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 10 of 10 for “"robotic testbed"”.
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Development of a robotic testbed infrastructure with dynamic service discovery
… incorporating dynamic service discovery for a robotic testbed. The infrastructure consists of software using ZeroMQ as the transport layer for its speed and ease of use. JSON and Protocol Buffers are used to implement messaging. Finally, multicast DNS-SD is used, along with a custom software …
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Propositional and activity monitoring using qualitative spatial reasoning
… and take their own actions in order to assist. A robotic team member should be able to make the same inferences, observing the state of the environment and inferring what actions are being taken. In this thesis I introduce a novel approach to the combined problem of activity recognition and …
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Wireless Communication Network Improvements for the UIUC Robotics Laboratory Testbed
This thesis introduces some improvements to the robotic testbed in the Robotics Laboratory in the Coordinated Science Laboratory at the University of Illinois at Urbana-Champaign. The main goal was to improve the wireless network. Not only this goal was successfully achieved, but the complete …
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A framework for the development of virtual robotic games
Multiple robotic experiments are inherently high in operating costs. As the number of agents increase, resources in time, cost, and physical space becomes a limiting factor in experimentation. This thesis presents a framework that addresses these problems by virtual reality. The computer gaming …
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Detecting cyber-physical threats against autonomous robotic systems in routine missions
… assistance to smart city infrastructure and robotics. These technologies rely on a variety of sensors, actuating nodes and control communications. Each sensor adds context by which the autonomous system can better understand its environment, but each sensor also provides opportunities for …
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A model predictive control approach to a class of multiplayer minmax differential games
… the solution method in both indoor and outdoor robotic testbeds. Our solution method requires one to solve a sequence of Quadratic Programs (QPs), which together efficiently solve the original semi-infinite min- max MPC problem. The solution method separates the problem into two subproblems …
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Prioritized Sensor Detection with Communication Constraints: A Cyber-Physical Systems Approach
… Lastly, in Part III we describe our robotic testbed that has been built to validate our proposed algorithms. We provide hardware experiments for both homogenous and heterogeneous sensor networks.
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New positioning system for the CSL Robotics Laboratory Testbed
A new positioning system is proposed for the B16 Robotics Laboratory testbed. The system is vision based and distributed. Each mobile agent is responsible for solving its individual positioning problem. The modified algorithm implements detection and identification techniques for position markers, …
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On the spatial predictability of wireless channels and robust networked cooperation in mobile sensor networks
… with experimental measurements using our robotic testbed. The second contribution of the thesis is to consider different cooperative network operations with imperfect local sensing and under realistic modeling of communication links. More specifically, we consider the group agreement …
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Decentralized Allocation of Tasks with Temporal and Precedence Constraints to a Team of Robots
… in simulation and also run experiments in a robotic testbed with three Turtlebot 2 robots. Additionally, we leverage the power of simulation as a schedule evaluation tool. We present risk and probabilistic analysis that enable users to assess when to readjust tasks' constraints to improve …