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 28 for “"Robot Localization"”.
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Sensor Fusion for Field Robot Localization
… navigation, and control for autonomous mobile robots. Underlying software patterns used in this framework are identified. This framework is comprised of a generic, reusable, and flexible class hierarchy which has been demonstrated to promote parallel platform development and cooperative system …
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Practical investigations in robot localization using ultra-wideband sensors
Made available in DSpace on 2021-09-17T01:13:41Z (GMT). No. of bitstreams: 3 WRIGHT-THESIS-2021.pdf: 45609799 bytes, checksum: 439b4bdb74e822cbda9343111030ecba (MD5) THESIS_NAWW.docx: 469786325 bytes, checksum: 3836a8b433cc05dd39b21ca875405ae8 (MD5) LICENSE.txt: 4212 bytes, checksum: …
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Development of a robot localization and environment mapping system
… to develop a robust, efficient, self-contained localization module for use in a robotic liquefied petroleum gas (LPG) tank inspection system. Inspecting large LPG tanks for defects is difficult, expensive and energy intensive. Replacing the human inspectors with a robotic inspection system will …
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Passive mobile robot localization within a fixed beacon field
… thesis describes a geometric algorithm for the localization of mobile nodes in networks of sensors and robots using bounded regions, in particular we explore the range-only and angle-only measurement cases. The algorithm is a minimalistic approach to localization and tracking when dead reckoning …
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Relative Robot Localization and Frame Alignment for Multi-Robot Collaboration
The growing field of collaborative robotics has the potential to enable and improve the execution of many challenging robot applications. For instance, with teamwork between multiple agents, dynamic object tracking can more completely cover an environment and trajectory planning becomes safer. …
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Stability and robustness analysis tools for marine robot localization and mapping applications
… to explore the fundamental stability issues of a robotic vehicle carrying out localization, mapping, and feedback control in a perturbation-filled environment. Motivated by the application of an ocean vehicle performing an autonomous ship hull inspection, a planar vehicle model performs …
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Vector Distance Transform Maps for Autonomous Mobile Robot Navigation
Robot localization, where the position and the orientation of a mobile robot is estimated based on an 𝘢 𝘱𝘳𝘪𝘰𝘳𝘪 map, is a fundamental problem in autonomous mobile robot navigation. In this thesis, we present how environments can be represented using the vector distance transform for mobile robot …
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Vision-based localization for robot-CNC hybrid manufacturing
… heads, adding spindles and deposition heads to robots, or developing part localization methods to transfer parts from an additive cell to a CNC machine. Here, a novel, robot-CNC hybrid configuration is introduced where a maneuverable robot is placed in front of a CNC machine to deposit material …
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Localizing, modeling, and drifting an autonomous RACECAR
… platform, dynamics modeling of car-like systems, robot localization, autonomous RACECAR control, and the design of a custom RACECAR simulator. In developing a high performance particle filter localization algorithm, I designed and implemented a novel algorithm for high performance two-dimensional …
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Design and development of an autonomous mobile robot for parking lot mapping
Autonomous mobile robots have become a viable solution for advancing parking lot infrastructures to be autonomously patrolled and surveyed remotely. Towards this goal, this thesis presents a monocular vision-based perception system that generates a visually interpretable parking lot map using a …
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Learning 3D Modeling and Simulation From and For the Real World
… spectrum of dynamic 3D world understanding: from robot localization to recognition, from static 3D reconstruction to dynamic motion estimation, and from closed-loop simulation to 3D generation. By examining these tasks not only in controlled settings, but also in sparse, noisy, and sometimes even …
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A Koopman-Based Reduced-Order State Observer for Visual Localization of Robots
… Koopman lifting linearization is developed for localization of a robot guided by a vision system. The Koopman operator is a powerful method for representing nonlinear robot dynamics as a linear model in a lifted space. Koopman faces two main challenges with robot localization. One is that the …
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ATLAS: a framework for large scale automated mapping and localization
This thesis describes a scalable robotic navigation system that builds a map of the robot's environment on the fly. This problem is also known as Simultaneous Localization and Mapping (SLAM). The SLAM problem has as inputs the control of the robot's motion and sensor measurements to features in the …
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State Estimation in Dynamical Robotic System with Non-Gaussian Noise
State estimation is critical for robot operation. Most estimation algorithms assume that the robotic sensor measurements are contaminated by Gaussian noise. However, in practical applications, the noise is often non-Gaussian, heavy-tailed, or even multi-modal. In this thesis, we develop algorithms …
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Software and Hardware Infrastructure for Visual-Inertial SLAM
… challenges faced by researchers in the field of robot localization and mapping is finding a reliable infrastructure to test their ideas. That infrastructure could be a simulation platform, suitable hardware, or a sensor interface. A useful simulation platform needs to capture the dynamics and the …
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A Bayesian Framework for Multi-Stage Robot, Map and Target Localization
… a generalized Bayesian framework for a mobile robot to localize itself and a target, while building a map of the environment. The proposed technique builds upon the Bayesian Simultaneous Robot Localization and Mapping (SLAM) method, to allow the robot to localize itself and the environment …
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On the design and implementation of decision-theoretic, interactive, and vision-driven mobile robots
… of visually-guided, interactive, mobile robots. Essential to the framework's robust performance is our behavior-based robot control architecture enhanced with a state of the art decision-theoretic planner that takes into account the temporal characteristics of robot actions and allows us …
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Decentralized sensor placement and mobile localization on an underwater sensor network with depth adjustment capabilities
… a GPS-like system for localizing underwater robots to aid in data retrieval and sensing. We develop a gradient-based decentralized controller that dynamically adjusts the depth of a network of underwater sensors to optimize sensing for modeling 3D properties of the water. We prove that the …
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Graph-Theoretic Outlier Rejection: From Instance to Category-Level Perception
… problems, from object pose estimation to robot localization and mapping. In these problems, the robot has to estimate quantities of interest in the face of outliers. Such outliers can be the result of incorrect data association, and it is not unusual to have problems where more than 90% of …
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