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Towards A Prototype Platform For Ros Integrations On A Ground Robot, Taylor Joseph Linville Whitaker
Towards A Prototype Platform For Ros Integrations On A Ground Robot, Taylor Joseph Linville Whitaker
Graduate Theses and Dissertations
The intent of this work was to develop, evaluate, and demonstrate a prototype robot platform on which ROS integrations could be explored. With observations of features and requirements of existing industrial and service mobile ground robots, a platform was designed and outfitted with appropriate components to enable the most common operational-critical functionalities and account for unforeseen components and features. The resulting Arlo Demonstration Robot accommodates basic mapping, localization, and navigation in both two and three-dimensional space as well as additional safety and teleoperation features. The control system is centered around the Zybo Z7 FPGA SoC hosting a custom hardware design. …
Multirobot Confidence And Behavior Modeling: An Evaluation Of Telerobotic Performance And Efficiency, Nathan Lucas
Multirobot Confidence And Behavior Modeling: An Evaluation Of Telerobotic Performance And Efficiency, Nathan Lucas
Wayne State University Dissertations
There is considerable interest in multirobot systems capable of performing spatially distributed, hazardous, and complex tasks as a team. There is also growing interest in manned-unmanned teams leveraging the unique abilities of humans and automated machines working alongside each other. The limitations of human perception and cognition affect the ability of operators to integrate information from multiple mobile robots, switch between their spatial frames of reference, and divide attention among many sensory inputs and command outputs. Automation is necessary to help the operator manage increasing demands as the number of robots scales up. However, more automation does not necessarily equate …