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 54 for “"unknown environment"”.
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Navigation in unknown environment by building instantaneous spatial structures
… employed for mobile robot navigation in an unknown environment is to follow a nominal straight-line path to the goal point. During travelling on the nominal path, the robot uses distance information, e.g. derived from sonar sensors, and geometric information to determine the spatial …
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Multi-Agent Path Planning for Locating a Radiating Source in an Unknown Environment
… multiple autonomous agents are used to search an unknown environment for a target, the position and orientation of which is known with respect to each agent. A controlling framework is proposed to inform and coordinate the agents’ movements in order to reduce the time required to locate the …
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A fuzzy-logic controller for an autonomous vehicle operation in an unknown environment
… to guide a four-wheeled vehicle through an unknown environment. The vehicle is equipped with an ultrasonic sensor that can rotate to survey the neighboring environment. A new path planning algorithm is developed that reduces the computational time while avoiding obstacles. The vehicle uses a …
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Computer vision based navigation for spacecraft proximity operations
… navigation and proximity operations within an unknown environment is an enabling technology for a number of future commercial and scientific space missions. This thesis presents three first steps towards a larger research initiative to develop and mature these technologies. The first step that …
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Room reconstruction and navigation using acoustically obtained room impulse responses and a mobile robot platform
… acoustic signal to navigate and reconstruct an unknown environment. The robot sends the pseudo-random signal into the environment and records the resulting response. This response is processed to gain information on the robot's immediate surroundings. Previous work done in this area focused on …
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Modeling Autonomous Agents' Behavior Using Neuro-Immune Networks
… expected to interact with their dynamic changing environment. This interactions requires certain level of behavior based Intelligence, which facilitates the dynamic adaptation of the robot behavior accordingly with his surrounding environment. Many researches have been done in biological …
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Applications of fuzzy counterpropagation neural networks to non-linear function approximation and background noise elimination
An adaptive filter which can operate in an unknown environment by performing a learning mechanism that is suitable for the speech enhancement process. This research develops a novel ANN model which incorporates the fuzzy set approach and which can perform a non-linear function approximation. The …
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Semi-direct visual SLAM for stereo cameras: system design and validation
… (SLAM) requires an autonomous vehicle in an unknown environment to learn about the environment, generates a map and localize itself at the same time. To solve this problem, various types of sensors are equipped to gather information. Nowadays, with the development of computer vision, …
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Collaborative concurrent mapping and localization
… vehicles require the ability to build maps of an unknown environment while concurrently using these maps for navigation. Current algorithms for this concurrent mapping and localization (CML) problem have been implemented for single vehicles, but do not account for extra positional information …
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Topological mapping for limited sensing mobile robots using the Probabilistic Gap Navigation Tree
… approach, we create a topological map of the environment based on a previously created Gap Navigation Tree (GNT) [40]. The "gap" in the gap navigation algorithm represents a discontinuity in the robotic field of vision. The robot is able to use the gaps to represent its world as a tree …
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Active Perception for Inertial-Aided Systems
… calibration for lidar-inertial systems in an unknown environment within a given time budget. Finally, we present an active mapping framework that uses point and plane features within a Visual-Inertial Odometry framework. The continuous planner based on GP regression is used to actively choose …
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An Experimental Evaluation of Learning-Based Methods for Loop Closure Detection in Simultaneous Localization and Mapping
… to estimate a robot’s trajectory in an initially unknown environment while reconstructing the geometry of the environment. In order to bound the accumulation of localization error in SLAM, it is crucial to recognize previously seen locations, a process called "loop closure." This allows the robot …
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Collaborative Unmanned Air and Ground Vehicle Perception for Scene Understanding, Planning and GPS-denied Localization
Autonomous robot missions in unknown environments are challenging. In many cases, the systems involved are unable to use a priori information about the scene (e.g. road maps). This is especially true in disaster response scenarios, where existing maps are now out of date. Areas without GPS are …
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Simultaneous stochastic mapping and localization
… 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 approach. The concurrent mapping and localization problem …
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FPGA-aided MAV vision-based estimation
… of estimating motion trajectory through an unknown environment from a monocular image sequence is one of the main challenges in Micro Air Vehicle (MAV) navigation. Today MAVs are becoming more and more prevalent in both civilian and military operations. However, with their reduction in size …
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Touch at a distance : underwater object identification using pressure sensors
… obstacles and navigate dexterously in complex environments. Similarly, pressure sensors could be used on underwater vehicles to expand their range of operability by filling the gap left by sonar and vision systems in turbid cluttered environments. To understand how much information can be …
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Analyzing physical system interaction
… model of a robot interacting with an unknown environment. Using a technique based on topologically separating the input/output space, we show that robust stability solutions can be obtained for such systems with unknown but passive environments. In addition, frameworks for analyzing …
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Target Locating in Unknown Environments Using Distributed Autonomous Coordination of Aerial Vehicles
… of autonomous aerial vehicles (UAVs) to explore unknown environments is a growing field of research; of particular interest is locating a target that emits a signal within an unknown environment. Several physical processes produce scalar signals that attenuate with distance from their source, …
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Probabilistic Topologies with Applications in Security and Resilience of Multi-Robot Systems
… as they find application in tasks such as unknown environment exploration, distributed surveillance, and search and rescue. Operating robot teams in real world environments introduces a notion of uncertainty into the system, especially when it comes to the ability of the MRS to reliably …
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Robot Motions that Mitigate Uncertainty
… of multiple robots and multiple demands in unknown environments. The second part introduces a risk-aware motion model for searching for a target object in an unknown environment. To illustrate practical application, consider a situation such as disaster response or search-and-rescue, where …
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