Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Computer Engineering
Localization And Mapping Of Unknown Locations And Tunnels With Unmanned Ground Vehicles, Doris Turnage
Localization And Mapping Of Unknown Locations And Tunnels With Unmanned Ground Vehicles, Doris Turnage
Electronic Theses and Dissertations
The main goals of this research were to enhance a commercial off the shelf (COTS) software platform to support unmanned ground vehicles (UGVs) exploring the complex environment of tunnels, to test the platform within a simulation environment, and to validate the architecture through field testing. Developing this platform will enhance the U. S. Army Engineering Research and Development Center’s (ERDC’s) current capabilities and create a safe and efficient autonomous vehicle to perform the following functions within tunnels: (1) localization (e.g., position tracking) and mapping of its environment, (2) traversing varied terrains, (3) sensing the environment for objects of interest, and …
Reconode: Towards An Autonomous Multi-Robot Team Agent For Usar, Kang Li
Reconode: Towards An Autonomous Multi-Robot Team Agent For Usar, Kang Li
Electronic Theses and Dissertations
Urban search and rescue (USAR) robots can benefit from small size as it facilitates movement in cramped quarters. Yet, small size limits actuator power, sensor payloads, computational capacity and battery life. We are alleviating these issues by developing the hardware and software infrastructure for high performance, heterogeneous, dynamically-reconfigurable miniature USAR robots, as well as a host of other relevant applications. In this thesis, a generic modular embedded system architecture based on the RecoNode multiprocessor is proposed, which consists of a set of hardware and software modules that can be configured to construct various types of robot systems for dynamic and …