Tesis sobre el tema "Ground robots"
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Kalyadin, Dmitry. "Robot data and control server for Internet-based training on ground robots". [Tampa, Fla.] : University of South Florida, 2007. http://purl.fcla.edu/usf/dc/et/SFE0002111.
Texto completoSerdel, Quentin. "Semantic-assisted Autonomous Ground Robot Navigation in Unstructured Environments". Electronic Thesis or Diss., université Paris-Saclay, 2024. http://www.theses.fr/2024UPAST139.
Texto completoThe content of this PhD thesis deals with the autonomous navigation of ground robots in telecommunication-denied unstructured environments. In order to employ mobile robots to perform complex tasks such as planetary exploration or search-and-rescue operations, they must be trusted with complete autonomy, notably for their map-less navigation. Thanks to recent advances in the domain of deep-learning, the efficient extraction of semantic information from a robot sensor data is now possible. The exploitation of this information, relating to the nature of the robot surroundings elements, is a promising lead toward the improvement of the safety and autonomy of navigation systems. The integration of semantic labelling into an online mapping process and the exploitation of the resulting environment representation for informative path planning are tackled via the notion of terrain traversability. Computational complexity and robustness to noisy inputs are crucial aspects to be considered. New methods are therefore proposed for the online construction of such representations and their exploitation for path planning. They have been integrated in a complete robot navigation system and successfully employed in a real-world scenario
Shah, Syed Irtiza Ali. "Single camera based vision systems for ground and; aerial robots". Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/37143.
Texto completoBaleia, José Rodrigo Ferreira. "Haptic robot-environment interaction for self-supervised learning in ground mobility". Master's thesis, Faculdade de Ciências e Tecnologia, 2014. http://hdl.handle.net/10362/12475.
Texto completoThis dissertation presents a system for haptic interaction and self-supervised learning mechanisms to ascertain navigation affordances from depth cues. A simple pan-tilt telescopic arm and a structured light sensor, both fitted to the robot’s body frame, provide the required haptic and depth sensory feedback. The system aims at incrementally develop the ability to assess the cost of navigating in natural environments. For this purpose the robot learns a mapping between the appearance of objects, given sensory data provided by the sensor, and their bendability, perceived by the pan-tilt telescopic arm. The object descriptor, representing the object in memory and used for comparisons with other objects, is rich for a robust comparison and simple enough to allow for fast computations. The output of the memory learning mechanism allied with the haptic interaction point evaluation prioritize interaction points to increase the confidence on the interaction and correctly identifying obstacles, reducing the risk of the robot getting stuck or damaged. If the system concludes that the object is traversable, the environment change detection system allows the robot to overcome it. A set of field trials show the ability of the robot to progressively learn which elements of environment are traversable.
Sharma, Rajnikant. "Bearing-Only Cooperative-Localization and Path-Planning of Ground and Aerial Robots". BYU ScholarsArchive, 2011. https://scholarsarchive.byu.edu/etd/2884.
Texto completoStaub, Nicolas. "Models, algorithms and architectures for cooperative manipulation with aerial and ground robots". Thesis, Toulouse 3, 2018. http://www.theses.fr/2018TOU30169/document.
Texto completoIn recent years, the subject of physical interaction for aerial robots has been a popular research area with many new mechanical designs and control approaches being proposed. The aerial robotics community is currently observing a paradigm shift from classic guidance, navigation, and control tasks towards more unusual tasks, for example requesting aerial robots to physically interact with the environment, thus extending the manipulation task from the ground into the air. This thesis contributes to the field of aerial manipulation by proposing a novel concept known has Multiple Aerial-Ground Manipulator System or MAGMaS, including what appears to be the first experimental demonstration of a MAGMaS and opening a new route of research. The motivation behind associating ground and aerial robots for cooperative manipulation is to leverage their respective particularities, ground robots bring strength while aerial robots widen the workspace of the system. The first contribution of this work introduces a meticulous system model for MAGMaS. The system model's properties and potential extensions are discussed in this work. The planning, estimation and control methods which are necessary to exploit MAGMaS in a cooperative manipulation tasks are derived. This works proposes an optimal control allocation scheme to exploit the MAGMaS redundancies and a general model-based force estimation method is presented. All of the proposed techniques reported in this thesis are integrated in a global architecture used for simulations and experimental validation. This architecture is extended by the addition of a tele-presence framework to allow remote operations of MAGMaS. The global architecture is validated by robust demonstrations of bar lifting, an application that gives an outlook of the prospective use of the proposed concept of MAGMaS. Another contribution in the development of MAGMaS consists of an exploratory study on the flexibility of manipulated loads. A vibration model is derived and exploited to showcase vibration properties in terms of control. The last contribution of this thesis consists of an exploratory study on the use of elastic joints in aerial robots, endowing these systems with mechanical compliance and energy storage capabilities. Theoretical groundings are associated with a nonlinear controller synthesis. The proposed approach is validated by experimental work which relies on the integration of a lightweight variable stiffness actuator on an aerial robot
Yang, Jian. "Real-time trajectory planning for ground and aerial vehicles in a dynamic environment". Orlando, Fla. : University of Central Florida, 2008. http://purl.fcla.edu/fcla/etd/CFE0002031.
Texto completoBirchmore, Frederick Christopher. "A holistic approach to human presence detection on man-portable military ground robots". Diss., [La Jolla] : University of California, San Diego, 2009. http://wwwlib.umi.com/cr/ucsd/fullcit?p1464660.
Texto completoTitle from first page of PDF file (viewed July 2, 2009). Available via ProQuest Digital Dissertations. Includes bibliographical references (p. 85-90).
Klamt, Tobias [Verfasser]. "Planning Hybrid Driving-Stepping Locomotion for Ground Robots in Challenging Environments / Tobias Klamt". Bonn : Universitäts- und Landesbibliothek Bonn, 2020. http://d-nb.info/1218301465/34.
Texto completoArchontakis, Andreas. "Assessing the flight quality of a large UAV for sensors/ground robots aerial delivery". Thesis, Monterey, California. Naval Postgraduate School, 2010. http://hdl.handle.net/10945/5116.
Texto completoThe new goal for unmanned aerial systems will be to find creative methods of keeping the cost low and still maintain effectiveness. This thesis discusses the importance of UAVs over the last few years, suggests the development of a low-cost, large UAV, and evaluates the results. We also examine the idea of a platform for deploying multiple aerial-delivery, parafoil-based systems and discuss scenarios for the improvement of the collaboration of the large UAV with the Snowflake project.
Hwangbo, Ju Won. "Integration of Orbital and Ground Imagery for Automation of Rover Localization". The Ohio State University, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=osu1276835399.
Texto completoHussein, Marwan. "Absolute localization of mobile robots in forest environments by correlating ground LiDAR to overhead imagery". Thesis, Massachusetts Institute of Technology, 2014. http://hdl.handle.net/1721.1/91877.
Texto completoThesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2014.
70
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 135-140).
A method for the autonomous geolocation of ground vehicles in forest environments is presented. The method provides an estimate of the global horizontal position of a vehicle strictly based on finding a geometric match between a map of observed tree stems, scanned in 3D by Light Detection and Ranging (LiDAR) sensors onboard the vehicle, to another stem map generated from the structure of tree crowns analyzed from aerial orthoimagery of the forest canopy. Identification of stems from 3D data is achieved by using Support Vector Machine (SVM) classifiers and height above ground filters that separate ground points from vertical stem features. Identifications of stems from overhead imagery is achieved by calculating the centroids of tree crowns extracted using a watershed segmentation algorithm. Matching of the two stem maps is achieved by using a robust Iterative Closest Point (ICP) algorithm that determines the rotation and translation required to align both datasets. The final alignment is used to calculate the absolute location of the vehicle. The localization algorithm has been tested with real-world data and has been able to estimate vehicle geoposition with errors of less than 2.1 m RMS. It is noted that the algorithm's accuracy is currently limited by the accuracy and resolution of the aerial orthoimagery used. This method can be used in real-time as a complement to the Global Positioning System (GPS) and Simultaneous Localization and Mapping (SLAM) in areas where signal coverage is inadequate due to attenuation by the forest canopy, or due to intentional denied access. The method has two key properties that are significant: i) It does not require a priori knowledge of the area surrounding the robot. ii) Based on estimated vehicle state, it uses the geometry of detected tree stems as the only input to determine horizontal geoposition.
by Marwan Hussein.
S.M. in Engineering and Management
S.M.
Putney, Joseph Satoru. "Reactive Navigation of an Autonomous Ground Vehicle Using Dynamic Expanding Zones". Thesis, Virginia Tech, 2006. http://hdl.handle.net/10919/33224.
Texto completoMaster of Science
Butzke, Jonathan Michael. "Planning for a Small Team of Heterogeneous Robots: from Collaborative Exploration to Collaborative Localization". Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/1119.
Texto completoPawlowski, Daniel F. "Tracking Dynamic Obstacles in a Structured Urban Environment and Subsequent Decision Making for an Autonomous Ground Vehicle". Case Western Reserve University School of Graduate Studies / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=case1213804587.
Texto completoChen, Qi. "Studies in autonomous ground vehicle control systems structure and algorithms /". Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1165959992.
Texto completoMathews, Nithin. "Beyond self-assembly: Mergeable nervous systems, spatially targeted communication, and supervised morphogenesis for autonomous robots". Doctoral thesis, Universite Libre de Bruxelles, 2018. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/267717.
Texto completoDoctorat en Sciences de l'ingénieur et technologie
info:eu-repo/semantics/nonPublished
MURTY, VIDYASAGAR. "OBSTACLE AVOIDANCE IN AN UNSTRUCTURED ENVIRONMENT FOR THE BEARCAT". University of Cincinnati / OhioLINK, 2003. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1070482938.
Texto completoMurphy, Taylor Byers. "Apprehending Remote Affordances: Assessing Human Sensor Systems and Their Ability to Understand a Distant Environment". The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1374144285.
Texto completoRenaudeau, Brice. "Robotique coopérative aéro-terrestre : Localisation et cartographie hétérogène". Thesis, Limoges, 2019. http://www.theses.fr/2019LIMO0012/document.
Texto completoThis work aims to study the problem of air-ground robotic cooperation for collaborative traversability mapping. The need for a map for navigation and path planning for terrestrial robots is no longer to be proven. The use of air-ground cooperation to create a navigable map for the ground robots has several interests. First, the drone can quickly map an area through its large field of vision and traveling capabilities. Second, the fusion of maps based on these two agents makes it possible to draw the best benefits from both points of views: the coherence of the global aerial view and the accuracy of the local ground view. To answer this problem, we propose a method that relies on the construction of a unified model of hybrid maps and their fusion.The maps are built using the skeleton of the traversability space as a support for graphs also containing local metric and potentialy semantic information of the environment. The maching of aerial and ground maps is done using a point to point correlation based on an appropriate dissimilarity measure. This measure is defined to meet invariance and discriminance criteria. The matching is then used to merge the maps into an augmented traversability map. The merged maps can be used by the ground robot to perform its mission. They also make it possible to deploy information such as GPS coordinates to robots in GPS denied environments. Experiments in virtual and real world environments have been carried out to validate this approach and map out future perspetives
Labella, Thomas Halva. "Division of labour in groups of robots". Doctoral thesis, Universite Libre de Bruxelles, 2007. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/210738.
Texto completoDivision of labour is the mechanism that decides how many robots shall be used to perform a task. The efficiency of the group of robots depends in fact on the number of robots involved in a task. If too few robots are used to achieve a task, they might not be successful or might perform poorly. If too many robots are used, it might be a waste of resources. The number of robots to use might be decided a priori by the system designer. More interestingly, the group of robots might autonomously select how many and which robots to use. In this thesis, we study algorithms of the latter type.
The robotic literature offers already some solutions, but most of them use a form of direct communication between agents. Direct, or explicit, communication between the robots is usually considered a necessary condition for co-ordination. Recent studies have questioned this assumption. The claim is based on observations of animal colonies, e.g. ants and termites. They can effectively co-operate without directly communicating, but using indirect forms of communication like stigmergy. Because they do not rely on communication, such colonies show robust behaviours at group level, a condition that one wishes also for groups of robots. Algorithms for robot co-ordination without direct communication have been proposed in the last few years. They are interesting not only because they are a stimulating intellectual challenge, but also because they address a situation that might likely occur when using robots for real-world out-door applications. Unfortunately, they are still poorly studied.
This thesis helps the understanding and the development of such algorithms. We start from a specific case to learn its characteristics. Then we improve our understandings through comparisons with other solutions, and finally we port everything into another domain.
We first study an algorithm for division of labour that was inspired by ants' foraging. We test the algorithm in an application similar to ants' foraging: prey retrieval. We prove that the model used for ants' foraging can be effective also in real conditions. Our analysis allows us to understand the underlying mechanisms of the division of labour and to define some way of measuring it.
Using this knowledge, we continue by comparing the ant-inspired algorithm with similar solutions that can be found in the literature and by assessing their differences. In performing these comparisons, we take care of using a formal methodology that allows us to spare resources. Namely, we use concepts of experiment design to reduce the number of experiments with real robots, without losing significance in the results.
Finally, we apply and port what we previously learnt into another application: Sensor/Actor Networks (SANETs). We develop an architecture for division of labour that is based on the same mechanisms as the ants' foraging model. Although the individuals in the SANET can communicate, the communication channel might be overloaded. Therefore, the agents of a SANET shall be able to co-ordinate without accessing the communication channel.
Doctorat en sciences appliquées
info:eu-repo/semantics/nonPublished
Sajid, Nisar. "Toward Novel Remote-Center-of-Motion Manipulators and Wearable Hand-Grounded Kinesthetic Haptics for Robot-Assisted Surgery". Kyoto University, 2019. http://hdl.handle.net/2433/242497.
Texto completoKyoto University (京都大学)
0048
新制・課程博士
博士(工学)
甲第21759号
工博第4576号
新制||工||1713(附属図書館)
京都大学大学院工学研究科機械理工学専攻
(主査)教授 松野 文俊, 教授 椹木 哲夫, 教授 小森 雅晴
学位規則第4条第1項該当
Wang, Xuerui y Li Zhao. "Navigation and Automatic Ground Mapping by Rover Robot". Thesis, Högskolan i Halmstad, Halmstad Embedded and Intelligent Systems Research (EIS), 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-6185.
Texto completoMudgal, Apurva. "Worst-case robot navigation in deterministic environments". Diss., Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/33924.
Texto completoGomes, Fred. "Monitorização de objetos em 3-D com base em múltiplas câmaras". Master's thesis, Universidade de Aveiro, 2015. http://hdl.handle.net/10773/16489.
Texto completoNo ano de 2014 foi concluído um novo edifício na Universidade de Aveiro, para o desenvolvimento de projetos em robótica. Neste edifício está localizado um campo de futebol robótico com dimensões oficiais, para o desenvolvimento do projeto CAMBADA. O futebol robótico representa um banco de ensaio inovador e atraente para os mais recentes avanços em sistemas multiagente, inteligência artificial, perceção, navegação e biped walking. O principal elemento sensor de um robô de futebol deve ser o seu sistema de perceção, muitas das vezes baseado numa câmara digital, através da qual o robô analisa o mundo circundante. Até à presente data, a validação de um sistema de visão de um jogo de futebol pode apenas ser relacionado com a forma como o robô e os seus companheiros de equipa interpretam o ambiente à sua volta. Esta dissertação tem como objetivo desenvolver um sistema de visão externo de monitorização que pode atuar como um sistema de ground truth para a validação dos objetos de interesse de um jogo de futebol robótico, principalmente os robôs e a bola. O sistema é constituído por duas a quatro câmaras, estrategicamente posicionadas no campo de futebol. O trabalho dividiu-se em quatro partes fundamentais: a seleção do método mais adequado para a aplicação; o desenvolvimento de software para efetuar a calibração das câmaras RGB; o desenvolvimento de software para obter a posição 3-D de objetos e a validação dos resultados obtidos, em termos de precisão e fiabilidade. Os resultados indicam que um sistema deste tipo parece adequado para ser utilizado como ground truth das posições da bola no campo, durante um jogo de futebol robótico.
A new building was concluded at the University of Aveiro for the development of projects in robotics, in 2014. In this building is located a robotic soccer field with official dimensions, for the development of the CAMBADA project. Robotic soccer represents an innovative and appealing test bed for the most recent advances in multi-agent systems, artificial intelligence, perception, navigation and biped walking. The main sensorial element of a soccer robot must be its perception system, most of the times based on a digital camera, through which the robot analyses the surrounding world and performs accordingly. Up to this date, the validation of the vision system of a soccer robots can only be related to the way the robot and its team mates interpret the surroundings, relative to their owns. This Master’s thesis aims the development of a external monitoring vision system that can act as a ground truth system for the validation of the objects of interest of a robotic soccer game, mainly robots and ball. The system is made of two to four digital cameras, strategically positioned above the soccer field. The developed work was divided into four main parts: the selection of the most appropriate method for the application; the development of a software to perform the calibration of the RGB cameras; the development of a software to obtain the 3-D information of objects and the validation of the obtained results, in terms of accuracy and reliability. The results prove that such a system can indeed be used as a provider for ground truth ball positions on the field during a robotic soccer game.
Blank, Sarah T. "The robot club : robots as agents to improve the social skills of young people on the autistic spectrum". Thesis, University of Hertfordshire, 2010. http://hdl.handle.net/2299/4407.
Texto completoAl-Jarrah, Rami [Verfasser]. "Development of cooperation between flying robot, ground robot and ground station with fuzzy logic and image processing / Rami Al-Jarrah". Siegen : Universitätsbibliothek der Universität Siegen, 2015. http://d-nb.info/1076911706/34.
Texto completoChemtob, Yohann. "Collective behaviour of zibrafish and robot groups in a constrained environment". Thesis, Université de Paris (2019-....), 2020. http://www.theses.fr/2020UNIP7017.
Texto completoCollective movement can be observed throughout the animal kingdom, particularly in fish. Yet, despite many studies on the subject, the decision-making mechanisms of these collective events remain poorly understood.In this thesis, we want to better understand collective movement by studying more precisely the decision-making process, the organisation and the cohesion of groups of social fish. Our study focuses on the zebrafish (Danio rerio), a model used in different areas of research. To highlight those behaviours, we have developed a specific constrained environment composed of two rooms connected by a corridor. Cohesion on groups of different sizes and the organisation of leadership have been examined. The collective behaviour of zebrafish in a constrained environment was then described throughout a multi-contextual stochastic model. We have also developed a robotic agent to determine the importance of aspect and behaviour in conspecific recognition. Finally, after its integration into the group, we influenced the movements of the fish group with this biomimetic and autonomous fish robot to test our hypotheses on the different rules underlying collective movements.We have achieved the following results. In a constrained environment, fish use the rooms as resting areas and frequently move from one area to another. We observed that the size of fish groups influences the structure and proportion of these transitions. Group size also changes the cohesion between individuals and their spatial distribution. We studied more precisely the decision-making process during transitions, and in particular the mechanics of leadership. We have shown that leadership is shared among all individuals in a group, with heterogeneous sharing modalities between the different groups studied. The stochastic model developed from these results correctly simulates fish group behaviour in a constrained environment, using different parameter values according to the position of the agent. We have succeeded in integrating an autonomous and biomimetic fish robot into a group of zebrafish. The use of the stochastic model to drive the robot has highlighted the importance of biomimetic behaviour in the process of recognising a conspecific. Finally, we modulated the behaviour of the zebrafish with the fish robot by inducing collective departures as well as significantly biasing the distribution of fish between the two rooms. These positive results allow us to validate the hypotheses about leadership and cohesion among social fish
Milionis, Georgios. "A framework for collaborative Quadrotor - ground robot missions". Monterey, California. Naval Postgraduate School, 2011. http://hdl.handle.net/10945/10654.
Texto completoKira, Zsolt. "Communication and alignment of grounded symbolic knowledge among heterogeneous robots". Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/33941.
Texto completoSjöö, Kristoffer. "Functional understanding of space : Representing spatial knowledge using concepts grounded in an agent's purpose". Doctoral thesis, KTH, Datorseende och robotik, CVAP, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-48400.
Texto completoQC 20111125
Hung, David, Cinthya Tang, Coby Allred, Kennon McKeever, James Murphy y Ricky Herriman. "AUTONOMOUS GROUND RECONNAISSANCE DRONE USING ROBOT OPERATING SYSTEM (ROS)". International Foundation for Telemetering, 2017. http://hdl.handle.net/10150/627005.
Texto completoWinston, Crystal(Crystal E. ). "A Multi-modal Robot for Ground and Aerial Locomotion". Thesis, Massachusetts Institute of Technology, 2019. https://hdl.handle.net/1721.1/123246.
Texto completoCataloged from PDF version of thesis.
Includes bibliographical references (pages 39-40).
This thesis describes the design and testing of a quadcopter that capable of both driving and flying. This was achieved by mounting quadcopter motors and propellers to the center of each of the robot's four wheels. The wheels are then capable of changing orientation in order to allow the robot to either drive or fly. Each of these wheels contains a gearing and bearing system that decouples the rotation of the wheels from the rotation of the propellers and also houses the system's landing gear. The prototype described in this thesis is capable of driving on flat surfaces as well as vertical take-off and landing. Further improvements to the system would be required in order for it to perform longer flights, complex aerial maneuvers, drive on uneven surfaces, or carry additional payloads.
by Crystal Winston.
S.B.
S.B. Massachusetts Institute of Technology, Department of Mechanical Engineering
Islas, Ramírez Omar Adair. "Learning Robot Interactive Behaviors in Presence of Humans and Groups of Humans". Thesis, Paris 6, 2016. http://www.theses.fr/2016PA066632/document.
Texto completoIn the past years, robots have been a part of our every day lives. Even when we do not see them, we depend on them to build our computers, mobile phones, cars and more. They are also been used for organizing stocks in warehouses. And, with the growth of autonomous cars, we see them driving autonomously on highways and cities. Another area of growth is social robotics. We can see a lot of studies such as robots helping children with autism. Other robots are being used to receive people in hotels or to interact with people in shopping centers. In the latter examples, robots need to understand people behavior. In addition, in the case of mobile robots, they need to know how to navigate in human environments. In the context of human environments, this thesis explores socially acceptable navigation of robots towards people. To give an example, when a robot approaches one person, the robot shall by no means treat people as an obstacle because the robot get really close to the human and interfere with her personal space. The human is an entity that needs to be considered based on social norms that we (humans) use on a daily basis. In a first time, we explore how a robot can approach one person. A person is an entity that can be bothered if someone or something approaches invading her personal space. The person also will feel distressed when she is approached from behind. These social norms have to be respected by the robot. For this reason, we decided to model the behavior of the robot through learning algorithms. We manually approach a robot to a person several times and the robot learns how to reproduce this behavior. In a second time, we present how a robot can understand what is a group of people. We, humans, have the ability to do this intuitively. However, for a robot, a mathematical model is essential. Lastly, we address how a robot can approach a group of people. We use exemplary demonstrations to teach this behavior to the robot. We evaluate then the robot's movements by for example, observing if the robot invades people's personal space during the trajectory
Islas, Ramírez Omar Adair. "Learning Robot Interactive Behaviors in Presence of Humans and Groups of Humans". Electronic Thesis or Diss., Paris 6, 2016. https://accesdistant.sorbonne-universite.fr/login?url=https://theses-intra.sorbonne-universite.fr/2016PA066632.pdf.
Texto completoIn the past years, robots have been a part of our every day lives. Even when we do not see them, we depend on them to build our computers, mobile phones, cars and more. They are also been used for organizing stocks in warehouses. And, with the growth of autonomous cars, we see them driving autonomously on highways and cities. Another area of growth is social robotics. We can see a lot of studies such as robots helping children with autism. Other robots are being used to receive people in hotels or to interact with people in shopping centers. In the latter examples, robots need to understand people behavior. In addition, in the case of mobile robots, they need to know how to navigate in human environments. In the context of human environments, this thesis explores socially acceptable navigation of robots towards people. To give an example, when a robot approaches one person, the robot shall by no means treat people as an obstacle because the robot get really close to the human and interfere with her personal space. The human is an entity that needs to be considered based on social norms that we (humans) use on a daily basis. In a first time, we explore how a robot can approach one person. A person is an entity that can be bothered if someone or something approaches invading her personal space. The person also will feel distressed when she is approached from behind. These social norms have to be respected by the robot. For this reason, we decided to model the behavior of the robot through learning algorithms. We manually approach a robot to a person several times and the robot learns how to reproduce this behavior. In a second time, we present how a robot can understand what is a group of people. We, humans, have the ability to do this intuitively. However, for a robot, a mathematical model is essential. Lastly, we address how a robot can approach a group of people. We use exemplary demonstrations to teach this behavior to the robot. We evaluate then the robot's movements by for example, observing if the robot invades people's personal space during the trajectory
Couch, Michael Robert. "Pneumatic Particulate Collection System for an Unmanned Ground Sampling Robot". Thesis, Virginia Tech, 2010. http://hdl.handle.net/10919/35913.
Texto completoMaster of Science
Ferrin, Jeffrey L. "Autonomous Goal-Based Mapping and Navigation Using a Ground Robot". BYU ScholarsArchive, 2016. https://scholarsarchive.byu.edu/etd/6190.
Texto completoMirhassani, Seyedmohsen <1989>. "A Ground Robot for Search And Rescue in Hostile Environment". Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2018. http://amsdottorato.unibo.it/8416/7/Mirhassani_final.pdf.
Texto completoHo, Sze-Tek Terence. "Investigating ground swarm robotics using agent based simulation". Thesis, Monterey, Calif. : Naval Postgraduate School, 2006. http://bosun.nps.edu/uhtbin/hyperion.exe/06Dec%5FHo.pdf.
Texto completoThesis Advisor(s): Susan M. Sanchez. "December 2006." Includes bibliographical references (p.111-114). Also available in print.
Rivard, Frédéric. "Localisation relative de robots mobiles opérant en groupe". Mémoire, Université de Sherbrooke, 2005. http://savoirs.usherbrooke.ca/handle/11143/1294.
Texto completoRivard, Frédéric. "Localisation relative de robots mobiles opérant en groupe". [S.l. : s.n.], 2005.
Buscar texto completoDamers, Julien. "Lie groups applied to localisation of mobile robots". Electronic Thesis or Diss., Brest, École nationale supérieure de techniques avancées Bretagne, 2022. http://www.theses.fr/2022ENTA0007.
Texto completoWith the development of offshore activities, the costs of maintenance and monitoring of offshore plants in terms of crew members, boats, and money have greatly increased and are still growing dramatically. This encouraged the development of autonomous underwater vehicles (AUV). These are still very expensive because of the numerous high-end sensors they need to embark on to accomplish their missions. Thus their number is relatively low. Therefore research is made to develop low-cost AUVs that could be produced in a larger amount to perform the same missions. This thesis comes within the scope of this research field. One of the main problems when dealing with AUVs is the localisation of the vehicle which will be the one addressed throughout this work. To tackle it, we present a new guaranteed integration method, which is more robust to the uncertainties on the initial condition than the ones currently available, based on Lie symmetries. This method is first presented through different simple theoretical examples. We then apply it to a localisation problem in a robotic context
Visell, Yon. "Walking on virtual ground: physics, perception, and interface design". Thesis, McGill University, 2011. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=103551.
Texto completoLes capacités sensori-motrices du pied sont essentielles à la locomotion humaine, à la collecte d'informations sur les surfaces de marche, et à l'interaction avec des objets au sol. La locomotion est de plus en plus utilisée pour interagir et naviguer dans les environnements virtuels immersifs, mais, contrairement à la main, peu d'attention a été accordée au rendu des sensations haptiques pour les pieds. Cette thèse aborde plusieurs problèmes liés à la réalisation d'expériences haptiques de marche sur des terrains virtuels. Tout d'abord, une nouvelle famille d'interfaces est présentée, fondée sur un dispositif vibrotactile intégré dans un carreau rigide. Sa dynamique structurelle et son contrôleur ont été optimisés pour assurer sa capacité à reproduire fidèlement les vibrations mécaniques dans une large bande de fréquence, ce qui était nécessaire à la réalisation de l'étude de perception présentée en deuxième partie de la thèse. Un pavage de ces dispositifs est utilisé pour simuler des terrains virtuels et des planchers tactiles multi-points, dont l'ergonomie est démontrée de manière empirique. Le deuxième volet de cette thèse est une étude expérimentale sur la contribution de l'information vibrotactile à la perception de la compliance du sol. Une nouvelle illusion perceptuelle haptique est démontrée, dans laquelle la compliance apparente du sol est augmentée par les vibrations ressenties par la plante du pied. Cette étude a également révélé l'étonnante capacité de l'interface vibrotactile à surmonter, en partie, une limitation intrinsèque : son incapacité à transmettre des informations kinesthésiques force-déplacement. La troisième partie de la thèse analyse les signaux mécaniques complexes produits par les processus physiques inélastiques dans les matériaux désordonnés tels que ceux rencontrés lors de la marche en terrain naturel. Les modèles de fluctuations accompagnant le frottement de glissement et les processus de fracture dans les matériaux hétérogènes quasi-fragiles soumis aux charges variables sont caractérisés par des méthodes de physique statistique. Cette analyse est utilisée pour formuler de nouveaux algorithmes pour la synthèse haptique des signatures à hautes fréquences des processus de fracture dans les composites de fibres et les materiaux granulaires compressés. En conclusion, cette thèse présente un dispositif vibrotactile et des techniques novateurs pour interagir avec des terrains virtuels. Elle démontre un nouvel effet perceptuel qui justifie le paradigme d'interaction haptique adopté ici. Enfin, elle analyse et modélise certains phénomènes physiques associés à la marche sur des terrains naturels complexes.
Black, William S. "Adaptive nonlinear control for autonomous ground vehicles". Thesis, Purdue University, 2014. http://pqdtopen.proquest.com/#viewpdf?dispub=1553492.
Texto completoWe present the background and motivation for ground vehicle autonomy, and focus on uses for space-exploration. Using a simple design example of an autonomous ground vehicle we derive the equations of motion. After providing the mathematical background for nonlinear systems and control we present two common methods for exactly linearizing nonlinear systems, feedback linearization and backstepping. We use these in combination with three adaptive control methods: model reference adaptive control, adaptive sliding mode control, and extremum-seeking model reference adaptive control. We show the performances of each combination through several simulation results. We then consider disturbances in the system, and design nonlinear disturbance observers for both single-input-single-output and multi-input-multi-output systems. Finally, we show the performance of these observers with simulation results.
Hager, Daniel Michael. "Situational Awareness of a Ground Robot From an Unmanned Aerial Vehicle". Thesis, Virginia Tech, 2009. http://hdl.handle.net/10919/32825.
Texto completoMaster of Science
Sridhar, Srivatsan. "Cooperative Perception in Autonomous Ground Vehicles using a Mobile Robot Testbed". Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/88742.
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Davis, Ronald J. "EVOLUTIONARY GROUND REACTION FORCE CONTROL OF A PROSTHETIC LEG TESTING ROBOT". Cleveland State University / OhioLINK, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=csu1396786747.
Texto completoQuaiyum, Labiba. "Model Reference Adaptive Backstepping Control of an Autonomous Ground Vehicle". Thesis, Virginia Tech, 2016. http://hdl.handle.net/10919/64509.
Texto completoMaster of Science
Mirza, Naeem Assif. "Grounded sensorimotor interaction histories for ontogenetic development in robots". Thesis, University of Hertfordshire, 2008. http://hdl.handle.net/2299/2551.
Texto completoEl, Kamel Mohamed Anouar. "Stabilisation et régulation de robots mobiles opérant en groupe". Phd thesis, Université d'Evry-Val d'Essonne, 2012. http://tel.archives-ouvertes.fr/tel-00876452.
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