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 20 of 21 for “"Ground robot"”.
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Towards a Prototype Platform for ROS Integrations on a Ground Robot
… develop, evaluate, and demonstrate a prototype robot platform on which ROS integrations could be explored. With observations of features and requirements of existing industrial and service mobile ground robots, a platform was designed and outfitted with appropriate components to enable the most …
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Active Multi-View Object Pose Estimation Using a Mobile Ground Robot
… pose estimation remains a central challenge in robotic perception, particularly when relying on single-view observations subject to occlusions and limited geometric cues. This thesis presents a system that incrementally refines object pose estimates by collecting multi-view observations with a …
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Situational Awareness of a Ground Robot From an Unmanned Aerial Vehicle
… allows for safe deployment and operation of a ground robot from an unmanned aerial vehicle (UAV). A method for detecting utility cables in 3D range images is presented. This technique finds areas of an image that represent edges in 3D space, and uses the Hough transform to find those edges that …
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Nonholonomic Feedback Control Among Moving Obstacles
… in a parking lot 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>
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Design of a Helicopter Deployable Ground Robotic System for Hazardous Environments
The use of robotics in hazardous environments is becoming more common, where autonomy can handle the dull, dirty and dangerous jobs that humans have previously supported. This thesis focuses on the design of a helicopter deployable unmanned ground vehicle for use in hazardous environments, and …
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Tethered Payload Control from an Autonomous Helicopter
… is designed to deploy and support a tethered ground robot from an autonomous helicopter. A winch is designed and built. Electrical hardware for power distribution and control are designed. Several applied controls problems are investigated. A control architecture is established and low level …
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Full season navigation and control of ultra-compact autonomous ag-bot in GPS denied environment
… navigation system for an ultra-lightweight ground robot in agricultural fields. The system is designed for reliable navigation under cluttered canopies using only a 2-D Hokuyo UST-10LX LiDAR and an RTK GPS as the primary sensors for navigation. Its purpose is to ensure that the robot can …
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Localization for teams of autonomous ground vehicles
… a localization engine for a fleet of autonomous ground robots using ultra-wideband (UWB) beacons in concert with the robots’ on-board IMUs and encoders. The error observed from the uncorrected UWB ranges was quantified for line-of-sight conditions, and a calibration procedure was developed and …
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Multiple relative pose graphs for cooperative mapping
… localization and mapping (SLAM) using multiple robots. Recent pose graph representations have proven very successful for single robot mapping and localization. Among these methods, iSAM (incremental smoothing and mapping) gives an exact incremental solution to the SLAM problem by solving a full …
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Vision-Aided Navigation for Autonomous Vehicles Using Tracked Feature Points
… an image capture device (camera) mounted on a ground robot and a quadrotor UAV. The vision-aided navigation algorithms are implemented on data-collected from sensors on an unmanned ground vehicle and a quadrotor, and the results are validated by comparison with GPS data. The thesis investigates …
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Pneumatic Particulate Collection System for an Unmanned Ground Sampling Robot
… use onboard a lightweight, helicopter deployable ground robot is presented. The Unmanned Systems Laboratory at Virginia Tech is developing a ground sampling robot to be carried in the payload pod of a Yamaha RMAX unmanned aerial vehicle. The robot's ultimate objective is to collect material …
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3-D Point Cloud Generation from Rigid and Flexible Stereo Vision Systems
… an Unmanned Aerial Vehicle (UAV) or an Unmanned Ground Vehicle (UGV), such problems as landing site estimation or robot path planning become a concern. Deciding if an area of terrain has a level enough slope and a wide enough area to land a Vertical Take Off and Landing (VTOL) UAV or if an area …
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Risk-Aware Planning by Extracting Uncertainty from Deep Learning-Based Perception
… deep learning models and classical techniques in robotics is constantly creating solutions to problems once thought out of reach. The issues arising in most models that work involve the gap between experimentation and reality, with a need for strategies that assess the risk involved with different …
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ARDEE: A general agricultural robotic development and evaluation environment
… and perception algorithms for agricultural field robotic applications, using a set of developed simulation tools in combination with an open-source simulation platform, Gazebo. The custom set of tools was designed such that any number of user-specific agricultural environments can be simulated, …
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Towards expressive mobile robots
Given the increase in robotic systems for the household, it is imperative to design the expressive modes of these systems, that in turn engender likability, animacy, acceptance, trust and adoption. This paper approaches this problem by proposing a design methodology that can be used to abstract …
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Toward reliable localization: exploring infrared fiducial markers and multi-imu fusion as alternative sensor modalities
… visual-inertial SLAM experiments using a wheeled ground robot. Together, these two approaches offer robust alternatives to conventional sensor modalities, enabling reliable localization in environments where GNSS, visual odometry, or single-IMU setups often fail. Applications include Urban Air …
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The Application of Intelligent Tires and Model Base Estimation Algorithms in Tire-road Contact Characterization
… tires to improve mobility; first, a wheeled ground robot was designed and built. A Fuzzy Logic algorithm was developed and validated using the robot for classifying different road surfaces such as asphalt, concrete, grass, and soil. The second test setup is a portable tire testing trailer, …
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Computer Vision Algorithms for Yield Mapping in Specialty Farms
… Our algorithms successfully predict 97% of the ground truth yield and outperform all existing state-of-the-art methods. Some of these efforts are now in the process of being commercialized. In the second part of the dissertation, we study a problem where a manipulator equipped with a camera, …
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Mutual information-based gradient-ascent control for distributed robotics
… controllers that continuously move robots equipped with sensors to better observe their environment. We begin with the fundamental problem of deploying a single ground robot equipped with a range sensor and tasked to build an occupancy grid map. The desired explorative behaviors of …
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Ground Vehicles and Ranging Sensors: Structural Properties for Estimation and Control
… we address the constructibility problem for a ground vehicle moving across an environment instrumented with ranging sensors. When the measurements collected by the vehicle along the trajectory are sufficiently informative, the global constructibility property is achieved and the vehicle is able …
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