Dissertations / Theses on the topic 'Mobile robotics'
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Barlas, Fırat Alizade Rasim. "Design Of A Mars Rover Suspension Mechanism /." [S.l. : s.n.], 2004. http://library.iyte.edu.tr/tezler/master/makinamuh/T000341.pdf.
Full textKeppeler, Karl E. (Karl Edward). "A mobile robotics development platform." Thesis, Massachusetts Institute of Technology, 1996. http://hdl.handle.net/1721.1/39077.
Full textIncludes bibliographical references (leaf 43).
by Karl E. Keppeler.
M.Eng.
Peel, Andrew Gregory. "On designing a mobile robot for robocup /." Connect to thesis, 2006. http://eprints.unimelb.edu.au/archive/00003101.
Full textTang, Yilun. "Robot navigation and localization in regular office environment /." View abstract or full-text, 2010. http://library.ust.hk/cgi/db/thesis.pl?CSED%202010%20TANG.
Full textBiddlestone, Scott Richard. "Collaborative Motion for Mobile Platforms." The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1357227236.
Full textZienkiewicz, Jacek. "Dense monocular perception for mobile robotics." Thesis, Imperial College London, 2017. http://hdl.handle.net/10044/1/58855.
Full textJohansen, Maria. "Adaptive Robotics : A behavior-based system for control of mobile robots." Thesis, Norwegian University of Science and Technology, Department of Computer and Information Science, 2010. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-10855.
Full textThis report will explore behavior-based robotics and relevant AI techniques. A system for autonomous control of mobile robots inspired by behavior-based robotics, in particular Rodney Brooks' subsumption architecture, have been implemented, adapted for use in a multiagent environment. The system is modular and flexible, allowing for easy addition and removal of system parts. A weight-based command fusion approach is taken to action selection, making it possible to satisfy multiple behaviors simultaneously.
Bigheti, Jeferson André [UNESP]. "Navegação de robôs em ambientes internos usando slam." Universidade Estadual Paulista (UNESP), 2011. http://hdl.handle.net/11449/87178.
Full textCoordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)
A proposta deste trabalho é dotar um robô móvel com a capacidade de mapear e se localizar no ambiente simultaneamente onde tal problema é conhecido na literatura clássica como SLAM (Simultaneous Localizaton and Mapping). Para operar, o robô deve ser capaz de manter uma estimativa da sua posição com base nos sensores embarcados veículo, adquirir e utilizar conhecimento sobre o mundo ao seu redor, possuir a habilidade de reconhecer obstáculos, e responder em tempo real as situações que possam ocorrer neste ambiente. Este trabalho propõe também a utilização de um sensor de ultra-som com varredura frontal de 180 graus, para detecção de landmarks (marcos) naturais em um ambiente interno para construção do mapa na memória do sistema de controle do robô. As informações do deslocamento do robô são fornecidas pelo sistema de odometria com encoder. Essas informações de deslocamento do robô a distância dos landmarks são combinadas através da aplicação do Filtro de Kalman Estendido (EKF), para o cálculode posição e orientação estimados do robô bem como a posição estimada dos landmarks (mapa). Trata-se de um trabalho com resultados preliminares, que tem como contribuição específica realizar a tarefa de localização e mapeamento simultaneamente (SLAM) usando um sensor de ultra-som rotativo. São apresentados também os resultados de simulação da técnica de localização e mapeamento simultâneo usando o Filtro de Kalman Estendido (EKT) e complementadas com avaliações experimentais em ambiente reais, aplicado a um robô móvel trabalhando como um transportador de materiais automatizado no chão de fábrica. Discussões são apresentadas sobre os sensores usados, a complexidade computacional, a associação de dados e a modelagem e controle do robô móvel
The purpose of this paper is to provide a mobile robot with the ability to simultaneously map and locate the environment. This problem is know in classical literature as SLAM (Simultaneous Localization and Mapping). To operate, the robot must be able to maintain an estimation of its position based on sensors attached to the vehicle, acquire and use knowledge about the world around it, have the ability to recognize obstacles and respond in real time situations that may occur in this environment. This paper also proposes the use of an ultrasonic sensor to scan an angle of 180 degrees, for detection of landmarks in a natural environment in order to build the internal map inside the robot's controller memory. The displacement information is provided by the robot odometry system with encoder. This information is combined through the application of Extended Kalmar filter (EKT). This is a preliminary work, which has the specific contribution the task of locating and mapping simultaneously (SLAM) using a rotating ultrasonic sensor. There is also presented the simulation of the technique of simultaneous localization and mapping using the extended Kalman filter (EKT) in addition of experimental evaluations in real environment, applied to a mobile robot working as an automated carried materials on the factory floor. Discussions are presented on the used sensors, the computational complexity, data combination and modeling and control of mobile robot
August, Riley. "Applying genetic programming to scripted mobile robotics." Thesis, University of Ottawa (Canada), 2009. http://hdl.handle.net/10393/28474.
Full textSilva, João Manuel Leite da. "Perception and software architecture for mobile robotics." Doctoral thesis, Universidade de Aveiro, 2014. http://hdl.handle.net/10773/14083.
Full textWhen developing software for autonomous mobile robots, one has to inevitably tackle some kind of perception. Moreover, when dealing with agents that possess some level of reasoning for executing their actions, there is the need to model the environment and the robot internal state in a way that it represents the scenario in which the robot operates. Inserted in the ATRI group, part of the IEETA research unit at Aveiro University, this work uses two of the projects of the group as test bed, particularly in the scenario of robotic soccer with real robots. With the main objective of developing algorithms for sensor and information fusion that could be used e ectively on these teams, several state of the art approaches were studied, implemented and adapted to each of the robot types. Within the MSL RoboCup team CAMBADA, the main focus was the perception of ball and obstacles, with the creation of models capable of providing extended information so that the reasoning of the robot can be ever more e ective. To achieve it, several methodologies were analyzed, implemented, compared and improved. Concerning the ball, an analysis of ltering methodologies for stabilization of its position and estimation of its velocity was performed. Also, with the goal keeper in mind, work has been done to provide it with information of aerial balls. As for obstacles, a new de nition of the way they are perceived by the vision and the type of information provided was created, as well as a methodology for identifying which of the obstacles are team mates. Also, a tracking algorithm was developed, which ultimately assigned each of the obstacles a unique identi er. Associated with the improvement of the obstacles perception, a new algorithm of estimating reactive obstacle avoidance was created. In the context of the SPL RoboCup team Portuguese Team, besides the inevitable adaptation of many of the algorithms already developed for sensor and information fusion and considering that it was recently created, the objective was to create a sustainable software architecture that could be the base for future modular development. The software architecture created is based on a series of di erent processes and the means of communication among them. All processes were created or adapted for the new architecture and a base set of roles and behaviors was de ned during this work to achieve a base functional framework. In terms of perception, the main focus was to de ne a projection model and camera pose extraction that could provide information in metric coordinates. The second main objective was to adapt the CAMBADA localization algorithm to work on the NAO robots, considering all the limitations it presents when comparing to the MSL team, especially in terms of computational resources. A set of support tools were developed or improved in order to support the test and development in both teams. In general, the work developed during this thesis improved the performance of the teams during play and also the e ectiveness of the developers team when in development and test phases.
Durante o desenvolvimento de software para robôs autónomos móveis, e inevitavelmente necessário lidar com algum tipo de perceção. Al em disso, ao lidar com agentes que possuem algum tipo de raciocínio para executar as suas ações, há a necessidade de modelar o ambiente e o estado interno do robô de forma a representar o cenário onde o robô opera. Inserido no grupo ATRI, integrado na unidade de investigação IEETA da Universidade de Aveiro, este trabalho usa dois dos projetos do grupo como plataformas de teste, particularmente no cenário de futebol robótico com robôs reais. Com o principal objetivo de desenvolver algoritmos para fusão sensorial e de informação que possam ser usados eficazmente nestas equipas, v arias abordagens de estado da arte foram estudadas, implementadas e adaptadas para cada tipo de robôs. No âmbito da equipa de RoboCup MSL, CAMBADA, o principal foco foi a perceção da bola e obstáculos, com a criação de modelos capazes de providenciar informação estendida para que o raciocino do robô possa ser cada vez mais eficaz. Para o alcançar, v arias metodologias foram analisadas, implementadas, comparadas e melhoradas. Em relação a bola, foi efetuada uma análise de metodologias de filtragem para estabilização da sua posição e estimação da sua velocidade. Tendo o guarda-redes em mente, foi também realizado trabalho para providenciar informação de bolas no ar. Quanto aos obstáculos, foi criada uma nova definição para a forma como são detetados pela visão e para o tipo de informação fornecida, bem como uma metodologia para identificar quais dos obstáculos são colegas de equipa. Além disso foi desenvolvido um algoritmo de rastreamento que, no final, atribui um identicador único a cada obstáculo. Associado a melhoria na perceção dos obstáculos foi criado um novo algoritmo para realizar desvio reativo de obstáculos. No contexto da equipa de RoboCup SPL, Portuguese Team, al em da inevitável adaptação de vários dos algoritmos j a desenvolvidos para fusão sensorial e de informação, tendo em conta que foi recentemente criada, o objetivo foi criar uma arquitetura sustentável de software que possa ser a base para futuro desenvolvimento modular. A arquitetura de software criada e baseada numa série de processos diferentes e métodos de comunicação entre eles. Todos os processos foram criados ou adaptados para a nova arquitetura e um conjunto base de papeis e comportamentos foi definido para obter uma framework funcional base. Em termos de perceção, o principal foco foi a definição de um modelo de projeção e extração de pose da câmara que consiga providenciar informação em coordenadas métricas. O segundo objetivo principal era adaptar o algoritmo de localização da CAMBADA para funcionar nos robôs NAO, considerando todas as limitações apresentadas quando comparando com a equipa MSL, principalmente em termos de recursos computacionais. Um conjunto de ferramentas de suporte foram desenvolvidas ou melhoradas para auxiliar o teste e desenvolvimento em ambas as equipas. Em geral, o trabalho desenvolvido durante esta tese melhorou o desempenho da equipas durante os jogos e também a eficácia da equipa de programação durante as fases de desenvolvimento e teste.
Bevilacqua, Paolo. "Efficient Motion Planning for Wheeled Mobile Robotics." Doctoral thesis, University of Trento, 2019. http://eprints-phd.biblio.unitn.it/3771/2/disclaimer.pdf.
Full textSaurel, Guilhem. "Génération de mouvement en robotique mobile et humanoïde." Thesis, Toulouse, INSA, 2017. http://www.theses.fr/2017ISAT0036/document.
Full textGeneration of locomotion motions in mobile robotics has been studied in the academic world for several decades. The theory concerning the modeling and control of wheeled robots is largely mature. However, the actual implementation of these models in real conditions requires further studies. In this thesis, we present three projects using three different types of mobile robots. In each case, we begin with an analysis of the required qualities of a motion in a particular context, whether artistic or industrial, and end with the presentation of the algorithmic and software architectures implemented, particularly in the context of exhibitions of several months, where the public is invited to share the space of evolution of robots. The realization of these projects shows that some technological choices seem insignificant at the time of the design of the robots are decisive in the final stages of production. One can extrapolate this remark from these mobile robots with two or three degrees of freedom towards humanoid robots which can have several tens. The classical strategy of first designing the mechatronic architecture of humanoid robots and then raising the question of their control has reached its limits, as illustrated, for example, by their energy consumption and the difficulty to obtain dynamic walking motions on these robots, yet designed for the purpose of walking. From a global perspective of robot design, we propose a system of codesign, where it is possible to simultaneously optimize the mechanical design and the controllers of a robot. This system is firstly tested by various examples as proof of concept. It is then applied to the comparison of rigid and elastic actuators on different biped robots, then to the study of the impact of the stabilization of the head on the general stabilization of the body and finally to the design of a prototype of semi-passive walker
Mourlam, Timothy John. "Developing a Mobile Reduced Gravity Simulator." Thesis, Kansas State University, 2012. http://hdl.handle.net/2097/14963.
Full textDepartment of Mechanical & Nuclear Engineering
Dale Schinstock
This thesis describes the design, development, and initial testing of the Mobile Reduced Gravity Simulator (MoRGS). MoRGS is a hoist with active force control, to be used in terrestrial environments with human test subjects for the simulation of partial gravity or zero gravity environments. It is to be used with the subject performing activities while being harnessed to the hoist. The following work here describes the mechanical design, structural and dynamic analyses, simulations used to aid in the control design and component selection, the development of unique control algorithms tailored to the objectives and uncommon dynamics of MoRGS, and initial testing performed without the use of human subjects. Major components of the MoRGS system include: AC servo motor, gearbox, custom-designed drum, pneumatic muscle, load cell, and a microprocessor. The system is designed to track the motion of the test subject over several meters of vertical travel at speeds of up to 2 Gs of acceleration. This allows for high performance during subject’s physical tests, including running on a treadmill and a climbing ladder. It is capable of offloading 50 lb. to 600 lb. and the level of desired reduced gravity is programmable. Results from testing of the system demonstrate that MoRGS system achieves its goals. It performs well, and the sensitivity of the force controller enables it to compensate for the most minute human motion disturbance.
Seward, Derek William. "The development of intelligent mobile robots." Thesis, Lancaster University, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.301085.
Full textCorominas, Murtra Andreu. "Map-based localization for urban service mobile robotics." Doctoral thesis, Universitat Politècnica de Catalunya, 2011. http://hdl.handle.net/10803/41555.
Full textActualment, la recerca en robòtica mòbil té un interés creixent en exportar els resultats de navegació autònoma aconseguits en entorns interiors cap a d'altres tipus d'entorns més exigents, com, per exemple, les àrees urbanes peatonals. Desenvolupar capacitats de navegació autònoma en aquests entorns urbans és un requisit bàsic per poder proporcionar un conjunt de serveis de més alt nivell a una comunitat d'usuaris. Malgrat tot, exportar les tècniques d'interiors cap a entorns exteriors peatonals no és evident, a causa de la major dimensió de l'entorn, del dinamisme de l'escena provocada pels peatons i per altres obstacles en moviment, de la resposta de certs sensors a la il.luminació natural, i de la constant presència d'elements tridimensionals tals com rampes, escales, voreres o forats. D'altra banda, la localització de robots mòbils basada en GPS ha demostrat uns resultats insuficients de cara a una navegació robusta i de llarga durada en entorns urbans. Una de les peces clau en la navegació autònoma és la localització. En el cas que la localització consideri un mapa conegut a priori, encara que no sigui un model complet de l'entorn, parlem d'una localització basada en un mapa. Aquesta assumpció és realista ja que la tendència actual de les administracions locals és de construir mapes precisos de les ciutats, especialment dels llocs d'interés tals com les zones més cèntriques. El fet de tenir els robots localitzats en un mapa permet una planificació i una monitorització d'alt nivell, i així els robots poden arribar a destinacions indicades sobre el mapa, tot seguint de forma deliberativa una ruta prèviament planificada. Aquesta tesi tracta el tema de la localització de robots mòbils, basada en un mapa i per entorns urbans peatonals. La proposta de la tesi utilitza el filtre de partícules, un mètode probabilístic i recursiu, ben conegut i àmpliament utilitzat per la fusió de dades i l'estimació d'estats. Les principals contribucions de la tesi queden dividides en quatre aspectes: (1) experimentació de llarga durada del seguiment de la posició, tant en 2D com en 3D, d'un robot mòbil en entorns urbans reals, en el context de la navegació autònoma, (2) desenvolupament d'una tècnica ràpida i precisa per calcular en temps d'execució els models d'observació de distàncies en entorns 3D, un requisit bàsic pel rendiment del filtre de partícules a temps real, (3) formulació d'un filtre de partícules que integra conjunts de dades asíncrones i (4) proposta teòrica per solucionar la localització global d'una manera activa i cooperativa, entenent la cooperació com el fet de compartir informació, o bé com el de planificar accions conjuntes per solucionar un objectiu comú.
Pipe, Anthony Graham. "Reinforcement learning and knowledge transformation in mobile robotics." Thesis, University of the West of England, Bristol, 1997. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.364077.
Full textSvetlicic, Ivan. "EMOTION BASED SUBSUMPTION ARCHITECTURE FOR AUTONOMOUS MOBILE ROBOTICS." Miami University / OhioLINK, 2004. http://rave.ohiolink.edu/etdc/view?acc_num=miami1090173118.
Full textJoshi, Jay Anilkumar. "Generic Project Plan for a Mobile Robotics System." TopSCHOLAR®, 2019. https://digitalcommons.wku.edu/theses/3165.
Full textBerg, Brian. "Navigation of a Mobile Robot with Obstacle Avoidance." Thesis, California State University, Long Beach, 2018. http://pqdtopen.proquest.com/#viewpdf?dispub=10977871.
Full textNavigating a vehicle autonomously and safely in unknown surroundings to a desired destination is challenging due to lack of initial information about stationary and moving objects along the path. This thesis proposes a navigation system that avoids static and dynamic obstacles using weighted real-time sensor feedback. The effectiveness of the system is demonstrated by implementing it on a robot. A 16-beam solid-state LiDAR sensor is used to detect obstacles to control a differential drive mobile robot. The sensor measurements are weighted and integrated into the Pure Pursuit path following algorithm to avoid obstacles in a natural smooth movement. The primary purpose of this thesis is to integrate all the sensors and processing units to create an appropriate reaction of the robot while it progresses toward the destination. The Algorithm proposed in this work guided the robot safely and fluently from start to end position while avoiding obstacles along the path.
Cosgun, Akansel. "Navigation behavior design and representations for a people aware mobile robot system." Diss., Georgia Institute of Technology, 2016. http://hdl.handle.net/1853/54944.
Full textRogers, John Gilbert. "Life-long mapping of objects and places in domestic environments." Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/47736.
Full textGonullu, Muhammet Kasim. "Development Of A Mobile Robot Platform To Be Used In Mobile Robot Research." Master's thesis, METU, 2013. http://etd.lib.metu.edu.tr/upload/12615654/index.pdf.
Full textMills, Euclid Weatley. "Mobile robotic design : robotic colour and accelerometer sensor." Thesis, University of Bradford, 2010. http://hdl.handle.net/10454/4436.
Full textShade, Robert J. "Choosing where to go : mobile robot exploration." Thesis, University of Oxford, 2011. http://ora.ox.ac.uk/objects/uuid:4a7d5578-f354-48e9-80b4-f3c83234be5f.
Full textBostelman, Roger. "Performance measurement of mobile manipulators." Thesis, Bourgogne Franche-Comté, 2018. http://www.theses.fr/2018UBFCK003/document.
Full textAn advanced approach to flexible manufacturing is to move robotic manipulators, using anAGV or mobile robot, called mobile manipulators, between workstations. The use ofmobile manipulators can be advantageous in a number of situations. It can result in costsavings when a single mobile manipulator can be used to replace several stationarymanipulators. However, mobile manipulators are “a relatively young discipline withinrobotics.” An extensive literature review of the research leading to commercial mobilemanipulators and mobile robots was performed. The performance measurement of mobilemanipulators, including a mobile base with an onboard robot arm, is virtually non-existent.However, mobile manipulators are beginning to appear in manufacturing, healthcare, andpossibly other industries and therefore, a method to measure their performance is critical toboth manufacturers and users of these relatively complex systems. Measurements of mobilemanipulators performing standard tasks (poses and motions) are also non-existent except forsimply ensuring that the task has been more or less completed. The task chosen for thisthesis is assembly due to its requirement for relatively precise system posing.Performance test methods have lagged behind safety test methods for mobile manipulatorswhich is progressing towards development of a new safety standard in the US. Metrics forsafety and performance of mobile manipulators include many areas, such as: safe operation,task completion, time to complete the task, quality, and quantity (i.e., accuracy andrepeatability, respectively) of tasks completed. Prior to industrial acceptance and standardsdevelopment for mobile manipulators, users of these new systems will expect manufacturersto provide real performance data to guide their procurement and assure suitability for givenapplication tasks. Due to the relatively high cost to procure and setup motion tracking systemsto measure systems performance, an alternative method for use by manufacturers and users isideal. A new test method concept that uses an artifact, called the Reconfigurable MobileManipulator Artifact (RMMA), is described in this thesis and compared to an optical trackingsystem that was used as ground truth for the RMMA and mobile manipulator.System modeling the mobile manipulator system, components, and the associatedmeasurements can help to improve the understanding of these relatively complex systems.Systems Modeling Language (SysML) was chosen and used throughout this thesis becauseof SysML has reusable software modules for structure, behavior, requirements andparametrics off the mobile manipulator. The models describe the many aspects ofmeasuring mobile manipulator performance also as new research area. The models wereevaluated through experiments on an example mobile manipulator components and the entiresystem. SysML was used to describe the theoretical basis of the performance throughpropagation of uncertainty where mathematical equations are also modeled.A use case is modeled and described where the concepts researched to measure mobilemanipulator performance are applied to a manufacturing implementation. The simplisticnature of the measurement process using the RMMA can be directly applied to today’smanufacturing processes, and extended beyond the contributions of this research to othereven more complex measurement needs. The research is also discussed to even apply tocross-industry test methods for exoskeletons worn by humans
Cordie, Troy P. "Modular reconfigurable field robotics." Thesis, Queensland University of Technology, 2022. https://eprints.qut.edu.au/230503/1/Troy_Cordie_Thesis.pdf.
Full textSung, Un-Kyung. "The development of a map-building mobile robot." Thesis, Lancaster University, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.322849.
Full textGaskell, Alexander Paul. "Sensor managememt in mobile robotics using Bayesian belief networks." Thesis, University of Oxford, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.282200.
Full textAdolfsson, Victor. "The State of the Art in Distributed Mobile Robotics." Thesis, Blekinge Tekniska Högskola, Institutionen för programvaruteknik och datavetenskap, 2001. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-6195.
Full textUppsatsen är en brett spektrum på vilken forskning som pågår rörande distribuerad mobil robotik, dvs hur många robotar kan samverka för att lösa uppgifter.
Adress: Victor Adolfsson Folkparksvägen 12:24 372 38 Ronneby Telefon: 0457-171 42 Mobil: 0709-441389
Pettersson, Ola. "Model-free execution monitoring in behavior-based mobile robotics /." Örebro : Örebro universitetsbibliotek, 2004. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-78.
Full textMendao, Miguel. "A Neuro-Endocrine Control Architecture Applied to mobile Robotics." Thesis, University of Kent, 2008. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.499660.
Full textAdam, Seán P. (Seán Patrick). "A distributed control network for a mobile robotics platform." Thesis, Massachusetts Institute of Technology, 1996. http://hdl.handle.net/1721.1/41376.
Full textAlam, Tauhidul. "A Dynamical System Approach for Resource-Constrained Mobile Robotics." FIU Digital Commons, 2018. https://digitalcommons.fiu.edu/etd/3825.
Full textAlmasri, Mahmoud. "Diagnostic de plateformes robotisées. Méthode hybride évolutive intégrant une interaction avec un opérateur expert." Thesis, Université Clermont Auvergne (2017-2020), 2020. http://www.theses.fr/2020CLFAC035.
Full textRobotics is becoming increasingly important in a wide variety of sectors. Its development has been favored by the interest for Man to have autonomous entities capable of helping him to perform actions that are difficult or impossible for human being, either because of their painfulness or because of their dangerousness. The Mobile robotics, one of the sectors of robotics, pursues this objective thanks to technological and scientific advances in different areas such as mechanics, electronics, automation and computer science. These robots navigate autonomously in complex environments and over long periods of time. Their algorithms guarantee a certain robustness while dealing with foreseen situations.However, in some situations (malfunctioning of a physical component of the robot, loss in GPS signal while executing a trajectory tracking task, etc.), the appearance of a fault may cause the robot to fail in its mission.In order to avoid this type of situation, real-time fault diagnosis integrating a human operator in its fault detection and fault accommodation loops appears to be a possible and potentially effective solution. The work described is aimed at this objective. It offers, on the one hand, a fault diagnosis supervision system of a mobile robot and, on the other hand, a set of tools for modeling, parameterizing and applying for diagnosis methods to potential fault of a robot.The first part of the contributions is composed of two modules. The first module is a hybrid diagnostic method that implements several approaches and types of fault diagnosis approach. This method can diagnose a defined list of faults in real time. The second is a human/robot interaction module allowing the integration of the operator in the diagnostic loop by proposing/validating solutions and by correcting, if necessary, the decisions made by the proposed hybrid method. This module integrates a knowledge database and a case-based reasoning algorithm allowing to save the history of the decisions made by the operator, considered expert, in order to improve his performance continuously.The second part details the approach done off-line and upstream to the implementation of the hybrid diagnostic method. This approach includes the characterization of the considered faults, the definition and the adaptation of the diagnosis methods making it possible to diagnose the identified faults. The adaptation consists of defining the models, adjusting the parameters and, in some cases, collecting training data. From experimental point of view, the theoretical developments are validated on data coming from a real skid-steering robot and from simulations.Literally, this document details these works in five chapters. The first chapter introduces the context of the thesis. The second defines the problem statement, the proposed hypotheses and describes the state of the literature of fault diagnosis methods. Theoretical developments concerning fault diagnosis supervision system of mobile robotics and the tools leading to its configuration are described in two chapters that follow. The application results of the theoretical developments in simulation and on a real robot case are shown and discussed in the fifth chapter. Finally, a conclusion and the possible perspectives of this work are presented
Qiu, Jiancheng. "A layered control architecture for mobile robot navigation." Thesis, University of Bedfordshire, 1998. http://hdl.handle.net/10547/622047.
Full textWinter, Pieter Arnoldus. "Position control of a mobile robot /." Link to the online version, 2005. http://hdl.handle.net/10019/1317.
Full textFrontoni, Emanuele. "Vision based mobile robotics. Mobile robot localization using vision sensors and active probabilistic approaches." Doctoral thesis, Università Politecnica delle Marche, 2006. http://hdl.handle.net/11566/242624.
Full textBiddlestone, Scott. "Collaborative Motion for Mobile Platforms." Thesis, The Ohio State University, 2015. http://pqdtopen.proquest.com/#viewpdf?dispub=3734570.
Full textIn dense cluttered environments, autonomous physical agents will face many challenges including limited routes, obstructed sensors, and limited communication. Equipping the agents with inter-agent communication alleviates some of the issues, but providing a mechanism for forming groups allows the agents to work together efficiently by avoiding congestion in tight areas and providing redundancy to accomplish a task. This thesis presents a framework for decentralized collaborative group formations and a framework for augmenting that with a more strategic centralized approach. This thesis will investigate a strategy for the formation of hierarchical ad-hoc groups that provide a simple interface for joining and splitting groups. After formation these groups will use peer to peer algorithms to share sensor data and perform distributed task allocation within the group. The groups can either be controlled by a static base-station or use a decentralized framework if communication to the base-station is lost. When communication is restored, the peer to peer algorithms will be used to spread the data to as many agents as possible to avoid data loss. A radio propagation model is also presented to simulate communication in indoor and simulated environments, as well as estimated propagation for use in path planning. This framework will also allow the agent's high level decision making to modify its role depending on group consensus.
Yavuz, Hakan. "Conceptual design and development of an autonomous mobile robot." Thesis, Lancaster University, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.310525.
Full textKirke, Alexis John. "Learning and co-operation in mobile multi-robot systems." Thesis, University of Plymouth, 1997. http://hdl.handle.net/10026.1/1984.
Full textPerko, Eric Michael. "Precision Navigation for Indoor Mobile Robots." Case Western Reserve University School of Graduate Studies / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1345513785.
Full textAmayo, Paul Omondi. "Biologically inspired goal directed navigation for mobile robots." Master's thesis, University of Cape Town, 2016. http://hdl.handle.net/11427/20512.
Full textBergfeldt, Niklas. "Cooperative Robotics : A Survey." Thesis, University of Skövde, Department of Computer Science, 2000. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-473.
Full textThis dissertation aims to present a structured overview of the state-of-the-art in cooperative robotics research. As we illustrate in this dissertation, there are several interesting aspects that draws attention to the field, among which 'Life Sciences' and 'Applied AI' are emphasized. We analyse the key concepts and main research issues within the field, and discuss its relations to other disciplines, including cognitive science, biology, artificial life and engineering. In particular it can be noted that the study of collective robot behaviour has drawn much inspiration from studies of animal behaviour. In this dissertation we also analyse one of the most attractive research areas within cooperative robotics today, namely RoboCup. Finally, we present a hierarchy of levels and mechanisms of cooperation in robots and animals, which we illustrate with examples and discussions.
Citron, Connor. "Stereo Vision System Module for Low-Cost FPGAs for Autonomous Mobile Robots." DigitalCommons@CalPoly, 2014. https://digitalcommons.calpoly.edu/theses/1298.
Full textKo, Wen-Shen. "A navigation strategy for mobile robots in a manufacturing environment." Thesis, King's College London (University of London), 1996. https://kclpure.kcl.ac.uk/portal/en/theses/a-navigation-strategy-for-mobile-robots-in-a-manufacturing-environment(f586b9b9-1f4d-4ec7-a395-15365c613b6b).html.
Full textBartholomew, Paul D. "Optimal behavior composition for robotics." Thesis, Georgia Institute of Technology, 2014. http://hdl.handle.net/1853/51872.
Full textRogers, Adam Gregory. "Precision mechatronics lab robot development." Texas A&M University, 2007. http://hdl.handle.net/1969.1/85854.
Full textLi, Jun. "Learning reactive behaviors with constructive neural networks in mobile robotics /." Örebro : Örebro universitet : Universitetsbiblioteket, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-629.
Full textAl-Ayasrah, Omar Mahmood Mohammad. "Novel cross-coupling control for motion controller for mobile robotics." Thesis, University of Hertfordshire, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.431720.
Full textMortensen, Christian. "Fault Detection in Mobile Robotics using Autoencoder and Mahalanobis Distance." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-54692.
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