Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 4 of 4
Full-Text Articles in Robotics
Device Free Indoor Localization Of Human Target Using Wifi Fingerprinting, Prasanga Neupane
Device Free Indoor Localization Of Human Target Using Wifi Fingerprinting, Prasanga Neupane
LSU Master's Theses
Indoor localization of human objects has many important applications nowadays. Proposed here is a new device free approach where all the transceiver devices are fixed in an indoor environment so that the human target doesn't need to carry any transceiver device with them. This work proposes radio-frequency fingerprinting for the localization of human targets which makes this even more convenient as radio-frequency wireless signals can be easily acquired using an existing wireless network in an indoor environment. This work explores different avenues for optimal and effective placement of transmitter devices for better localization. In this work, an experimental environment is …
Practical Considerations And Applications For Autonomous Robot Swarms, Rory Alan Hector
Practical Considerations And Applications For Autonomous Robot Swarms, Rory Alan Hector
LSU Doctoral Dissertations
In recent years, the study of autonomous entities such as unmanned vehicles has begun to revolutionize both military and civilian devices. One important research focus of autonomous entities has been coordination problems for autonomous robot swarms. Traditionally, robot models are used for algorithms that account for the minimum specifications needed to operate the swarm. However, these theoretical models also gloss over important practical details. Some of these details, such as time, have been considered before (as epochs of execution). In this dissertation, we examine these details in the context of several problems and introduce new performance measures to capture practical …
Distance-Based Formation Control Using Decentralized Sensing With Infrared Photodiodes, Steven Williams
Distance-Based Formation Control Using Decentralized Sensing With Infrared Photodiodes, Steven Williams
LSU Master's Theses
This study presents an onboard sensor system for determining the relative positions of mobile robots, which is used in decentralized distance-based formation controllers for multi-agent systems. This sensor system uses infrared photodiodes and LEDs; its effective use requires coordination between the emitting and detecting robots. A technique is introduced for calculating the relative positions based on photodiode readings, and an automated calibration system is designed for future maintenance. By measuring the relative positions of their neighbors, each robot is capable of running an onboard formation controller, which is independent of both a centralized controller and a global positioning-like system (e.g., …
A Low-Cost Experimental Testbed For Multi-Agent System Coordination Control, Victor Fernandez-Kim
A Low-Cost Experimental Testbed For Multi-Agent System Coordination Control, Victor Fernandez-Kim
LSU Master's Theses
A multi-agent system can be defined as a coordinated network of mobile, physical agents that execute complex tasks beyond their individual capabilities. Observations of biological multi-agent systems in nature reveal that these ``super-organisms” accomplish large scale tasks by leveraging the inherent advantages of a coordinated group. With this in mind, such systems have the potential to positively impact a wide variety of engineering applications (e.g. surveillance, self-driving cars, and mobile sensor networks). The current state of research in the area of multi-agent systems is quickly evolving from the theoretical development of coordination control algorithms and their computer simulations to experimental …