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 14 of 14 for “"Robotics control"”.
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An assistive robotics control system based on speech semantic recognition
… Thus, this project proposes a method of control system for an assistive robotic based on speech semantic recognition through hardware implementation. Consequently, the purpose of this project is to develop a system based on speech semantic or meaning or the interpretation of a word, …
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Pursuit-evasion and time-dependent gradient flow in singular spaces
… games. These problems are related to robotics, control theory and computer simulations. We want to find the solution curves of differential equations for pursuit-evasion games, and investigate the properties of solution curves. First, we define CAT(0) and CAT(K) spaces, and explain why …
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Robust imitation learning from observation
… feasibility, such as autonomous driving and robotics control. However, imitation learning often suffers from compounding error and data mismatch, which leads to lack of robustness. Another drawback is that in traditional imitation learning, people usually assume that data for both states and …
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Enabling tactical autonomy for unmanned surface vehicles in defensive swarm engagements
… practical applications of marine vehicles with robotics control theory to reduce the vulnerability of allied assets to asymmetric warfare. This work utilizes distributed decentralized multi-objective optimization in the Mission Oriented Operating Suite with Interval Programming (MOOS-IvP) to …
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Safe and adaptive reinforcement learning for robotics applications
In recent years, learning-based control methods, especially those leveraging the power of reinforcement learning (RL) and deep learning, have demonstrated impressive performance in complex robotics control tasks. However, they often suffer from the lack of safety and robustness guarantees, which …
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Fault-tolerant control policies for multi-robot systems
… mobile robots might perform include formation control, rendezvous, distributed estimation, deployment, flocking, etc. Also, there are challenging tasks that are more suitable for a group of mobile robots than an individual robot, such as surveillance, exploration, or hazardous environmental …
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Control and hardware design for a bipedal robot via planar modeling with empirical perception studies leveraging embodied movement analysis
Humans can walk across a range of surfaces without falling and can also communicate internal state to other humans through variable gait styles. That is why, developing bipedal robots is of interest for applications in human-facing settings. For the purpose of designing an expressive bipedal robot, …
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Small Spacecraft Design & Machine Learning-based Approaches To Lunar Robotics Navigation
… for automated systems, including space robotics guidance, navigation, and control. This dissertation aims to demonstrate three potential components that small satellites and ML could help accelerate in view of future exploration of the Moon and other planetary bodies. The discussion is …
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Feedback control of many differential-drive robots with uniform control inputs
We describe a method of feedback position control for an ensemble of robots with unicycle kinematics under the constraint that every robot receives ex- actly the same global control inputs. Each robot in the ensemble scales its given control inputs by a bounded model parameter and thus may achieve …
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Application of the novint falcon haptic device as an actuator in real-time control
… develop an embedded system whose purpose is to control the Novint Falcon as a robot, and B) to develop a control experiment that demonstrates the use the Novint Falcon as a robotic actuator. The contents of this report are therefore divided into two parts. Part A deals specifically with the …
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Design and Control of a Structurally Elastic Humanoid Robot
… to the ground to navigate which poses several control and state estimation challenges. Currently, humanoid robots are manufactured with rigid metal linkages that are extremely complex and require an expert machinist leading to cost increases. Instead, this work presents the design and control …
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Fast numerical algorithms for optimal robot motion planning
… optimal planning problem is to use the optimal control formalism borrowed from the control theory. In this setting, safety constraints for either a robot or its surroundings are defined as obstacles, which are penalized using infinite cost to guarantee that tasks are performed safely. Unlike in …
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Trajectory Optimisation Inspired Design for Legged Robotics
Control of legged robots is a non-trivial task, especially when looking at aperiodic (non-steadystate) manoeuvres such as rapid acceleration and deceleration. Observing nature, animals are seen to effortlessly perform these rapid transient manoeuvres, however, robust walking is still considered a …
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Hybrid control architecture for navigation of autonomous mobile robots
… of a novel hybrid multi-agent orientated control architecture for navigation of multiple autonomous mobile robots operating in an unknown and unstructured environment populated by static and/or dynamic obstacles.<br/><br/>The proposed hybrid control architecture is modular and draws its …