Robotics Commons^™

Rockin’ Rover On The Rainbow Road, Michael Kolta, Lawrence Burgee, Ying Yuan

Transformations

This paper presents a progressive series of age-appropriate lesson plans for grades K-12 that all use the same interdisciplinary activity to educate students about Science, Technology, Engineering, Art, and Mathematics (STEAM) simultaneously. Technology from Texas Instruments (TI) was employed including a TI Nspire graphing calculator that can run Python programs, a TI Innovator Hub, and a TI Rover. The TI Rover is a small, robotic car that has sensors and is controlled by the calculator via the Hub hardware interface. A Python program was developed that uses the color sensor in the Rover to detect the color on colored paper …

Development And Testing Of A Computer Vision Pose Estimation System For Planar Mobile Robots, Andrew Jones

Master's Theses

This thesis details the development and testing of a computer vision-based real-time pose estimation system for differential drive robots. A single camera with a fisheye lens is used to locate ArUco markers placed at fixed locations and attached to robots. Using the OpenCV library, the Perspective-n-Point (PnP) problem is solved to facilitate the transformation of 2-D robot positions in an image to world-frame coordinates. An analytical solution is presented to estimate robot poses based on a single PnP solution, rather than solving the PnP problem for each pose estimate. Pose information is relayed to individual robots using a multi-microcontroller architecture …

Robot Remote Control Utility, Jeremy Cantu, Paul Uhlig

Systems Manuals - 2026

The purpose of this document is to describe the Robot Control Management Utility developed in the course of this graduate project. Information included in this document will include the background of the developed product, as well as the functional requirements, data structures, software modules, interface design, installation guide, and sample and troubleshooting guides.

Design And Modeling Of A Robotic Manipulator For Agricultural Explorations, Trent Thomas Powell

Graduate Theses and Dissertations

This thesis focuses on the modeling, design, and early testing of a spherical revolute revolute prismatic (RRP) robotic manipulator for probe based applications. The system is motivated by agricultural grain probing, where a probe is positioned over a truck bed and inserted into the grain to collect samples as trucks enter storage facilities, ports, hubs, or transfer points. A spherical RRP configuration is useful for this type of task because it provides a large accessible workspace while maintaining a relatively simple mechanical structure. A model based design approach is used to develop the system, beginning with forward and inverse kinematics …

Stretch Web Teleoperation Keyboard Final Report, Aaron Chou, Francisco Irazaba

Computer Engineering

This project added keyboard controls to the Hello Robot Stretch Web Teleop interface. The goal was to make the robot easier to control from a web browser without needing a gamepad or separate terminal-based keyboard program. The new interface allows users to control different parts of the robot with customizable key bindings.

Multiple-Valued Quantum Automata For Robotics, Yuchen Huang

Dissertations and Theses

This dissertation introduces a new type of quantum automata, their encoding and circuit realization. I concentrate on possible applications in robotics. Several methods and application of quantum automata and quantum circuit-based controllers for elementary robotic systems, with a focus on humanoid robot motion, emotion, and behavior generation are illustrated in detail. The research introduces several novel methodologies that bridge quantum computing principles with robotic control, aiming to overcome the limitations of classical deterministic and probabilistic approaches.

The dissertation first presents a quantum-circuit-based framework for generating non-repetitive and expressive (e)motions in a humanoid robot actor, using superposition and entanglement to produce …

The Excess Path Length Distribution: A Stochastic Model For Sample-Based Path Planners, Chaz B. Cornwall

Dissertations, Master's Theses and Master's Reports

Through random sampling, sample-based path planners enable autonomous agents to quickly find paths without human intervention. However, due to the paths' randomness, sample-based path planners currently require additional verification, partially nullifying agents' ability to act autonomously. I set out to characterize this uncertainty so humans know what to expect from these path planners and know how to alter the path planner to desired specifications. To ensure the results are theoretical as well as practical, I first create a stochastic model of path length uncertainty using the trade-off between sampling time and optimality. By leveraging this model, my proposed algorithm reduces …

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 …

Investigation Of Automated 3d Scanning Strategies For Large-Scale Polishing Applications, Casey Egan

Open Access Master's Theses

In automated scanning for industrial refinishing applications, large workpieces often exceed the reach of a single robot base position, and may require the environment to be scanned from multiple locations and stitched to a common reference frame. This thesis compares two robotic scanning workflows for such an object: a full scan that reconstructs the object from a single robot base position, and a segmented scan occurring across multiple simulated robot base positions that are stitched together through fiducial-based localization. The results from both workflows are compared for measurement accuracy of the object's bounding box against known dimensions, position of the …

Swarm Of One: Self-Organization In Multicellular Robots, Trevor Riley Smith

Graduate Theses, Dissertations, and Problem Reports (ETD)

Designing robots traditionally relies on centralized, top-down methods that constrain adaptability and resiliency, producing systems optimized for specific tasks. However, such systems often fail in complex environments, such as extraterrestrial, disaster, or natural settings, where designers cannot foresee every scenario a robot may encounter. Achieving autonomy in these contexts requires robots that are resilient and capable of adapting to the unknown. Multicellular organisms exhibit this adaptability through self-organization, where complex structures and behaviors emerge from local interactions among their cells. Such organisms can be viewed simultaneously as a single entity and a swarm of cooperating cells, i.e., a Swarm-of-One.

This …

Qualitative Stereo Vision Using Distributed Extended Waltz Filtering, Ben Mathew

Theses and Dissertations

Stereo vision is a fundamental problem in computer vision, aimed at reconstructing three-dimensional scene structure from two or more two-dimensional images. Traditional stereo algorithms rely on quantitative disparity estimation, often constrained by calibration precision, lighting variations, and surface texture. In contrast, our proposed Qualitative Stereo Vision seeks to understand depth relationships and spatial configurations from multiple planar views through symbolic reasoning and constraint satisfaction, offering a more flexible and cognitively plausible approach to scene interpretation.

This dissertation presents a novel framework called Distributed Extended Waltz Filtering, designed to provide qualitative stereo vision, particularly in the presence of occlusions—a persistent challenge …

Efficient Adaptive Spline-Based Path Planning For In-Space Servicing, Assembly, And Manufacturing Applications, Christian Lozoya

Open Access Theses & Dissertations

Autonomous robotic systems operating in cluttered and partially observed environments require trajectory generation methods that produce smooth and dynamically feasible motion while reacting to locally sensed obstacles. This requirement is especially pronounced for free-flyer and in-space servicing, assembly, and manufacturing (ISAM) platforms, where onboard sensing is sparse, global environmental information is unavailable, and communication or computational resources are constrained. In such settings, motion plans must be updated online using incomplete and rapidly changing local observations, while avoiding excessive replanning that can lead to oscillatory or unstable behavior. Many existing approaches either rely on dense optimization over extended horizons, which is …

Real-Time, Co-Regulated Design For Cyber-Physical, Multi-Rotor Uas Swarms, Grant Simon Phillips

Dissertations and Doctoral Documents, University of Nebraska-Lincoln, 2023–

Uncrewed Aerial Systems (UAS) have been integrated into a wide range of research and industrial applications, with growing interest in extending mission duration and spatial coverage through coordinated multi-UAS systems, or swarms. While swarming offers the potential for extended mission endurance and robustness through advanced path-planning, control, and estimation algorithms, significant challenges arise when implementing these methods on decentralized platforms composed of size, weight, and power-constrained (SWaP) vehicles. Limitations in onboard computational capacity and congested communication channels can break critical design-time assumptions, which at best, will degrade application quality of service, and at worst, destabilize the fleet through excessive delays …

Cal Poly (Cp) Legged Robot, Sebastian Barboza, Jonathan Mchale, Isabella Sorensen, Isaac Golan

Mechanical Engineering

The Navy spends $60 billion annually on dangerous ship maintenance performed by sailors. To save lives and resources, the Naval Surface Warfare Center (NSWC) is looking for robots to replace sailors and navigate ships to perform various tasks. Robots with tracks and wheels have been most recently explored by NSWC, however they have encountered significant problems navigating the ships, especially through naval ship doorways with a significant ledge. By using a legged robot, our team hopes to solve these problems and have a robot that can navigate the ship with relative ease and stability.

Intelligent Motion Tracking: A Low-Cost Surveillance Framework Using Soc Devices And Sensor Fusion, Aung Myat Khaung, Nicholas Michael Stiffler

Research from the Berry Summer Thesis Institute, 2025

This thesis presents the design and implementation of a lightweight surveillance system capable of realtime motion detection, object tracking, and behavioral history reconstruction in controlled environments. The system uses System-on-Chip devices such as Raspberry Pi boards equipped with NOIR cameras, monocular cameras, and break-beam sensors that work together to detect and track single or multiple moving objects like colored balls. The prototype is validated in structured settings with the goal of eventual deployment in more dynamic environments, addressing the challenge of reliably tracking visually similar objects with minimal distinguishing features. The architecture integrates computer vision with sensor fusion by combining …

Enhancing Emotional Accuracy And Behavioral Novelty In Robot Behaviors: A Generative-Discriminative Approach, Rista Baral

Boise State University Theses and Dissertations

Recent advancements in language modeling have improved robotic emotion expressiveness, yet several challenges remain. Many existing robotic expression models rely on fixed rules and static frameworks, which limit their ability to capture the dynamic nature of emotional expression. Additionally, these systems often struggle to balance emotional accuracy with generating novel and varied behaviors. These limitations underscore the need for method capable of delivering both emotionally accurate and diverse robot behaviors.

In this thesis, we addresses these challenges by introducing a new framework for expressive behavior generation in robots. We develop a generative model that generates robot behavior sequences that align …

Human Comfort Modeling, Measurement, And Improvement In Human–Robot Collaboration, Yuchen Yan

All Dissertations

A dissertation is proposed to explore human comfort in human-robot collaboration (HRC) through modeling, prediction, and enhancement methodologies. Human comfort is a crucial yet underexplored factor in HRC, directly influencing task efficiency, trust, and overall collaboration effectiveness. Understanding the influential factors, developing computational models, and refining methods to improve human comfort in HRC are essential steps toward advancing the field of collaborative robotics. To address these challenges, multiple studies have been conducted. A series of experimental studies were performed to investigate how robot motion-based parameters affect human comfort in HRC. These studies examined both analytical comfort modeling approaches and physiological …

Development Of An Embedded Iot Board For Real-Time Floor Estimation Of Autonomous Robots, Carter J. Sorensen

Electronic Theses and Dissertations

As service robots become more prevalent in multi-story environments such as hospitals, hotels, and laboratories, accurate floor-level detection is critical to ensuring operational reliability. Consider a robot tasked with delivering medical samples in a multi-story laboratory. Without accurate feedback, a robot exiting on the wrong floor could introduce delays, disrupt workflows, or compromise sample integrity. Internet of Things (IoT) technologies offer a way to address these risks by providing real-time error detection and corrective capability. However, current IoT-based floor estimation systems often require invasive modifications to building infrastructure—particularly elevator control panels. These approaches introduce challenges related to cost, liability, backward …

A Turtlebot3 Hardware Testbed For Distributed Kalman Filter Localization, Dmitri Dobrynin, Indigo T. Garcia

Electrical Engineering

This report presents the preliminary design for a distributed localization framework for a multi-robot system. Many robotics research papers provide simulations of proposed algorithms in regards to formation control and task allocation. However, it is often that these proposals are without hardware experiments, being limited only to simulation. The objective of this framework is to provide a hardware implementation of a distributed Kalman filtering algorithm for multi-agent localization, as well as provide grounds for future multi-agent experiments. The framework is implemented on a swarm of three Turtlebot3 mobile robots. The robots can accurately localize themselves with respect to other agents …

Autonomous Mapping Rover, Garrett Jones, Timothy Kyle Chu, Eugenio Caruso Pasos

Electrical Engineering

This report details the design, implementation, and evaluation of "Rovero," an autonomous mapping rover developed as a senior project. Rovero integrates state-of-the-art technologies, including ROS2 for communication, SLAM algorithms for mapping, and sensor fusion for accurate navigation. The project aimed to achieve robust autonomous operation in indoor environments, leveraging a combination of LiDAR, IMU, and encoder data for real-time decision-making. Key challenges addressed include path planning, obstacle avoidance, and integration of multiple sensor inputs. Results demonstrate successful mapping capabilities and efficient navigation performance.

Distributed Formation Control Of Nonholonomic Mobile Robots: Safety-Critical Leader-Follower Approach With Obstacle Avoidance And Dynamic Reconfiguration, Kelvin C. Villago

Master's Theses

Networked control systems for multi-agent robotics have emerged as a critical paradigm for executing complex coordinated tasks in diverse environments. While formation control serves as the backbone of such systems, real-world deployment introduces significant challenges including communication constraints, environmental obstacles, and the need for adaptive reconfiguration. This research addresses these challenges by developing a novel unified framework that seamlessly integrates obstacle avoidance algorithms with dynamic formation reconfiguration capabilities, specifically designed for communication-limited networked control architectures. The proposed framework represents a significant advancement over existing approaches by simultaneously handling both static and dynamic obstacles while maintaining system cohesion under communication constraints. …

Terraincraft: Automated Land-Cover–Driven Terrain Generation For Marine Robot Simulations, Xinyue Liang

Dartmouth College Master’s Theses

From self-driving cars navigating city streets to all-terrain vehicles tackling rugged landscapes, recent leaps in robotic autonomy due to fast pace development in deep learning are reshaping how machines interact with the real world. However, autonomy in the aquatic environment is still limited, due to difficulty in testing and unavailability of realistic simulation environments.

In this project, we aim to create an automated system that simplifies the processes of creating synthetic datasets for marine robots navigation training tasks. We achieved this through a land cover map controlled terrain generation. Our goal is to provide an automatic terrain generation system that …

Transfer Learning For Temporal Logic Objectives, Lucas M. Santana Rovira

McKelvey School of Engineering Graduate Student Theses & Dissertations

Reinforcement learning algorithms can enable autonomous systems to learn the control skills needed to accomplish a task specified by a linear temporal logic formula. However, they cannot be transferred to a new task, even when the two are very similar. For each new task, the policy must be redesigned from scratch, which is a common limitation of existing reinforcement learning methods for temporal logic tasks. A proposed solution to this problem leverages the similarity between past and new tasks to reuse already learned control skills to accomplish the new task, with minimal or no retraining.

Rather than learning a single …

Controlling A Mobile Inverted Pendulum And Optimizing Leaning Angle To Apply Force Using Reinforcement Learning, Aryan Mediratta

2025 Spring Honors Capstone Projects - Archive

Reinforcement Learning is a Machine Learning paradigm that involves simulating learning through rewards and penalties in intelligent systems. This technique is often employed in robotics when traditional control methods are insufficient or when human intuition does not provide a good solution on how to control robot systems, This project involves training a Segway-style Mobile Inverted Pendulum (MIP) robot to balance and push a box forward. The BeagleBone Blue board is used that includes a built-in Inertial Measurement Unit (IMU) and encoder ports. These sensors enable the system to measure its current state. The goal is to find the optimal leaning …

Robot-Integrated 4d Building Information Modeling (4d Bim): Framework For Planning Safe Autonomous Construction Operations In Dynamic Environments, Hafiz Oyedimeji Oyediran

Dissertations and Doctoral Documents, University of Nebraska-Lincoln, 2023–

In the construction industry, the use of autonomous robots is considered a solution to overcome the heavy reliance on human workers to perform repetitive, strenuous, and hazardous tasks. While these robots offer the advantage of autonomous operation, ensuring their safe and efficient integration within construction sites requires precise planning. Such planning must account for the varying project complexities such as scope, site layout, tasks, timelines, existence of human workers, and other spatiotemporal conditions of the construction site. Currently, there are no methods to safely plan autonomous robot operations considering these factors within the overarching construction planning process. Thus, autonomous robots …

Control Of Industrial Robots Based On Artificial Intelligence, Bryan Lara Medrano

Open Access Theses & Dissertations

Industrial robots are vital in developing smart factories, creating the need for more efficient and modern control systems. As a result, investigators and scholars are dedicating great effort to advancing this field et al. [27]. Literature showcases significant progress in various areas, including the control of articulated arms and advancements in human-robot interfaces, self-decision-making, object recognition, decision-making, and routing planning. This manuscript describes a novel technique for predicting the movement of a robotic arm based on artificial neural networks. We have implemented an artificial intelligence method based on artificial neural networks to analyze the possible routing of a robotic arm …

Foundational Robotics, Akshit Lunia, Ananya Nagabhushana Rao, Yue Wang

Robotics

This textbook is a product of Co-DREAM OER (Collaborative Development of Robotics, Mechatronics, and Advanced Manufacturing Open Educational Resources), a US Department of Education-funded initiative to develop Open Educational Resource textbooks on robotics, mechatronics, and advanced manufacturing processes. It has been created by a diverse team of scholars and graduate students from across the country and is intended for higher-level robotics courses offered by 4-year undergraduate programs.

Virtual Fixtures For Teleoperated Robots For The Visually Impaired, Vishwaak Chandran Thamaraiselvan

Computer Science and Engineering Theses - Archive

This paper presents our preliminary study on enabling individuals with visual impairments to safely operate mobile robots and vehicles. To achieve this, we developed a teleoperation with accessibility at its core. The system incorporates features that enhance usability and situational awareness, including assistive control based on artificial potential fields to prevent collisions and ensure smooth navigation. It also provides multimodal feedback through (a) haptic vibrations on the gamepad controller, which convey the proximity of nearby objects detected by the robot’s laser sensor, and (b) color-coded overlays that differentiate paths, obstacles, and people through semantic segmentation performed by a deep neural …

3d Perception, Mapping, And Navigation For Mobile Cobot, Tuan T. Dang

Computer Science and Engineering Dissertations - Archive

Service robots are migrating from tightly controlled factory lines into offices, hospitals, and homes, where they must perceive, remember, and act amid people, clutter, and perpetual change. Humans solve this daily by forming compact, task-relevant “cognitive maps”: we sample just enough sensory detail to guide the moment, stitch those snapshots into a sparse topological scaffold, and continuously refine it as we move. Guided by that insight, this dissertation proposes a biologically inspired mapping framework that turns partial RGB-D observations into a hybrid temporal-spatial memory—locally metric for centimeter-scale navigation yet globally topological for room-to-building navigation. The system first distills raw depth …

Exploring The Benefits, Barriers, And Sustainability Of Community Stem Partnerships: A Qualitative Case Study On Stem Collaboration In Elementary Education, Katherine M. Blagden

Open Access Dissertations

In an era of increasing emphasis on science, technology, engineering, and mathematics (STEM) education, elementary schools often face significant challenges in implementing high-quality, integrated STEM instruction. These challenges include limited resources, inconsistent professional development, and a lack of access to real-world, community-based learning experiences (Dorph et al., 2018; National Science Board, 2024). This dissertation explores how collaborative partnerships among elementary schools, community organizations, and industry professionals can overcome these barriers and foster meaningful, sustainable STEM learning opportunities for young students. Drawing on the Asset-Based Community Development (ABCD) model (Kretzmann & McKnight, 1993) and informed by a constructivist theoretical framework (Vygotsky, …