subject:(Mobile robots)

University of Johannesburg

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

Degree: 2012, University of Johannesburg

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M.Ing.

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

Subjects/Keywords: Mobile robots

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

APA (6^th Edition):

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

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

Chicago Manual of Style (16^th Edition):

Sabatta, Deon George. “Modelling and control of an autonomous vehicle.” 2012. Thesis, University of Johannesburg. Accessed February 28, 2021. http://hdl.handle.net/10210/5674.

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

MLA Handbook (7^th Edition):

Sabatta, Deon George. “Modelling and control of an autonomous vehicle.” 2012. Web. 28 Feb 2021.

Vancouver:

Sabatta DG. Modelling and control of an autonomous vehicle. [Internet] [Thesis]. University of Johannesburg; 2012. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/10210/5674.

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

Council of Science Editors:

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

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

Hong Kong University of Science and Technology

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

Degree: 2017, Hong Kong University of Science and Technology

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

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

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

Subjects/Keywords: Mobile robots ; Robots ; Control systems

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

APA (6^th Edition):

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

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

Chicago Manual of Style (16^th Edition):

Huang, Kun ECE. “Design and development of an intelligent mobility robot.” 2017. Thesis, Hong Kong University of Science and Technology. Accessed February 28, 2021. http://repository.ust.hk/ir/Record/1783.1-91070 ; https://doi.org/10.14711/thesis-991012554966503412 ; http://repository.ust.hk/ir/bitstream/1783.1-91070/1/th_redirect.html.

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

MLA Handbook (7^th Edition):

Huang, Kun ECE. “Design and development of an intelligent mobility robot.” 2017. Web. 28 Feb 2021.

Vancouver:

Huang KE. Design and development of an intelligent mobility robot. [Internet] [Thesis]. Hong Kong University of Science and Technology; 2017. [cited 2021 Feb 28]. Available from: http://repository.ust.hk/ir/Record/1783.1-91070 ; https://doi.org/10.14711/thesis-991012554966503412 ; http://repository.ust.hk/ir/bitstream/1783.1-91070/1/th_redirect.html.

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

Council of Science Editors:

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

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

3. Morette, Nicolas. Contribution à la navigation de robots mobiles : approche par modèle direct et commande prédictive : Contribution to mobile robots navigation : direct model and model based control approach.

Degree: Docteur es, Robotique, 2009, Université d'Orléans

URL: http://www.theses.fr/2009ORLE2071

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L’autonomie d’un robot mobile autonome requiert la réalisation coordonnée de tâches de commande et de perception de l’environnement. Parmi celles-ci, la navigation joue un rôle… (more)

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L’autonomie d’un robot mobile autonome requiert la réalisation coordonnée de tâches de commande et de perception de l’environnement. Parmi celles-ci, la navigation joue un rôle de pivot dans l’interaction du robot avec son terrain d’évolution. Elle consiste en la détermination de trajectoires réalisables par le robot pour suivre un chemin préétabli, tout en assurant la non collision avec les obstacles, mobiles ou fixes. Pour effectuer cette tâche, notre approche s’appuie sur le modèle cinématique direct du véhicule pour générer des trajectoires admissibles par le robot. En premier lieu, une trajectoire de référence est construite à partir du chemin à suivre. Le problème de navigation est alors modélisé sous la forme d’un problème d’optimisation sous contraintes dont la fonction coût quantifie l’écart entre la trajectoire prédite du robot et la trajectoire de référence. Les obstacles sont intégrés sous forme de contraintes en pénalisant le critère, et sa minimisation détermine la commande optimale à appliquer. Cette navigation par commande prédictive nous permet d’anticiper les mouvements de contournement d’obstacles sur l’horizon de prédiction choisi, tout en gardant une certaine réactivité vis-à-vis de la dynamique des obstacles et du robot. En outre, l’utilisation de familles de trajectoires paramétrées permet de maitriser le comportement du véhicule.

Autonomous robots have to perform both control and perception tasks coordinately. Among these ones, the navigation task is a key in the interaction between the robot and its environment. It consists of determining the trajectories which the robot can follow in order to negotiate correctly around static and dynamic obstacles, assuming that it is programmed to map out its environment and situate itself within that environment. To perform this task, our approach rests on the direct kinematics model of the robot to generate admissible trajectories for the robot. Firstly, a reference trajectory is computed from the reference path provided by a path planer. Then the navigation task is modelized as an optimization under constraints problem, whose the cost function quantify the gap between the reference trajectory and the predicted trajectory of the robot. The obstacles are taken into account as constraints, and the minimization of the resulting cost function determinate the optimal control for the robot on a prediction horizon. This predictive navigation allows the robot to anticipate bi-pass movements on the chosen prediction horizon, Moreover, the behaviour of the robot is mastered by the use of parametered trajectories families.

Advisors/Committee Members: Vieyres, Pierre (thesis director).

Subjects/Keywords: Navigation de robots mobiles; Mobile robots navigation

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

APA (6^th Edition):

Morette, N. (2009). Contribution à la navigation de robots mobiles : approche par modèle direct et commande prédictive : Contribution to mobile robots navigation : direct model and model based control approach. (Doctoral Dissertation). Université d'Orléans. Retrieved from http://www.theses.fr/2009ORLE2071

Chicago Manual of Style (16^th Edition):

Morette, Nicolas. “Contribution à la navigation de robots mobiles : approche par modèle direct et commande prédictive : Contribution to mobile robots navigation : direct model and model based control approach.” 2009. Doctoral Dissertation, Université d'Orléans. Accessed February 28, 2021. http://www.theses.fr/2009ORLE2071.

MLA Handbook (7^th Edition):

Morette, Nicolas. “Contribution à la navigation de robots mobiles : approche par modèle direct et commande prédictive : Contribution to mobile robots navigation : direct model and model based control approach.” 2009. Web. 28 Feb 2021.

Vancouver:

Morette N. Contribution à la navigation de robots mobiles : approche par modèle direct et commande prédictive : Contribution to mobile robots navigation : direct model and model based control approach. [Internet] [Doctoral dissertation]. Université d'Orléans; 2009. [cited 2021 Feb 28]. Available from: http://www.theses.fr/2009ORLE2071.

Council of Science Editors:

Morette N. Contribution à la navigation de robots mobiles : approche par modèle direct et commande prédictive : Contribution to mobile robots navigation : direct model and model based control approach. [Doctoral Dissertation]. Université d'Orléans; 2009. Available from: http://www.theses.fr/2009ORLE2071

University of Delaware

4. Karydis, Konstantinos. A data-driven hierarchical framework for planning, navigation, and control of uncertain systems: applications to miniature legged robots.

Degree: PhD, University of Delaware, Department of Mechanical Engineering, 2015, University of Delaware

URL: http://udspace.udel.edu/handle/19716/17576

► Performing navigation with state-of-the-art mobile robots in real-world settings is challenging because of, among other reasons, the presence of uncertainty. Dealing with uncertainty in robot… (more)

▼ Performing navigation with state-of-the-art mobile robots in real-world settings is challenging because of, among other reasons, the presence of uncertainty. Dealing with uncertainty in robot navigation is a difficult problem because it invalidates the performance guarantees achieved in deterministic settings, while its precise effect on motion cannot be predicted. Typically, we find uncertainty embedded within the system (``process uncertainty''), in perception, and in the environment. This dissertation develops tools for dealing with process uncertainty. The developed tools lay the basis for a general framework that can be used to quantify the effect of process uncertainty on robot motion, and recover some performance guarantees for achieving motion tasks. If we could capture the variability in motion caused by process uncertainty, quantify risk, and establish performance trade-offs in its presence, we could then create consistent links between high-level objectives and low-level implementation. Such links would allow for robot navigation in real-world settings with performance certificates, a need that becomes pressing as robotics is rapidly gaining momentum in consumer applications. Dealing with uncertainty is not only important in robotics but also in general cyber-physical and biological systems; elements of this work may find applications in these domains as well. We follow a data-driven hierarchical control framework to address the need for consistent links between high-level objectives and low-level implementation. The framework has three levels: low-level control, high-level task planning, and mid-level motion generation. The benefit of the hierarchical approach is that it breaks the problem into smaller sub-parts that can be tackled more easily, and allows for available techniques at the two ends to be bridged. However, we still need to ensure compatibility and reconcile the two ends in face of uncertainty. To tackle these challenges, we focus on the mid level and propose two new important components: first, simple abstract models (``templates''), which are data-driven, ensure compatibility; second, a data-driven probabilistic framework recovers some guarantees that the policies prescribed in the high (cyber) level are implementable in the low (physical) level. As it turns out, templates must be reconciled with the physics of the system through experimental data, and this is the key to achieving consistency under uncertainty. The main ideas of the approach are fixed using a particular application area: miniature legged robots. The reduction in scale magnifies the effect of uncertainty, and thus miniature legged robots provide a suitable testbed for the proposed framework; indeed, uncertainty enters naturally (e.g., inherent uncertain leg-ground interactions), while its effect on robot motion is clearly visible. By applying the framework to this area, we enable real-time robot navigation and control at the miniature scale. The latter pushes the limits of what palm-sized crawling robots can achieve,… Advisors/Committee Members: Tanner, Herbert G.Poulakakis, Ioannis.

Subjects/Keywords: Uncertainty.; Mobile robots.; Robots – Motion.; Miniature objects.

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

APA (6^th Edition):

Karydis, K. (2015). A data-driven hierarchical framework for planning, navigation, and control of uncertain systems: applications to miniature legged robots. (Doctoral Dissertation). University of Delaware. Retrieved from http://udspace.udel.edu/handle/19716/17576

Chicago Manual of Style (16^th Edition):

Karydis, Konstantinos. “A data-driven hierarchical framework for planning, navigation, and control of uncertain systems: applications to miniature legged robots.” 2015. Doctoral Dissertation, University of Delaware. Accessed February 28, 2021. http://udspace.udel.edu/handle/19716/17576.

MLA Handbook (7^th Edition):

Karydis, Konstantinos. “A data-driven hierarchical framework for planning, navigation, and control of uncertain systems: applications to miniature legged robots.” 2015. Web. 28 Feb 2021.

Vancouver:

Karydis K. A data-driven hierarchical framework for planning, navigation, and control of uncertain systems: applications to miniature legged robots. [Internet] [Doctoral dissertation]. University of Delaware; 2015. [cited 2021 Feb 28]. Available from: http://udspace.udel.edu/handle/19716/17576.

Council of Science Editors:

Karydis K. A data-driven hierarchical framework for planning, navigation, and control of uncertain systems: applications to miniature legged robots. [Doctoral Dissertation]. University of Delaware; 2015. Available from: http://udspace.udel.edu/handle/19716/17576

Ryerson University

5. Acob, John, M. Hybrid PD sliding mode control for robotic manipulators.

Degree: 2015, Ryerson University

URL: https://digital.library.ryerson.ca/islandora/object/RULA%3A3678

► This thesis proposes a new control law for the purpose of providing improved tracking and contouring performance of robotic manipulators. The rationale behind the development… (more)

Subjects/Keywords: Robotics; Manipulators (Mechanism); Mobile robots

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

APA (6^th Edition):

Acob, John, M. (2015). Hybrid PD sliding mode control for robotic manipulators. (Thesis). Ryerson University. Retrieved from https://digital.library.ryerson.ca/islandora/object/RULA%3A3678

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):

Acob, John, M. “Hybrid PD sliding mode control for robotic manipulators.” 2015. Thesis, Ryerson University. Accessed February 28, 2021. https://digital.library.ryerson.ca/islandora/object/RULA%3A3678.

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

MLA Handbook (7^th Edition):

Acob, John, M. “Hybrid PD sliding mode control for robotic manipulators.” 2015. Web. 28 Feb 2021.

Vancouver:

Acob, John M. Hybrid PD sliding mode control for robotic manipulators. [Internet] [Thesis]. Ryerson University; 2015. [cited 2021 Feb 28]. Available from: https://digital.library.ryerson.ca/islandora/object/RULA%3A3678.

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

Council of Science Editors:

Acob, John M. Hybrid PD sliding mode control for robotic manipulators. [Thesis]. Ryerson University; 2015. Available from: https://digital.library.ryerson.ca/islandora/object/RULA%3A3678

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

University of Tasmania

6. Ollington, R. Localisation and navigation : applying biological principles in mobile robotics.

Degree: 2007, University of Tasmania

URL: https://eprints.utas.edu.au/21087/1/whole_OllingtonRobertBruce2007_thesis.pdf

► Recently, there has been a significant effort to apply behavioural and anatomical studies ofhippocampal place learning in rodents and other animals to the problem of… (more)

▼ Recently, there has been a significant effort to apply behavioural and anatomical studies ofhippocampal place learning in rodents and other animals to the problem of robot localisation and mapping. The stated purpose of these recent experiments is twofold. Firstly, it is hoped that a study of this material will lead to improved algorithms for mobile robotics. Secondly, the behaviour of these new algorithms may be studied to evaluate psychological theories, and aid in the development of new theories. This thesis builds on these experiments by developing a complete localisation and navigational system for a simulated mobile robot. In order to provide a complete and efficient system, several new algorithms were developed. Firstly, a method for preprocessing input was required, thus the adaptive response function neuron (ARFN) was developed. This neuronal model is able to identify similar input patterns, while discriminating between conceptually different sensory experiences. ARFNs learn a locally tuned response to input patterns, and are able to adapt the centre, width and shape of each input's response function on-line. These cells demonstrate one simple way that neurons in the cerebral cortex may learn a locally tuned response to input. Secondly, a place cell system was developed for localisation. The new system provides a simple technique for establishing place cell firing based on odometric information and the current view (as captured by ARFNs). This system enables the robot's position to be accurately estimated, even in the presence of random and systematic odometric errors. The main advantage of the new system is that it allows certain topological assumptions to be made a priori, thus accelE;rating the training of downstream navigational systems. This prior knowledge may help explain the dead reckoning abilities of some animals and provides new insights into the place cell system in general. Finally, a novel reinforcement learning algorithm was developed for goal independent navigation in complex environments. The new algorithm, called Concurrent Q-Learning (CQL), learns a value function for all goals simultaneously, and updates this value function more efficiently than similar algorithms. This is particularly true in dynamic environments, where CQL is shown to outperform other reinforcement learning algorithms. Unlike CQL, alternative methods for achieving goal-independent navigation, such as coordinate learning, cannot easily be applied to complex environinents. Furthermore, the performance of CQL shows that coordinate learning is not necessary to solve behavioural tasks previously thought to require an abstract vector representation. While the focus of this research has been on spatial cognition, the hippocampus is also thought to be fundamental to other basic thought processes. Therefore, it is hoped that this research may stimulate further study not only into animal and robotic navigation, but also into biological and artificial intelligence in general.

Subjects/Keywords: Mobile robots

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

APA (6^th Edition):

Ollington, R. (2007). Localisation and navigation : applying biological principles in mobile robotics. (Thesis). University of Tasmania. Retrieved from https://eprints.utas.edu.au/21087/1/whole_OllingtonRobertBruce2007_thesis.pdf

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

Chicago Manual of Style (16^th Edition):

Ollington, R. “Localisation and navigation : applying biological principles in mobile robotics.” 2007. Thesis, University of Tasmania. Accessed February 28, 2021. https://eprints.utas.edu.au/21087/1/whole_OllingtonRobertBruce2007_thesis.pdf.

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

MLA Handbook (7^th Edition):

Ollington, R. “Localisation and navigation : applying biological principles in mobile robotics.” 2007. Web. 28 Feb 2021.

Vancouver:

Ollington R. Localisation and navigation : applying biological principles in mobile robotics. [Internet] [Thesis]. University of Tasmania; 2007. [cited 2021 Feb 28]. Available from: https://eprints.utas.edu.au/21087/1/whole_OllingtonRobertBruce2007_thesis.pdf.

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

Council of Science Editors:

Ollington R. Localisation and navigation : applying biological principles in mobile robotics. [Thesis]. University of Tasmania; 2007. Available from: https://eprints.utas.edu.au/21087/1/whole_OllingtonRobertBruce2007_thesis.pdf

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

Texas A&M University

7. Lee, Joseph Sung. Appearance and Geometry Assisted Visual Navigation in Urban Areas.

Degree: PhD, Computer Science, 2016, Texas A&M University

URL: http://hdl.handle.net/1969.1/157128

► Navigation is a fundamental task for mobile robots in applications such as exploration, surveillance, and search and rescue. The task involves solving the simultaneous localization… (more)

▼ Navigation is a fundamental task for mobile robots in applications such as exploration, surveillance, and search and rescue. The task involves solving the simultaneous localization and mapping (SLAM) problem, where a map of the environment is constructed. In order for this map to be useful for a given application, a suitable scene representation needs to be defined that allows spatial information sharing between robots and also between humans and robots. High-level scene representations have the benefit of being more robust and having higher exchangeability for interpretation. With the aim of higher level scene representation, in this work we explore high-level landmarks and their usage using geometric and appearance information to assist mobile robot navigation in urban areas. In visual SLAM, image registration is a key problem. While feature-based methods such as scale-invariant feature transform (SIFT) matching are popular, they do not utilize appearance information as a whole and will suffer from low-resolution images. We study appearance-based methods and propose a scale-space integrated Lucas-Kanade’s method that can estimate geometric transformations and also take into account image appearance with different resolutions. We compare our method against state-of-the-art methods and show that our method can register images efficiently with high accuracy. In urban areas, planar building facades (PBFs) are basic components of the quasirectilinear environment. Hence, segmentation and mapping of PBFs can increase a robot’s abilities of scene understanding and localization. We propose a vision-based PBF segmentation and mapping technique that combines both appearance and geometric constraints to segment out planar regions. Then, geometric constraints such as reprojection errors, orientation constraints, and coplanarity constraints are used in an optimization process to improve the mapping of PBFs. A major issue in monocular visual SLAM is scale drift. While depth sensors, such as lidar, are free from scale drift, this type of sensors are usually more expensive compared to cameras. To enable low-cost mobile robots equipped with monocular cameras to obtain accurate position information, we use a 2D lidar map to rectify imprecise visual SLAM results using planar structures. We propose a two-step optimization approach assisted by a penalty function to improve on low-quality local minima results. Robot paths for navigation can be either automatically generated by a motion planning algorithm or provided by a human. In both cases, a scene representation of the environment, i.e., a map, is useful to specify meaningful tasks for the robot. However, SLAM results usually produce a sparse scene representation that consists of low-level landmarks, such as point clouds, which are neither convenient nor intuitive to use for task specification. We present a system that allows users to program mobile robots using high-level landmarks from appearance data. Advisors/Committee Members: Song, Dezhen (advisor), Gutierrez-Osuna, Ricardo (advisor), Keyser, John (committee member), Yoon, Byung-Jun (committee member).

Subjects/Keywords: mobile robots; visual navigation; SLAM

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

APA (6^th Edition):

Lee, J. S. (2016). Appearance and Geometry Assisted Visual Navigation in Urban Areas. (Doctoral Dissertation). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/157128

Chicago Manual of Style (16^th Edition):

Lee, Joseph Sung. “Appearance and Geometry Assisted Visual Navigation in Urban Areas.” 2016. Doctoral Dissertation, Texas A&M University. Accessed February 28, 2021. http://hdl.handle.net/1969.1/157128.

MLA Handbook (7^th Edition):

Lee, Joseph Sung. “Appearance and Geometry Assisted Visual Navigation in Urban Areas.” 2016. Web. 28 Feb 2021.

Vancouver:

Lee JS. Appearance and Geometry Assisted Visual Navigation in Urban Areas. [Internet] [Doctoral dissertation]. Texas A&M University; 2016. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/1969.1/157128.

Council of Science Editors:

Lee JS. Appearance and Geometry Assisted Visual Navigation in Urban Areas. [Doctoral Dissertation]. Texas A&M University; 2016. Available from: http://hdl.handle.net/1969.1/157128

Texas A&M University

8. Agarwal, Saurav. Planning, Estimation and Control for Mobile Robot Localization with Application to Long-Term Autonomy.

Degree: PhD, Aerospace Engineering, 2018, Texas A&M University

URL: http://hdl.handle.net/1969.1/173336

► There may arise two kinds of challenges in the problem of mobile robot localization; (i) a robot may have an a priori map of its… (more)

▼ There may arise two kinds of challenges in the problem of mobile robot localization; (i) a robot may have an a priori map of its environment, in which case the localization problem boils down to estimating the robot pose relative to a global frame or (ii) no a priori map information is given, in which case a robot may have to estimate a model of its environment and localize within it. In the case of a known map, simultaneous planning while localizing is a crucial ability for operating under uncertainty. We first address this problem by designing a method to dynamically replan while the localization uncertainty or environment map is updated. Extensive simulations are conducted to compare the proposed method with the performance of FIRM (Feedback-based Information RoadMap). However, a shortcoming of this method is its reliance on a Gaussian assumption for the Probability Density Function (pdf) on the robot state. This assumption may be violated during autonomous operation when a robot visits parts of the environment which appear similar to others. Such situations lead to ambiguity in data association between what is seen and the robot’s map leading to a non-Gaussian pdf on the robot state. We address this challenge by developing a motion planning method to resolve situations where ambiguous data associations result in a multimodal hypothesis on the robot state. A Receding Horizon approach is developed, to plan actions that sequentially disambiguate a multimodal belief to achieve tight localization on the correct pose in finite time. In our method, disambiguation is achieved through active data associations by picking target states in the map which allow distinctive information to be observed for each belief mode and creating local feedback controllers to visit the targets. Experiments are conducted for a kidnapped physical ground robot operating in an artificial maze-like environment. The hardest challenge arises when no a priori information is present. In longterm tasks where a robot must drive for long durations before closing loops, our goal is to minimize the localization error growth rate such that; (i) accurate data associations can be made for loop closure, or (ii) in cases where loop closure is not possible, the localization error stays limited within some desired bounds. We analyze this problem and show that accurate heading estimation is key to limiting localization error drift. We make three contributions in this domain. First we present a method for accurate long-term localization using absolute orientation measurements and analyze the underlying structure of the SLAM problem and how it is affected by unbiased heading measurements. We show that consistent estimates over a 100km trajectory are possible and that the error growth rate can be controlled with active data acquisition. Then we study the more general problem when orientation measurements may not be present and develop a SLAM technique to separate orientation and position estimation. We show that our method’s accuracy degrades gracefully compared… Advisors/Committee Members: Chakravorty, Suman (advisor), Shell, Dylan (committee member), Amato, Nancy (committee member), Song, Dezhen (committee member), Valasek, John (committee member).

Subjects/Keywords: robotics; navigation; autonomy; mobile robots

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

APA (6^th Edition):

Agarwal, S. (2018). Planning, Estimation and Control for Mobile Robot Localization with Application to Long-Term Autonomy. (Doctoral Dissertation). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/173336

Chicago Manual of Style (16^th Edition):

Agarwal, Saurav. “Planning, Estimation and Control for Mobile Robot Localization with Application to Long-Term Autonomy.” 2018. Doctoral Dissertation, Texas A&M University. Accessed February 28, 2021. http://hdl.handle.net/1969.1/173336.

MLA Handbook (7^th Edition):

Agarwal, Saurav. “Planning, Estimation and Control for Mobile Robot Localization with Application to Long-Term Autonomy.” 2018. Web. 28 Feb 2021.

Vancouver:

Agarwal S. Planning, Estimation and Control for Mobile Robot Localization with Application to Long-Term Autonomy. [Internet] [Doctoral dissertation]. Texas A&M University; 2018. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/1969.1/173336.

Council of Science Editors:

Agarwal S. Planning, Estimation and Control for Mobile Robot Localization with Application to Long-Term Autonomy. [Doctoral Dissertation]. Texas A&M University; 2018. Available from: http://hdl.handle.net/1969.1/173336

Oregon State University

9. Valdes-Salazar, Juan C. Six-axis force sensors : a comparative study.

Degree: MS, Mechanical Engineering, 1993, Oregon State University

URL: http://hdl.handle.net/1957/35938

► A comparative study of three six-axis force sensors selected after an extensive literature survey is presented. A sensor to measure ground contact force at each… (more)

Subjects/Keywords: Mobile robots

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APA (6^th Edition):

Valdes-Salazar, J. C. (1993). Six-axis force sensors : a comparative study. (Masters Thesis). Oregon State University. Retrieved from http://hdl.handle.net/1957/35938

Chicago Manual of Style (16^th Edition):

Valdes-Salazar, Juan C. “Six-axis force sensors : a comparative study.” 1993. Masters Thesis, Oregon State University. Accessed February 28, 2021. http://hdl.handle.net/1957/35938.

MLA Handbook (7^th Edition):

Valdes-Salazar, Juan C. “Six-axis force sensors : a comparative study.” 1993. Web. 28 Feb 2021.

Vancouver:

Valdes-Salazar JC. Six-axis force sensors : a comparative study. [Internet] [Masters thesis]. Oregon State University; 1993. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/1957/35938.

Council of Science Editors:

Valdes-Salazar JC. Six-axis force sensors : a comparative study. [Masters Thesis]. Oregon State University; 1993. Available from: http://hdl.handle.net/1957/35938

University of Delaware

10. Cao, Qu. A modeling and control hierarchy of quadrupedal running with torso compliance.

Degree: PhD, University of Delaware, Department of Mechanical Engineering, 2016, University of Delaware

URL: http://udspace.udel.edu/handle/19716/19781

► A series of quadrupedal robots with different morphologies has been developed in the past forty years to explore the enhanced mobility such platforms may offer.… (more)

▼ A series of quadrupedal robots with different morphologies has been developed in the past forty years to explore the enhanced mobility such platforms may offer. The majority of these robots incorporate rigid, non-deformable torsos, a feature that distinguishes them from their counterparts in the animal world, which owe much of their remarkable locomotion abilities to their flexible bodies. Biological research indicates that torso flexibility may contribute to increased running speed, reduced energy cost and improved gait stability. This thesis proposes a modeling hierarchy that incorporates biological observations within a series of models with increasing complexity, and develops systematic feedback control algorithms for highly dynamic quadrupedal running motions that harness torso flexibility and compliant legs. On a macroscopic level, reduced-order models, or “templates”, can capture the dominant features of an observed locomotion behavior without delving into the fine details of a robot’s (or animal’s) structure and morphology. Templates provide unified, platform-independent descriptions of the desired locomotion task, and they have proved to be indispensable in designing legged robots and in synthesizing controllers for stabilizing highly-agile locomotion behaviors. One representative example is the Spring Loaded Inverted Pendulum (SLIP), which, despite its very simple structure, captures the evolution of kinetic and potential energy associated with running motions, and has informed controller design of many legged robots. However, because of its simple lumped point-mass structure, the SLIP and its immediate extensions cannot describe some of the common quadrupedal gaits that involve pronounced torso oscillations, such as bounding and galloping. Motivated by the capability as well as the limitations of SLIP-type templates, a number of reduced-order quadrupedal models that incorporate non-point-mass torsos has been proposed in the relevant literature to investigate quadrupedal running. However, partly because of the need to describe the torso morphology of the corresponding hardware platforms, and partly because of the need to simplify running dynamics, most of these quadrupedal templates only consider non-deformable, rigid torsos. Although, a few studies with preliminary results on running with torso compliance can be found in the relevant literature, studies on the conditions for generating periodic locomotion behaviors are rather limited while the stability properties of these motions are not carefully examined. As a result, feedback controller design in the presence of torso compliance has not been carefully investigated. Beyond stability and control design, the energetic cost of transport of quadrupedal running and, in particular, the contribution of torso flexibility to running efficiency, has not received adequate attention. This thesis aims at proposing a modeling and control hierarchy that enables the systematic evaluation of the role of torso compliance in quadrupedal running. The proposed… Advisors/Committee Members: Poulakakis, Ioannis.

Subjects/Keywords: Quadrupedalism.; Running.; Mobile robots.

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APA (6^th Edition):

Cao, Q. (2016). A modeling and control hierarchy of quadrupedal running with torso compliance. (Doctoral Dissertation). University of Delaware. Retrieved from http://udspace.udel.edu/handle/19716/19781

Chicago Manual of Style (16^th Edition):

Cao, Qu. “A modeling and control hierarchy of quadrupedal running with torso compliance.” 2016. Doctoral Dissertation, University of Delaware. Accessed February 28, 2021. http://udspace.udel.edu/handle/19716/19781.

MLA Handbook (7^th Edition):

Cao, Qu. “A modeling and control hierarchy of quadrupedal running with torso compliance.” 2016. Web. 28 Feb 2021.

Vancouver:

Cao Q. A modeling and control hierarchy of quadrupedal running with torso compliance. [Internet] [Doctoral dissertation]. University of Delaware; 2016. [cited 2021 Feb 28]. Available from: http://udspace.udel.edu/handle/19716/19781.

Council of Science Editors:

Cao Q. A modeling and control hierarchy of quadrupedal running with torso compliance. [Doctoral Dissertation]. University of Delaware; 2016. Available from: http://udspace.udel.edu/handle/19716/19781

Michigan State University

11. Chen, Shaoyun. Learning-based vision and its application to autonomous indoor navigation.

Degree: PhD, Department of Computer Science and Engineering, 1998, Michigan State University

URL: http://etd.lib.msu.edu/islandora/object/etd:27902

Subjects/Keywords: Mobile robots

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APA (6^th Edition):

Chen, S. (1998). Learning-based vision and its application to autonomous indoor navigation. (Doctoral Dissertation). Michigan State University. Retrieved from http://etd.lib.msu.edu/islandora/object/etd:27902

Chicago Manual of Style (16^th Edition):

Chen, Shaoyun. “Learning-based vision and its application to autonomous indoor navigation.” 1998. Doctoral Dissertation, Michigan State University. Accessed February 28, 2021. http://etd.lib.msu.edu/islandora/object/etd:27902.

MLA Handbook (7^th Edition):

Chen, Shaoyun. “Learning-based vision and its application to autonomous indoor navigation.” 1998. Web. 28 Feb 2021.

Vancouver:

Chen S. Learning-based vision and its application to autonomous indoor navigation. [Internet] [Doctoral dissertation]. Michigan State University; 1998. [cited 2021 Feb 28]. Available from: http://etd.lib.msu.edu/islandora/object/etd:27902.

Council of Science Editors:

Chen S. Learning-based vision and its application to autonomous indoor navigation. [Doctoral Dissertation]. Michigan State University; 1998. Available from: http://etd.lib.msu.edu/islandora/object/etd:27902

University of New Mexico

12. Majedi, Mike. Design and implementation of test-bed for path planning and formation control of cooperative robotic agents.

Degree: Electrical and Computer Engineering, 2007, University of New Mexico

URL: http://hdl.handle.net/1928/3279

► Robots are primary candidates to perform dangerous but controlled missions. They carry cameras, surveillance instruments, and sensors to collect information and relay their findings to… (more)

Subjects/Keywords: Mobile robots

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APA (6^th Edition):

Majedi, M. (2007). Design and implementation of test-bed for path planning and formation control of cooperative robotic agents. (Masters Thesis). University of New Mexico. Retrieved from http://hdl.handle.net/1928/3279

Chicago Manual of Style (16^th Edition):

Majedi, Mike. “Design and implementation of test-bed for path planning and formation control of cooperative robotic agents.” 2007. Masters Thesis, University of New Mexico. Accessed February 28, 2021. http://hdl.handle.net/1928/3279.

MLA Handbook (7^th Edition):

Majedi, Mike. “Design and implementation of test-bed for path planning and formation control of cooperative robotic agents.” 2007. Web. 28 Feb 2021.

Vancouver:

Majedi M. Design and implementation of test-bed for path planning and formation control of cooperative robotic agents. [Internet] [Masters thesis]. University of New Mexico; 2007. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/1928/3279.

Council of Science Editors:

Majedi M. Design and implementation of test-bed for path planning and formation control of cooperative robotic agents. [Masters Thesis]. University of New Mexico; 2007. Available from: http://hdl.handle.net/1928/3279

Hong Kong University of Science and Technology

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

Degree: 2020, Hong Kong University of Science and Technology

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

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

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

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

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APA (6^th Edition):

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

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

Chicago Manual of Style (16^th Edition):

Kuse, Manohar Prakash ECE. “Techniques for a failsafe visual inertial SLAM system.” 2020. Thesis, Hong Kong University of Science and Technology. Accessed February 28, 2021. http://repository.ust.hk/ir/Record/1783.1-105157 ; https://doi.org/10.14711/thesis-991012818169103412 ; http://repository.ust.hk/ir/bitstream/1783.1-105157/1/th_redirect.html.

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

MLA Handbook (7^th Edition):

Kuse, Manohar Prakash ECE. “Techniques for a failsafe visual inertial SLAM system.” 2020. Web. 28 Feb 2021.

Vancouver:

Kuse MPE. Techniques for a failsafe visual inertial SLAM system. [Internet] [Thesis]. Hong Kong University of Science and Technology; 2020. [cited 2021 Feb 28]. Available from: http://repository.ust.hk/ir/Record/1783.1-105157 ; https://doi.org/10.14711/thesis-991012818169103412 ; http://repository.ust.hk/ir/bitstream/1783.1-105157/1/th_redirect.html.

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

Council of Science Editors:

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

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

University of Oklahoma

14. Roman, Matthew John. Effects of Perception Range of a Mobile Robot on Path Efficiency.

Degree: PhD, 2011, University of Oklahoma

URL: http://hdl.handle.net/11244/318691

► Path efficiency is the length of the path actually traversed versus the length of the optimal path. If a robot has complete knowledge of the… (more)

Subjects/Keywords: Robots – Motion; Mobile robots – Automatic control; Robots – Control systems; Computer vision

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APA (6^th Edition):

Roman, M. J. (2011). Effects of Perception Range of a Mobile Robot on Path Efficiency. (Doctoral Dissertation). University of Oklahoma. Retrieved from http://hdl.handle.net/11244/318691

Chicago Manual of Style (16^th Edition):

Roman, Matthew John. “Effects of Perception Range of a Mobile Robot on Path Efficiency.” 2011. Doctoral Dissertation, University of Oklahoma. Accessed February 28, 2021. http://hdl.handle.net/11244/318691.

MLA Handbook (7^th Edition):

Roman, Matthew John. “Effects of Perception Range of a Mobile Robot on Path Efficiency.” 2011. Web. 28 Feb 2021.

Vancouver:

Roman MJ. Effects of Perception Range of a Mobile Robot on Path Efficiency. [Internet] [Doctoral dissertation]. University of Oklahoma; 2011. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/11244/318691.

Council of Science Editors:

Roman MJ. Effects of Perception Range of a Mobile Robot on Path Efficiency. [Doctoral Dissertation]. University of Oklahoma; 2011. Available from: http://hdl.handle.net/11244/318691

Oregon State University

15. Wickramasuriya, Gamika Arun. Reduced order modeling of legged locomotion in the horizontal plane.

Degree: PhD, Mechanical Engineering, 2010, Oregon State University

URL: http://hdl.handle.net/1957/14158

► Sprawled-posture insects exhibit a remarkable ability to rapidly run in a stable manner over complex terrain, a feat that has yet to be equaled by… (more)

▼ Sprawled-posture insects exhibit a remarkable ability to rapidly run in a stable manner over complex terrain, a feat that has yet to be equaled by man-made legged robots. Recent experimental results suggest that these insects may employ a hierarchical control structure, in which locomotion performance emerges from a combination of insect structure and leg function, which is only augmented by neural reflexes in the presence of large or persistent disturbances. In this study, we utilize a previously developed reduced order model for lateral plane locomotion and extend it by developing leg positioning and actuation strategies that are consistent with insect leg function evidenced in experiments. We examine improvements in locomotion performance obtained by utilizing these strategies in terms of gait stability and robustness to external perturbations, such as those that might be encountered when running over rough terrain. Leg positioning strategies examined include leg angle control based upon previous leg angles and leg recirculation strategies that prescribe, in a feedforward manner, the motion of the leg as it swings from its lift-off to touch-down positions. Both these protocols provide control authority in re-orienting system momentum and are shown to improve gait stability and robustness to external perturbations. While the original reduced order template models leg dynamics by an energy-conserving spring, we incorporate energetic variations through leg actuation that varies the force-free leg length during the stance phase while preserving qualitatively correct force and velocity profiles. In contrast to the partially asymptotically stable gaits identified in previous analyses, incorporating leg actuation in conjunction with the leg positioning strategies produces completely asymptotically stable gaits in body coordinates. Locomotion performance of the resulting model is subsequently analyzed by computing the basin of stability of our model in response to energetic perturbations of the type experimentally implemented on running, sprawled-posture insects. Advisors/Committee Members: Schmitt, John (advisor), Smith, Charles E (committee member).

Subjects/Keywords: Lateral leg spring model; Mobile robots

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APA (6^th Edition):

Wickramasuriya, G. A. (2010). Reduced order modeling of legged locomotion in the horizontal plane. (Doctoral Dissertation). Oregon State University. Retrieved from http://hdl.handle.net/1957/14158

Chicago Manual of Style (16^th Edition):

Wickramasuriya, Gamika Arun. “Reduced order modeling of legged locomotion in the horizontal plane.” 2010. Doctoral Dissertation, Oregon State University. Accessed February 28, 2021. http://hdl.handle.net/1957/14158.

MLA Handbook (7^th Edition):

Wickramasuriya, Gamika Arun. “Reduced order modeling of legged locomotion in the horizontal plane.” 2010. Web. 28 Feb 2021.

Vancouver:

Wickramasuriya GA. Reduced order modeling of legged locomotion in the horizontal plane. [Internet] [Doctoral dissertation]. Oregon State University; 2010. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/1957/14158.

Council of Science Editors:

Wickramasuriya GA. Reduced order modeling of legged locomotion in the horizontal plane. [Doctoral Dissertation]. Oregon State University; 2010. Available from: http://hdl.handle.net/1957/14158

Ryerson University

16. Kneisel, Kieran. Stereo vision-based visual odometry for planetary exploration.

Degree: 2011, Ryerson University

URL: https://digital.library.ryerson.ca/islandora/object/RULA%3A977

► The ability to localize an unmanned vehicle is an essential requirement for extraterrestrial robotic exploration missions. The goal of this thesis is to develop a… (more)

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

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APA (6^th Edition):

Kneisel, K. (2011). Stereo vision-based visual odometry for planetary exploration. (Thesis). Ryerson University. Retrieved from https://digital.library.ryerson.ca/islandora/object/RULA%3A977

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):

Kneisel, Kieran. “Stereo vision-based visual odometry for planetary exploration.” 2011. Thesis, Ryerson University. Accessed February 28, 2021. https://digital.library.ryerson.ca/islandora/object/RULA%3A977.

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

MLA Handbook (7^th Edition):

Kneisel, Kieran. “Stereo vision-based visual odometry for planetary exploration.” 2011. Web. 28 Feb 2021.

Vancouver:

Kneisel K. Stereo vision-based visual odometry for planetary exploration. [Internet] [Thesis]. Ryerson University; 2011. [cited 2021 Feb 28]. Available from: https://digital.library.ryerson.ca/islandora/object/RULA%3A977.

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

Council of Science Editors:

Kneisel K. Stereo vision-based visual odometry for planetary exploration. [Thesis]. Ryerson University; 2011. Available from: https://digital.library.ryerson.ca/islandora/object/RULA%3A977

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

Nelson Mandela Metropolitan University

17. Ophoff, Madri. Distributing intelligence in the wireless control of a mobile robot using a personal digital assistant.

Degree: Faculty of Engineering, the Built Environment and Information Technology, 2011, Nelson Mandela Metropolitan University

URL: http://hdl.handle.net/10948/1355

► Personal Digital Assistants (PDAs) have recently become a popular component in mobile robots. This compact processing device with its touch screen, variety of built-in features,… (more)

▼ Personal Digital Assistants (PDAs) have recently become a popular component in mobile robots. This compact processing device with its touch screen, variety of built-in features, wireless technologies and affordability can perform various roles within a robotic system. Applications include low-cost prototype development, rapid prototyping, low-cost humanoid robots, robot control, robot vision systems, algorithm development, human-robot interaction, mobile user interfaces as well as wireless robot communication schemes. Limits on processing power, memory, battery life and screen size impact the usefulness of a PDA in some applications. In addition various implementation strategies exist, each with its own strengths and weaknesses. No comparison of the advantages and disadvantages of the different strategies and resulting architectures exist. This makes it difficult for designers to decide on the best use of a PDA within their mobile robot system. This dissertation examines and compares the available mobile robot architectures. A thorough literature study identifies robot projects using a PDA and examines how the designs incorporate a PDA and what purpose it fulfils within the system it forms part of. The dissertation categorises the architectures according to the role of the PDA within the robot system. The hypothesis is made that using a distributed control system architecture makes optimal use of the rich feature set gained from including a PDA in a robot system’s design and simultaneously overcomes the device’s inherent shortcomings. This architecture is developed into a novel distributed intelligence framework that is supported by a hybrid communications architecture, using two wireless connection schemes. A prototype implementation illustrates the framework and communications architecture in action. Various performance measurements are taken in a test scenario for an office robot. The results indicate that the proposed framework does deliver performance gains and is a viable alternative for future projects in this area.

Subjects/Keywords: Mobile robots; User interfaces (Computer systems)

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APA (6^th Edition):

Ophoff, M. (2011). Distributing intelligence in the wireless control of a mobile robot using a personal digital assistant. (Thesis). Nelson Mandela Metropolitan University. Retrieved from http://hdl.handle.net/10948/1355

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):

Ophoff, Madri. “Distributing intelligence in the wireless control of a mobile robot using a personal digital assistant.” 2011. Thesis, Nelson Mandela Metropolitan University. Accessed February 28, 2021. http://hdl.handle.net/10948/1355.

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

MLA Handbook (7^th Edition):

Ophoff, Madri. “Distributing intelligence in the wireless control of a mobile robot using a personal digital assistant.” 2011. Web. 28 Feb 2021.

Vancouver:

Ophoff M. Distributing intelligence in the wireless control of a mobile robot using a personal digital assistant. [Internet] [Thesis]. Nelson Mandela Metropolitan University; 2011. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/10948/1355.

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

Council of Science Editors:

Ophoff M. Distributing intelligence in the wireless control of a mobile robot using a personal digital assistant. [Thesis]. Nelson Mandela Metropolitan University; 2011. Available from: http://hdl.handle.net/10948/1355

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

University of Ottawa

18. Omar, Eman. Energy Restoration of Sensor Networks by Mobile Robots .

Degree: 2019, University of Ottawa

URL: http://hdl.handle.net/10393/39226

► In this thesis, a variety of different approaches are proposed to study the energy restoration problem in wireless sensor networks by one or more robots.… (more)

Subjects/Keywords: Energy Restoration; Sensor Networks; Mobile Robots

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APA (6^th Edition):

Omar, E. (2019). Energy Restoration of Sensor Networks by Mobile Robots . (Thesis). University of Ottawa. Retrieved from http://hdl.handle.net/10393/39226

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):

Omar, Eman. “Energy Restoration of Sensor Networks by Mobile Robots .” 2019. Thesis, University of Ottawa. Accessed February 28, 2021. http://hdl.handle.net/10393/39226.

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

MLA Handbook (7^th Edition):

Omar, Eman. “Energy Restoration of Sensor Networks by Mobile Robots .” 2019. Web. 28 Feb 2021.

Vancouver:

Omar E. Energy Restoration of Sensor Networks by Mobile Robots . [Internet] [Thesis]. University of Ottawa; 2019. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/10393/39226.

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

Council of Science Editors:

Omar E. Energy Restoration of Sensor Networks by Mobile Robots . [Thesis]. University of Ottawa; 2019. Available from: http://hdl.handle.net/10393/39226

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

19. Guzzi, Jérôme. Path planning for mobile robots in the real world: handling multiple objectives, hierarchical structures and partial information.

Degree: 2018, Università della Svizzera italiana

URL: http://doc.rero.ch/record/323080

► Autonomous robots in real-world environments face a number of challenges even to accomplish apparently simple tasks like moving to a given location. We present four… (more)

Subjects/Keywords: Mobile robots

…the thesis we focus on a ubiquitous task for autonomous mobile robots: reach a given target… …clearance and short length for mobile robots [34]. We follow a common approach to solve… …3.6.2 Robots and sensing . . . . . . . . . . . . . . . . . . 3.6.3 Simulation… …3.7.3 Validation with real robots . . 3.7.4 Scalability . . . . . . . . . . . . 3.7.5… …suited to address many different scenarios, in particular when people share spaces with robots…

10 more images…

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APA (6^th Edition):

Guzzi, J. (2018). Path planning for mobile robots in the real world: handling multiple objectives, hierarchical structures and partial information. (Thesis). Università della Svizzera italiana. Retrieved from http://doc.rero.ch/record/323080

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):

Guzzi, Jérôme. “Path planning for mobile robots in the real world: handling multiple objectives, hierarchical structures and partial information.” 2018. Thesis, Università della Svizzera italiana. Accessed February 28, 2021. http://doc.rero.ch/record/323080.

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

MLA Handbook (7^th Edition):

Guzzi, Jérôme. “Path planning for mobile robots in the real world: handling multiple objectives, hierarchical structures and partial information.” 2018. Web. 28 Feb 2021.

Vancouver:

Guzzi J. Path planning for mobile robots in the real world: handling multiple objectives, hierarchical structures and partial information. [Internet] [Thesis]. Università della Svizzera italiana; 2018. [cited 2021 Feb 28]. Available from: http://doc.rero.ch/record/323080.

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

Council of Science Editors:

Guzzi J. Path planning for mobile robots in the real world: handling multiple objectives, hierarchical structures and partial information. [Thesis]. Università della Svizzera italiana; 2018. Available from: http://doc.rero.ch/record/323080

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

University of Manitoba

20. Sanders, David Marc. Design and implementation of a framework for semi-autonomous mobile robots.

Degree: Electrical and Computer Engineering, 2011, University of Manitoba

URL: http://hdl.handle.net/1993/4396

► The design of a framework to control multiple semi-autonomous mobile robots is presented. The goals are to create a flexible framework that allows easy task… (more)

Subjects/Keywords: Robotics; Embedded Systems; Mobile Robots; Software frameworks

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APA (6^th Edition):

Sanders, D. M. (2011). Design and implementation of a framework for semi-autonomous mobile robots. (Masters Thesis). University of Manitoba. Retrieved from http://hdl.handle.net/1993/4396

Chicago Manual of Style (16^th Edition):

Sanders, David Marc. “Design and implementation of a framework for semi-autonomous mobile robots.” 2011. Masters Thesis, University of Manitoba. Accessed February 28, 2021. http://hdl.handle.net/1993/4396.

MLA Handbook (7^th Edition):

Sanders, David Marc. “Design and implementation of a framework for semi-autonomous mobile robots.” 2011. Web. 28 Feb 2021.

Vancouver:

Sanders DM. Design and implementation of a framework for semi-autonomous mobile robots. [Internet] [Masters thesis]. University of Manitoba; 2011. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/1993/4396.

Council of Science Editors:

Sanders DM. Design and implementation of a framework for semi-autonomous mobile robots. [Masters Thesis]. University of Manitoba; 2011. Available from: http://hdl.handle.net/1993/4396

University of Portsmouth

21. Cooke, David Sydney. Tractive mechanisms for wall climbing robots.

Degree: PhD, 1999, University of Portsmouth

URL: https://researchportal.port.ac.uk/portal/en/theses/tractive-mechanisms-for-wall-climbing-robots(d8d1ee3a-a0ac-4063-935f-b8ef5621720d).html ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.271453

Subjects/Keywords: 629.892; Mobile robots

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

APA (6^th Edition):

Cooke, D. S. (1999). Tractive mechanisms for wall climbing robots. (Doctoral Dissertation). University of Portsmouth. Retrieved from https://researchportal.port.ac.uk/portal/en/theses/tractive-mechanisms-for-wall-climbing-robots(d8d1ee3a-a0ac-4063-935f-b8ef5621720d).html ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.271453

Chicago Manual of Style (16^th Edition):

Cooke, David Sydney. “Tractive mechanisms for wall climbing robots.” 1999. Doctoral Dissertation, University of Portsmouth. Accessed February 28, 2021. https://researchportal.port.ac.uk/portal/en/theses/tractive-mechanisms-for-wall-climbing-robots(d8d1ee3a-a0ac-4063-935f-b8ef5621720d).html ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.271453.

MLA Handbook (7^th Edition):

Cooke, David Sydney. “Tractive mechanisms for wall climbing robots.” 1999. Web. 28 Feb 2021.

Vancouver:

Cooke DS. Tractive mechanisms for wall climbing robots. [Internet] [Doctoral dissertation]. University of Portsmouth; 1999. [cited 2021 Feb 28]. Available from: https://researchportal.port.ac.uk/portal/en/theses/tractive-mechanisms-for-wall-climbing-robots(d8d1ee3a-a0ac-4063-935f-b8ef5621720d).html ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.271453.

Council of Science Editors:

Cooke DS. Tractive mechanisms for wall climbing robots. [Doctoral Dissertation]. University of Portsmouth; 1999. Available from: https://researchportal.port.ac.uk/portal/en/theses/tractive-mechanisms-for-wall-climbing-robots(d8d1ee3a-a0ac-4063-935f-b8ef5621720d).html ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.271453

Hong Kong University of Science and Technology

22. Ling, Yonggen ECE. Real-time localization and mapping for autonomous navigation.

Degree: 2017, Hong Kong University of Science and Technology

URL: http://repository.ust.hk/ir/Record/1783.1-91056 ; https://doi.org/10.14711/thesis-991012554964903412 ; http://repository.ust.hk/ir/bitstream/1783.1-91056/1/th_redirect.html

► The foundation of mobile robotic systems is accurate localization and dense mapping of the perceived environment, which serves as the perception input for path planning… (more)

Subjects/Keywords: Mobile robots ; Automatic control ; Mathematical models ; Navigation

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

APA (6^th Edition):

Ling, Y. E. (2017). Real-time localization and mapping for autonomous navigation. (Thesis). Hong Kong University of Science and Technology. Retrieved from http://repository.ust.hk/ir/Record/1783.1-91056 ; https://doi.org/10.14711/thesis-991012554964903412 ; http://repository.ust.hk/ir/bitstream/1783.1-91056/1/th_redirect.html

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

Chicago Manual of Style (16^th Edition):

Ling, Yonggen ECE. “Real-time localization and mapping for autonomous navigation.” 2017. Thesis, Hong Kong University of Science and Technology. Accessed February 28, 2021. http://repository.ust.hk/ir/Record/1783.1-91056 ; https://doi.org/10.14711/thesis-991012554964903412 ; http://repository.ust.hk/ir/bitstream/1783.1-91056/1/th_redirect.html.

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

MLA Handbook (7^th Edition):

Ling, Yonggen ECE. “Real-time localization and mapping for autonomous navigation.” 2017. Web. 28 Feb 2021.

Vancouver:

Ling YE. Real-time localization and mapping for autonomous navigation. [Internet] [Thesis]. Hong Kong University of Science and Technology; 2017. [cited 2021 Feb 28]. Available from: http://repository.ust.hk/ir/Record/1783.1-91056 ; https://doi.org/10.14711/thesis-991012554964903412 ; http://repository.ust.hk/ir/bitstream/1783.1-91056/1/th_redirect.html.

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

Council of Science Editors:

Ling YE. Real-time localization and mapping for autonomous navigation. [Thesis]. Hong Kong University of Science and Technology; 2017. Available from: http://repository.ust.hk/ir/Record/1783.1-91056 ; https://doi.org/10.14711/thesis-991012554964903412 ; http://repository.ust.hk/ir/bitstream/1783.1-91056/1/th_redirect.html

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

Georgia Tech

23. Ghader, Bilal. Estimation and compensation of slippage based on laser-based odometry.

Degree: MS, Electrical and Computer Engineering, 2019, Georgia Tech

URL: http://hdl.handle.net/1853/62358

► The project aimed to compensate for the slippage exhibited by a wheeled mobile robot in an off-road environment, in a trajectory following context. To do… (more)

Subjects/Keywords: Wheeled mobile robots; Trajectory following; Slippage compensation

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

APA (6^th Edition):

Ghader, B. (2019). Estimation and compensation of slippage based on laser-based odometry. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/62358

Chicago Manual of Style (16^th Edition):

Ghader, Bilal. “Estimation and compensation of slippage based on laser-based odometry.” 2019. Masters Thesis, Georgia Tech. Accessed February 28, 2021. http://hdl.handle.net/1853/62358.

MLA Handbook (7^th Edition):

Ghader, Bilal. “Estimation and compensation of slippage based on laser-based odometry.” 2019. Web. 28 Feb 2021.

Vancouver:

Ghader B. Estimation and compensation of slippage based on laser-based odometry. [Internet] [Masters thesis]. Georgia Tech; 2019. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/1853/62358.

Council of Science Editors:

Ghader B. Estimation and compensation of slippage based on laser-based odometry. [Masters Thesis]. Georgia Tech; 2019. Available from: http://hdl.handle.net/1853/62358

Georgia Tech

24. Cosgun, Akansel. Navigation behavior design and representations for a people aware mobile robot system.

Degree: PhD, Interactive Computing, 2016, Georgia Tech

URL: http://hdl.handle.net/1853/54944

► There are millions of robots in operation around the world today, and almost all of them operate on factory floors in isolation from people. However,… (more)

▼ There are millions of robots in operation around the world today, and almost all of them operate on factory floors in isolation from people. However, it is now becoming clear that robots can provide much more value assisting people in daily tasks in human environments. Perhaps the most fundamental capability for a mobile robot is navigating from one location to another. Advances in mapping and motion planning research in the past decades made indoor navigation a commodity for mobile robots. Yet, questions remain on how the robots should move around humans. This thesis advocates the use of semantic maps and spatial rules of engagement to enable non-expert users to effortlessly interact with and control a mobile robot. A core concept explored in this thesis is the Tour Scenario, where the task is to familiarize a mobile robot to a new environment after it is first shipped and unpacked in a home or office setting. During the tour, the robot follows the user and creates a semantic representation of the environment. The user labels objects, landmarks and locations by performing pointing gestures and using the robot's user interface. The spatial semantic information is meaningful to humans, as it allows providing commands to the robot such as ``bring me a cup from the kitchen table". While the robot is navigating towards the goal, it should not treat nearby humans as obstacles and should move in a socially acceptable manner. Three main navigation behaviors are studied in this work. The first behavior is the point-to-point navigation. The navigation planner presented in this thesis borrows ideas from human-human spatial interactions, and takes into account personal spaces as well as reactions of people who are in close proximity to the trajectory of the robot. The second navigation behavior is person following. After the description of a basic following behavior, a user study on person following for telepresence robots is presented. Additionally, situation awareness for person following is demonstrated, where the robot facilitates tasks by predicting the intent of the user and utilizing the semantic map. The third behavior is person guidance. A tour-guide robot is presented with a particular application for visually impaired users. Advisors/Committee Members: Christensen, Henrik (advisor), Thomaz, Andrea (committee member), Howard, Ayanna (committee member), Essa, Irfan (committee member), Sisbot, Akin (committee member).

Subjects/Keywords: Robotics; Navigation; Mobile robots; Path planning

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

APA (6^th Edition):

Cosgun, A. (2016). Navigation behavior design and representations for a people aware mobile robot system. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/54944

Chicago Manual of Style (16^th Edition):

Cosgun, Akansel. “Navigation behavior design and representations for a people aware mobile robot system.” 2016. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021. http://hdl.handle.net/1853/54944.

MLA Handbook (7^th Edition):

Cosgun, Akansel. “Navigation behavior design and representations for a people aware mobile robot system.” 2016. Web. 28 Feb 2021.

Vancouver:

Cosgun A. Navigation behavior design and representations for a people aware mobile robot system. [Internet] [Doctoral dissertation]. Georgia Tech; 2016. [cited 2021 Feb 28]. Available from: http://hdl.handle.net/1853/54944.

Council of Science Editors:

Cosgun A. Navigation behavior design and representations for a people aware mobile robot system. [Doctoral Dissertation]. Georgia Tech; 2016. Available from: http://hdl.handle.net/1853/54944

University of New South Wales

25. Ahmad, Waqqas. Distributed navigation of multi-robot systems for sensing coverage.

Degree: Electrical Engineering & Telecommunications, 2017, University of New South Wales

URL: http://handle.unsw.edu.au/1959.4/58085 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:45377/SOURCE02?view=true

► A team of coordinating mobile robots equipped with operation specific sensors canperform different coverage tasks. If the required number of robots in the team isvery… (more)

▼ A team of coordinating mobile robots equipped with operation specific sensors canperform different coverage tasks. If the required number of robots in the team isvery large then a centralized control system becomes a complex strategy. Thereare also some areas where centralized communication turns into an issue. So, ateam of mobile robots for coverage tasks should have the ability of decentralized ordistributed decision making. This thesis investigates decentralized control of mobilerobots specifically for coverage problems. A decentralized control strategy is ideallybased on local information and it can offer flexibility in case there is an incrementor decrement in the number of mobile robots. We perform a broad survey of theexisting literature for coverage control problems. There are different approachesassociated with decentralized control strategy for coverage control problems. Weperform a comparative review of these approaches and use the approach based onsimple local coordination rules. These locally computed nearest neighbour rules areused to develop decentralized control algorithms for coverage control problems.We investigate this extensively used nearest neighbour rule-based approach fordeveloping coverage control algorithms. In this approach, a mobile robot gives anequal importance to every neighbour robot coming under its communication range.We develop our control approach by making some of the mobile robots playinga more influential role than other members of the team. We develop the controlalgorithm based on nearest neighbour rules with weighted average functions. Theapproach based on this control strategy becomes efficient in terms of achieving aconsensus on control inputs, say heading angle, velocity, etc.The decentralized control of mobile robots can also exhibit a cyclic behaviourunder some physical constraints like a quantized orientation of the mobile robot.We further investigate the cyclic behaviour appearing due to the quantized controlof mobile robots under some conditions. Our nearest neighbour rule-based approachoffers a biased strategy in case of cyclic behaviour appearing in the team of mobilerobots.We consider a clustering technique inside the team of mobile robots. Our decentralizedcontrol strategy calculates the similarity measure among the neighboursof a mobile robot. The team of mobile robots with the similarity measure basedapproach becomes efficient in achieving a fast consensus like on heading angle orvelocity. We perform a rigorous mathematical analysis of our developed approach.We also develop a condition based on relaxed criteria for achieving consensus onvelocity or heading angle of the mobile robots. Our validation approach is based onmathematical arguments and extensive computer simulations. Advisors/Committee Members: Savkin, Andrey V., Electrical Engineering & Telecommunications, Faculty of Engineering, UNSW.

Subjects/Keywords: Mobile robots; Multi-robot systems; Sensing coverage

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

APA (6^th Edition):

Ahmad, W. (2017). Distributed navigation of multi-robot systems for sensing coverage. (Doctoral Dissertation). University of New South Wales. Retrieved from http://handle.unsw.edu.au/1959.4/58085 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:45377/SOURCE02?view=true

Chicago Manual of Style (16^th Edition):

Ahmad, Waqqas. “Distributed navigation of multi-robot systems for sensing coverage.” 2017. Doctoral Dissertation, University of New South Wales. Accessed February 28, 2021. http://handle.unsw.edu.au/1959.4/58085 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:45377/SOURCE02?view=true.

MLA Handbook (7^th Edition):

Ahmad, Waqqas. “Distributed navigation of multi-robot systems for sensing coverage.” 2017. Web. 28 Feb 2021.

Vancouver:

Ahmad W. Distributed navigation of multi-robot systems for sensing coverage. [Internet] [Doctoral dissertation]. University of New South Wales; 2017. [cited 2021 Feb 28]. Available from: http://handle.unsw.edu.au/1959.4/58085 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:45377/SOURCE02?view=true.

Council of Science Editors:

Ahmad W. Distributed navigation of multi-robot systems for sensing coverage. [Doctoral Dissertation]. University of New South Wales; 2017. Available from: http://handle.unsw.edu.au/1959.4/58085 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:45377/SOURCE02?view=true

Michigan State University

26. Zhao, Jianguo. Biologically inspired approach for robot design and control.

Degree: 2015, Michigan State University

URL: http://etd.lib.msu.edu/islandora/object/etd:2856

►

Thesis Ph. D. Michigan State University. Electrical Engineering 2015

Robots will transform our daily lives in the near future by moving from controlled industrial lines… (more)

▼

Thesis Ph. D. Michigan State University. Electrical Engineering 2015

Robots will transform our daily lives in the near future by moving from controlled industrial lines to unstructured and uncertain environments such as home, offices, or outdoors with various applications from healthcare, service, to defense. Nevertheless, two fundamental problems remain unsolved for robots to work in such environments. On one hand, how to design robots, especially meso-scale ones with sizes of a few centimeters, with multiple locomotion abilities to travel in the unstructured environment is still a daunting task. On the other hand, how to control such robots to dynamically interact with the uncertain environment for agile and robust locomotion also requires tremendous efforts. This dissertation tries to tackle these two problems in the framework of biologically inspired robotics.On the design aspect, it will be shown how biologically principles found in nature can be used to build efficient meso-scale robots with various locomotion abilities such as jumping, wheeling, and aerial maneuvering. Specifically, a robot (MSU Jumper) with continuous jumping ability will be presented. The robot can achieve the following three performances simultaneously. First, it can perform continuous steerable jumping based on the self-righting and the steering capabilities. Second, the robot only requires a single actuator to perform all the functions. Third, the robot has a light weight (23.5 g) to reduce the damage from landing impacts. Based on the MSU Jumper, a robot (MSU Tailbot) with multiple locomotion abilities is discussed. This robot can not only wheel on the ground but also jump up to overcome obstacles. Once leaping into the air, it can also control its body angle using an active tail to dynamically maneuver in mid-air for safe landings.On the control aspect, a novel non-vector space control method that formulates the problem in the space of sets is presented. This method can be easily applied to vision based control by considering images as sets. The advantage of such a method is that there is no need to extract and track features during the control process, which is required by traditional methods. Based on the non-vector space approach, the compressive feedback is proposed to increase the feedback rate and reduce the computation time. This method is ideal for the control of meso-scale robots with limited sensing and computation ability.The bio-inspired design illustrated by the MSU Jumper and MSU Tailbot in this dissertation can be applied to other robot designs. Meanwhile, the non-vector space control with compressive feedbacks lays the foundation for the control of high dynamic meso-scale robots. Together, the biologically inspired method for the design and control of meso-scale robots will pave the way for next generation bio-inspired, low cost, and agile robots.

Description based on online resource;

Advisors/Committee Members: Xi, Ning, Tan, Xiaobo, Mutka, Matt, Xiao, Li, Khalil, Hassan.

Subjects/Keywords: Mobile robots – Design and construction; Robots – Control systems; Robots – Motion; Biomimicry; Robotics

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

APA (6^th Edition):

Zhao, J. (2015). Biologically inspired approach for robot design and control. (Thesis). Michigan State University. Retrieved from http://etd.lib.msu.edu/islandora/object/etd:2856

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):

Zhao, Jianguo. “Biologically inspired approach for robot design and control.” 2015. Thesis, Michigan State University. Accessed February 28, 2021. http://etd.lib.msu.edu/islandora/object/etd:2856.

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

MLA Handbook (7^th Edition):

Zhao, Jianguo. “Biologically inspired approach for robot design and control.” 2015. Web. 28 Feb 2021.

Vancouver:

Zhao J. Biologically inspired approach for robot design and control. [Internet] [Thesis]. Michigan State University; 2015. [cited 2021 Feb 28]. Available from: http://etd.lib.msu.edu/islandora/object/etd:2856.

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

Council of Science Editors:

Zhao J. Biologically inspired approach for robot design and control. [Thesis]. Michigan State University; 2015. Available from: http://etd.lib.msu.edu/islandora/object/etd:2856

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

Universidade Estadual de Campinas

27. Bertone, Osvaldo Hugo. Desenvolvimento de uma plataforma universal para aplicações em robôs móveis: The cyclical register for MVL circuits (Multi-valued logic) and quaternary multiplier.

Degree: 2012, Universidade Estadual de Campinas

URL: http://repositorio.unicamp.br/jspui/handle/REPOSIP/260985

► Abstract: This study aims at developing a basic platform in order to provide a structure for applications in mobile robots. This platform consists of modules… (more)

▼ Abstract: This study aims at developing a basic platform in order to provide a structure for applications in mobile robots. This platform consists of modules for communication to the outside world (Bluetooth, WiFi and ZigBee) and an internal communication bus that allows the inclusion of modules that control sensors and actuators (such as distance sensors, video cameras, GPS, digital compass , accelerometers, humidity, temperature, pressure, etc ... as motors and actuators, servos, valves, etc ...). The basic platform consists of communication protocols and a set of commands as much as radio communications in the internal bus that allows the development of new applications. The internal software is also an open source software that allows researchers, hobbyists, professionals, students and teachers to modify and develop any type of application for both the platform is mounted on different structures as well as the development of desktop software for remote control of robot via the Internet, mobile phone or any type of tele-communication future. This work is intended to fill a void that will make feasible its application in the areas of basic education, this not only in traditional disciplines such as math and geography, but also in cross-disciplines in which students can learn to program routines for traffic education, selection of recyclable waste, ecology recognition (water), social inclusion and recognition of MAPas using systems programming block. For researchers and hobbyists, the products would be used for the development of new modules and other more sophisticated applications, may all be performed via the teleoperation. Was developed as a single system to be used both in basic education and for research on high technology, the system is flexible, having a software programming blocks to the elementary schools and middle, and a software programming in C for researchers and hobbyists Advisors/Committee Members: UNIVERSIDADE ESTADUAL DE CAMPINAS (CRUESP), Alves, Marco Antonio Robert, 1964- (advisor), Universidade Estadual de Campinas. Faculdade de Engenharia Elétrica e de Computação (institution), Programa de Pós-Graduação em Engenharia Elétrica (nameofprogram), Martins, Evandro Mazina (committee member), Rodrigues, Evandro Luis Linhari (committee member), Braga, Edmundo da Silva (committee member), Dias, José Antonio Siqueira (committee member).

Subjects/Keywords: Robôs móveis; Robos; Mecatrônica; Mobile robots; Robots; Mecatronic

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

APA (6^th Edition):

Bertone, O. H. (2012). Desenvolvimento de uma plataforma universal para aplicações em robôs móveis: The cyclical register for MVL circuits (Multi-valued logic) and quaternary multiplier. (Thesis). Universidade Estadual de Campinas. Retrieved from http://repositorio.unicamp.br/jspui/handle/REPOSIP/260985

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):

Bertone, Osvaldo Hugo. “Desenvolvimento de uma plataforma universal para aplicações em robôs móveis: The cyclical register for MVL circuits (Multi-valued logic) and quaternary multiplier.” 2012. Thesis, Universidade Estadual de Campinas. Accessed February 28, 2021. http://repositorio.unicamp.br/jspui/handle/REPOSIP/260985.

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

MLA Handbook (7^th Edition):

Bertone, Osvaldo Hugo. “Desenvolvimento de uma plataforma universal para aplicações em robôs móveis: The cyclical register for MVL circuits (Multi-valued logic) and quaternary multiplier.” 2012. Web. 28 Feb 2021.

Vancouver:

Bertone OH. Desenvolvimento de uma plataforma universal para aplicações em robôs móveis: The cyclical register for MVL circuits (Multi-valued logic) and quaternary multiplier. [Internet] [Thesis]. Universidade Estadual de Campinas; 2012. [cited 2021 Feb 28]. Available from: http://repositorio.unicamp.br/jspui/handle/REPOSIP/260985.

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

Council of Science Editors:

Bertone OH. Desenvolvimento de uma plataforma universal para aplicações em robôs móveis: The cyclical register for MVL circuits (Multi-valued logic) and quaternary multiplier. [Thesis]. Universidade Estadual de Campinas; 2012. Available from: http://repositorio.unicamp.br/jspui/handle/REPOSIP/260985

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

Universidade Nova

28. Gomes, Pedro Miguel de Barros. LADAR based mapping and obstacle detection system for service robots.

Degree: 2010, Universidade Nova

URL: http://www.rcaap.pt/detail.jsp?id=oai:run.unl.pt:10362/4589

►

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para a obtenção do grau de Mestre em Engenharia Electrotécnica e de… (more)

Subjects/Keywords: Obstacle detection; Service robots; Mobile robots; LADAR; Mapping; Indoor

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APA (6^th Edition):

Gomes, P. M. d. B. (2010). LADAR based mapping and obstacle detection system for service robots. (Thesis). Universidade Nova. Retrieved from http://www.rcaap.pt/detail.jsp?id=oai:run.unl.pt:10362/4589

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):

Gomes, Pedro Miguel de Barros. “LADAR based mapping and obstacle detection system for service robots.” 2010. Thesis, Universidade Nova. Accessed February 28, 2021. http://www.rcaap.pt/detail.jsp?id=oai:run.unl.pt:10362/4589.

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

MLA Handbook (7^th Edition):

Gomes, Pedro Miguel de Barros. “LADAR based mapping and obstacle detection system for service robots.” 2010. Web. 28 Feb 2021.

Vancouver:

Gomes PMdB. LADAR based mapping and obstacle detection system for service robots. [Internet] [Thesis]. Universidade Nova; 2010. [cited 2021 Feb 28]. Available from: http://www.rcaap.pt/detail.jsp?id=oai:run.unl.pt:10362/4589.

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

Council of Science Editors:

Gomes PMdB. LADAR based mapping and obstacle detection system for service robots. [Thesis]. Universidade Nova; 2010. Available from: http://www.rcaap.pt/detail.jsp?id=oai:run.unl.pt:10362/4589

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

Universidade Nova

29. Lino, Rúben José Simões. Low cost inertial-based localization system for a service robot.

Degree: 2011, Universidade Nova

URL: http://www.rcaap.pt/detail.jsp?id=oai:run.unl.pt:10362/5680

►

Dissertation presented at Faculty of Sciences and Technology of the New University of Lisbon to attain the Master degree in Electrical and Computer Science Engineering… (more)

Subjects/Keywords: Localization; INS; Service robots; Mobile robots; Kalman filter; AHRS

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APA (6^th Edition):

Lino, R. J. S. (2011). Low cost inertial-based localization system for a service robot. (Thesis). Universidade Nova. Retrieved from http://www.rcaap.pt/detail.jsp?id=oai:run.unl.pt:10362/5680

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):

Lino, Rúben José Simões. “Low cost inertial-based localization system for a service robot.” 2011. Thesis, Universidade Nova. Accessed February 28, 2021. http://www.rcaap.pt/detail.jsp?id=oai:run.unl.pt:10362/5680.

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

MLA Handbook (7^th Edition):

Lino, Rúben José Simões. “Low cost inertial-based localization system for a service robot.” 2011. Web. 28 Feb 2021.

Vancouver:

Lino RJS. Low cost inertial-based localization system for a service robot. [Internet] [Thesis]. Universidade Nova; 2011. [cited 2021 Feb 28]. Available from: http://www.rcaap.pt/detail.jsp?id=oai:run.unl.pt:10362/5680.

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

Council of Science Editors:

Lino RJS. Low cost inertial-based localization system for a service robot. [Thesis]. Universidade Nova; 2011. Available from: http://www.rcaap.pt/detail.jsp?id=oai:run.unl.pt:10362/5680

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

Hong Kong University of Science and Technology

30. Li, Qian. Hybrid efficient collision-free path planning for mobile robot.

Degree: 2016, Hong Kong University of Science and Technology

URL: http://repository.ust.hk/ir/Record/1783.1-87781 ; https://doi.org/10.14711/thesis-b1748249 ; http://repository.ust.hk/ir/bitstream/1783.1-87781/1/th_redirect.html

► Applications of mobile robots in industries, business and human living environment have been growing significantly in recent years. And mobile robots can carry out those… (more)

▼ Applications of mobile robots in industries, business and human living environment have been growing significantly in recent years. And mobile robots can carry out those tasks such as nuclear plants, rescue operations and other situations which are dangerous to human body. In order to realize the robots’ assisting and replacing of human’s work in some missions, many challenging problems in mobile robots research need to be figured out, the important one of them is path planning. So the path planning problem is defined as follows. Given a robot and a description of environment, try to plan a path between two or more specific given locations. In addition, the environment is usually uncertain as complete and the obstacles in this environment may not be known priori. In the real specific applications, collision-free property of path for the robots’ movement is the fundamental requirement. A number of algorithms have been developed for that fundamental requirement and other further optimization criteria of the path planning. Such as passing a series of waypoints in the set of position or orientations, hitting the target point in a certain velocity and minimizing the path length or minimizing the whole thrust. In this thesis, I give an introduction of several different kinds of path planning algorithms, make a comparison among those different algorithms in different application situations and propose a novel hybrid method to improve the efficiency and reasonability of path planning by combing with artificial potential field method and random particle optimization algorithm. Besides that, I also present specific application situations of this hybrid algorithm when an original offline trajectory has been given and many optimization criteria are made. I introduce that concrete algorithm structure of implementing proposed hybrid method to avoid obstacles when the robot track original minimum snap trajectory. And dynamic partially minimum snap trajectory generation method is designed which have a good performance on trading off saving time on obstacles avoidance and smoothing trajectory in dense dynamic environment. A variety of simulation experiments in different situations have been conducted to verify the validity of those proposed algorithms.

Subjects/Keywords: Mobile robots ; Automatic control ; Mathematical models ; Robots ; Motion ; Programming

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APA (6^th Edition):

Li, Q. (2016). Hybrid efficient collision-free path planning for mobile robot. (Thesis). Hong Kong University of Science and Technology. Retrieved from http://repository.ust.hk/ir/Record/1783.1-87781 ; https://doi.org/10.14711/thesis-b1748249 ; http://repository.ust.hk/ir/bitstream/1783.1-87781/1/th_redirect.html

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

Chicago Manual of Style (16^th Edition):

Li, Qian. “Hybrid efficient collision-free path planning for mobile robot.” 2016. Thesis, Hong Kong University of Science and Technology. Accessed February 28, 2021. http://repository.ust.hk/ir/Record/1783.1-87781 ; https://doi.org/10.14711/thesis-b1748249 ; http://repository.ust.hk/ir/bitstream/1783.1-87781/1/th_redirect.html.

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

MLA Handbook (7^th Edition):

Li, Qian. “Hybrid efficient collision-free path planning for mobile robot.” 2016. Web. 28 Feb 2021.

Vancouver:

Li Q. Hybrid efficient collision-free path planning for mobile robot. [Internet] [Thesis]. Hong Kong University of Science and Technology; 2016. [cited 2021 Feb 28]. Available from: http://repository.ust.hk/ir/Record/1783.1-87781 ; https://doi.org/10.14711/thesis-b1748249 ; http://repository.ust.hk/ir/bitstream/1783.1-87781/1/th_redirect.html.

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

Council of Science Editors:

Li Q. Hybrid efficient collision-free path planning for mobile robot. [Thesis]. Hong Kong University of Science and Technology; 2016. Available from: http://repository.ust.hk/ir/Record/1783.1-87781 ; https://doi.org/10.14711/thesis-b1748249 ; http://repository.ust.hk/ir/bitstream/1783.1-87781/1/th_redirect.html

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

Open Access Theses and Dissertations