Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Engineering
A Dynamical System Approach For Resource-Constrained Mobile Robotics, Tauhidul Alam
A Dynamical System Approach For Resource-Constrained Mobile Robotics, Tauhidul Alam
FIU Electronic Theses and Dissertations
The revolution of autonomous vehicles has led to the development of robots with abundant sensors, actuators with many degrees of freedom, high-performance computing capabilities, and high-speed communication devices. These robots use a large volume of information from sensors to solve diverse problems. However, this usually leads to a significant modeling burden as well as excessive cost and computational requirements. Furthermore, in some scenarios, sophisticated sensors may not work precisely, the real-time processing power of a robot may be inadequate, the communication among robots may be impeded by natural or adversarial conditions, or the actuation control in a robot may be …
Applications Of Robot Operating System (Ros) To Mobile Microgrid Formation Outdoors, John Naglak
Applications Of Robot Operating System (Ros) To Mobile Microgrid Formation Outdoors, John Naglak
Dissertations, Master's Theses and Master's Reports
Application of mobile robots to microgrid formation has value for disaster response and service of forward operating bases. This thesis describes the development, testing and demonstration of broad effort across multiple disciplines to enable outdoor positioning and connection of mobile microgrids for the first time. This work includes an outdoor waypoint controller for a UGV agent, specifically the Clearpath Husky. It details sensor fusion of 2D LiDAR and stereo vision, and fusion of odometry sources using an Extended Kalman Filter. Development of these software tools entails integration of many of the packages available through the Robot Operating System (ROS), with …