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 47 for “"UGV"”.
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Developing Computationally Efficient Optimization Framework for Online Routing of UAV-UGV Systems
… is to pair UAVs with Unmanned Ground Vehicles (UGVs), which can serve as carriers to transport UAVs or as mobile recharging stations to extend their operational range. To achieve effective performance and coordination between UAVs and UGVs, optimal route planning is essential. The UAV-UGV …
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Autonomous UAV-UGV robot collaboration for exploration and mapping of unknown environments
… that use multiple Unmanned Ground Vehicles (UGVs). An Unmanned Aerial Vehicle (UAV) is introduced into the multirobot system to overcome the challenges of relative localization and obstacle detection. A novel method is proposed for autonomously determining the UGVs’ starting poses using ArUco …
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Autonomous Navigation and Simultaneous 3D Mapping with a UGV in an Open-Ended Environment
… Clearpath Husky A200 unmanned ground vehicle (UGV) operating in complex outdoor environments. By combining panoptic segmentation for comprehensive scene understanding with the ROS2 Navigation Stack (Nav2) and RTAB-Map for real-time 3D mapping, a robust perception, mapping, and path planning …
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Modeling and Control of the UGV Argo J5 with a Custom-Built Landing Platform
… of the Argo J5 Unmanned Ground Vehicle (UGV) with a custom-built landing platform. The overall model is derived by combining the Argo J5 driveline system with the wheelsterrain interaction (using terramechanics theory and mobile robot kinetics), while the landing platform model follows …
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Energy-Constrained UAV-UGV Cooperative Systems: A Bilevel Framework for Routing in Multi-Agent Teams
… integrates UAVs with Unmanned Ground Vehicles (UGVs), leveraging the complementary strengths of both platforms. We propose a bi-level optimization framework for energy-aware UAV-UGV cooperative routing. At the upper level, UAV recharging stops are determined using a minimum set cover …
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Online Unmanned Ground Vehicle Mission Planning using Active Aerial Vehicle Exploration
… and path planning for a collaborative UAV and UGV system. The system is composed of a UAV with a stereo system for obstacle detection and a UGV with no sensors for obstacle detection. Two exploration algorithms were developed to guide the exploration of the UAV. Both identify frontiers for …
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The Effects On Operator Performance And Workload When Gunnery And Robotic Control Tasks Are Performed Concurrently
… tasks: monitor an unmanned ground vehicle (UGV) via a video feed (Monitor), manage a semi-autonomous UGV, and teleoperate a UGV (Teleop). The analysis showed that the asset condition significantly impacted gunnery performance with the gunner baseline having the highest number of targets …
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Development of a Next-generation Experimental Robotic Vehicle (NERV) that Supports Intelligent and Autonomous Systems Research
… demand for practical unmanned ground vehicle (UGV) systems has increased dramatically in recent years. Central to these developments is maturation of emerging mobile robotic intelligent and autonomous capability. While the progress UGV technology has been substantial, there are many challenges …
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Path Planning for Unmanned Air and Ground Vehicles in Urban Environments
… vehicles (UAVs) and unmanned ground vehicles (UGVs), have become a popular research topic. This thesis discusses the potential of a UAV-UGV system used to track a human moving through complex urban terrain. This research focuses on path planning problems for both a UAV and a UGV, and presents …
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Autonomous Convoy Study of Unmanned Ground Vehicles using Visual Snakes
… The use of a small Unmanned Ground Vehicle (UGV) for the relative navigation problem is investigated. The UGV has the ability to traverse large ranges over uneven terrain and into varying lighting conditions which has interesting applications to relative navigation. The basic problem of a …
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The further research, development and design of a Robotic Unmanned Ground Vehicle Platform for Urban Search Rescue
… and design of a Robotic Unmanned Ground Vehicle (UGV) Platform for use in Urban Search And Rescue (USAR). The platform depicted in the figure 0.1 is dubbed Ratel (the Afrikaans name for honey badger) and it is the 5th generation UGV developed in the Robotics and Agents Research Laboratory (RARL) …
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High Speed Navigation of UGVs in Rough Unknown Terrains
… unknown terrain by an Unmanned Ground Vehicle (UGV) at high-speed requires the assessment of terrain in front of the vehicle as well as algorithms to select a speed based on the identified terrain. Current techniques are either susceptible to miss-classification, do not address the challenge of …
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Collaborative Path Planning and Control for Ground Agents Via Photography Collected by Unmanned Aerial Vehicles
… a UAV is paired with an unmanned ground vehicle [UGV]. The UAV follows the UGV with a downward-facing camera and helps the ground vehicle navigate the flooded environment. This work makes several contributions: a simulation environment is created to allow for automated data collection in …
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Collaborative Unmanned Air and Ground Vehicle Perception for Scene Understanding, Planning and GPS-denied Localization
… vehicles (UAV) and unmanned ground vehicles (UGV) in unknown and unstructured environments. The three main contributions of this dissertation are: (1) An approach to overcome the challenges associated with simultaneously trying to understand 2D and 3D information about the environment. (2) …
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The Effects of Symbol Size and Workload Level on Status Awareness of Unmanned Ground Vehicles
… indicate the status of unmanned ground vehicles (UGVs). Three sizes of symbols were studied. The symbols subtended 20, 40, and 69 minutes of arc corresponding to 0.116, 0.233, and 0.400 inches high when viewed at a distance of 20 inches from a touch screen. Twelve participants were asked to watch …
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Persistent Monitoring with Energy-Limited Unmanned Aerial Vehicles Assisted by Mobile Recharging Stations
… stations or on Unmanned Ground Vehicles (UGVs) acting as mobile recharging stations. This leads to a new variant of the Traveling Salesperson Problem (TSP) with mobile recharging stations. We present an algorithm that finds not only the order in which to visit the sites but also when and …
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Modelling and control of unmanned ground vehicles
… in achieving persistent autonomy for outdoor UGVs, especially when navigating on unprepared terrains. The test-bed vehicle used for this research is retrofitted from an all-terrain 20-hp, 0.5-tonne vehicle. Its driveline system consists of an internal combustion engine, continuous variable …
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Real-Time Roadway Mapping and Ground Robotic Path Planning Via Unmanned Aircraft
… to map an area via UAV aerial imagery and aid a UGV in navigating a roadway when the road conditions are not previously known (i.e. disaster situations). Feature detection was used for transform calculation and image warping to create mosaics. A continuous extension using dynamic cropping based …
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Coverage Planning for Unmanned Aerial Vehicles
… novel symbiotic UAV and Unmanned Ground Vehicle (UGV) system where the UGV acts as a mobile recharging station is proposed. A practical, efficient algorithm for solving this problem using Generalized Traveling Salesperson Problem (GTSP) solver is presented. Then the algorithm is extended to a …
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Text Localization for Unmanned Ground Vehicles
Unmanned ground vehicles (UGVs) are increasingly being used for civilian and military applications. Passive sensing, such as visible cameras, are being used for navigation and object detection. An additional object of interest in many environments is text. Text information can supplement the …
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