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Full-Text Articles in Robotics
Developing Reactive Distributed Aerial Robotics Platforms For Real-Time Contaminant Mapping, Joshua Ashley
Developing Reactive Distributed Aerial Robotics Platforms For Real-Time Contaminant Mapping, Joshua Ashley
Theses and Dissertations--Electrical and Computer Engineering
The focus of this research is to design a sensor data aggregation system and centralized sensor-driven trajectory planning algorithm for fixed-wing aircraft to optimally assist atmospheric simulators in mapping the local environment in real-time. The proposed application of this work is to be used in the event of a hazardous contaminant leak into the atmosphere as a fleet of sensing unmanned aerial vehicles (UAVs) could provide valuable information for evacuation measures. The data aggregation system was designed using a state-of-the-art networking protocol and radio with DigiMesh and a process/data management system in the ROS2 DDS. This system was tested to …
Route Planning For Long-Term Robotics Missions, Christopher Alexander Arend Tatsch
Route Planning For Long-Term Robotics Missions, Christopher Alexander Arend Tatsch
Graduate Theses, Dissertations, and Problem Reports
Many future robotic applications such as the operation in large uncertain environment depend on a more autonomous robot. The robotics long term autonomy presents challenges on how to plan and schedule goal locations across multiple days of mission duration. This is an NP-hard problem that is infeasible to solve for an optimal solution due to the large number of vertices to visit. In some cases the robot hardware constraints also adds the requirement to return to a charging station multiple times in a long term mission. The uncertainties in the robot model and environment require the robot planner to account …