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 18 of 18 for “"Autonomous exploration"”.
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Persistent autonomous exploration, mapping and localization
In this thesis, we investigate methods for exploration, persistent autonomy, and simultaneous localization and mapping tasks for an autonomous mobile robot with battery constraints. First, we present modifications to baseline frontier exploration on an occupancy grid that makes the robot's frontier …
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Continuous observation planning for autonomous exploration
Many applications of autonomous robots depend on the robot being able to navigate in real world environments. In order to navigate or path plan, the robot often needs to consult a map of its surroundings. A truly autonomous robot must, therefore, be able to drive about its environment and use its …
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Homography-Based State Estimation for Autonomous Exploration in Unknown Environments
… processed video and IMU data from flights of an autonomous quadcopter. The homography-based state estimation algorithm was effective, but accumulates drift errors over time due to the relativistic homography measurement of position.</p>
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A robust and efficient autonomous exploration methodology of unknown environments for multi-robot systems
… A robust and efficient methodology for exploration of unknown environments is presented using a k-means method to improve traditional task allocation schemes. The k-means method proposed is an efficient technique due to the algorithm’s quick convergence time and its ability to segment a …
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Efficient algorithms and a two-stage framework for autonomous exploration of complex 3D environments using a climbing robot
Enabling robots to autonomously explore complex 3D environments is crucial in facilitating the automation of many real-world tasks. There exist many algorithms for exploring unknown environments with autonomous robots. Most of these are restricted to the 2D case, or to cases where the robot can be …
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Enabling human-multi-robot collaborative visual exploration in underwater environments
… thesis presents novel approaches to vision-based autonomous exploration in underwater environments using human-multi-robot systems, enabling robots to adapt to evolving mission priorities learned via a human supervisor’s responses to images collected in situ. The robots model the spatial …
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Enabling Human-Multi-Robot Collaborative Visual Exploration in Underwater Environments
… thesis presents novel approaches to vision-based autonomous exploration in underwater environments using human-multi-robot systems, enabling robots to adapt to evolving mission priorities learned via a human supervisor's responses to images collected in situ. The robots model the spatial …
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Autonomous Search and Rescue: Real-Time Drone and Robotic Dog Integration
… robot with a Tello drone to form a non-GPS-based autonomous navigation system. By leveraging coordinate transformation logic, this study enables real-time aerial reconnaissance and ground-based waypoint navigation without reliance on GPS. The methodology includes software development using the …
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Deep Learning-Based Exploration Path Planning
… deep learning-based path planning methods for autonomous 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 …
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Autonomous UAV-UGV robot collaboration for exploration and mapping of unknown environments
… the limitations of existing approaches to autonomous exploration and mapping of unknown environments that use multiple Unmanned Ground Vehicles (UGVs). An Unmanned Aerial Vehicle (UAV) is introduced into the multirobot system to overcome the challenges of relative localization and obstacle …
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Towards Reinforcement-Learning-based Robot Navigation with 3D Scene Graphs
Applying Reinforcement Learning (RL) for autonomous navigation has enormous potential in several robotics applications, including search and rescue operations. RL circumvents the need to manually specify a control policy for navigation and allows capturing aspects that are difficult to describe …
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Development of an autonomous radiation mapping robot
The development of an autonomous robotic platform for generating radiation maps is presented. An integrated autonomous exploration algorithm, Particle Swarm Optimization algorithm, and the ability to accurately localize and map multiple radiation sources in both indoor and outdoor environments …
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Learning of Multi-Dimensional, Multi-Modal Features for Robotic Grasping
… in uncertain environments. We aim to create an autonomous agent that develops grasping skills from experience, by interacting with objects and with other agents. To this end, we present a 3D object model for autonomous, visuomotor interaction. The model represents grasping strategies along with …
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Virtual vocal ensembles and the mediation of performance on YouTube
… Musical arrangement, voice range expansion, and autonomous exploration of musical concepts were also results of creators’ performance practices. Creating virtual vocal ensembles require not only musical skills, but also technological and production abilities that can be applied to music education …
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Risk-bounded autonomous information gathering for localization of phenomena in hazardous environments
Exploration of new environments is often conducted in search of some phenomenon of interest. Examples include the search for extreme forms of life in the deep ocean or under the ice on Europa, or localizing resource deposits on the ocean floor. Exploration of all these environments is dangerous …
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A Methodology for Autonomous Navigation and Mapping in an Unknown Unstructured Dynamic Indoor Environment
… multiple 2D point cloud slices. Furthermore, for autonomous exploration, the UAV should be able to mimic humans and take decisions according to the surrounding situations. Hence, the vehicle must be able to detect a proper destination and generate an appropriate path to that destination. Since the …
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The Psychology of Collaborating and Co-Creating with Artificial Intelligence
… co-creating with AI (Paper 1), a theoretical exploration of creative autonomy when working with generative AI (Paper 2), and a mixed-methods examination of social comparisons and idea integration with generative AI (Paper 3). Although these papers are independent studies, they have informed …
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Enabling human-robot cooperation in scientific exploration of bandwidth-limited environments
Contemporary scientific exploration most often takes place in highly remote and dangerous environments, such as in the deep sea and on other planets. These environments are very hostile to humans, which makes robotic exploration the first and often the only option. However, they also impose …