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 25 for “"Robotic navigation"”.
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Robotic navigation of smooth contours
The goal of this work is to develop a method for robotic navigation of smooth contours depending on the current and desired locations and orientations. Efficient trajectory generation is an essential capability for many autonomous mobile robots, operating in a variety of situations such as …
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SMALL AND LARGE PERCEPTION MODELS FOR ROBOTIC NAVIGATION
Computer vision is fundamental to advancing robotic navigation and autonomous driving systems, enabling machines to interpret visual data critical for interaction with complex and diverse real-world environments. We address many critical challenges in these domains by developing advanced vision …
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Non-Gaussian Factor Graph Inference for Robotic Navigation
This thesis addresses non-Gaussian factor graph inference problems that arise in simultaneous localization and mapping (SLAM). We present a general framework to draw samples from the joint posterior distributions of a SLAM problem via ancestral sampling on the Bayes tree. This conditional sampling …
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Autonomous ground-based robotic navigation for an agricultural row crop environment
… presented in this thesis is focused on the navigation technique for an autonomous ground-based robotic system for use in an agricultural row crop environment. The performance of the navigational system was evaluated by measuring the offset of the robot’s path to a predetermined path. It is …
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Learning to understand spatial language for robotic navigation and mobile manipulation
This thesis focuses on understanding task-constrained natural language commands, where a person gives a natural language command to the robot and the robot infers and executes the corresponding plan. Understanding natural language is difficult because a system must infer the location of landmarks …
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Machine Learning Algorithms for Robotic Navigation and Perception and Embedded Implementation Techniques
L'abstract è presente nell'allegato / the abstract is in the attachment
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Human control of robots over discrete noisy channels with high latency: toward efficient EEG-based brain-robot interfaces
… with an electroencephalograph) to control a robotic system (e.g., a robotic wheelchair) that can provide visual feedback. In this framework, the human user communicates their intent by providing inputs in response to queries posed by the robot. The underlying problem is then to construct a …
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Autonomous Search and Rescue: Real-Time Drone and Robotic Dog Integration
<p>Common robotic navigation techniques often utilize GPS to set up the robot’s reference frame, which is not possible in environments, such as indoor facilities, underground passages, and disaster zones, where GPS is not available. This research explores the integration of a Boston Dynamics Spot …
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Algorithms and systems for low power time-of-flight imaging
… that range from augmented reality to robotic navigation. Time-of-flight (ToF) cameras are appealing depth sensors because they obtain dense depth maps with minimal latency. However, for mobile and embedded devices, ToF cameras, which obtain depth by emitting light and estimating its …
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Mobile robotic design. Robotic colour and accelerometer sensor.
… development of the sensors was to use them for robotic navigation and collision avoidance. This report presents the results of experiments carried out on the colour sensor and the accelerometer. A discussion of the results and some conclusions are also presented. It proved feasible to achieve …
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Using Negative Information in simultaneous localization and mapping
The problem of autonomous navigation is one of efficiently utilizing available information from sensors and intelligently processing that information to determine the state of the robot and its environment. This thesis explores a topic often ignored in the Simultaneous Localization And Mapping …
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Topological mapping for limited sensing mobile robots using the Probabilistic Gap Navigation Tree
This thesis proposes a novel structure for robotic navigation with minimal sensing abilities called the Probabilistic Gap Navigation Tree (PGNT). In this navigation approach, we create a topological map of the environment based on a previously created Gap Navigation Tree (GNT) [40]. The "gap" in …
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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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Towards Comprehensive Visual Understanding via Deep Neural Networks
… in downstream tasks such as autonomous driving, robotic navigation, and human-computer interaction. Despite these successes, generalization ability remains a major obstacle on the path to comprehensive visual understanding, particularly when dealing with i) diverse scenes, as well as ii) diverse …
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Real-time dense simultaneous localization and mapping using monocular cameras
Cameras are powerful sensors for robotic navigation as they provide high-resolution environment information (color, shape, texture, etc.), while being lightweight, low-power, and inexpensive. Exploiting such sensor data for navigation tasks typically falls into the realm of monocular simultaneous …
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Autonomous Navigation and Simultaneous 3D Mapping with a UGV in an Open-Ended Environment
… is the development of an advanced autonomous navigation system that integrates Detectron2's Panoptic FPN model with multi-sensor fusion and simultaneous 3D mapping capabilities for the Clearpath Husky A200 unmanned ground vehicle (UGV) operating in complex outdoor environments. By combining …
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Mobile Multi-Bounce LiDAR
… collision avoidance for autonomous vehicles, and robotic navigation.
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Designing Visual Intelligence from Photons to Action
… of facilitating complex behaviors. Conversely, roboticists have engineered sophisticated cameras and sensors, enabling robots to perform tasks beyond the capabilities of natural systems. This thesis explores the design of visual intelligence by integrating insights from both biology and …
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Slip-Correction Methods for Improved Dead Reckoning in Autonomous Wheeled Robots
… potential of a current-slip method for mobile robotic navigation in low-friction environments, with implications for future research in mixed and uneven terrain.
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On data-driven modelling and terminal sliding mode control of dynamic systems with applications
… modelling and control with some applications to robotics and automation. The main content is divided into three parts, namely data-driven identification, fast terminal sliding mode control alongside underactuated crane control, and robotic pointing system for thermoelastic stress analysis (TSA). …
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