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 20 of 24 for “"robot team"”.
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Robot Team Formation Control Using Communication "Throughput Approach"
<p>In this thesis, we consider a team of robots forming a mobile robot network cooperating to accomplish a mission in an unknown but structured environment. The team has no a-priori knowledge of the environment. Robots have limited memory storage capabilities, not enough to map the environment. …
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Anticipatory communication strategies for human robot team coordination
… has generated interest in effective inclusion of robots as team members in many domains, especially where complex and safety-critical tasks must be performed. We envision a world where autonomous systems can be seamlessly integrated into high performing human teams. In order for team members to …
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RecoNode: Towards an Autonomous Multi-Robot Team Agent for USAR
<p>Urban search and rescue (USAR) robots can benefit from small size as it facilitates movement in cramped quarters. Yet, small size limits actuator power, sensor payloads, computational capacity and battery life. We are alleviating these issues by developing the hardware and software …
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Computational formulation, modeling and evaluation of human-robot team training techniques
… focused on designing mechanisms for programming robots and training people to perform human-robot collaborative tasks, drawing upon insights from practices widely used in human teams. First, we design and evaluate human-robot cross-training, a strategy used and validated for effective human team …
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An embedded controller for quad-rotor flying robots running distributed algorithms
Multiple collaborating quad-rotor flying robots are useful in a broad range of applications, from surveillance with onboard cameras to reconfiguration of wireless networks. For these applications, it is often advantageous to have the robot team be a distributed system. In this thesis, an embedded …
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Learning Heterogeneous Resource-Constrained Task Allocation Using Concurrent Multi-Task Bandits
Task allocation is a critical aspect of multi-robot coordination, enabling the completion of complex tasks that would be intractable for individual robots. However, existing approaches to task allocation often assume that task requirements or reward functions are known and explicitly specified by …
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Design methods for cost-effective teams of mobile robots in uncertain terrain
… planetary exploration missions with mobile robots is expensive, with costs ranging from hundreds of millions to billions of dollars. Developing reliable robots to work remotely on rough, uncertain terrain is imperative for these missions. One potential tactic for improving the …
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Multi-robot cooperative surveillance in unknown environments
… thesis presents a series of distributed multi-robot approaches for practical surveillance in unknown environments. The approaches cover exploration, target searching, target tracking, and localization problems. With respect to exploration and target-searching problems, distributed algorithms …
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Fluid coordination of human-robot teams
… a future where collaboration between humans and robots will be indispensable to our work in numerous domains, ranging from surgery to space exploration. The success of these systems will depend in part on the ability of robots to integrate within existing human teams. The goal of this thesis is …
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Object Detection and Collaboration in Heterogeneous Multi-Robot Systems
With the development of novel technologies, robots are becoming more widely used in everyday applications. Compared with a single robot, Multi-Robot Systems (MRS) are more powerful and cost effective. This thesis will introduce a complete heterogeneous distributed MRS which contains an autonomous …
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Remote Operator Blended Intelligence System for Environmental Navigation and Discernment (RobiSEND)
… flown at low altitude as a part of a human-robot team are potential sources of tactical information for local search missions. Traditionally, their effectiveness in this role has been limited by an inability to intelligently perceive unknown environments or integrate with human team members. …
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Developing safe and efficient robotic assistants for close-proximity human-robot collaboration
As the field of robotics continues to advance and the capabilities of robots continue to expand, there is a strong incentive to introduce robots into traditionally human-only domains. By harnessing the complementary strengths of humans and robots, the human-robot team has the potential to achieve …
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Perturbation training for human-robot teams
Today, robots are often deployed to work separately from people. Combining the strengths of humans and robots, however, can potentially lead to a stronger joint team. To have fluid human-robot collaboration, these teams must train to achieve high team performance and flexibility on new tasks. This …
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Generalized Task Structure Learning for Collaborative Multi-Robot/Human-Robot Task Allocation
… a control architecture for collaborative multi-robot systems focusing on the problem of task allocation under hierarchical constraints imposed upon a joint task. For these types of tasks, multiple robots need to dynamically coordinate their execution during the task execution. However, due to …
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A Framework for the Development of Scalable Heterogeneous Robot Teams with Dynamically Distributed Processing
As the applications of mobile robotics evolve it has become increasingly less practical for researchers to design custom hardware and control systems for each problem. This research presents a new approach to control system design that looks beyond end-of-lifecycle performance and considers control …
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Methods and Metrics for Human Control of Multi-Robot Teams
Human-controlled robots are utilized in many situations and such use is becoming widespread. This thesis details research that allows a single human to interact with a team of robots performing tasks that require cooperation. The research provides insight into effective interaction design methods …
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Robust and Scalable Multiagent Reinforcement Learning in Adversarial Scenarios
… driving, multi-player video games, and robot team sports. Key challenges of multiagent learning include the presence of uncertainty in the other agent’s behaviors and the curse of dimensionality caused by the high dimensionality of the joint observation, action, and policy space. These …
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Utilitarian Approaches for Multi-Metric Optimization in VLSI Circuit Design and Spatial Clustering
… is illustrated by its mapping to the problem of robot team formation in the field in multi-emergency search and rescue. The various algorithms developed in this dissertation achieve significantly better optimization and run times as compared to other methods, ensure high utility levels, are …
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Human-robot interaction for telemanipulation by small unmanned aerial systems
This dissertation investigated the human-robot interaction (HRI) for the Mission Specialist role in a telemanipulating unmanned aerial system (UAS). The emergence of commercial unmanned aerial vehicle (UAV) platforms transformed the civil and environmental engineering industries through …
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Graph Neural Networks for Multi-Agent Learning
… as a graph (e.g., communication links in a multi-robot team generate a graph connectivity). In this thesis, we study the field of multi-agent learning. Recent advances in the domain are promising, but further innovation is required to tackle problems such as learning under partial observability …
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