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.
Results
Showing 1 to 20 of 162 for “"Cluttered"”.
-
Efficient Robot Motion Planning in Cluttered Environments
… given start and goal states in an environment cluttered with obstacles. As tasks become more complex, there is a need to develop more sophisticated motion planning algorithms that can compute high quality solutions for the robot quickly. This thesis primarily address the challenge in three …
-
Robot Navigation in Cluttered Environments with Deep Reinforcement Learning
<p>The application of robotics in cluttered and dynamic environments provides a wealth of challenges. This thesis proposes a deep reinforcement learning based system that determines collision free navigation robot velocities directly from a sequence of depth images and a desired direction of …
-
Motion planning algorithms and implementations for obstacle-cluttered environments
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms
-
Planning and control for quadrotor flight through cluttered environments
Previous demonstrations of autonomous quadrotor flight have typically been limited to sparse environments due to the computational burden associated with planning for a large number of obstacles. We hypothesized that it would be possible to do efficient planning and robust execution in …
-
Parallelized two-stage object detection in cluttered RGB-D scenes
… that improves multiple object detection in cluttered scenes. The first stage aims to achieve high precision, even at the cost of lower recall, by detecting only the less occluded objects. This results in large fraction of the scene being labeled which enables the algorithm in the second …
-
Iterative Tensor Voting for Perceptual Grouping of Natural Shapes in Cluttered Background
Grouping processes provide reliable pre-processed information to higher level computer vision functions by eliminating irrelevant items and preserving salient, organized structures that are more likely to belong to objects. Applications involving object detection or recognition are particularly …
-
Distributed time-critical coordination strategies for unmanned aerial systems in cluttered environments
… of cooperating unmanned aerial systems through cluttered and uncertain environments, subject to a broad range of coordination and temporal constraints. The proposed solution expands the type of time-critical missions that can be automated using cooperative motion control frameworks. This work …
-
Hidden object doppler : estimating motion, size and material properties of moving non-line-of-sight objects in cluttered environments
The thesis presents a framework for Non-Line-of-Sight Computer Vision techniques using wave fronts. Using short-pulse illumination and a high speed time-of-flight camera, we propose algorithms that use multi path light transport analysis to explore the environments beyond line of sight. What is …
-
A Perceptual, Acoustic-Phonetic, and Linguistic Analysis of Cluttering
… what, if any, unique features distinguished his cluttered speech. These analyses were conducted on ten utterances that were judged to contain cluttering. The subject repeated the ten utterances as fluently as possible and those utterances were subjected to the sane analyses. A linguistic analysis …
-
Visual search asymmetries in complex geophysical displays
… such as geophysical maps can become heavily cluttered (e.g. Lohrenz, Trafton, Beck, & Gendron, 2009), hindering operators’ accurate detection of task-critical information. The use of visual search asymmetries (Treisman & Souther, 1985) in the design of display iconography might be an …
-
Optimization-based Motion Planning for Humanoid Fall Recovery
… which generalize fall recovery to both open and cluttered environments. I demonstrate two main contributions in this dissertation:1. The development and implementation of an efficient motion planner which enables humanoid to recover from falling by making hand contact with walls or other surfaces …
-
Towards Safety-Assured Environments of Autonomous Robots via Intent Expressive Autonomy
… to enhance human safety, particularly in cluttered environments. While previous research has focused on uncluttered settings, our work introduces a measure for clutteredness based on an entropic measure of the environment, and a novel motion planner based on potential fields. Tested in a …
-
Software Infrastructure for NeXtRAD Development in Julia Programming Language
… to improve the precision or recall for highly cluttered pulses, but was able to reduce the number of highly cluttered pulses.
-
Navigation in unknown environment by building instantaneous spatial structures
… challenging issue especially in the presence of cluttered objects or obstructions.There are two possible ways to path planning in an unknown environment: the first is to map the environment and navigate based on the map; the second is to assign a nominal path, which the robot follows whilst at …
-
A preliminary study on path planning and obstacle avoidance for construction equipment based on real-time spatial models
On obstacle-cluttered construction sites where heavy equipment is in use, safety and productivity issues are major concerns. Efficient and effective algorithms for obstacle avoidance and path planning, based on real-time three dimensional spatial modeling, have the potential not only to obviate …
-
Vision-based guidance and control of a hovering vehicle in unknown environments
… vehicle in unknown environments, emphasizing cluttered indoor spaces. Six-axis inertial data and a low-resolution onboard camera yield sufficient information for image processing, Kalman filtering, and novel mapping algorithms to generate a, high-performance estimate of vehicle motion, as well …
-
Nonholonomic Feedback Control Among Moving Obstacles
… with complex configuration or a ground robot in cluttered environment. Several approaches are explored which combine nonholonomic systems control based on sliding modes and potential field methods.</p>
-
Predicting object occupancy on the floor from RGBD images of indoor scenes
… is to be able to obtain navigable areas even in cluttered indoor environments. This algorithm could be used in the field of robotics where robots need to navigate through a room while being mindful of the surrounding objects. The results are quite close to the ground truth, as exemplified by the …
Page 1 of 9