Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Robotics
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 …
Application Of Simultaneous Localization And Mapping Algorithms For Haptic Teleoperation Of Aerial Vehicles, Bandar Hulayyil Aldhafeeri
Application Of Simultaneous Localization And Mapping Algorithms For Haptic Teleoperation Of Aerial Vehicles, Bandar Hulayyil Aldhafeeri
Electronic Thesis and Dissertation Repository
In this thesis, a new type of haptic teleoperator system for remote control of Unmanned Aerial Vehicles (UAVs) has been developed, where the Simultaneous Localization and Mapping (SLAM) algorithms are implemented for the purpose of generating the haptic feedback. Specifically, the haptic feedback is provided to the human operator through interaction with artificial potential field built around the obstacles in the virtual environment which is located at the master site of the teleoperator system. The obstacles in the virtual environment replicate essential features of the actual remote environment where the UAV executes its tasks. The state of the virtual environment …