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.
Results
Showing 1 to 9 of 9 for “"Unstructured Terrain"”.
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Traversability Estimation Techniques for Improved Navigation of Tracked Mobile Robots
… is to improve autonomous navigation in unstructured terrain conditions, with specific application to unmanned casualty extraction in disaster scenarios. Robotic systems are being widely employed for search and rescue applications, especially in disaster scenarios. But a majority of these …
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Whole Skin Locomotion Inspired by Amoeboid Motility Mechanisms: Mechanics of the Concentric Solid Tube Model
… robots that allow them to maneuver into complex unstructured terrain becomes critical. In this research we present a novel locomotion mechanism for mobile robots inspired by the motility mechanism of certain single celled organisms such as amoebae. Whole Skin Locomotion (WSL), as we call it, …
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Policy regularized model predictive control framework for robust legged locomotion
… and input noise, large push disturbances, and unstructured terrain demonstrate the ability of the predictive controller to adapt to uncertainty.
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Large-area visually augmented navigation for autonomous underwater vehicles
… unique challenges of a marine environment (e.g., unstructured terrain, low-overlap imagery, moving light source). Our large-area SLAM algorithm recursively incorporates relative-pose constraints using a view-based representation that exploits exact sparsity in the Gaussian canonical form. This …
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Reactive Navigation of an Autonomous Ground Vehicle Using Dynamic Expanding Zones
Autonomous navigation of mobile robots through unstructured terrain presents many challenges. The task becomes even more difficult with increasing obstacle density, at higher speeds, and when a priori knowledge of the terrain is not available. Reactive navigation schemas are often dismissed as …
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Large-area visually augmented navigation for autonomous underwater vehicles
… unique challenges of a marine environment (e.g., unstructured terrain, low-overlap imagery, moving light source). Our large-area SLAM algorithm recursively incorporates relative-pose constraints using a view-based representation that exploits exact sparsity in the Gaussian canonical form. This …
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Design of a Helicopter Deployable Ground Robotic System for Hazardous Environments
… limited and must be capable of traversing rough, unstructured terrain. The results of testing show that the design criteria for size, weight, and mobility are met. A path planning algorithm is developed using the A* search algorithm for the planning of optimal paths through rough terrain. The …
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Autonomous Mobile Robot Navigation in Dynamic Real-World Environments Without Maps With Zero-Shot Deep Reinforcement Learning
… to navigation in new environments that include unstructured terrain without maps, dynamic obstacle avoidance, and navigation to objects of interest with vision input that encompass low light scenarios with the addition of a night vision camera. The learned policy outperforms conventional …
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Design of robotic quadruped legs
… are often limited in mobility by rough and unstructured terrain. Conversely, systems that rely on legs have shown promising rough terrain performance but only a modest ability to achieve high speeds over flat terrain. The goal of this thesis is to develop four robotic legs that are capable …