subject:(Multi robot mapping)

1. Cunningham, Alexander G. Scalable online decentralized smoothing and mapping.

Degree: PhD, Electrical and Computer Engineering, 2014, Georgia Tech

► Many applications for field robots can benefit from large numbers of robots, especially applications where the objective is for the robots to cover or explore… (more)

Subjects/Keywords: Multi-robot mapping; Decentralized inference; Simultaneous localization and mapping; Multi-robot SLAM; Robotics; Autonomous robots; Algorithms; SLAM (Computer program language)

10 more images…

Record Details Similar Records Cite « Share

❌

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

APA (6^th Edition):

Cunningham, A. G. (2014). Scalable online decentralized smoothing and mapping. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/51848

Chicago Manual of Style (16^th Edition):

Cunningham, Alexander G. “Scalable online decentralized smoothing and mapping.” 2014. Doctoral Dissertation, Georgia Tech. Accessed March 04, 2021. http://hdl.handle.net/1853/51848.

MLA Handbook (7^th Edition):

Cunningham, Alexander G. “Scalable online decentralized smoothing and mapping.” 2014. Web. 04 Mar 2021.

Vancouver:

Cunningham AG. Scalable online decentralized smoothing and mapping. [Internet] [Doctoral dissertation]. Georgia Tech; 2014. [cited 2021 Mar 04]. Available from: http://hdl.handle.net/1853/51848.

Council of Science Editors:

Cunningham AG. Scalable online decentralized smoothing and mapping. [Doctoral Dissertation]. Georgia Tech; 2014. Available from: http://hdl.handle.net/1853/51848

University of Georgia

2. McClain, Jonathan Thomas. A behavior-based blackboard architecture for multi-robot control.

Degree: 2014, University of Georgia

URL: http://hdl.handle.net/10724/21583

► This thesis focuses on the development of a robust architecture for the control of multi-robot teams. In particular, the use of a behavior-based blackboard architecture… (more)

Subjects/Keywords: Behavior-Based Robotics; Blackboard Architecture; Multi-Robot Systems; Robotic Mapping

Record Details Similar Records Cite « Share

❌

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

APA (6^th Edition):

McClain, J. T. (2014). A behavior-based blackboard architecture for multi-robot control. (Thesis). University of Georgia. Retrieved from http://hdl.handle.net/10724/21583

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):

McClain, Jonathan Thomas. “A behavior-based blackboard architecture for multi-robot control.” 2014. Thesis, University of Georgia. Accessed March 04, 2021. http://hdl.handle.net/10724/21583.

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

MLA Handbook (7^th Edition):

McClain, Jonathan Thomas. “A behavior-based blackboard architecture for multi-robot control.” 2014. Web. 04 Mar 2021.

Vancouver:

McClain JT. A behavior-based blackboard architecture for multi-robot control. [Internet] [Thesis]. University of Georgia; 2014. [cited 2021 Mar 04]. Available from: http://hdl.handle.net/10724/21583.

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

Council of Science Editors:

McClain JT. A behavior-based blackboard architecture for multi-robot control. [Thesis]. University of Georgia; 2014. Available from: http://hdl.handle.net/10724/21583

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

3. Tzemanaki, Antonia. Anthropomorphic surgical system for soft tissue robot-assisted surgery.

Degree: PhD, 2016, University of the West of England, Bristol

URL: https://uwe-repository.worktribe.com/output/924040 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.694659

► Over the past century, abdominal surgery has seen a rapid transition from open procedures to less invasive methods such as laparoscopy and robot-assisted minimally invasive… (more)

▼ Over the past century, abdominal surgery has seen a rapid transition from open procedures to less invasive methods such as laparoscopy and robot-assisted minimally invasive surgery (R-A MIS). These procedures have significantly decreased blood loss, postoperative morbidity and length of hospital stay in comparison with open surgery. R-A MIS has offered refined accuracy and more ergonomic instruments for surgeons, further minimising trauma to the patient. This thesis aims to investigate, design and prototype a novel system for R-A MIS that will provide more natural and intuitive manipulation of soft tissues and, at the same time, increase the surgeon's dexterity. The thesis reviews related work on surgical systems and discusses the requirements for designing surgical instrumentation. From the background research conducted in this thesis, it is clear that training surgeons in MIS procedures is becoming increasingly long and arduous. Furthermore, most available systems adopt a design similar to conventional laparoscopic instruments or focus on different techniques with debatable benefits. The system proposed in this thesis not only aims to reduce the training time for surgeons but also to improve the ergonomics of the procedure. In order to achieve this, a survey was conducted among surgeons, regarding their opinions on surgical training, surgical systems, how satisfied they are with them and how easy they are to use. A concept for MIS robotic instrumentation was then developed and a series of focus group meetings with surgeons were run to discuss it. The proposed system, named microAngelo, is an anthropomorphic master-slave system that comprises a three-digit miniature hand that can be controlled using the master, a three-digit sensory exoskeleton. While multi-fingered robotic hands have been developed for decades, none have been used for surgical operations. As the system has a human centred design, its relation to the human hand is discussed. Prototypes of both the master and the slave have been developed and their design and mechanisms is demonstrated. The accuracy and repeatability of the master as well as the accuracy and force capabilities of the slave are tested and discussed.

Subjects/Keywords: 617.9; robot-assisted minimally invasive surgery; multi-fingered robot hand; exoskeleton; motion tracking; human-robot hand mapping; surgical robotics; anthropomorphism

Record Details Similar Records Cite « Share

❌

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

APA (6^th Edition):

Tzemanaki, A. (2016). Anthropomorphic surgical system for soft tissue robot-assisted surgery. (Doctoral Dissertation). University of the West of England, Bristol. Retrieved from https://uwe-repository.worktribe.com/output/924040 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.694659

Chicago Manual of Style (16^th Edition):

Tzemanaki, Antonia. “Anthropomorphic surgical system for soft tissue robot-assisted surgery.” 2016. Doctoral Dissertation, University of the West of England, Bristol. Accessed March 04, 2021. https://uwe-repository.worktribe.com/output/924040 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.694659.

MLA Handbook (7^th Edition):

Tzemanaki, Antonia. “Anthropomorphic surgical system for soft tissue robot-assisted surgery.” 2016. Web. 04 Mar 2021.

Vancouver:

Tzemanaki A. Anthropomorphic surgical system for soft tissue robot-assisted surgery. [Internet] [Doctoral dissertation]. University of the West of England, Bristol; 2016. [cited 2021 Mar 04]. Available from: https://uwe-repository.worktribe.com/output/924040 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.694659.

Council of Science Editors:

Tzemanaki A. Anthropomorphic surgical system for soft tissue robot-assisted surgery. [Doctoral Dissertation]. University of the West of England, Bristol; 2016. Available from: https://uwe-repository.worktribe.com/output/924040 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.694659

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

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

URL: http://www.theses.fr/2018COMP2447

►

Dans la communauté robotique aérienne, un croissant intérêt pour les systèmes multirobot (SMR) est apparu ces dernières années. Cela a été motivé par i) les… (more)

▼

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

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

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

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

Record Details Similar Records Cite « Share

❌

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

APA (6^th Edition):

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

Chicago Manual of Style (16^th Edition):

Mahdoui Chedly, Nesrine. “Communicating multi-UAV system for cooperative SLAM-based exploration : Système multi-UAV communicant pour l'exploration coopérative basée sur le SLAM.” 2018. Doctoral Dissertation, Compiègne. Accessed March 04, 2021. http://www.theses.fr/2018COMP2447.

MLA Handbook (7^th Edition):

Mahdoui Chedly, Nesrine. “Communicating multi-UAV system for cooperative SLAM-based exploration : Système multi-UAV communicant pour l'exploration coopérative basée sur le SLAM.” 2018. Web. 04 Mar 2021.

Vancouver:

Mahdoui Chedly N. Communicating multi-UAV system for cooperative SLAM-based exploration : Système multi-UAV communicant pour l'exploration coopérative basée sur le SLAM. [Internet] [Doctoral dissertation]. Compiègne; 2018. [cited 2021 Mar 04]. Available from: http://www.theses.fr/2018COMP2447.

Council of Science Editors:

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

5. Romero Cano, Victor Adolfo. Mapeamento e localização simultâneos para multirobôs cooperativos.

Degree: Mestrado, Engenharia de Sistemas, 2010, University of São Paulo

URL: http://www.teses.usp.br/teses/disponiveis/3/3139/tde-17012011-102646/ ;

►

Neste trabalho foi desenvolvido um estudo comparativo entre duas estratégias básicas para a combinação de mapas parciais baseados em marcos para sistemas multirobô: a estratégia… (more)

▼

Neste trabalho foi desenvolvido um estudo comparativo entre duas estratégias básicas para a combinação de mapas parciais baseados em marcos para sistemas multirobô: a estratégia por associação de marcos e a estratégia por distância relativa entre os robôs (também conhecida por rendez-vous). O ambiente simulado corresponde a um entorno plano povoado de árvores que são mapeadas por uma equipe de dois robôs móveis equipados com sensores laser para medir a largura e localização de cada _arvore (marco). Os mapas parciais são estimados usando o algoritmo FastSLAM. Além do estudo comparativo propõe-se também um algoritmo alternativo de localização e mapeamento simultâneos para multirrobôs cooperativos, utilizando as observações entre os robôs não só para o cálculo da transformação de coordenadas, mas também no desenvolvimento de um processo seqüencial para atualizar o alinhamento entre os mapas, explorando de forma mais eficiente as observações entre robôs. Os experimentos realizados demonstraram que o algoritmo proposto pode conduzir a resultados significativamente melhores em termos de precisão quando comparado com a abordagem de combinação de mapas tradicional (usando distância relativa entre os robôs).

In this text a comparative survey between the two basic strategies used to combine partial landmark based maps in multi-robot systems, data association and inter-robot observations (known as rendezvous), is presented. The simulated environment is a at place populated by trees, which are going to be mapped by a two-mobile robot team equipped with laser range finders in order to measure every tree (landmark) location and width. Partial maps are estimated using the algorithm FastSLAM. Besides the comparative study it is also proposed an alternative algorithm for Simultaneous Localization and Mapping (SLAM) in multi-robot cooperative systems. It uses observations between robots (detections) not only for calculating the coordinate transformation but also in the development of a sequential process for updating the alignment between maps, exploiting in a more efficient way the inter-robot observations. The experiments showed that the algorithm can lead to significantly better results in terms of accuracy when compared with the traditional approach of combining maps (using the relative distance between robots).

Advisors/Committee Members: Costa, Oswaldo Luiz do Valle.

Subjects/Keywords: Aplyed probability; Inteligência artificial; Multi-robot systems; Probabilidade aplicada; Robótica (simulação computacional); Robotics; Simultaneous localization and mapping

Record Details Similar Records Cite « Share

❌

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

APA (6^th Edition):

Romero Cano, V. A. (2010). Mapeamento e localização simultâneos para multirobôs cooperativos. (Masters Thesis). University of São Paulo. Retrieved from http://www.teses.usp.br/teses/disponiveis/3/3139/tde-17012011-102646/ ;

Chicago Manual of Style (16^th Edition):

Romero Cano, Victor Adolfo. “Mapeamento e localização simultâneos para multirobôs cooperativos.” 2010. Masters Thesis, University of São Paulo. Accessed March 04, 2021. http://www.teses.usp.br/teses/disponiveis/3/3139/tde-17012011-102646/ ;.

MLA Handbook (7^th Edition):

Romero Cano, Victor Adolfo. “Mapeamento e localização simultâneos para multirobôs cooperativos.” 2010. Web. 04 Mar 2021.

Vancouver:

Romero Cano VA. Mapeamento e localização simultâneos para multirobôs cooperativos. [Internet] [Masters thesis]. University of São Paulo; 2010. [cited 2021 Mar 04]. Available from: http://www.teses.usp.br/teses/disponiveis/3/3139/tde-17012011-102646/ ;.

Council of Science Editors:

Romero Cano VA. Mapeamento e localização simultâneos para multirobôs cooperativos. [Masters Thesis]. University of São Paulo; 2010. Available from: http://www.teses.usp.br/teses/disponiveis/3/3139/tde-17012011-102646/ ;

University of Oxford

6. Napier, Ashley A. Vision & laser for road based navigation.

Degree: PhD, 2014, University of Oxford

URL: http://ora.ox.ac.uk/objects/uuid:faeb2cb6-d97c-43e2-b291-1564d1388bbd ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.629540

► This thesis presents novel solutions for two fundamental problems associated with autonomous road driving. The first is accurate and persistent localisation and the second is… (more)

▼ This thesis presents novel solutions for two fundamental problems associated with autonomous road driving. The first is accurate and persistent localisation and the second is automatic extrinsic sensor calibration. We start by describing a stereo Visual Odometry (VO) system, which forms the basis of later chapters. This sparse approach to ego-motion estimation leverages the efficacy and speed of the BRIEF descriptor to measure frame-to-frame correspondences and infer subsequent motion. The system is able to output locally metric trajectory estimates as demonstrated on many kilometres of data. We then present a robust vision only localisation system based on a two-stage approach. Firstly we gather a representative survey in ideal weather and lighting conditions. We then leverage locally accurate VO trajectories to synthesise a high resolution orthographic image strip of the road surface. This road image provides a highly descriptive and stable template against which to match subsequent traversals. During the second phase, localisation, we use the VO to provide high frequency pose updates, but correct for the drift inherent in all locally derived pose estimates with low frequency updates from a dense image matching technique. Here a live image stream is registered against synthesised views of the road image generated form the survey. We use an information theoretic measure, Mutual Information, to determine the alignment of live images and synthesised views. Using this measure we are able to successfully localise subsequent traversals of surveyed routes under even the most intense lighting changes expected in outdoor applications. We demonstrate our system localising in multiple environments with accuracy commensurate to that of an Inertial Navigation System. Finally we present a technique for automatically determining the extrinsic calibration between a camera and Light Detection And Ranging (LIDAR) sensor in natural scenes. Rather than requiring a stationary platform as with prior art, we actually exploit platform motion allowing us to aggregate data and adopt a retrospective approach to calibration. Coupled with accurate timing this retrospective approach allows for sensors with non-overlapping fields of view to be calibrated as long as at some point the observed workspaces overlap. We then show how we can improve the accuracy of our calibration estimates by treating each single shot estimate as a noisy measurement and fusing them together using a recursive Bayes filter. We evaluate the calibration algorithm in multiple environments and demonstrate millimetre precision in translation and deci-degrees in rotation.

Subjects/Keywords: 629.8; Information engineering; Image understanding; Robotics; localisation; computer vision; mapping; robot navigation; calibration; multi-modal calibration; life long robotics

Record Details Similar Records Cite « Share

❌

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

APA (6^th Edition):

Napier, A. A. (2014). Vision & laser for road based navigation. (Doctoral Dissertation). University of Oxford. Retrieved from http://ora.ox.ac.uk/objects/uuid:faeb2cb6-d97c-43e2-b291-1564d1388bbd ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.629540

Chicago Manual of Style (16^th Edition):

Napier, Ashley A. “Vision & laser for road based navigation.” 2014. Doctoral Dissertation, University of Oxford. Accessed March 04, 2021. http://ora.ox.ac.uk/objects/uuid:faeb2cb6-d97c-43e2-b291-1564d1388bbd ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.629540.

MLA Handbook (7^th Edition):

Napier, Ashley A. “Vision & laser for road based navigation.” 2014. Web. 04 Mar 2021.

Vancouver:

Napier AA. Vision & laser for road based navigation. [Internet] [Doctoral dissertation]. University of Oxford; 2014. [cited 2021 Mar 04]. Available from: http://ora.ox.ac.uk/objects/uuid:faeb2cb6-d97c-43e2-b291-1564d1388bbd ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.629540.

Council of Science Editors:

Napier AA. Vision & laser for road based navigation. [Doctoral Dissertation]. University of Oxford; 2014. Available from: http://ora.ox.ac.uk/objects/uuid:faeb2cb6-d97c-43e2-b291-1564d1388bbd ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.629540

7. Kapoutsis, Athanasios. Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments.

Degree: 2017, Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ)

URL: http://hdl.handle.net/10442/hedi/42416

► In this thesis we deal with the problem of navigating a team of robots in both known and unknown environments, so as the mission's objectives… (more)

▼ In this thesis we deal with the problem of navigating a team of robots in both known and unknown environments, so as the mission's objectives to be fulfilled. The structure of this thesis is divided into two main pillars. In the first pillar we deal with the problem of determining an optimal path involving all points of a given area of interest (offline), while avoiding sub-areas with specific characteristics (e.g. obstacles, no-fly zones, etc.). This problem, which is usually referred as multi-robot coverage path planning (mCPP), has been proven to be NP-hard. Currently, existing approaches produce polynomial algorithms that are able to only approximate the minimum covering time. In chapter 3, a novel methodology is proposed, capable of producing such optimal paths in approximately polynomial time. In the heart of the proposed approach lies the DARP algorithm, which divides the terrain into a number of equal areas each corresponding to a specific robot, in such a way to guarantee: complete coverage, non-backtracking solution, minimum coverage path, while at the same time does not need any preparatory stage. In the second pillar of this thesis, we design algorithms capable of navigating team of robots without any prior knowledge. More specifically, we deal with problems where the objectives of the multi-robot system can be transformed to the optimization of a specifically defined cost-function. Due to the unknown environment, unknown robots' dynamics, sensor nonlinearities, etc., the analytic form of the cost-function is not available a priori. Therefore, standard gradient descent-like algorithms are not applicable to these problems. In chapter 4, we first show that optimal one-step-ahead exploration schemes that are based on a transformed optimization criterion can lead to highly efficient solutions to the multi-robot exploration. As, however, optimal one-step-ahead solutions to the transformed optimization criterion cannot be practically obtained using conventional optimization schemes, the second step in our approach is to combine the use of the transformed optimization criterion with the Cognitive Adaptive Optimization (CAO): CAO is a practicably feasible computational methodology which adaptively provides an accurate approximation of the optimal one-step-ahead solutions. This combination results in a multi-robot exploration scheme which is both practically implementable and provides with quite efficient solutions as it is shown both by theoretical analysis and, most importantly, by extensive simulation experiments and real-life underwater sea-floor mapping experiments in the Leixoes port, Portugal. Finally, in chapter 5, we propose a distributed algorithm applicable to a quite large class of practical multi-robot applications. In such multi-robot applications, the user-defined objectives of the mission can be casted as a general optimization problem, without explicit guidelines of the sub-tasks per different robot. A novel distributed methodology is proposed, based on the CAO algorithm (as proposed on the…

Subjects/Keywords: Αυτόνομη πλοήγηση; Ομάδες ρομπότ; Βελτιστοποίηση συνάρτησης κόστους; Κάλυψη περιοχών; Χαρτογράφηση; Προσαρμοστικά συστήματα; Ελάχιστα μονοπάτια κάλυψης; Θαλάσσια ρομποτικά συστήματα; Autonomous navigation; Multi-robot teams; Cost function optimization; Multi-robot coverage; Multi-robot mapping; Learning and adaptive system; Minimum coverage paths; Marine robotics

Record Details Similar Records Cite « Share

❌

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

APA (6^th Edition):

Kapoutsis, A. (2017). Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments. (Thesis). Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ). Retrieved from http://hdl.handle.net/10442/hedi/42416

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):

Kapoutsis, Athanasios. “Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments.” 2017. Thesis, Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ). Accessed March 04, 2021. http://hdl.handle.net/10442/hedi/42416.

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

MLA Handbook (7^th Edition):

Kapoutsis, Athanasios. “Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments.” 2017. Web. 04 Mar 2021.

Vancouver:

Kapoutsis A. Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments. [Internet] [Thesis]. Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ); 2017. [cited 2021 Mar 04]. Available from: http://hdl.handle.net/10442/hedi/42416.

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

Council of Science Editors:

Kapoutsis A. Towards a fully autonomous and cooperative deployment of multi-robot teams for exploration and coverage in unknown or partially known environments. [Thesis]. Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ); 2017. Available from: http://hdl.handle.net/10442/hedi/42416

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

8. Leung, Keith Yu Kit. Cooperative Localization and Mapping in Sparsely-communicating Robot Networks.

Degree: 2012, University of Toronto

URL: http://hdl.handle.net/1807/32809

►

This thesis examines the use of multiple robots in cooperative simultaneous localization and mapping (SLAM), where each robot must estimate the poses of all robots… (more)

Subjects/Keywords: Multi-robot System; Simultaneous Localization and Mapping (SLAM); Mobile Robotics; Networked Robotics; 0771

…3.7 The data collection process for the multi-robot cooperative localization and mapping… …localization and mapping, or state estimation). In general, we can classify a multi-robot system… …is cooperative simultaneous localization and mapping (SLAM) with a multi-robot… …a sample of the landmarks used in the making of the multi-robot cooperative localization… …and mapping dataset . . . . . 84 Reference frames for the robot body, and the sensor (…

13 more images…

Record Details Similar Records Cite « Share

❌

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

APA (6^th Edition):

Leung, K. Y. K. (2012). Cooperative Localization and Mapping in Sparsely-communicating Robot Networks. (Doctoral Dissertation). University of Toronto. Retrieved from http://hdl.handle.net/1807/32809

Chicago Manual of Style (16^th Edition):

Leung, Keith Yu Kit. “Cooperative Localization and Mapping in Sparsely-communicating Robot Networks.” 2012. Doctoral Dissertation, University of Toronto. Accessed March 04, 2021. http://hdl.handle.net/1807/32809.

MLA Handbook (7^th Edition):

Leung, Keith Yu Kit. “Cooperative Localization and Mapping in Sparsely-communicating Robot Networks.” 2012. Web. 04 Mar 2021.

Vancouver:

Leung KYK. Cooperative Localization and Mapping in Sparsely-communicating Robot Networks. [Internet] [Doctoral dissertation]. University of Toronto; 2012. [cited 2021 Mar 04]. Available from: http://hdl.handle.net/1807/32809.

Council of Science Editors:

Leung KYK. Cooperative Localization and Mapping in Sparsely-communicating Robot Networks. [Doctoral Dissertation]. University of Toronto; 2012. Available from: http://hdl.handle.net/1807/32809

9. Kim, Jonghoek. Simultaneous cooperative exploration and networking.

Degree: PhD, Electrical and Computer Engineering, 2011, Georgia Tech

URL: http://hdl.handle.net/1853/39536

► This thesis provides strategies for multiple vehicles to explore unknown environments in a cooperative and systematic manner. These strategies are called Simultaneous Cooperative Exploration and… (more)

Subjects/Keywords: Capturing intruders on graphs; Curve-tracking control; Voronoi diagrams; Multi-robot exploration and mapping; Voronoi polygons; Algorithms; Information networks

…construction of Voronoi diagrams (Chapter 3), multi-robot exploration and mapping (… …curve-tracking control, Voronoi diagrams, multi-robot exploration and mapping, and capturing… …of the robot is smooth. 10 1.2.3 Multi-Robot Exploration and Mapping As autonomous… …previous works on multi-robot exploration and mapping. The problem of exploring an unknown… …points. Multi-robot exploration and mapping under uncertainty about the robots’ relative…

5 more images…

Record Details Similar Records Cite « Share

❌

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

APA (6^th Edition):

Kim, J. (2011). Simultaneous cooperative exploration and networking. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/39536

Chicago Manual of Style (16^th Edition):

Kim, Jonghoek. “Simultaneous cooperative exploration and networking.” 2011. Doctoral Dissertation, Georgia Tech. Accessed March 04, 2021. http://hdl.handle.net/1853/39536.

MLA Handbook (7^th Edition):

Kim, Jonghoek. “Simultaneous cooperative exploration and networking.” 2011. Web. 04 Mar 2021.

Vancouver:

Kim J. Simultaneous cooperative exploration and networking. [Internet] [Doctoral dissertation]. Georgia Tech; 2011. [cited 2021 Mar 04]. Available from: http://hdl.handle.net/1853/39536.

Council of Science Editors:

Kim J. Simultaneous cooperative exploration and networking. [Doctoral Dissertation]. Georgia Tech; 2011. Available from: http://hdl.handle.net/1853/39536

10. Tanwar, Siddharth. Decentralized collaborative localization in urban environments with inter-agent ranging and 3D-mapping-aided (3DMA) GNSS.

Degree: MS, Electrical & Computer Engr, 2019, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/104791

► In recent times, there has been an increasing number of applications of autonomous systems such as unmanned aerial vehicles (UAVs) and self-driving cars in urban… (more)

▼ In recent times, there has been an increasing number of applications of autonomous systems such as unmanned aerial vehicles (UAVs) and self-driving cars in urban environments for tasks such as transport, delivery, photography, surveillance and search and rescue. Global Navigation Satellite System (GNSS) navigation in urban environments is prone to error sources such as multipath and signal blockage due to buildings in the environment. However, if we consider several agents, then the localization capabilities may differ among the agents due to reasons such as heterogeneity of sensors, different view of the sky, the structure of buildings around agents etc. This variety can be leveraged to localize all the agents better if they cooperate with each other. Collaborative localization (CL) is a way to aid navigation in a multi-agent system. However, CL algorithms face challenges such as scalability, robustness to noisy sensor data and single points of failure, and operability despite limited inter-agent communication. Additionally, a 3D Map of the environment can be used to predict and account for the effects of multipath and signal-blockage. Shadow Matching has shown high potential in 3D-mapping-aided (3DMA) GNSS navigation for a single agent in urban environments, but it suffers from errors such as ambiguity which cannot be reliably mitigated without external sensing and integrated systems. Shadow Matching naturally compliments range-based GNSS algorithms and is ideally used alongside it. This integration, however, is not guaranteed to reduce ambiguity and may in fact increase it. In this thesis, we present three novel decentralized collaborative localization methods for navigation of multiple agents in an urban environment. The proposed frameworks are applicable to sparsely connected networks and information exchange is limited to only those agents which obtain relative inter-agent measurements. Furthermore, we allow the agents to carry out the updates asynchronously. First, we present an algorithm which allows for deep coupling of agents' GPS measurements with inter-agent ranging measurements. We build this work upon a decentralized extended Kalman filter based collaborative localization framework and take advantage of the variable visibility of the sky for different agents. We propose a methodology for relaying satellite information between agents to augment the set of visible satellites on each agent with virtual satellites, thereby providing more constraint equations to each agent. The proposed method is validated on real world dataset involving an aerial vehicle, ground agents, and several range-only sensors. Next, we incorporate the 3D city map and present a novel snapshot algorithm which couples 3DMA GNSS measurements with inter-agent ranging modality. We build this upon the Intelligent Urban Positioning (IUP) 3DMA algorithm which uses Shadow Matching (SM) and Likelihood-based 3DMA Ranging (LB-3DMAr) algorithms. The introduction of multiple agents equipped with ranging sensors in the framework enables… Advisors/Committee Members: Gao, Grace X (advisor).

Subjects/Keywords: Collaborative; Localization; 3D-mapping-aided GNSS; Shadow Matching; Intelligent Urban Positioning; Multi-Agent; GPS; UWB; Ranging; UAV; Decentralized Collaborative Localization; Robot Network; Urban Navigation

…1.2: Multi-agent collaboration leads to a better satellite geometry. and signal blockage… …high) on either side. 1.2 Multi-Agent Collaboration Collaborative localization (… …sensors) and information is shared between the agents. • Robot sensing suffers from noise… …dimension filters, one for each robot, thereby requiring no fusion center. Their approach, though… …optimal, incurred a high communication cost (O(N ) per robot with respect to the…

10 more images…

Record Details Similar Records Cite « Share

❌

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

APA (6^th Edition):

Tanwar, S. (2019). Decentralized collaborative localization in urban environments with inter-agent ranging and 3D-mapping-aided (3DMA) GNSS. (Thesis). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/104791

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):

Tanwar, Siddharth. “Decentralized collaborative localization in urban environments with inter-agent ranging and 3D-mapping-aided (3DMA) GNSS.” 2019. Thesis, University of Illinois – Urbana-Champaign. Accessed March 04, 2021. http://hdl.handle.net/2142/104791.

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

MLA Handbook (7^th Edition):

Tanwar, Siddharth. “Decentralized collaborative localization in urban environments with inter-agent ranging and 3D-mapping-aided (3DMA) GNSS.” 2019. Web. 04 Mar 2021.

Vancouver:

Tanwar S. Decentralized collaborative localization in urban environments with inter-agent ranging and 3D-mapping-aided (3DMA) GNSS. [Internet] [Thesis]. University of Illinois – Urbana-Champaign; 2019. [cited 2021 Mar 04]. Available from: http://hdl.handle.net/2142/104791.

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

Council of Science Editors:

Tanwar S. Decentralized collaborative localization in urban environments with inter-agent ranging and 3D-mapping-aided (3DMA) GNSS. [Thesis]. University of Illinois – Urbana-Champaign; 2019. Available from: http://hdl.handle.net/2142/104791

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

Open Access Theses and Dissertations