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Articles 1 - 10 of 10
Full-Text Articles in Robotics
Designing A Collaborative Uav-Ugv System For Autonomous Challenge Completion, Ember Reysen
Designing A Collaborative Uav-Ugv System For Autonomous Challenge Completion, Ember Reysen
Honors Theses
The coordination between Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) holds significant potential for completing complex tasks such as disaster response and construction surveillance by leveraging the strengths of aerial flight and stable on-ground transportation. Unfortunately, coordination between UAVs and UGVs is extremely complex and task-dependent, leading to limited understanding of autonomous collaboration. This thesis explores the process of designing an UAV-UGV collaborative system capable of aerially scouting a target destination, relaying its coordinates to a ground vehicle, and performing a precision landing for unison travel. I utilize computer vision techniques via OpenCV for target marker identification, ROS …
A Low-Cost Motion Classification System For A Stuffed Animal Using An Imu And Machine Learning, Rachel N. Guynes
A Low-Cost Motion Classification System For A Stuffed Animal Using An Imu And Machine Learning, Rachel N. Guynes
Honors Theses
One of the many fields that has seen the integration of robots is therapy. Zoomorphic robots (ZR) are designed to look and behave like animals to assist in Animal Assisted Therapy (AAT) practices. Studies show that ZRs can provide benefits similar to working with an actual animal; however, their high cost limits their accessibility. This thesis documents the process of building a real-time, low-cost motion classification system that can be attached to a stuffed animal to make it more interactive. Using a Random Forest (RF) classifier, the system identifies movements with approximately 81.67% accuracy.
Optimizing Auv Perception For Competitive Underwater Robotics: Analyzing Performance And Simplicity Of Machine Vision Hardware, Joseph King
Honors Theses
Underwater robotics is a growing field with many practical applications, such as pipeline and offshore structure monitoring, deep sea mining, mine reconnaissance/removal, and marine environmental monitoring. USM’s Robotics Club will participate in the international RoboSub competition, where student-led teams build autonomous underwater vehicles (AUVs) that perform a variety of tasks within a pool requiring camera-based object detection. This project analyzes affordable hardware and software options for providing machine vision to USM’s future RoboSub AUV. The performance of an ESP32-CAM microcontroller, Raspberry Pi 5, and Jetson Orin Nano single-board computers running FOMO and YOLO object detection models was compared. These models …
Tuning And Performance Of Pid Controlled Low Complexity Systems, Timothy Evans
Tuning And Performance Of Pid Controlled Low Complexity Systems, Timothy Evans
Honors Theses
Proportional integral derivative (PID) controllers are used for precise position and orientation control in systems such as autonomous underwater vehicles (AUVs). This project supports the University of Southern Mississippi’s (USM) Robotics Club’s RoboSub AUV effort by developing, troubleshooting, and manually tuning PID controllers to characterize tracking performance and settling time across systems of increasing complexity. Initially, the project hypothesized that tracking performance would be reduced and settling times would increase as system complexity advanced from one degree-of-freedom (DOF) to two DOF. However, prior research was found that suggests that for small disturbances around an equilibrium state, separate PID-controlled DOFs can …
A Web-Based Wizard-Of-Oz Platform For Collaborative And Reproducible Human-Robot Interaction Research, Sean O'Connor
A Web-Based Wizard-Of-Oz Platform For Collaborative And Reproducible Human-Robot Interaction Research, Sean O'Connor
Honors Theses
The Wizard-of-Oz (WoZ) technique is widely used in Human-Robot Interaction (HRI) research, but two persistent problems limit its effectiveness: existing tools impose technical barriers that exclude non-engineering domain experts (the Accessibility Problem), and the fragmented landscape of robot-specific implementations makes interaction scripts difficult to port across platforms (the Reproducibility Problem- concerning execution consistency and portability, not third-party replication). Through a literature review, I identified three design principles to address both: a hierarchical specification model, an event-driven execution model, and a plugin architecture that decouples experiment logic from robot-specific implementations. I realized these principles in HRIStudio, an open-source, web-based platform providing …
Algorithms & Design Behind Autonomous Uavs And Ugvs Coordinated System, Aashish Dhakal
Algorithms & Design Behind Autonomous Uavs And Ugvs Coordinated System, Aashish Dhakal
Honors Theses
Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs), when coordinated effectively, offer substantial potential for automating large-scale tasks—from search and rescue operations to precision agriculture. However, synchronizing these autonomous systems remains challenging, especially in time-sensitive missions requiring precision. This thesis investigates the design and algorithmic coordination of autonomous UAVs and UGVs, examining both single-vehicle scenarios and multi-agent (swarming) approaches. Using the Robot Operating System (ROS) as a communication backbone, I integrate GPS positioning with computer vision techniques through OpenCV, enabling accurate localization and object detection. During the development phase, I validate my methods using ArduPilot Software-in-the-Loop (SITL) simulations within …
A Study Of Deep Reinforcement Learning In Autonomous Racing Using Deepracer Car, Mukesh Ghimire
A Study Of Deep Reinforcement Learning In Autonomous Racing Using Deepracer Car, Mukesh Ghimire
Honors Theses
Reinforcement learning is thought to be a promising branch of machine learning that has the potential to help us develop an Artificial General Intelligence (AGI) machine. Among the machine learning algorithms, primarily, supervised, semi supervised, unsupervised and reinforcement learning, reinforcement learning is different in a sense that it explores the environment without prior knowledge, and determines the optimal action. This study attempts to understand the concept behind reinforcement learning, the mathematics behind it and see it in action by deploying the trained model in Amazon's DeepRacer car. DeepRacer, a 1/18th scaled autonomous car, is the agent which is trained …
Coordinated Autonomy Of Unmanned Aerial Vehicles (Uavs), Paribartan Dhakal
Coordinated Autonomy Of Unmanned Aerial Vehicles (Uavs), Paribartan Dhakal
Honors Theses
Unmanned Aerial Vehicles (UAVs) are being extensively used in diverse sectors of the society for various tasks ranging from videography to an extremely sensitive situation such as first responders helping during a disaster. It has been seen that if a fleet of UAVs is deployed, they can perform a task quicker and more efficiently than a single UAV. With an increase in the number of UAVs, a problem arises of handling them with proper control structures. It has been studied that the Behavior Trees (BT) can be a better control architecture to handle the autonomous vehicles, as BTs are more …
Autonomous Collision Avoidance In Small Scale Vehicles, Justin T. Sharpe
Autonomous Collision Avoidance In Small Scale Vehicles, Justin T. Sharpe
Honors Theses
The undergraduate research performed in this study focused on autonomous collision avoidance in small scale vehicles. The goal of this study was to find equipment to build a fully autonomous small scale vehicle for use in different applications. Radio frequency communication, ultrasonic sensors, and single board computers were used to create an autonomous vehicle for multiple applications. Different communication protocols and sensors were investigated, and an explanation was specified concerning the hardware choice. The main communication protocol tested was Long Range Wide Area Network, and the main electronics tested and used were ultrasonic sensors, First Person View cameras, and the …
Follow Me Robot, Victoria M. Edwards
Follow Me Robot, Victoria M. Edwards
Honors Theses
The idea of a personal robotic assistant, while once made up the tales of science fiction, is now moving closer and closer to reality. It is easy for two humans to walk together where one person knows the directions and the other person follows along. However, it is not a trivial problem for a robot to recognize a human, and follow side by side along with them. There are three key parts to this problem: 1.) Detection of a human, 2.) Tracking the human, and 3.) the robot's Motion strategy. Using baseline assumptions, I can simplify the detection process allowing …