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You searched for subject:(Frontier based exploration). Showing records 1 – 3 of 3 total matches.

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1. Mahdoui Chedly, Nesrine. Communicating multi-UAV system for cooperative SLAM-based exploration : Système multi-UAV communicant pour l'exploration coopérative basée sur le SLAM.

Degree: Docteur es, Technologies de l'Information et des Systèmes : Unité de recherche Heudyasic (UMR-7253), 2018, Compiègne

Dans la communauté robotique aérienne, un croissant intérêt pour les systèmes multirobot (SMR) est apparu ces dernières années. Cela a été motivé par i) les progrès technologiques, tels que de meilleures capacités de traitement à bord des robots et des performances de communication plus élevées, et ii) les résultats prometteurs du déploiement de SMR tels que l’augmentation de la zone de couverture en un minimum de temps. Le développement d’une flotte de véhicules aériens sans pilote (UAV: Unmanned Aerial Vehicle) et de véhicules aériens de petite taille (MAV: Micro Aerial Vehicle) a ouvert la voie à de nouvelles applications à grande échelle nécessitant les caractéristiques de tel système de systèmes dans des domaines tels que la sécurité, la surveillance des catastrophes et des inondations, la recherche et le sauvetage, l’inspection des infrastructures, et ainsi de suite. De telles applications nécessitent que les robots identifient leur environnement et se localisent. Ces tâches fondamentales peuvent être assurées par la mission d’exploration. Dans ce contexte, cette thèse aborde l’exploration coopérative d’un environnement inconnu en utilisant une équipe de drones avec vision intégrée. Nous avons proposé un système multi-robot où le but est de choisir des régions spécifiques de l’environnement à explorer et à cartographier simultanément par chaque robot de manière optimisée, afin de réduire le temps d’exploration et, par conséquent, la consommation d’énergie. Chaque UAV est capable d’effectuer une localisation et une cartographie simultanées (SLAM: Simultaneous Localization And Mapping) à l’aide d’un capteur visuel comme principale modalité de perception. Pour explorer les régions inconnues, les cibles – choisies parmi les points frontières situés entre les zones libres et les zones inconnues – sont assignées aux robots en considérant un compromis entre l’exploration rapide et l’obtention d’une carte détaillée. À des fins de prise de décision, les UAVs échangent habituellement une copie de leur carte locale, mais la nouveauté dans ce travail est d’échanger les points frontières de cette carte, ce qui permet d’économiser la bande passante de communication. L’un des points les plus difficiles du SMR est la communication inter-robot. Nous étudions cette partie sous les aspects topologiques et typologiques. Nous proposons également des stratégies pour faire face à l’abandon ou à l’échec de la communication. Des validations basées sur des simulations étendues et des bancs d’essai sont présentées.

In the aerial robotic community, a growing interest for Multi-Robot Systems (MRS) appeared in the last years. This is thanks to i) the technological advances, such as better onboard processing capabilities and higher communication performances, and ii) the promising results of MRS deployment, such as increased area coverage in minimum time. The development of highly efficient and affordable fleet of Unmanned Aerial Vehicles (UAVs) and Micro Aerial Vehicles (MAVs) of small size has paved the way to new large-scale…

Advisors/Committee Members: Frémont, Vincent (thesis director), Natalizio, Enrico (thesis director).

Subjects/Keywords: Coordination de système multi-robot; Exploration autonome; Exploration basée sur les frontières; Communication inter-robot; SLAM; Coordinated multi-robot; Autonomous exploration; Frontier-based exploration; Inter-robot communication; Simultaneous Localization And Mapping (SLAM)

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

APA (6th Edition):

Mahdoui Chedly, N. (2018). Communicating multi-UAV system for cooperative SLAM-based exploration : Système multi-UAV communicant pour l'exploration coopérative basée sur le SLAM. (Doctoral Dissertation). Compiègne. Retrieved from http://www.theses.fr/2018COMP2447

Chicago Manual of Style (16th Edition):

Mahdoui Chedly, Nesrine. “Communicating multi-UAV system for cooperative SLAM-based exploration : Système multi-UAV communicant pour l'exploration coopérative basée sur le SLAM.” 2018. Doctoral Dissertation, Compiègne. Accessed May 26, 2019. http://www.theses.fr/2018COMP2447.

MLA Handbook (7th Edition):

Mahdoui Chedly, Nesrine. “Communicating multi-UAV system for cooperative SLAM-based exploration : Système multi-UAV communicant pour l'exploration coopérative basée sur le SLAM.” 2018. Web. 26 May 2019.

Vancouver:

Mahdoui Chedly N. Communicating multi-UAV system for cooperative SLAM-based exploration : Système multi-UAV communicant pour l'exploration coopérative basée sur le SLAM. [Internet] [Doctoral dissertation]. Compiègne; 2018. [cited 2019 May 26]. Available from: http://www.theses.fr/2018COMP2447.

Council of Science Editors:

Mahdoui Chedly N. Communicating multi-UAV system for cooperative SLAM-based exploration : Système multi-UAV communicant pour l'exploration coopérative basée sur le SLAM. [Doctoral Dissertation]. Compiègne; 2018. Available from: http://www.theses.fr/2018COMP2447

2. Marques, Miguel Ângelo Galego. Desenvolvimento de um robô para combate a fogos num cenário de simulação.

Degree: 2017, Repositório Científico do Instituto Politécnico de Lisboa

Trabalho final de mestrado para obtenção do grau de Mestre em Engenharia Mecânica

Na presente dissertação aborda-se o desenvolvimento de um robô móvel demonstrativo das funcionalidades necessárias ao combate a incêndios. Em resumo, o robô deve ter a capacidade de explorar um ambiente desconhecido, com vista a detetar a zona de incêndio e extinguir o foco de incêndio por meios mecânicos. Para tal, recorreu-se a um sistema de navegação autónomo sustentado na fusão sensorial entre um sensor rangefinder e a odometria. Pretende-se que este sistema conduza um robô móvel através de um labirinto (que simula uma habitação) explorando-o na totalidade, ao mesmo tempo que evita embater nas paredes e noutros obstáculos. Para além da navegação, existem outros sistemas importantes no robô, como o sistema de deteção da chama e o sistema para a sua extinção. O primeiro utiliza como sensor uma câmara termográfica que permite detetar a presença da chama. No sistema de extinção, é utilizada uma ventoinha que será acionada com base na informação recebida por parte da câmara termográfica.

The present dissertation addresses the development of a mobile robot that is demonstrative of the features needed for firefighting. In short, the robot should be able to explore an unfamiliar environment, with the goal of detecting the zone of fire and extinguishing the fire outbreak by mechanical means. To this end, we developed an autonomous navigation system based on the sensory fusion of a rangefinder sensor and odometry. This system is intended to drive a mobile robot through a maze (which simulates a housing) to fully explore it, while avoiding the walls and other obstacles. Besides navigation, there are other important systems in the robot, namely the flame detection and the extinction systems. The first uses a thermal camera as the sensor to detect the existenceof a flame. The extinguishing system comprises, a fan that is triggered by the information of the thermal camera.

N/A

Advisors/Committee Members: Calado, João Manuel Ferreira, Carreira, Fernando Paulo Neves da Fonseca Cardoso, Campos, Francisco Mateus Marnoto de Oliveira Campos.

Subjects/Keywords: Robótica móvel; Combate a incêndios; Diagrama de Voronoi; Exploração baseada em fronteiras; Câmara termográfica; Mobile robotics; Firefighting; Voronoi diagram; Frontier-based exploration; Thermal camera; Rangefinder

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

APA (6th Edition):

Marques, M. . G. (2017). Desenvolvimento de um robô para combate a fogos num cenário de simulação. (Thesis). Repositório Científico do Instituto Politécnico de Lisboa. Retrieved from https://www.rcaap.pt/detail.jsp?id=oai:repositorio.ipl.pt:10400.21/7071

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

Chicago Manual of Style (16th Edition):

Marques, Miguel Ângelo Galego. “Desenvolvimento de um robô para combate a fogos num cenário de simulação.” 2017. Thesis, Repositório Científico do Instituto Politécnico de Lisboa. Accessed May 26, 2019. https://www.rcaap.pt/detail.jsp?id=oai:repositorio.ipl.pt:10400.21/7071.

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

MLA Handbook (7th Edition):

Marques, Miguel Ângelo Galego. “Desenvolvimento de um robô para combate a fogos num cenário de simulação.” 2017. Web. 26 May 2019.

Vancouver:

Marques MG. Desenvolvimento de um robô para combate a fogos num cenário de simulação. [Internet] [Thesis]. Repositório Científico do Instituto Politécnico de Lisboa; 2017. [cited 2019 May 26]. Available from: https://www.rcaap.pt/detail.jsp?id=oai:repositorio.ipl.pt:10400.21/7071.

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

Council of Science Editors:

Marques MG. Desenvolvimento de um robô para combate a fogos num cenário de simulação. [Thesis]. Repositório Científico do Instituto Politécnico de Lisboa; 2017. Available from: https://www.rcaap.pt/detail.jsp?id=oai:repositorio.ipl.pt:10400.21/7071

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


KTH

3. Heredia, Sofia Navarro. Exploration Strategies for Robotic Vacuum Cleaners.

Degree: Mechatronics, 2018, KTH

In this thesis, an exploration mode for the PUREi9 robotic vacuum cleaner is implemented. This exploration would provide information for optimizing the cleaning path beforehand, and would allow the robot to relocalize itself or the charger more easily in case it gets lost. Two elements are needed in order to implement an exploration mode; first, an exploration algo-rithm which will decide the next position of the robot in order to obtain useful information about the environment (unknown areas, empty spaces, obstacles...), and second, an exploration map which stores that information and is updated each time a new relevant position is reached. These elements are related and generally both are required for performing successfully the exploration of a specific environment. A frontier-based strategy is adopted for the exploration algorithm, together with occupancy grid maps. This strategy has long been regarded as a key method for autonomous robots working in unknown or changing environments. The idea of frontier-based algorithms is to divide the environ-ment into cells of regular size and drive the robot to the frontiers between cells with no obstacles and cells for which no information has been gathered. It plans one step ahead by choosing a lo-cation which provides new environment information, instead of planning in advance all locations where the robot needs to acquire new sensor information. Based on frontier strategy, two different exploration algorithms are implemented in the project. The first one is called "random frontier strategy", which chooses arbitrarily the frontier to go among the frontiers set. The second is called "closest frontier strategy", which chooses the closest frontier as the NBV (Next Best View) the robot should drive to. A path planning algorithm, based on Dijkstra’s algorithm and a node graph, has also been implemented in order to guide the robot towards the frontiers. The two methods have been compared by means of simulations in different environments. In addition, both exploration strategies have been tested on a real device. It is found that the closest frontier strategy is more efficient in terms of path length between scanning points, while both methods give a similar exploration ratio, or percentage of fully explored cells within the final map. Some additional work is required in order to improve the performance of the exploration method in the future, such as detecting unreachable frontiers, implementing a more robust path planning algorithm, or filtering the laser measurements more extensively.

I den här rapporten har vi implementerat en utforskningsmod för robotdammsugaren Pure i9. Sådan utforskning skulle ge underlag för att optimera städmönstret i förhand och låta roboten relokalisera sig själv eller laddaren om den tappar bort sig. För att implementera utforskning behövs två saker. För det första krävs en algoritm för utforsk-ning, som bestämmer nästa position för roboten, med målet att samla användbar information om omgivningen (okända…

Subjects/Keywords: grid maps; frontier-based exploration strategies; NBV; node graph; path planning algorithm; Rutnätskartor; front-baserade strategier för utforskning; nästa bästa utsiktspunkt; nod-graf; algoritm för banplanering; Mechanical Engineering; Maskinteknik

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

APA (6th Edition):

Heredia, S. N. (2018). Exploration Strategies for Robotic Vacuum Cleaners. (Thesis). KTH. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-246115

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

Chicago Manual of Style (16th Edition):

Heredia, Sofia Navarro. “Exploration Strategies for Robotic Vacuum Cleaners.” 2018. Thesis, KTH. Accessed May 26, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-246115.

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

MLA Handbook (7th Edition):

Heredia, Sofia Navarro. “Exploration Strategies for Robotic Vacuum Cleaners.” 2018. Web. 26 May 2019.

Vancouver:

Heredia SN. Exploration Strategies for Robotic Vacuum Cleaners. [Internet] [Thesis]. KTH; 2018. [cited 2019 May 26]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-246115.

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

Council of Science Editors:

Heredia SN. Exploration Strategies for Robotic Vacuum Cleaners. [Thesis]. KTH; 2018. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-246115

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

.