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Full-Text Articles in Engineering
Robot Motion Planning In Dynamic Environments, Hao-Tien Lewis Chiang
Robot Motion Planning In Dynamic Environments, Hao-Tien Lewis Chiang
Computer Science ETDs
Robot motion planning in dynamic environments is critical for many robotic applications, such as self-driving cars, UAVs and service robots operating in changing environments. However, motion planning in dynamic environments is very challenging as this problem has been shown to be NP-Hard and in PSPACE, even in the simplest case. As a result, the lack of safe, efficient planning solutions for real-world robots is one of the biggest obstacles for ubiquitous adoption of robots in everyday life. Specifically, there are four main challenges facing motion planning in dynamic environments: obstacle motion uncertainty, obstacle interaction, complex robot dynamics and noise, and …
Ros-Enabled Framework For A Miniature Hexapod As A Mobile Robot Research Platform, Joseph Michael Kloeppel
Ros-Enabled Framework For A Miniature Hexapod As A Mobile Robot Research Platform, Joseph Michael Kloeppel
Electrical and Computer Engineering ETDs
The purpose of this thesis is to investigate and develop a framework for connected six-legged robots which can be used as a Robotic Operating System (ROS) based research platform. The research presented aims to purvey the necessary engineering and scientific steps needed to evolve a consumer-grade connected toy into a fully functioning and highly capable robotic system. Such a platform can be used to simulate and implement novel biologically inspired swarm research. Crawling robots have the advantage of being able to scale terrains which wheeled mobile robots may not and possess many interesting characteristics. The miniROaCH, miniature ROS-enabled and Crawling …
Applying Heterogeneous Teams Of Robotic Agents Using Hybrid Communications To Mapping And Education, Jonathan M. West
Applying Heterogeneous Teams Of Robotic Agents Using Hybrid Communications To Mapping And Education, Jonathan M. West
Electrical and Computer Engineering ETDs
Robotic agents are being increasingly utilized to carry out tasks that are difficult or dangerous for humans. Many of these missions are best performed by heterogeneous teams of agents with various individual abilities. Communication among agents and with operators is a critical element in the performance and efficiency of these missions. Although radio frequency communications dominate the robotic networking field, they are limited in range and bandwidth due to spectrum congestion and subject to interference from noise or hostile jamming and can be intercepted. Optical communication has many advantages such as higher bandwidth and focused beam, however the line-of-sight requirement …
A Visual Velocity Impedance Controller, Victor Nevarez
A Visual Velocity Impedance Controller, Victor Nevarez
Mechanical Engineering ETDs
Successful object insertion systems allow the object to translate and rotate to accommodate contact forces. Compliant controllers are used in robotics to provide this accommodation. The impedance compliant controller is one of the more researched and well known compliant controllers used for assembly. The velocity filtered visual impedance controller is introduced as a compliant controller to improve upon the impedance controller. The velocity filtered impedance controller introduces a filter of the velocity impedance and a gain from the stiffness. The velocity impedance controller was found to be more stable over larger ranges of stiffness values than the position based impedance …
Mesh Addition Based On The Depth Image (Mabdi), Lucas E. Chavez
Mesh Addition Based On The Depth Image (Mabdi), Lucas E. Chavez
Mechanical Engineering ETDs
Many robotic applications utilize a detailed map of the world and the algorithm used to produce such a map must take into consideration real-world constraints such as computational and memory costs. Traditional mesh-based environmental mapping algorithms receive data from the sensor, create a mesh surface from the data, and then append the surface to a growing global mesh. These algorithms do not provide a computationally efficient mechanism for reducing redundancies in the global mesh. MABDI is able to leverage the knowledge contained in the global mesh to find the difference between what we expect our sensor to see and what …