{"id":{"repo_id":"unr","oai_identifier":"oai:scholarwolf.unr.edu:11714/8175"},"canonical_url":"https://search.dev.ndltd.org/etd/unr/oai:scholarwolf.unr.edu:11714/8175","repository":{"repo_id":"unr","name":"University of Nevada - Reno","base_url":"https://scholarwolf.unr.edu/server/oai/request"},"display":{"title":"Object Detection and Collaboration in Heterogeneous Multi-Robot Systems","abstract":"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 mobile robot (Pioneer 3-DX) and a stationary humanoid robot (Baxter), which are able to jointly perform a task that involves navigation and object manipulation. The contributions of this thesis are: 1) we developed an object detection system, locating the pose of objects with a depthcamera through OpenCV and the HSV color model; 2) we optimized a path planning and control system which would enable the Pioneer 3-DX to map its surrounding environment and navigate to target poses, as well as allow the Baxter to grasp, lift and drop the target objects using the MoveIt framework accurately and successfully; 3) we developed a distributed communication system so as to allow two different functional robots to communicate with each other through ROS 2. These contributions are validated with a heterogeneous robot team, including an autonomous mobile robot and a humanoid robot, completing tasks collaboratively.","abstract_html":"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 mobile robot (Pioneer 3-DX) and a stationary humanoid robot (Baxter), which are able to jointly perform a task that involves navigation and object manipulation. The contributions of this thesis are: 1) we developed an object detection system, locating the pose of objects with a depthcamera through OpenCV and the HSV color model; 2) we optimized a path planning and control system which would enable the Pioneer 3-DX to map its surrounding environment and navigate to target poses, as well as allow the Baxter to grasp, lift and drop the target objects using the MoveIt framework accurately and successfully; 3) we developed a distributed communication system so as to allow two different functional robots to communicate with each other through ROS 2. These contributions are validated with a heterogeneous robot team, including an autonomous mobile robot and a humanoid robot, completing tasks collaboratively.","abstract_has_math":false,"creators":["Jiang, Song"],"institution":null,"degree_name":null,"degree_level":"Master's Degree","degree_discipline":null,"degree_department":null,"school":null,"contributors":[],"advisors":["Nicolescu, Monica"],"committee_chairs":[],"committee_members":["Nicolescu, Mircea","Panorska, Anna"],"year":2022,"date_issued":"2022","date_published":"2022","updated_at":"2026-07-27T21:47:03Z","subjects":["MRS","Multi-Robot Systems","Robot Collaboration","Robotics"],"languages":[],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/11714/8175","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Nicolescu, Monica"]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Nicolescu, Mircea","Panorska, Anna"]},{"key":"dc:creator","label":"Author","values":["Jiang, Song"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2022-06-28T01:14:30Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2022-06-28T01:14:30Z"]},{"key":"dc:date.issued","label":"Date","values":["2022"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Master's Degree"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["MRS","Multi-Robot Systems","Robot Collaboration","Robotics"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/11714/8175"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["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 mobile robot (Pioneer 3-DX) and a stationary humanoid robot (Baxter), which are able to jointly perform a task that involves navigation and object manipulation. The contributions of this thesis are: 1) we developed an object detection system, locating the pose of objects with a depthcamera through OpenCV and the HSV color model; 2) we optimized a path planning and control system which would enable the Pioneer 3-DX to map its surrounding environment and navigate to target poses, as well as allow the Baxter to grasp, lift and drop the target objects using the MoveIt framework accurately and successfully; 3) we developed a distributed communication system so as to allow two different functional robots to communicate with each other through ROS 2. These contributions are validated with a heterogeneous robot team, including an autonomous mobile robot and a humanoid robot, completing tasks collaboratively."]},{"key":"dc:format","label":"Dc Format","values":["PDF"]},{"key":"dc:title","label":"Title","values":["Object Detection and Collaboration in Heterogeneous Multi-Robot Systems"]}]}],"canonical_facts":{"dc:contributor.advisor":["Nicolescu, Monica"],"dc:contributor.committeemember":["Nicolescu, Mircea","Panorska, Anna"],"dc:creator":["Jiang, Song"],"dc:date.accessioned":["2022-06-28T01:14:30Z"],"dc:date.available":["2022-06-28T01:14:30Z"],"dc:date.issued":["2022"],"dc:description.abstract":["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 mobile robot (Pioneer 3-DX) and a stationary humanoid robot (Baxter), which are able to jointly perform a task that involves navigation and object manipulation. The contributions of this thesis are: 1) we developed an object detection system, locating the pose of objects with a depthcamera through OpenCV and the HSV color model; 2) we optimized a path planning and control system which would enable the Pioneer 3-DX to map its surrounding environment and navigate to target poses, as well as allow the Baxter to grasp, lift and drop the target objects using the MoveIt framework accurately and successfully; 3) we developed a distributed communication system so as to allow two different functional robots to communicate with each other through ROS 2. These contributions are validated with a heterogeneous robot team, including an autonomous mobile robot and a humanoid robot, completing tasks collaboratively."],"dc:format":["PDF"],"dc:identifier.uri":["http://hdl.handle.net/11714/8175"],"dc:subject":["MRS","Multi-Robot Systems","Robot Collaboration","Robotics"],"dc:title":["Object Detection and Collaboration in Heterogeneous Multi-Robot Systems"],"dc:type":["Thesis"],"thesis:degree_level":["Master's Degree"]},"updated_at":"2026-07-27T21:47:03Z"}