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 15 of 15 for “"mobile manipulation"”.
-
Multistage Localization for High Precision Mobile Manipulation Tasks
… approach for an autonomous industrial mobile manipulator (AIMM). This approach allows tasks with an operational scope outside the range of the robot's manipulator to be completed without having to recalibrate the position of the end-effector each time the robot's mobile base moves to …
-
Developing a mobile manipulation system to handle unknown and unstructured objects
… a permanent inspiration to the field of robotic manipulation. The recent revolution in industrial and service robots demands high-autonomy and intelligent mobile-manipulators. The goal of the thesis is to develop an autonomous mobile robotic manipulation system that can handle unknown and …
-
Learning to understand spatial language for robotic navigation and mobile manipulation
This thesis focuses on understanding task-constrained natural language commands, where a person gives a natural language command to the robot and the robot infers and executes the corresponding plan. Understanding natural language is difficult because a system must infer the location of landmarks …
-
Ultra high frequency (UHF) radio-frequency identification (RFID) for robot perception and mobile manipulation
Personal robots with autonomy, mobility, and manipulation capabilities have the potential to dramatically improve quality of life for various user populations, such as older adults and individuals with motor impairments. Unfortunately, unstructured environments present many challenges that hinder …
-
Learning the state of the world : object-based world modeling for mobile-manipulation robots
Mobile-manipulation robots performing service tasks in human-centric indoor environments have long been a dream for developers of autonomous agents. Tasks such as cooking and cleaning typically involve interaction with the environment, hence robots need to know relevant aspects of their spatial …
-
Benchmarking convolutional neural networks for object segmentation and pose estimation
… now applied to robotics applications involving mobile manipulation. For these robotic applications to be successful, robust and accurate performance from the CNNs is critical. Therefore, in order to develop an understanding of CNN performance, several CNN architectures are benchmarked on a set …
-
A Constraint-Based Approach to Reactive Task and Motion Planning
… limits. We benchmark our policy synthesizer in a mobile manipulation domain, showing that our approach offers better scalability compared to a state-of-the-art robotic synthesis tool in the tested benchmarks and demonstrating order-of-magnitude speedup from our heuristics.
-
Manipulation with diverse actions
We define the Diverse Action Manipulation (DAMA) problem in which we are given a mobile robot, a set of movable objects, and a set of diverse, possibly non-prehensile manipulation actions, and the objective is to find a sequence of actions that moves each of the objects to a goal configuration. We …
-
Articulated 3D Scene Graphs from Egocentric Vision
… graphs enhance a robot’s ability to perform mobile manipulation tasks, showcasing an application where a Boston Dynamics Spot is tasked with retrieving concealed target items, given only the 3D scene graph as input.
-
Motion Primitives and Planning for Robots with Closed Chain Systems and Changing Topologies
… we have developed for applying these graphs to mobile manipulation, specifically for systems which contain closed chains. The formation of closed chains in tasks that involve contacts with the environment may reduce the number of available degrees-of-freedom but adds complexity in terms of …
-
Opening cabinets and drawers in the real world using a commodity mobile manipulator
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-09-16 without embargo terms
-
Visibility-Aware Motion Planning
… limitations or self-occlusions in the case of mobile manipulation robots. We provide a formal definition of the problem, which we call Visibility-Aware Motion Planning (VAMP), and several solution methods with different computational trade-offs. We demonstrate the behavior of these planning …
-
Addressing Challenges in Object-Based Robot Navigation and Mapping
… Many relevant tasks, such as planning and mobile manipulation, require the robot to possess an object-level understanding of the ambient world. In particular, it would be crucial to maintain a globally consistent objectbased map of the environment for these operations. Without external …
-
Optical Satellite/Component Tracking and Classification via Synthetic CNN Image Processing for Hardware-in-the-Loop testing and validation of Space Applications using free flying drone platforms
… requires robust onboard computer vision, robotic manipulation, and free flight capabilities.
-
Manipulation-Driven Adaptation for Enhancing Mobile Robot Efficiency and Versatility
Terrestrial mobile robotics are crucial to a range of missions including planetary exploration, search and rescue, logistics, and national security. Many of these missions require the robot to operate on a broad variety of terrain. Physical adaptation can enable a robot to intelligently interact …