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 34 for “"Task Planning"”.
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Inference and Task Planning over Spatially Complex Problems
… in many sectors is retrainability; if a robot’s task can change without changing code, automation becomes feasible for a wider set of applications. To advance robot retrainability, this thesis will introduce a learning from demonstrations (LfD) framework allowing a robot to learn and execute …
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Human-Aware Task Planning and Execution for Safe Human-Robot Collaboration
L'abstract è presente nell'allegato / the abstract is in the attachment
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Supernumerary Robotic Limbs : task planning, execution, and prediction-based coordination with the human wearer
Full automation of repetitive and/or specialized tasks has become a preferred means to meet the needs of manufacturing industries. However, some tasks cannot be fully automated due to their complexity or the nature of the work environment. In such cases, semi-automation through human-robot …
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Viewpoint-Aware Task Planning and Model Predictive Control for Applications in Videography and Multi-Target Tracking
We seek to combine high level planning with low level reactive control to solve a variety of viewpoint-constrained target following tasks. In the scenarios we consider, a team of tracking agents is desired to gain some sort of visual information about one or more target agents. A high level …
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Software architecture and design of task deduction and task planning components for a multiple robot simulation system
… information concerning the conduct of the tasks to be performed. Moreover, the system must demonstrate a certain degree of autonomy regarding the planning of these tasks. In this thesis, we present a software architecture for two components that we believe satisfy these functional …
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Modeling and controls for a laser glass cutting machine workcell robot
… of this robot arm and their application to task planning of this robot.;Task planning is done for SCARA-Type Nimbl loader robot, in which the robot starts from pick position to place position. A 4-3-4 joint trajectory was generated for pick-to-place path for the robot.;By applying the PID …
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Intelligent Industrial Maintenance: Using Natural Language Processing Technology and Domain Knowledge for Decision Support
… maintenance, fault diagnosis, and maintenance task planning. The proposed framework consists of three key components: 1) a multi-modal fusion methodology for integrating sensor data and event logs to improve the accuracy of predictive maintenance and fault diagnosis models; 2) a task-centric …
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Representation Learning for Grounding Vision and Language in Hierarchical Robot Planning
… vision and language in hierarchical robot planning, aiming to improve the full autonomy and robustness of robot systems for indoor household activities. Autonomous robots interact with local operational environments by following the standard Sense-Plan-Act paradigm. With hierarchical …
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Decentralized planning for autonomous agents cooperating in complex missions
Planning for autonomous vehicles remains an important and challenging research topic. This thesis focuses on decentralized planning for autonomous agents performing complex missions. These types of missions often involve a set of tasks, each representing a component of the mission. Task planning …
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Design and control of a compact aerial manipulation system with a Delta-type parallel robot
… demanding challenges in both control theory and task planning, which are addressed with novel mechanical features, modern flight controllers, and optimal trajectory generation. They are primarily designed for versatile indoor pick-and-place tasks where the characteristics of the proposed solution …
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Creation of tools for manipulation tasks through Task and motion Planning using differentiable physics
… of dynamic physical manipulations within a Task And Motion Planning (TAMP) framework to achieve a subset of sequential manipulation tasks involving tools. The work, in part, mimics the human ability to plan using an 'intuitive physics engine' [2] by using physics-based primitives in task …
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Diagnostic and adaptive redundant robotic planning and control
… into a hierarchical structure capable of planning, diagnosis, and control for a redundant, nonlinear robotic system in a real world scenario. Throughout this work levels of this overall approach are demonstrated for a redundant robot and hand combination as it is commanded to approach, …
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Neuro-Symbolic Learning for Bilevel Robot Planning
… address these challenges is to perform bilevel planning, where decision-making is decomposed into reasoning about “what to do” (task planning) and “how to do it” (continuous optimization). Bilevel planning is powerful, but it requires multiple types of domain-specific abstractions that are often …
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A Study on Deploying Large Language Models as Agents
… environmental considerations, memory management, task planning, and tool use. The study addresses critical limitations in LLM inputs, such as the context window and introduces Retrieval-Augmented Generation (RAG) as a solution to extend the model’s capability. Key APIs provided by OpenAI for …
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Reinforcement Learning for Multi-modal Human-Robot Interaction
… policy learning, user simulation, and high-level task planning. First, we propose a neural network-based multimodal user simulator trained on real-world demonstrations from the ELDERLY-AT-HOME corpus. The simulator generates realistic human behavior across speech, gestures, and haptic actions, …
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Passive object recognition using intrinsic shape signatures
… has an autonomous, forklift capable of doing task planning, navigation, obstacle detection and avoidance, focused object detection, etc. The goal of the project is to have a completely autonomous robot that is safe to use in a human environment. One aspect of the project which would be very …
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Development of a table-top robot model for thinning of fruit
… to prove the concept, with an emphasis on a task planning algorithm. The algorithm moved a custom six-DOF (degree of freedom) manipulator and placed an end-effector at target blossom locations with a feasible posture. A “floating z-axis” method was developed to place the end-effector at …
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Simultaneous Tracking, Object Registration, and Mapping (STORM)
… map's utility, preventing it from being used for tasks beyond navigation such as object manipulation and task planning. We present Simultaneous Tracking, Object Registration, and Mapping (STORM), a SLAM system that represents an environment as a collection of dynamic objects. STORM enables a robot …
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NDF-Based API for Human-assisted Language Planning (HaLP)
… have show the promise of LLMs for generalizable task planning. Challenges in integrating LLM for high-level planning include outputting infeasible or sub-optimal plans, but the potentials include cultural commonsense to reason about high-level tasks on par with a human. Related works will …
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An Exploratory Study of the Determinants and Outcomes of Shared Mental Models of Skill Use in Autonomous Work Teams
… A model of the determinants and outcomes (team task behaviors) of shared mental models of skill use was tested. Three components of shared mental models of skill use were investigated: shared knowledge pertaining to skill use in task performance (i.e., knowledge about the task, equipment, team, …
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