvido de forma a poder ser utilizado em diversos projetos reduzindo o esforço para a sua implementação. O referido sistema foi dividido em três módulos: Processador Central, Nós e Rede de Comunicação. Foi dada uma especial atenção no aspecto relacionado à comunicação por ser um fator-chave para se conseguir manter compatibilidade entre diferentes sistemas. Uma rede de comunicação denominada R-Bone foi desenvolvida pelo fato de que os sistemas existentes não atendem aos requisitos propostos. Uma descrição conceitual do sistema projetado é apresentada e a sua implementação detalhada. Todos os aspectos técnicos relevantes foram descritos de forma a facilitar a sua replicação por outros grupos. Um driver para sistema operacional Linux foi desenvolvido em conjunto com uma camada de abstração para simplificar o seu uso. Os testes realizados demonstraram que o sistema desenvolvido atende os requisitos propostos, mantendo uma condição de estabilidade adequada em seu tempo de resposta, baixa latência e pouca defasagem entre os sinais coletados pelos sensores. De forma a contribuir para uma possível padronização dos sistemas utilizados na área, todos os arquivos e informações relevantes para a replicação do sistema proposto foram disponibilizados sob a licença GNU LGPL em um servidor SVN.

Several works related to the development of biomechatronic robotic systems are being taken in several laboratories around the world. Despite this increasing trend, due to a lack of standardization in the used technologies, in special related to the control and sensing system, there is a wide divergence in the resulting system. In order to meet the project requirements, a lot of time is spent in the development of a custom control and sensing system. In this scenario, a modular sensing and control system specifically designed to be used in robotic systems, was designed and implemented. The last was developed in order to be used in several projects, thus reducing the effort spent on its implementation. This system was divided into three modules: Central Processor, Nodes and Communication Network. A special attention was given to the aspects related to the communication as it is the key-factor to keep compatibility among different systems. A communication network named R-Bone was developed, and its implementation was detailed. All the relevant technical aspects were described in order…

Advisors/Committee Members: Ramírez Fernandez, Francisco Javier.

Subjects/Keywords: Biomecatrônica; Biomechatronics; Controle distribuído; Distributed control; FPGA; FPGA; Modular system; Robótica; Robotics; Sistema modular

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

APA (6^th Edition):

Rossi, L. F. F. d. B. e. S. (2012). Sistema para sensoriamento e controle para aplicações em biomecatrônica. (Masters Thesis). University of São Paulo. Retrieved from http://www.teses.usp.br/teses/disponiveis/3/3140/tde-10052012-121527/ ;

Chicago Manual of Style (16^th Edition):

Rossi, Luís Filipe Fragoso de Barros e Silva. “Sistema para sensoriamento e controle para aplicações em biomecatrônica.” 2012. Masters Thesis, University of São Paulo. Accessed March 02, 2021. http://www.teses.usp.br/teses/disponiveis/3/3140/tde-10052012-121527/ ;.

MLA Handbook (7^th Edition):

Rossi, Luís Filipe Fragoso de Barros e Silva. “Sistema para sensoriamento e controle para aplicações em biomecatrônica.” 2012. Web. 02 Mar 2021.

Vancouver:

Rossi LFFdBeS. Sistema para sensoriamento e controle para aplicações em biomecatrônica. [Internet] [Masters thesis]. University of São Paulo; 2012. [cited 2021 Mar 02]. Available from: http://www.teses.usp.br/teses/disponiveis/3/3140/tde-10052012-121527/ ;.

Council of Science Editors:

Rossi LFFdBeS. Sistema para sensoriamento e controle para aplicações em biomecatrônica. [Masters Thesis]. University of São Paulo; 2012. Available from: http://www.teses.usp.br/teses/disponiveis/3/3140/tde-10052012-121527/ ;

Cornell University

21. Hua, Yiwen. BUILDING 3D-STRUCTURE WITH AN INTELLIGENT ROBOT SWARM.

Degree: M.S., Mechanical Engineering, Mechanical Engineering, 2018, Cornell University

URL: http://hdl.handle.net/1813/59346

► This research is an extension to the TERMES system, a decentralized autonomous construction team composed of swarm robots building 2.5D structures1, with custom-designed bricks. The… (more)

Subjects/Keywords: Affordable and Low-maintenance Robot; Collective Construction; Heterogeneous Building Material; Mechanical engineering; distributed system; Robotics

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

APA (6^th Edition):

Hua, Y. (2018). BUILDING 3D-STRUCTURE WITH AN INTELLIGENT ROBOT SWARM. (Masters Thesis). Cornell University. Retrieved from http://hdl.handle.net/1813/59346

Chicago Manual of Style (16^th Edition):

Hua, Yiwen. “BUILDING 3D-STRUCTURE WITH AN INTELLIGENT ROBOT SWARM.” 2018. Masters Thesis, Cornell University. Accessed March 02, 2021. http://hdl.handle.net/1813/59346.

MLA Handbook (7^th Edition):

Hua, Yiwen. “BUILDING 3D-STRUCTURE WITH AN INTELLIGENT ROBOT SWARM.” 2018. Web. 02 Mar 2021.

Vancouver:

Hua Y. BUILDING 3D-STRUCTURE WITH AN INTELLIGENT ROBOT SWARM. [Internet] [Masters thesis]. Cornell University; 2018. [cited 2021 Mar 02]. Available from: http://hdl.handle.net/1813/59346.

Council of Science Editors:

Hua Y. BUILDING 3D-STRUCTURE WITH AN INTELLIGENT ROBOT SWARM. [Masters Thesis]. Cornell University; 2018. Available from: http://hdl.handle.net/1813/59346

Université de Grenoble

22. Renzaglia, Alessandro. Optimisation stochastique et adaptative pour surveillance coopérative par une équipe de micro-véhicules aériens : Adaptive stochastic optimization for cooperative coverage with a swarm of Micro Air Vehicles.

Degree: Docteur es, Mathématiques, 2012, Université de Grenoble

URL: http://www.theses.fr/2012GRENM013

►

L'utilisation d'équipes de robots a pris de l'ampleur ces dernières années. Cela est dû aux avantages que peut offrir une équipe de robot par rapport… (more)

▼

L'utilisation d'équipes de robots a pris de l'ampleur ces dernières années. Cela est dû aux avantages que peut offrir une équipe de robot par rapport à un robot seul pour la réalisation d'une même tâche. Cela s'explique aussi par le fait que ce type de plates-formes deviennent de plus en plus abordables et fiables. Ainsi, l'utilisation d'une équipe de véhicules aériens devient une alternative viable. Cette thèse se concentre sur le problème du déploiement d'une équipe de Micro-Véhicules Aériens (MAV) pour effectuer des missions de surveillance sur un terrain inconnu de morphologie arbitraire. Puisque la morphologie du terrain est inconnue et peut être complexe et non-convexe, les algorithmes standards ne sont pas applicables au problème particulier traité dans cette thèse. Pour y remédier, une nouvelle approche basée sur un algorithme d'optimisation cognitive et adaptatif (CAO) est proposée et évaluée. Une propriété fondamentale de cette approche est qu'elle partage les mêmes caractéristiques de convergence que les algorithmes de descente de gradient avec contraintes qui exigent une connaissance parfaite de la morphologie du terrain pour optimiser la couverture. Il est également proposé une formulation différente du problème afin d'obtenir une solution distribuée, ce qui nous permet de surmonter les inconvénients d'une approche centralisée et d'envisager également des capacités de communication limitées. De rigoureux arguments mathématiques et des simulations étendues établissent que l'approche proposée fournit une méthodologie évolutive et efficace qui intègre toutes les contraintes physiques particulières et est capable de guider les robots vers un arrangement qui optimise localement la surveillance. Finalement, la méthode proposée est mise en œuvre sur une équipe de MAV réels pour réaliser la surveillance d'un environnement extérieur complexe.

The use of multi-robot teams has gained a lot of attention in recent years. This is due to the extended capabilities that the teams offer compared to the use of a single robot for the same task. Moreover, as these platforms become more and more affordable and robust, the use of teams of aerial vehicles is becoming a viable alternative. This thesis focuses on the problem of deploying a swarm of Micro Aerial Vehicles (MAV) to perform surveillance coverage missions over an unknown terrain of arbitrary morphology. Since the terrain's morphology is unknown and it can be quite complex and non-convex, standard algorithms are not applicable to the particular problem treated in this thesis. To overcome this, a new approach based on the Cognitive-based Adaptive Optimization (CAO) algorithm is proposed and evaluated. A fundamental property of this approach is that it shares the same convergence characteristics as those of constrained gradient-descent algorithms, which require perfect knowledge of the terrain's morphology to optimize coverage. In addition, it is also proposed a different formulation of the problem in order to obtain a distributed solution, which allows us to overcome…

Advisors/Committee Members: Fraichard, Thierry (thesis director), Martinelli, Agostino (thesis director).

Subjects/Keywords: Robotique coopérative; Optimisation stochastique; Contrôle distribué; Cooperative robotics; Stochastic optimization; Distributed control

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

APA (6^th Edition):

Renzaglia, A. (2012). Optimisation stochastique et adaptative pour surveillance coopérative par une équipe de micro-véhicules aériens : Adaptive stochastic optimization for cooperative coverage with a swarm of Micro Air Vehicles. (Doctoral Dissertation). Université de Grenoble. Retrieved from http://www.theses.fr/2012GRENM013

Chicago Manual of Style (16^th Edition):

Renzaglia, Alessandro. “Optimisation stochastique et adaptative pour surveillance coopérative par une équipe de micro-véhicules aériens : Adaptive stochastic optimization for cooperative coverage with a swarm of Micro Air Vehicles.” 2012. Doctoral Dissertation, Université de Grenoble. Accessed March 02, 2021. http://www.theses.fr/2012GRENM013.

MLA Handbook (7^th Edition):

Renzaglia, Alessandro. “Optimisation stochastique et adaptative pour surveillance coopérative par une équipe de micro-véhicules aériens : Adaptive stochastic optimization for cooperative coverage with a swarm of Micro Air Vehicles.” 2012. Web. 02 Mar 2021.

Vancouver:

Renzaglia A. Optimisation stochastique et adaptative pour surveillance coopérative par une équipe de micro-véhicules aériens : Adaptive stochastic optimization for cooperative coverage with a swarm of Micro Air Vehicles. [Internet] [Doctoral dissertation]. Université de Grenoble; 2012. [cited 2021 Mar 02]. Available from: http://www.theses.fr/2012GRENM013.

Council of Science Editors:

Renzaglia A. Optimisation stochastique et adaptative pour surveillance coopérative par une équipe de micro-véhicules aériens : Adaptive stochastic optimization for cooperative coverage with a swarm of Micro Air Vehicles. [Doctoral Dissertation]. Université de Grenoble; 2012. Available from: http://www.theses.fr/2012GRENM013

Rice University

23. Zhou, Yu. Art and Engineering Inspired by Swarm Robotics.

Degree: PhD, Engineering, 2017, Rice University

URL: http://hdl.handle.net/1911/96096

► Swarm robotics has the potential to combine the power of the hive with the sensibility of the individual to solve non-traditional problems in mechanical, industrial,… (more)

Subjects/Keywords: Swarm Robotics; Distributed Algorithms; Fractals; Stability Analysis; Multi-Robot Systems; Collective Intelligence

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

APA (6^th Edition):

Zhou, Y. (2017). Art and Engineering Inspired by Swarm Robotics. (Doctoral Dissertation). Rice University. Retrieved from http://hdl.handle.net/1911/96096

Chicago Manual of Style (16^th Edition):

Zhou, Yu. “Art and Engineering Inspired by Swarm Robotics.” 2017. Doctoral Dissertation, Rice University. Accessed March 02, 2021. http://hdl.handle.net/1911/96096.

MLA Handbook (7^th Edition):

Zhou, Yu. “Art and Engineering Inspired by Swarm Robotics.” 2017. Web. 02 Mar 2021.

Vancouver:

Zhou Y. Art and Engineering Inspired by Swarm Robotics. [Internet] [Doctoral dissertation]. Rice University; 2017. [cited 2021 Mar 02]. Available from: http://hdl.handle.net/1911/96096.

Council of Science Editors:

Zhou Y. Art and Engineering Inspired by Swarm Robotics. [Doctoral Dissertation]. Rice University; 2017. Available from: http://hdl.handle.net/1911/96096

24. TOH TZE HONG, GENE. Distributed visual servoing in robotics.

Degree: 2004, National University of Singapore

URL: http://scholarbank.nus.edu.sg/handle/10635/13970

Subjects/Keywords: Distributed; Visual; Servoing; Tracking; Robot; Robotics

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

APA (6^th Edition):

TOH TZE HONG, G. (2004). Distributed visual servoing in robotics. (Thesis). National University of Singapore. Retrieved from http://scholarbank.nus.edu.sg/handle/10635/13970

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):

TOH TZE HONG, GENE. “Distributed visual servoing in robotics.” 2004. Thesis, National University of Singapore. Accessed March 02, 2021. http://scholarbank.nus.edu.sg/handle/10635/13970.

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

MLA Handbook (7^th Edition):

TOH TZE HONG, GENE. “Distributed visual servoing in robotics.” 2004. Web. 02 Mar 2021.

Vancouver:

TOH TZE HONG G. Distributed visual servoing in robotics. [Internet] [Thesis]. National University of Singapore; 2004. [cited 2021 Mar 02]. Available from: http://scholarbank.nus.edu.sg/handle/10635/13970.

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

Council of Science Editors:

TOH TZE HONG G. Distributed visual servoing in robotics. [Thesis]. National University of Singapore; 2004. Available from: http://scholarbank.nus.edu.sg/handle/10635/13970

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

University of Maryland

25. Mischiati, Matteo. Analysis and synthesis of collective motion: from geometry to dynamics.

Degree: Electrical Engineering, 2011, University of Maryland

URL: http://hdl.handle.net/1903/12250

► The subject of this dissertation is collective motion, the coordinated motion of two or more individuals, in three-dimensional space. Inspired by the problems of understanding… (more)

Subjects/Keywords: Electrical engineering; Robotics; democratic motion; distributed control; energy decomposition; flocking; inertia tensor; motion camouflage

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

APA (6^th Edition):

Mischiati, M. (2011). Analysis and synthesis of collective motion: from geometry to dynamics. (Thesis). University of Maryland. Retrieved from http://hdl.handle.net/1903/12250

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):

Mischiati, Matteo. “Analysis and synthesis of collective motion: from geometry to dynamics.” 2011. Thesis, University of Maryland. Accessed March 02, 2021. http://hdl.handle.net/1903/12250.

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

MLA Handbook (7^th Edition):

Mischiati, Matteo. “Analysis and synthesis of collective motion: from geometry to dynamics.” 2011. Web. 02 Mar 2021.

Vancouver:

Mischiati M. Analysis and synthesis of collective motion: from geometry to dynamics. [Internet] [Thesis]. University of Maryland; 2011. [cited 2021 Mar 02]. Available from: http://hdl.handle.net/1903/12250.

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

Council of Science Editors:

Mischiati M. Analysis and synthesis of collective motion: from geometry to dynamics. [Thesis]. University of Maryland; 2011. Available from: http://hdl.handle.net/1903/12250

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

26. CHENG CHEE KONG. Performance analysis of a random search algorithm for distributed autonomous mobile robots.

Degree: 2005, National University of Singapore

URL: http://scholarbank.nus.edu.sg/handle/10635/14720

Subjects/Keywords: cooperative robotics; distributed robotics; multi-robot systems; search; behaviour-based robotics; swarm intelligence

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

APA (6^th Edition):

KONG, C. C. (2005). Performance analysis of a random search algorithm for distributed autonomous mobile robots. (Thesis). National University of Singapore. Retrieved from http://scholarbank.nus.edu.sg/handle/10635/14720

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):

KONG, CHENG CHEE. “Performance analysis of a random search algorithm for distributed autonomous mobile robots.” 2005. Thesis, National University of Singapore. Accessed March 02, 2021. http://scholarbank.nus.edu.sg/handle/10635/14720.

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

MLA Handbook (7^th Edition):

KONG, CHENG CHEE. “Performance analysis of a random search algorithm for distributed autonomous mobile robots.” 2005. Web. 02 Mar 2021.

Vancouver:

KONG CC. Performance analysis of a random search algorithm for distributed autonomous mobile robots. [Internet] [Thesis]. National University of Singapore; 2005. [cited 2021 Mar 02]. Available from: http://scholarbank.nus.edu.sg/handle/10635/14720.

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

Council of Science Editors:

KONG CC. Performance analysis of a random search algorithm for distributed autonomous mobile robots. [Thesis]. National University of Singapore; 2005. Available from: http://scholarbank.nus.edu.sg/handle/10635/14720

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

Arizona State University

27. Wilson, Sean Thomas. Scalable Control Strategies and a Customizable Swarm Robotic Platform for Boundary Coverage and Collective Transport Tasks.

Degree: Mechanical Engineering, 2017, Arizona State University

URL: http://repository.asu.edu/items/44017

Subjects/Keywords: Robotics; Bio-inspired robotics; Collective transport; Distributed robotic systems; Mobile robots; Stochastic robotics; Swarm robotics

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

APA (6^th Edition):

Wilson, S. T. (2017). Scalable Control Strategies and a Customizable Swarm Robotic Platform for Boundary Coverage and Collective Transport Tasks. (Doctoral Dissertation). Arizona State University. Retrieved from http://repository.asu.edu/items/44017

Chicago Manual of Style (16^th Edition):

Wilson, Sean Thomas. “Scalable Control Strategies and a Customizable Swarm Robotic Platform for Boundary Coverage and Collective Transport Tasks.” 2017. Doctoral Dissertation, Arizona State University. Accessed March 02, 2021. http://repository.asu.edu/items/44017.

MLA Handbook (7^th Edition):

Wilson, Sean Thomas. “Scalable Control Strategies and a Customizable Swarm Robotic Platform for Boundary Coverage and Collective Transport Tasks.” 2017. Web. 02 Mar 2021.

Vancouver:

Wilson ST. Scalable Control Strategies and a Customizable Swarm Robotic Platform for Boundary Coverage and Collective Transport Tasks. [Internet] [Doctoral dissertation]. Arizona State University; 2017. [cited 2021 Mar 02]. Available from: http://repository.asu.edu/items/44017.

Council of Science Editors:

Wilson ST. Scalable Control Strategies and a Customizable Swarm Robotic Platform for Boundary Coverage and Collective Transport Tasks. [Doctoral Dissertation]. Arizona State University; 2017. Available from: http://repository.asu.edu/items/44017

University of California – Santa Cruz

28. Li, Yuchun. Observers with performance guarantees and robustness to measurement noise for linear systems.

Degree: Computer Engineering, 2016, University of California – Santa Cruz

URL: http://www.escholarship.org/uc/item/1sm2s9qk

► This dissertation focuses on a class of observer designs for linear-time invariant (LTI) systems, where the state variables are typically not directly measurable or may… (more)

Subjects/Keywords: Computer engineering; Mechanical engineering; Robotics; Distributed Systems; Hybrid Dynamical Systems; Intermittent Information; Linear Systems; Observers; Stability and Robustness

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

APA (6^th Edition):

Li, Y. (2016). Observers with performance guarantees and robustness to measurement noise for linear systems. (Thesis). University of California – Santa Cruz. Retrieved from http://www.escholarship.org/uc/item/1sm2s9qk

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, Yuchun. “Observers with performance guarantees and robustness to measurement noise for linear systems.” 2016. Thesis, University of California – Santa Cruz. Accessed March 02, 2021. http://www.escholarship.org/uc/item/1sm2s9qk.

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, Yuchun. “Observers with performance guarantees and robustness to measurement noise for linear systems.” 2016. Web. 02 Mar 2021.

Vancouver:

Li Y. Observers with performance guarantees and robustness to measurement noise for linear systems. [Internet] [Thesis]. University of California – Santa Cruz; 2016. [cited 2021 Mar 02]. Available from: http://www.escholarship.org/uc/item/1sm2s9qk.

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

Council of Science Editors:

Li Y. Observers with performance guarantees and robustness to measurement noise for linear systems. [Thesis]. University of California – Santa Cruz; 2016. Available from: http://www.escholarship.org/uc/item/1sm2s9qk

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

Lincoln University

29. Chen, Leshi. Supporting distributed multiplayer RoboTable games.

Degree: 2012, Lincoln University

URL: http://hdl.handle.net/10182/5253

► Lincoln University is cooperating with Tufts University, USA, on the development of a RoboTable to facilitate interaction between groups learning about robotics and engineering problem… (more)

Subjects/Keywords: RoboTable Game; HCI; multiplayer RoboTable game; multiplayer game; robotics; toolkits; game engine; distributed network; educational game

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

APA (6^th Edition):

Chen, L. (2012). Supporting distributed multiplayer RoboTable games. (Thesis). Lincoln University. Retrieved from http://hdl.handle.net/10182/5253

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):

Chen, Leshi. “Supporting distributed multiplayer RoboTable games.” 2012. Thesis, Lincoln University. Accessed March 02, 2021. http://hdl.handle.net/10182/5253.

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

MLA Handbook (7^th Edition):

Chen, Leshi. “Supporting distributed multiplayer RoboTable games.” 2012. Web. 02 Mar 2021.

Vancouver:

Chen L. Supporting distributed multiplayer RoboTable games. [Internet] [Thesis]. Lincoln University; 2012. [cited 2021 Mar 02]. Available from: http://hdl.handle.net/10182/5253.

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

Council of Science Editors:

Chen L. Supporting distributed multiplayer RoboTable games. [Thesis]. Lincoln University; 2012. Available from: http://hdl.handle.net/10182/5253

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

University of Vermont

30. Wagy, Mark David. Enabling Machine Science through Distributed Human Computing.

Degree: PhD, Computer Science, 2016, University of Vermont

URL: https://scholarworks.uvm.edu/graddis/618

► Distributed human computing techniques have been shown to be effective ways of accessing the problem-solving capabilities of a large group of anonymous individuals over… (more)

Subjects/Keywords: Artificial Intelligence; Crowdsourcing; Distributed Systems; Human Computation; Human Computer Interaction; Machine Learning; Artificial Intelligence and Robotics; Computer Sciences

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

APA (6^th Edition):

Wagy, M. D. (2016). Enabling Machine Science through Distributed Human Computing. (Doctoral Dissertation). University of Vermont. Retrieved from https://scholarworks.uvm.edu/graddis/618

Chicago Manual of Style (16^th Edition):

Wagy, Mark David. “Enabling Machine Science through Distributed Human Computing.” 2016. Doctoral Dissertation, University of Vermont. Accessed March 02, 2021. https://scholarworks.uvm.edu/graddis/618.

MLA Handbook (7^th Edition):

Wagy, Mark David. “Enabling Machine Science through Distributed Human Computing.” 2016. Web. 02 Mar 2021.

Vancouver:

Wagy MD. Enabling Machine Science through Distributed Human Computing. [Internet] [Doctoral dissertation]. University of Vermont; 2016. [cited 2021 Mar 02]. Available from: https://scholarworks.uvm.edu/graddis/618.

Council of Science Editors:

Wagy MD. Enabling Machine Science through Distributed Human Computing. [Doctoral Dissertation]. University of Vermont; 2016. Available from: https://scholarworks.uvm.edu/graddis/618

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Open Access Theses and Dissertations