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 35 for “"autonomous mobile robots"”.
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Coverage Path Planning And Control For Autonomous Mobile Robots
… generation of control inputs for a non-holonomic mobile robot in coverage control. Neural Network approach is used for complete coverage of a given area in the presence of stationary and dynamic obstacles. A complete coverage algorithm is used to determine the sequence of points. Once the …
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Hybrid control architecture for navigation of autonomous mobile robots
… 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 design from competitive tasks architecture, …
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A flexible and innovative platform for autonomous mobile robots
… upon which roboticists may build and control autonomous mobile robots. This platform, however, has been used only within this research group on a minimal number of projects. As is, there has been no published discussion on the application of CREAL and the STACK to various types of control …
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Reliable goal-directed reactive control of autonomous mobile robots
… demonstrates that effective control of autonomous mobile robots in real-world environments can be achieved by combining reactive and deliberative components into an integrated architecture. The reactive component allows the robot to respond to contingencies in real time. Deliberation …
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Analysis of adaptive reactive control systems for autonomous mobile robots
… developed for the robust reactive control of autonomous mobile robots navigating in complex environments. Traditional approaches have adopted a top-down perspective by focusing on the reasoning part of path-planning. In contrast, this thesis tackles planning from a bottom-up perspective which …
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Controlling the cooperative behavior of a system of autonomous mobile robots
… system is presented that uses 'swarms' of small autonomous mobile robots to collectively lift and move palletized loads. The robots are relatively unsophisticated in design and have no advanced sensory or communications capability. There is no central or supervisory controller directing the …
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Real-Time Computational Scheduling with Path Planning for Autonomous Mobile Robots
With the advancement in technology, modern autonomous vehicles are required to perform more complex tasks and navigate through challenging terrains. Thus, the amount of computation resources to accurately accomplish those tasks have exponentially grown in the last decade. With growing computational …
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Real-Time GPU Scheduling with Preemption Support for Autonomous Mobile Robots
The use of graphical processing units (GPUs) for autonomous robots has grown recently due to their efficiency and suitability for data intensive computation. However, the current embedded GPU platforms may lack sufficient real-time capabilities for safety-critical autonomous systems. The GPU driver …
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Performance analysis of a random search algorithm for distributed autonomous mobile robots
… random search algorithm for distributed autonomous mobile robots. In particular, we are developing an algorithm that enables a team of homogeneous robots, without localisation capabilities and using limited communications, to search for targets in an unknown bounded structured …
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Stereo Vision System Module for Low-Cost FPGAs for Autonomous Mobile Robots
… frame rate. Real-time stereo vision allows for mobile robots to more easily navigate terrain and interact with objects by providing both the images from the cameras and the depth of the objects. Fortunately, the image processing can be parallelized in order to increase the processing speed. …
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A broadcast-based coordination scheme for a system of autonomous mobile robots
A method for coordinating a homogeneous swarm of autonomous mobile robots is presented. The broadcast-based coordination scheme was developed for the Army Ant swarm—a system of small, relatively inexpensive mobile robots that can accomplish complex tasks by cooperating as a team. The primary …
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Wheeled autonomous mobile robots for use in harsh environments: a survey of recent publications
Research in the area of autonomous mobile robots has increased over the last several years. Autonomous mobile robots are now being used in a wide variety of applications, including nuclear plant maintenance, interplanetary exploration, military missions and smart highway systems. This thesis is a …
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Sensor Fusion for Field Robot Localization
… sensing, navigation, and control for autonomous mobile robots. Underlying software patterns used in this framework are identified. This framework is comprised of a generic, reusable, and flexible class hierarchy which has been demonstrated to promote parallel platform development and …
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Robotic navigation of smooth contours
… generation is an essential capability for many autonomous mobile robots, operating in a variety of situations such as military, medical, and home environments. In this thesis, we propose a method that is based on fitting a spline curve that passes from the initial position and orientation of the …
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Design and development of an autonomous mobile robot for parking lot mapping
Autonomous mobile robots have become a viable solution for advancing parking lot infrastructures to be autonomously patrolled and surveyed remotely. Towards this goal, this thesis presents a monocular vision-based perception system that generates a visually interpretable parking lot map using a …
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Obstacle detection for robot navigation using structured light
Obstacle detection is an essential function for autonomous mobile robots. Current autonomous systems are generally heavy, high-powered devices. Additionally, obstacle detection systems often employ active ranging sensors that exhibit poor angular resolution, thereby preventing vehicles from …
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Anthills built to order : automating construction with artificial swarms
… be able to take an unspecified number of simple robots and a supply of building material, give the system a high-level specification for any arbitrary structure desired, and have a guarantee that it will produce that structure without further intervention. In this thesis I describe such a …
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A Low Cost, Computer-Vision-Based, Target-Tracking Hexapod
… research was to demonstrate that an intelligent, autonomous, and cost effective robotic system can be developed from COTS (Commercial off the Shelf) hardware and quality custom software in order to perform a target identification task in a specific situation and environment using a computer vision …
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Exploring Topological Environments
… problems in the pursuit of building truly autonomous mobile robots. This thesis considers the SLAM problem within a topological framework, in which the world and its representation are modelled as a graph. A topological framework provides a useful model within which to explore fundamental …
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Simultaneous stochastic mapping and localization
In order to create truly autonomous mobile robots, the task of building an accurate map of an a priori unknown environment and concurrently using that map to navigate is a central problem. This thesis focuses on methods for performing concurrent mapping and localization using a feature-based …
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