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Nipper, Nathan James. "Robotic balance through autonomous oscillator control and the dynamic inclinometer". [Gainesville, Fla.] : University of Florida, 2001. http://etd.fcla.edu/etd/uf/2001/anp1586/NathanNipperThesis.PDF.
Pełny tekst źródłaTitle from first page of PDF file. Document formatted into pages; contains vii, 54 p.; also contains graphics. Vita. Includes bibliographical references (p. 53).
Christensen, Anders Lyhne. "Fault detection in autonomous robots". Doctoral thesis, Universite Libre de Bruxelles, 2008. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/210508.
Pełny tekst źródłaThe results show that good fault detectors can be obtained. We extend the set of possible faults and go on to show that a single fault detector can be trained to detect several faults in both a robot's sensors and actuators. We show that fault detectors can be synthesized that are robust to variations in the task. Finally, we show how a fault detector can be trained to allow one robot to detect faults that occur in another robot.
The second approach involves the use of firefly-inspired synchronization to allow the presence of faulty robots to be determined by other non-faulty robots in a swarm robotic system. We take inspiration from the synchronized flashing behavior observed in some species of fireflies. Each robot flashes by lighting up its on-board red LEDs and neighboring robots are driven to flash in synchrony. The robots always interpret the absence of flashing by a particular robot as an indication that the robot has a fault. A faulty robot can stop flashing periodically for one of two reasons. The fault itself can render the robot unable to flash periodically.
Alternatively, the faulty robot might be able to detect the fault itself using endogenous fault detection and decide to stop flashing.
Thus, catastrophic faults in a robot can be directly detected by its peers, while the presence of less serious faults can be detected by the faulty robot itself, and actively communicated to neighboring robots. We explore the performance of the proposed algorithm both on a real world swarm robotic system and in simulation. We show that failed robots are detected correctly and in a timely manner, and we show that a system composed of robots with simulated self-repair capabilities can survive relatively high failure rates.
We conclude that i) fault injection and learning can give robots the capacity to detect faults that occur in themselves, and that ii) firefly-inspired synchronization can enable robots in a swarm robotic system to detect and communicate faults.
Doctorat en Sciences de l'ingénieur
info:eu-repo/semantics/nonPublished
Garratt, Matthew A. "Biologically inspired vision and control for an autonomous flying vehicle /". View thesis entry in Australian Digital Theses Program, 2007. http://thesis.anu.edu.au/public/adt-ANU20090116.154822/index.html.
Pełny tekst źródłaHawley, John. "Hierarchical task allocation in robotic exploration /". Online version of thesis, 2009. http://hdl.handle.net/1850/10650.
Pełny tekst źródłaKeepence, B. S. "Navigation of autonomous mobile robots". Thesis, Cardiff University, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.304921.
Pełny tekst źródłaSá, André Filipe Marques Alves de. "Navigation of autonomous mobile robots". Master's thesis, Universidade de Aveiro, 2017. http://hdl.handle.net/10773/23832.
Pełny tekst źródłaAutomação, na mais simples das designações, é a arte de criar vida na máquina, possibilitando certas ações sem controlo directo por parte de um utilizador. Esta área de estudo permite que certas atividades que consideramos aborrecidas ou perigosas possam ser executadas por máquinas. Nesta tese, um estudo do estado da arte no campo de robôs móveis e inteligentes foi realizado, apresentando um focus especial em algoritmos de navegação baseados em procura e amostragem. Uma simulação foi desenvolvida, na qual um modelo do robô Wiserobot foi criado, utilizado como ambiente de teste um ed cio conhecido no campo da robótica, o laboratório da Willow Garage. Nesta simulação foram realizados testes aos algoritmos explorados anteriormente, nomeadamente Dijkstra, PRM e RRT. Para testar os algoritmos por amostragem, um plug-in foi desenvolvido para utilizar a Open Motion Planning Library para avaliar resultados dos mesmos. Por fim, código foi desenvolvido, usando e tendo por base bibliotecas existentes no ROS, de modo a dar ao nosso modelo do robô capacidades de navegação no ambiente simulado, inicialmente estático seguido de testes com objectos não declarados. Os resultados dos vários planeadores foram comparados para avaliar a prestação nos casos de testes definidos, utilizando métricas escolhidas previamente.
Automation, in the simplest of designations, is the art of creating life in the machine, allowing the performance of certain actions without the need of direct control by an user. This area of study allows for certain activities that we deem as tedious or dangerous to be executed by machines. In this thesis, a study of the state of the art in the eld of mobile and autonomous robotics is made, focusing in navigation algorithms based on search and sampling. A simulation was developed, in which a model of the robot was created, to be used with an environment well know by roboticist, Willow Garage. In this simulation, tests were made to the algorithms explored earlier, namely Dijkstra, PRM and RRT. To test multiple samplebased planners, a plug-in was developed to use the Open Motion Planning Library for benchmarking purposes. Finally code is developed, based and using existing ROS packages, to give a model cargo robot navigation capabilities in a simulated indoor environment, initially static then with undeclared obstacles. The results were compared from multiple planners to evaluate the performance in the test cases de ned, using pre-established metrics.
Tay, Junyun. "Autonomous Animation of Humanoid Robots". Research Showcase @ CMU, 2016. http://repository.cmu.edu/dissertations/838.
Pełny tekst źródłaLoetzsch, Martin. "Lexicon formation in autonomous robots". Doctoral thesis, Humboldt-Universität zu Berlin, Mathematisch-Naturwissenschaftliche Fakultät II, 2015. http://dx.doi.org/10.18452/17121.
Pełny tekst źródła"The meaning of a word is its use in the language". In the first half of the 20th century Ludwig Wittgenstein introduced this idea into philosophy and especially in the last few decades, related disciplines such as psychology and linguistics started embracing the view that that natural language is a dynamic system of arbitrary and culturally learnt conventions. From the end of the nineties on, researchers around Luc Steels transferred this notion of communication to the field of artificial intelligence by letting software agents and later robots play so-called language games in order to self-organize communication systems without requiring prior linguistic or conceptual knowledge. Continuing and advancing that research, the work presented in this thesis investigates lexicon formation in humanoid robots, i.e. the emergence of shared lexical knowledge in populations of robotic agents. Central to this is the concept of referential uncertainty, which is the difficulty of guessing a previously unknown word from the context. First in a simulated environments and later with physical robots, this work starts from very simple lexicon formation models and then systematically analyzes how an increasing complexity in communicative interactions leads to an increasing complexity of representations and learning mechanisms. We evaluate lexicon formation models with respect to their robustness, scaling and their applicability to robotic interaction scenarios and one result of this work is that the predominating approaches in the literature do not scale well and are not able to cope with the challenges stemming from grounding words in the real-world perceptions of physical robots. In order to overcome these limitations, we present an alternative lexicon formation model and evaluate its performance.
Haberbusch, Matthew Gavin. "Autonomous Skills for Remote Robotic Assembly". Case Western Reserve University School of Graduate Studies / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=case1588112797847939.
Pełny tekst źródłaOrebäck, Anders. "A component framework for autonomous mobile robots". Doctoral thesis, KTH, Numerical Analysis and Computer Science, NADA, 2004. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-50.
Pełny tekst źródłaThe major problem of robotics research today is that there is a barrier to entry into robotics research. Robot system software is complex and a researcher that wishes to concentrate on one particular problem often needs to learn about details, dependencies and intricacies of the complete system. This is because a robot system needs several different modules that need to communicate and execute in parallel.
Today there is not much controlled comparisons of algorithms and solutions for a given task, which is the standard scientific method of other sciences. There is also very little sharing between groups and projects, requiring code to be written from scratch over and over again.
This thesis proposes a general framework for robotics. By examining successful systems and architectures of past and present, yields a number of key properties. Some of these are ease of use, modularity, portability and efficiency. Even though there is much consensus on that the hybrid deliberate/reactive is the best architectural model that the community has produced so far, a framework should not stipulate a specific architecture. Instead the framework should enable the building of different architectures. Such a scheme implies that the modules are seen as common peers and not divided into clients and servers or forced into a set layering.
Using a standardized middleware such as CORBA, efficient communication can be carried out between different platforms and languages. Middleware also provides network transparency which is valuable in distributed systems. Component-based Software Engineering (CBSE) is an approach that could solve many of the aforementioned problems. It enforces modularity which helps to manage complexity. Components can be developed in isolation, since algorithms are encapsulated in components where only the interfaces need to be known by other users. A complete system can be created by assembling components from different sources.
Comparisons and sharing can greatly benefit from CBSE. A component-based framework called ORCA has been implemented with the following characteristics. All communication is carried out be either of three communication patterns, query, send and push. Communication is done using CORBA, although most of the CORBA code is hidden for the developer and can in the future be replaced by other mechanisms. Objects are transported between components in the form of the CORBA valuetype.
A component model is specified that among other things include support for a state-machine. This also handles initialization and sets up communication. Configuration is achieved by the presence of an XML-file per component. A hardware abstraction scheme is specified that basically route the communication patterns right down to the hardware level.
The framework has been verified by the implementation of a number of working systems.
Kelsey, Jed M. "AUTONOMOUS SOCCER-PLAYING ROBOTS: A SENIOR DESIGN PROJECT". International Foundation for Telemetering, 1999. http://hdl.handle.net/10150/608518.
Pełny tekst źródłaThis paper describes the experiences and final design of one team in a senior design competition to build a soccer-playing robot. Each robot was required to operate autonomously under the remote control of a dedicated host computer via a wireless link. Each team designed and constructed a robot and wrote its control software. Certain components were made available to all teams. These components included wireless transmitters and receivers, microcontrollers, overhead cameras, image processing boards, and desktop computers. This paper describes the team’s hardware and software designs, problems they encountered, and lessons learned.
Michael, Andrew Mario. "Circle formation algorithm for autonomous agents with local sensing /". Online version of thesis, 2004. http://hdl.handle.net/1850/12143.
Pełny tekst źródłaNguyen, Hai Dai. "Constructing mobile manipulation behaviors using expert interfaces and autonomous robot learning". Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/50206.
Pełny tekst źródłaSantos, Vasco Pedro dos Anjos e. "DSAAR: distributed software architecture for autonomous robots". Master's thesis, FCT - UNL, 2009. http://hdl.handle.net/10362/1913.
Pełny tekst źródłaThis dissertation presents a software architecture called the Distributed Software Architecture for Autonomous Robots (DSAAR), which is designed to provide the fast development and prototyping of multi-robot systems. The DSAAR building blocks allow engineers to focus on the behavioural model of robots and collectives. This architecture is of special interest in domains where several human, robot, and software agents have to interact continuously. Thus, fast prototyping and reusability is a must. DSAAR tries to cope with these requirements towards an advanced solution to the n-humans and m-robots problem with a set of design good practices and development tools. This dissertation will also focus on Human-Robot Interaction, mainly on the subject of teleoperation. In teleoperation human judgement is an integral part of the process, heavily influenced by the telemetry data received from the remote environment. So the speed in which commands are given and the telemetry data is received, is of crucial importance. Using the DSAAR architecture a teleoperation approach is proposed. This approach was designed to provide all entities present in the network a shared reality, where every entity is an information source in an approach similar to the distributed blackboard. This solution was designed to accomplish a real time response, as well as, the completest perception of the robots’ surroundings. Experimental results obtained with the physical robot suggest that the system is able to guarantee a close interaction between users and robot.
Gómez, Betancur Gabriel J. "Adaptive learning mechanisms for autonomous robots /". Zürich, 2007. http://opac.nebis.ch/cgi-bin/showAbstract.pl?sys=000253587.
Pełny tekst źródłaHofer, Ludovic. "Decision-making algorithms for autonomous robots". Thesis, Bordeaux, 2017. http://www.theses.fr/2017BORD0770/document.
Pełny tekst źródłaThe autonomy of robots heavily relies on their ability to make decisions based on the information provided by their sensors. In this dissertation, decision-making in robotics is modeled as continuous state and action markov decision process. This choice allows modeling of uncertainty on the results of the actions chosen by the robots. The new learning algorithms proposed in this thesis focus on producing policies which can be used online at a low computational cost. They are applied to real-world problems in the RoboCup context, an international robotic competition held annually. In those problems, humanoid robots have to choose either the direction and power of kicks in order to maximize the probability of scoring a goal or the parameters of a walk engine to move towards a kickable position
Pace, Conrad J. "Autonomous safety management for mobile robots". Thesis, Lancaster University, 2004. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.423907.
Pełny tekst źródłaKaramanlis, Vasilios. "Mulltivariate motion planning of autonomous robots". Thesis, Monterey, California. Naval Postgraduate School, 1997. http://hdl.handle.net/10945/8705.
Pełny tekst źródłaMcPhillips, Graeme. "The control of semi-autonomous robots". Master's thesis, University of Cape Town, 2004. http://hdl.handle.net/11427/15417.
Pełny tekst źródłaRobotic soccer is an international area of research which involves multiple robots collaborating in an adversarial and dynamic environment. Although many different forms gf robotic soccer are played, the University of Cape Town (UCT) chose the RoboCup small» sized robot league, officially known as the F180 RoboSoccer league, as a means of pursuing robotics research within the institution. The robot soccer game is played between two teams of ï¬ ve robots on a carpeted surface that is 2.8 m long by 2.3 m wide. The robots have their own on-board controllers that execute instructions sent to them from a computer-based artiï¬ cial intelligence (AI) system. In order for the AI system to keep track of all the robots and the ball (an orange golf ball), a global vision system is utilised. This global vision system uses images captured from either one or multiple digital cameras mounted above the ï¬ eld of play to determine the position and orientation of the team's robots, the position of the other teams' robots and ï¬ nally the position of the ball. In the true spirit of competition and furthering research, the rules which govern F180 RoboSoccer league cover only the basic format of the game thereby leaving various aspects of the robots, global vision system and AI design open for development. Since there was no RoboSoccer research in existence at UCT prior to the inception of this researcher's Masters' thesis the task included both the establishment of this format of robotics research at the institution as well as the actual design and development of the robots and the associated components as outlined below. Developing a team of robots requires a wide array of knowledge and the research undertaken was accordingly broken into three key components; the design of the robots (which included their related electronics and on-board controller), the design of a vision system and the design of an Al system. The main focus of this author's work was on the design of the robots as well as the overall structuring and integration of the UCT F180 RoboSoccer team. In addition, the areas of the global vision system and AI system that were covered within the scope of this thesis, are also presented. Prototypes were developed and in the ï¬ rst the main emphasis was placed on the movement of the robot, with the design of the kicking mechanism only occurring subsequent to this. After the ï¬ rst competition in 2002, this ï¬ rst design was abandoned in favour of developing a simpler robot with which to continue development. This simpler robot became the second prototype which, after testing, was reï¬ ned into the competition robot for 2003. During this period, the Al and global vision systems were developed by undergraduate thesis students. This research was then incorporated where applicable and, ï¬ nally, the residual problem areas were again addressed by a collaboration of staff and students. Whilst the design and implementation of the robots was very successful, the vision system was not successfully implemented before the competition in 2003. Although an autonomous game of soccer was not successfully played in the 2003 competition, the UCT F180 RoboSoccer team had made a great deal of progress towards this goal and, consequently, a strong foundation for future robotic soccer research within UCT has been established.
Magnago, Valerio. "Uncertainty aware localization for autonomous robots". Doctoral thesis, Università degli studi di Trento, 2010. http://hdl.handle.net/11572/269357.
Pełny tekst źródłaMagnago, Valerio. "Uncertainty aware localization for autonomous robots". Doctoral thesis, Università degli studi di Trento, 2010. http://hdl.handle.net/11572/269357.
Pełny tekst źródłaNortman, Scott D. "Design, construction, and control of an autonomous humanoid robot". [Gainesville, Fla.] : University of Florida, 2002. http://purl.fcla.edu/fcla/etd/UFE1000147.
Pełny tekst źródłaTitle from title page of source document. Document formatted into pages; contains vii, 68 p.; also contains graphics. Includes vita. Includes bibliographical references.
Cave, Gary L. "Development and control of robotic arms for the Naval Postgraduate School Planar Autonomous Docking Simulator (NPADS)". Thesis, Monterey, California. Naval Postgraduate School, 2002. http://hdl.handle.net/10945/4614.
Pełny tekst źródłaThe objective of this thesis was to design, construct and develop the initial autonomous control algorithm for the NPS Planar Autonomous Docking Simulator (NPADS). The effort included hardware design, fabrication, installation and integration; mass property determination; and the development and testing of control laws utilizing MATLAB and Simulink for modeling and LabView for NPADS control. The NPADS vehicle uses air pads and a granite table to simulate a 2-D, drag-free, zero-g space environment. It is a completely self-contained vehicle equipped with eight cold-gas, bang-bang type thrusters and a reaction wheel for motion control. A "star sensor" CCD camera locates the vehicle on the table while a color CCD docking camera and two robotic arms will locate and dock with a target vehicle. The on-board computer system leverages PXI technology and a single source, simplifying systems integration. The vehicle is powered by two lead-acid batteries for completely autonomous operation. A graphical user interface and wireless Ethernet enable the user to command and monitor the vehicle from a remote command and data acquisition computer. Two control algorithms were developed and allow the user to either control the thrusters and reaction wheel manually or simply specify a desired location.
Holland, Courtney L. "Characterization of robotic tail orientation as a function of platform position for surf-zone robots". Thesis, Monterey, Calif. : Naval Postgraduate School, 2009. http://edocs.nps.edu/npspubs/scholarly/theses/2009/Jun/09Jun%5FHolland.pdf.
Pełny tekst źródłaThesis Advisor(s): Harkins, Richard. "June 2009." Description based on title screen as viewed on July 10, 2009. Author(s) subject terms: Amphibious, Autonomous, Robotics, WHEGS. Includes bibliographical references (p. 84-85). Also available in print.
Ward, Jason L. "Design of a prototype autonomous amphibious WHEGS robot for surf-zone operations". Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2005. http://library.nps.navy.mil/uhtbin/hyperion/05Jun%5FWard.pdf.
Pełny tekst źródłaBautista, Ballester Jordi. "Human-robot interaction and computer-vision-based services for autonomous robots". Doctoral thesis, Universitat Rovira i Virgili, 2016. http://hdl.handle.net/10803/398647.
Pełny tekst źródłaEl Aprendizaje por Imitación (IL), o Programación de robots por Demostración (PbD), abarca métodos por los cuales un robot aprende nuevas habilidades a través de la orientación humana y la imitación. La PbD se inspira en la forma en que los seres humanos aprenden nuevas habilidades por imitación con el fin de desarrollar métodos por los cuales las nuevas tareas se pueden transferir a los robots. Esta tesis está motivada por la pregunta genérica de "qué imitar?", que se refiere al problema de cómo extraer las características esenciales de una tarea. Con este fin, aquí adoptamos la perspectiva del Reconocimiento de Acciones (AR) con el fin de permitir que el robot decida lo que hay que imitar o inferir al interactuar con un ser humano. El enfoque propuesto se basa en un método bien conocido que proviene del procesamiento del lenguaje natural: es decir, la bolsa de palabras (BoW). Este método se aplica a grandes bases de datos con el fin de obtener un modelo entrenado. Aunque BoW es una técnica de aprendizaje de máquinas que se utiliza en diversos campos de la investigación, en la clasificación de acciones para el aprendizaje en robots está lejos de ser acurada. Además, se centra en la clasificación de objetos y gestos en lugar de acciones. Por lo tanto, en esta tesis se demuestra que el método es adecuado, en escenarios de clasificación de acciones, para la fusión de información de diferentes fuentes o de diferentes ensayos. Esta tesis hace tres contribuciones: (1) se propone un método general para hacer frente al reconocimiento de acciones y por lo tanto contribuir al aprendizaje por imitación; (2) la metodología puede aplicarse a grandes bases de datos, que incluyen diferentes modos de captura de las acciones; y (3) el método se aplica específicamente en un proyecto internacional de innovación real llamado Vinbot.
Imitation Learning (IL), or robot Programming by Demonstration (PbD), covers methods by which a robot learns new skills through human guidance and imitation. PbD takes its inspiration from the way humans learn new skills by imitation in order to develop methods by which new tasks can be transmitted to robots. This thesis is motivated by the generic question of “what to imitate?” which concerns the problem of how to extract the essential features of a task. To this end, here we adopt Action Recognition (AR) perspective in order to allow the robot to decide what has to be imitated or inferred when interacting with a human kind. The proposed approach is based on a well-known method from natural language processing: namely, Bag of Words (BoW). This method is applied to large databases in order to obtain a trained model. Although BoW is a machine learning technique that is used in various fields of research, in action classification for robot learning it is far from accurate. Moreover, it focuses on the classification of objects and gestures rather than actions. Thus, in this thesis we show that the method is suitable in action classification scenarios for merging information from different sources or different trials. This thesis makes three contributions: (1) it proposes a general method for dealing with action recognition and thus to contribute to imitation learning; (2) the methodology can be applied to large databases which include different modes of action captures; and (3) the method is applied specifically in a real international innovation project called Vinbot.
Cowling, Michael, i n/a. "Non-Speech Environmental Sound Classification System for Autonomous Surveillance". Griffith University. School of Information Technology, 2004. http://www4.gu.edu.au:8080/adt-root/public/adt-QGU20040428.152425.
Pełny tekst źródłaCowling, Michael. "Non-Speech Environmental Sound Classification System for Autonomous Surveillance". Thesis, Griffith University, 2004. http://hdl.handle.net/10072/365386.
Pełny tekst źródłaThesis (PhD Doctorate)
Doctor of Philosophy (PhD)
School of Information Technology
Full Text
Marvel, Jeremy Alan. "Autonomous Learning for Robotic Assembly Applications". Cleveland, Ohio : Case Western Reserve University, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=case1268187684.
Pełny tekst źródłaDepartment of EECS - Computer Engineering Title from PDF (viewed on 2010-05-25) Includes abstract Includes bibliographical references and appendices Available online via the OhioLINK ETD Center
Chen, Xingping. "Robust nonlinear trailing control for multiple mobile autonomous agents formation". Columbus, Ohio : Ohio State University, 2006. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1155591282.
Pełny tekst źródłaLovell, Nathan, i N/A. "Machine Vision as the Primary Sensory Input for Mobile, Autonomous Robots". Griffith University. School of Information and Communication Technology, 2006. http://www4.gu.edu.au:8080/adt-root/public/adt-QGU20070911.152447.
Pełny tekst źródłaLovell, Nathan. "Machine Vision as the Primary Sensory Input for Mobile, Autonomous Robots". Thesis, Griffith University, 2006. http://hdl.handle.net/10072/367107.
Pełny tekst źródłaThesis (PhD Doctorate)
Doctor of Philosophy (PhD)
School of Information and Communication Technology
Full Text
Fetzek, Charles A. "Behavior-based power management in autonomous mobile robots". Wright-Patterson AFB : Air Force Institute of Technology, 2008. http://handle.dtic.mil/100.2/ADA487084.
Pełny tekst źródłaAxelsson, Henrik. "Hybrid control of multiple autonomous mobile robots". Thesis, Georgia Institute of Technology, 2003. http://hdl.handle.net/1853/15439.
Pełny tekst źródłaGat, Erann. "Reliable goal-directed reactive control of autonomous mobile robots". Diss., This resource online, 1991. http://scholar.lib.vt.edu/theses/available/etd-07282008-134502/.
Pełny tekst źródłaCrous, C. B. "Autonomous robot path planning". Thesis, Stellenbosch : University of Stellenbosch, 2009. http://hdl.handle.net/10019.1/2519.
Pełny tekst źródłaIn this thesis we consider the dynamic path planning problem for robotics. The dynamic path planning problem, in short, is the task of determining an optimal path, in terms of minimising a given cost function, from one location to another within a known environment of moving obstacles. Our goal is to investigate a number of well-known path planning algorithms, to determine for which circumstances a particular algorithm is best suited, and to propose changes to existing algorithms to make them perform better in dynamic environments. At this stage no thorough comparison of theoretical and actual running times of path planning algorithms exist. Our main goal is to address this shortcoming by comparing some of the wellknown path planning algorithms and our own improvements to these path planning algorithms in a simulation environment. We show that the visibility graph representation of the environment combined with the A* algorithm provides very good results for both path length and computational cost, for a relatively small number of obstacles. As for a grid representation of the environment, we show that the A* algorithm produces good paths in terms of length and the amount of rotation and it requires less computation than dynamic algorithms such as D* and D* Lite.
Pini, Giovanni. "Towards autonomous task partitioning in swarm robotics: experiments with foraging robots". Doctoral thesis, Universite Libre de Bruxelles, 2013. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/209469.
Pełny tekst źródłaThis limits the applicability of these methods to the specific contexts for which they have been built. The work presented in this thesis represents the first steps towards a general framework for autonomous task partitioning in swarms of robots. We study task partitioning in foraging, since foraging abstracts practical real-world problems. The approach we propose in this thesis is therefore studied in experiments in which the goal is to achieve autonomous task partitioning in foraging. However, in the proposed approach, the task partitioning process relies upon general, task-independent concepts and we are therefore confident that it is applicable in other contexts. We identify two main capabilities that the robots should have: i) being capable of selecting whether to employ task partitioning and ii) defining the sub-tasks of a given task. We propose and study algorithms that endow a swarm of robots with these capabilities.
Doctorat en Sciences de l'ingénieur
info:eu-repo/semantics/nonPublished
Dag, Antymos. "Autonomous Indoor Navigation System for Mobile Robots". Thesis, Linköpings universitet, Programvara och system, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-129419.
Pełny tekst źródłaAkanyeti, Otar. "Automatic code generation for autonomous mobile robots". Thesis, University of Essex, 2009. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.499781.
Pełny tekst źródłaHamilton, Kelvin. "An integrated diagnostic architecture for autonomous robots". Thesis, Heriot-Watt University, 2002. http://hdl.handle.net/10399/100.
Pełny tekst źródłaNeto, Hugo Vieira. "Visual novelty detection for autonomous inspection robots". Thesis, University of Essex, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.428977.
Pełny tekst źródłaRajan, Vishnu Arun Kumar Thumatty. "Tether management techniques for autonomous mobile robots". Thesis, University of Manchester, 2010. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.517864.
Pełny tekst źródłaColombini, Esther Luna. "Module-based learning in autonomous mobile robots". Instituto Tecnológico de Aeronáutica, 2005. http://www.bd.bibl.ita.br/tde_busca/arquivo.php?codArquivo=213.
Pełny tekst źródłaVieira, Neto Hugo. "Visual novelty detection for autonomous inspection robots". University of Essex, 2006. http://repositorio.utfpr.edu.br/jspui/handle/1/644.
Pełny tekst źródłaMobile robot applications that involve automated exploration and inspection of environments are often dependant on novelty detection, the ability to differentiate between common and uncommon perceptions. Because novelty can be anything that deviates from the normal context, we argue that in order to implement a novelty filter it is necessary to exploit the robot's sensory data from the ground up, building models of normality rather than abnormality. In this work we use unrestricted colour visual data as perceptual input to on-line incremental learning algorithms. Unlike other sensor modalities, vision can provide a variety of useful information about the environment through massive amounts of data, which often need to be reduced for realtime operation. Here we use mechanisms of visual attention to select candidate image regions to be encoded and fed to higher levels of processing, enabling the localisation of novel features within the input image frame. An extensive series of experiments using visual input, obtained by a real mobile robot interacting with laboratory and medium-scale real world environments, are used to discuss different visual novelty filter configurations. We compare performance and functionality of novelty detection mechanisms based on the Grow-When-Required neural network and incremental Principal Component Analysis. Results are assessed using both qualitative and quantitative methods, demonstrating advantages and disadvantages of each investigated approach.
Beck, Zoltan. "Collaborative search and rescue by autonomous robots". Thesis, University of Southampton, 2016. https://eprints.soton.ac.uk/411031/.
Pełny tekst źródłaMikhalsky, Maxim. "Efficient biomorphic vision for autonomous mobile robots". Thesis, Queensland University of Technology, 2006. https://eprints.qut.edu.au/16206/1/Maxim_Mikhalsky_Thesis.pdf.
Pełny tekst źródłaMikhalsky, Maxim. "Efficient biomorphic vision for autonomous mobile robots". Queensland University of Technology, 2006. http://eprints.qut.edu.au/16206/.
Pełny tekst źródłaCowlagi, Raghvendra V. "Hierarchical motion planning for autonomous aerial and terrestrial vehicles". Diss., Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/41066.
Pełny tekst źródłaStoytchev, Alexander. "Robot Tool Behavior: A Developmental Approach to Autonomous Tool Use". Diss., Available online, Georgia Institute of Technology, 2007, 2007. http://etd.gatech.edu/theses/available/etd-06112007-013056/.
Pełny tekst źródłaIsbell, Charles, Committee Member ; Lipkin, Harvey, Committee Member ; Balch, Tucker, Committee Member ; Bobick, Aaron, Committee Member ; Arkin, Ronald, Committee Chair.
Hague, Tony. "Motion planning for autonomous guided vehicles". Thesis, University of Oxford, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.358592.
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