{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/14681"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/14681","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"New positioning system for the CSL Robotics Laboratory Testbed","abstract":"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, following a template matching approach. Two modes of operation are implemented, Barycentric and Change of Axes. The new system is able to calculate position using the two methods, and 90% or more of the data points collected in each set lie within 0.05 units from true position. Heading is also calculated, but further testing is needed to fully asses its performance. The concept for the new positioning system is validated. The system achieves partial functionality and acceptable performance. However, it has not yet reached the potential necessary to replace the current system.","abstract_html":"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, following a template matching approach. Two modes of operation are implemented, Barycentric and Change of Axes. The new system is able to calculate position using the two methods, and 90% or more of the data points collected in each set lie within 0.05 units from true position. Heading is also calculated, but further testing is needed to fully asses its performance. The concept for the new positioning system is validated. The system achieves partial functionality and acceptable performance. However, it has not yet reached the potential necessary to replace the current system.","abstract_has_math":false,"creators":["Lopez-Morales, Wilfredo"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Electrical and Computer Engineering","degree_department":null,"school":null,"contributors":["Stipanović, Dušan M.","Hutchinson, Seth A."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2010,"date_issued":"2010-01-06T16:21:10Z","date_published":"2010-01-06T16:21:10Z","updated_at":"2026-07-22T22:25:08Z","subjects":["robotic testbed vision positioning CSL"],"languages":["en"],"rights":["Copyright 2009 Wilfredo Lopez-Morales"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/14681","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Stipanović, Dušan M.","Hutchinson, Seth A."]},{"key":"dc:creator","label":"Author","values":["Lopez-Morales, Wilfredo"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2010-01-06T16:21:10Z","2009-12"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical and Computer Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["robotic testbed vision positioning CSL"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2009 Wilfredo Lopez-Morales"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/14681"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["A new positioning system is proposed for the B16 Robotics Laboratory testbed. 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