Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 19 of 19 for “"Aerial robots"”.
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Human-aware Motion Planning for Aerial Robots
<p>This project shows a combination for drones autonomous navigation in dynamic environments. The algorithm combine Social GAN SGAN for human trajectory prediction with Rapidly-exploring Random Tree Star RRT* for path planning. The objective is to efficiently and safe navigate in the area with …
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Agile load transportation systems using aerial robots
… that can occur during load transport using aerial robots, i.e., small scale quadrotors. First, detailed models of such transportation system are derived. These models include nonlinear models of a quadrotor, a model of a quadrotor carrying a fixed load and a model of a quadrotor carrying a …
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An Extended Potential Field Controller for use on Aerial Robots
… controller (ePFC) which enables a quadcopter aerial robot to track a dynamic target while simultaneously avoiding obstacles in the environment. The design of the ePFC extends the foundational concepts of a traditional potential field controller (PFC), which uses attractive and repulsive …
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Towards achieving power autonomy in soft-actuated micro aerial robots
Micro aerial robots with insect-like flight capabilities hold immense promise for various applications, including environmental monitoring, precision agriculture, and infrastructure inspection in confined spaces. However, realizing power autonomy in these miniature robotic platforms presents …
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Scalable and Modular Manufacturing of Insect-Scale Aerial Robots Towards Swarm Flight Demonstrations
… by these biological feats, insect-scale micro aerial vehicles (MAVs) have been developed with advanced flight functionalities, including collision resilience and aerial acrobatics. Despite these advancements, MAVs weighing less than a gram continue to face critical challenges in design, …
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Bi-directional Flyback Converter Circuit Design for Flapping-wing Microrobots
… biologically inspired flapping-wing micro aerial robots that mimic the behavior of aerial insects. One of the major design challenges for sub-gram aerial robots is to achieve power autonomy. Over the past decade, numerous designs of sub-gram aerial robots have been proposed, with most of …
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Multi-Robot Coordination for Hazardous Environmental Monitoring
… design to algorithm design that restrict robots to be applied to practical applications. Among these challenges, we are particularly interested in dealing with algorithmic challenges primarily caused by sensing and communication limitations of robots. We develop algorithms with provable …
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An augmented reality interface for multi-robot tele-operation and control
… human multi-robot system comprised of ground and aerial robots of semi-autonomous nature for source localization tasks. The system combines augmented reality interfaces capabilities with human supervisor's ability to control multiple robots. It used advanced path planning algorithms to ensure …
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Deep Learning-Based Exploration Path Planning
… exploration of subterranean environments using aerial robots are presented. One approach utilizes imitation learning, where training samples are generated by a sampling-based state of the art exploration path planner, to construct a model which proposes comparable trajectories to those of the …
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Micro air vehicle control design : a comparison of classical and dynamic inversion techniques
… Air Vehicles (MAVs) are envisioned as autonomous aerial robots capable of flying into an urban environment to perform reconnaissance, targeting, and remote sensing. These vehicles are significantly smaller than current aircraft, with maximum dimensions of 15 centimeters, presenting challenges to …
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Reinforcement Learning with Gaussian Processes for Unmanned Aerial Vehicle Navigation
… of Reinforcement Learning (RL) for Unmanned Aerial Vehicle (UAV) navigation with the smallest number of real world samples possible. This work is motivated by applications of learning autonomous navigation for aerial robots in structural inspec- tion. A naive RL implementation suffers from …
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Distributed Intelligence for Multi-Agent Systems in Search and Rescue
… of work exists on the introduction of ground and aerial robots in visual and temporal inspection of search areas with varying levels of autonomy. Unfortunately, limited autonomy is the norm in such systems, due to the limitations presented by on-board UAV resources and networking capabilities. In …
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Long Basline Ranging Acoustic Positioning System
… underwater vehicles, much like terrestrial and aerial robots require an effective positioning system, like GPS to perform a wide variety of guidance, navigation and control operations. Sea and freshwater attenuate electromagnetic waves (sea water is worse due to higher conductivity) within very …
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Distributed approaches for coverage missions with multiple heterogeneous UAVs for coastal areas.
… high-level framework proposal for heterogeneous aerial, fixed wing teams of robots, which operate in complex coastal areas. Recent advances in the computational capabilities of modern processors along with the decrement of small scale aerial platform manufacturing costs, have given researchers …
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Efficient Imitation Learning for Robust, Adaptive, Vision-based Agile Flight Under Uncertainty
… onboard computation, preventing deployment on robots with tight Cost, Size, Weight, and Power (CSWaP)constraints. The existing imitation learning strategies that can train computationally efficient deep neural network policies from those algorithms have limited robustness and/or are impractical …
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Vector Distance Transform Maps for Autonomous Mobile Robot Navigation
… robot platforms including both ground and aerial robots navigating in 2D and 3D environments using a series of sensors including LiDARs and cameras. We propose an information filtering based approach for mobile robot localization where a single endpoint range sensor can be used to …
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Unmanned Aerial Manipulators in Construction - Opportunities and Challenges
Unmanned Aerial Vehicles (UAVs) have now been accepted as an alternative medium to human workers for data collection processes in various industries. The capabilities of UAVs are now being extended from passive tasks of data collection to active tasks of interacting with the environment by …