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 34 for “"robot teams"”.
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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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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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Mixed-Mode Control Interfaces of Mobile Robot Teams
… the design of a task-level control interface for teams of mobile robots. The control interface, which visually resembles a video game and contains the functional elements of traditional robot control software, was designed and implemented using the ROS software framework. Unlike previous …
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Distributed Dynamic Hierarchical Task Assignment for Human-Robot Teams
… implements a joint task architecture for human-robot collaborative task execution using a hierarchical task planner. This architecture allowed humans and robots to work together as teammates in the same environment while following several task constraints. These constraints are 1) sequential …
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A mixed-initiative framework for multi-agent human-robot teams
Robots and autonomous systems are expanding into more complex, dynamic, and human-centered operating domains. In such domains, neither full autonomy nor full human control are ideal and the appropriate level of autonomy is contextually-dependent. Mixed-initiative systems enable flexible autonomy, …
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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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Hybrid Concurrent Planning with Heterogeneous Robot Teams for Timed Goals
Robotic techniques in terms of mechanical design, perception, and planning have been improving at a dramatic rate. However, these advances for single autonomous systems will not be sufficient for many real-world applications, in which robots need to collaboratively complete tasks together given …
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Submodular Optimization in Multi-Robot Teams: Robustness, Resilience, and Decentralization
Decision-making is an essential topic for multi-robot coordination and collaboration and is also the main topic of this thesis. Examples can be found in autonomous driving, environmental monitoring, intelligent transportation, etc. To study this problem, we first use multiple applications as …
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Learning Environmental Models With Multi-Robot Teams Using A Dynamical Systems Approach
Robots monitoring complex, spatiotemporal phenomena require rich, meaningful representations of the environment. This thesis presents methods for representing the environment as a dynamical system with machine learning techniques. Specifically, we formulate machine learning methods that lend to …
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Mission planning for coupled human-robot teams using adaptive human performance models
The increasing prevalence of autonomous robots in a variety of domains has motivated the development of task allocation and scheduling algorithms which enable cooperative multi-robot teams to execute missions in a coordinated fashion. These missions often entail completing discrete tasks in …
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Risk-bounded coordination of human-robot teams through concurrent intent recognition and adaptation
There is an ever-growing demand for humans and robots to work fluidly together in a number of important domains, such as home care, manufacturing, and medical robotics. In order to achieve this fluidity, robots must be able to (1) recognize their human teammate's intentions, and (2) automatically …
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View Point Planning for Inspecting Static and Dynamic Scenes with Multi-Robot Teams
… in static and dynamic scenes using multi-robot teams. This work is motivated by two applications: bridge inspection and environmental monitoring using Unmanned Aerial Vehicles. For static scenes, we are given a set of target points in a polygonal environment that must be monitored using …
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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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The coordinated control of space robot teams for the on-orbit construction of large flexible space structures
Teams of autonomous space robots are needed for future space missions such as the construction of large solar power stations and large space telescopes in earth orbit. This work focuses on the control of teams of robots performing construction tasks such as manipulation and assembly of large space …
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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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Communication-Driven Robot Learning for Human-Robot Collaboration
The growing presence of modern learning robots necessitates a fundamental shift in design, as these robots must learn skills from human inputs. Two main components close the loop in a human-robot interaction: learning and communication. Learning derives robot behaviors from human inputs, and …
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Adaptive AUV-assisted diver navigation for loosely-coupled teaming in undersea operations
… as a pathway toward complex undersea human-robot teams. This thesis identifies the communication, software, and algorithmic tools to enable loosely-coupled cooperative navigation between an autonomous underwater vehicle and a diver without a surface presence. Divers present new challenges …
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Adaptive AUV-assisted Diver Navigation for Loosely-Coupled Teaming in Undersea Operations
… as a pathway toward complex undersea human-robot teams. This thesis identifies the communication, software, and algorithmic tools to enable loosely-coupled cooperative navigation between an autonomous underwater vehicle and a diver without a surface presence. Divers present new challenges …
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Human-machine interaction for unmanned surface systems
… interaction (HMI) technologies for human-robot teams operating as unmanned surface systems (USS). An pilot role was found to be the most prevalent in the USS-related literature but additional human roles were determined to likely be necessary (e.g., Mission Specialist} though were not …
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Mind-theoretic planning for social robots
As robots move out of factory floors and into human environments, out from safe barricaded workstations to operating in close proximity with people, they will increasingly be expected to understand and coordinate with basic aspects of human behavior. If they are to become useful and productive …
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