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Full-Text Articles in Robotics
Dexterous Hexrotor Uav Platform, Guangying Jiang
Dexterous Hexrotor Uav Platform, Guangying Jiang
Electronic Theses and Dissertations
Mobile manipulation is a hot area of study in robotics as it unites the two classes of robots: locomotors and manipulators. An emerging niche in the field of mobile manipulation is aerial mobile manipulation. Although there has been a fair amount of study of free-flying satellites with graspers, the more recent trend has been to outfit UAVs with graspers to assist various manipulation tasks. While this recent work has yielded impressive results, it is hampered by a lack of appropriate testbeds for aerial mobile manipulation, similar to the state of ground-based mobile manipulation a decade ago. Typical helicopters or quadrotors …
Reducing Communication Delay Variability For A Group Of Robots, Goncalo Martins
Reducing Communication Delay Variability For A Group Of Robots, Goncalo Martins
Electronic Theses and Dissertations
A novel architecture is presented for reducing communication delay variability for a group of robots. This architecture relies on using three components: a microprocessor architecture that allows deterministic real-time tasks; an event-based communication protocol in which nodes transmit in a TDMA fashion, without the need of global clock synchronization techniques; and a novel communication scheme that enables deterministic communications by allowing senders to transmit without regard for the state of the medium or coordination with other senders, and receivers can tease apart messages sent simultaneously with a high probability of success. This approach compared to others, allows simultaneous communications without …
Robot Team Formation Control Using Communication "Throughput Approach", Fatmazahra Ahmed Benhalim
Robot Team Formation Control Using Communication "Throughput Approach", Fatmazahra Ahmed Benhalim
Electronic Theses and Dissertations
In this thesis, we consider a team of robots forming a mobile robot network cooperating to accomplish a mission in an unknown but structured environment. The team has no a-priori knowledge of the environment. Robots have limited memory storage capabilities, not enough to map the environment. Each robot also has limited sensor capability and computational power. Due to the need to avoid obstacles and other environment effects, some robots get delayed from the rest. Using tracking controller, the robot team should follow the leader in a flexible formation shape without losing network connectivity, and that was achieved by monitoring the …
Radar Based Collision Avoidance For Unmanned Aircraft Systems, Allistair A. Moses
Radar Based Collision Avoidance For Unmanned Aircraft Systems, Allistair A. Moses
Electronic Theses and Dissertations
Unmanned Aircraft Systems (UAS) have become increasingly prevalent and will represent an increasing percentage of all aviation. These unmanned aircraft are available in a wide range of sizes and capabilities and can be used for a multitude of civilian and military applications. However, as the number of UAS increases so does the risk of mid-air collisions involving unmanned aircraft. This dissertation aims present one possible solution for addressing the mid-air collision problem in addition to increasing the levels of autonomy of UAS beyond waypoint navigation to include preemptive sensor-based collision avoidance. The presented research goes beyond the current state of …