Robotics Commons^™

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.

Design Principles For Robotic-Controlled 3d Printing Of Soft Tissue-Mimicking Materials, Karina Mealey

Master's Theses

Geometrically and physically accurate 3D models are emerging as essential tools for surgeons in pre-operative planning and training, but current methods of producing these models are not sufficient. Existing solutions have downsides such as high costs, long and tedious production times, high complexity resulting in a lack of scalability, or an inability to meet material requirements for accurately simulating human tissue.

The objective of this work is to develop principles for a low-cost, easy-to-use 3D printing system capable of prototyping with soft tissue-mimicking materials. To pursue this goal, a MyCobot280 robot arm was used as the mechanism to explore the …

Farmnav-Uav: A Field-Ready Autonomous Uav For Tracking Static And Dynamic Trajectories In Agricultural Applications, Veera Venkata Ram Murali Krishna Rao Muvva

Department of Agricultural and Biological Systems Engineering: Dissertations, Theses, and Student Research

This study presents the design and development of a custom-built uncrewed aerial vehicle (UAV) tailored for precision agriculture. Unlike commercial UAVs, which are often constrained by proprietary systems and limited hardware customization, the proposed platform emphasizes modularity, upgradeability, and cost-effectiveness. The UAV is equipped with a Cube Blue flight controller for reliable low-level actuation and a Raspberry Pi 4 companion computer that executes a Model Predictive Control (MPC) algorithm for high-level trajectory optimization and stability enhancement.

Most conventional UAV autopilot systems rely on non-optimal control strategies, such as proportional–integral–derivative (PID) controllers, which can be inadequate for dynamic or resource-constrained environments. …

Fault Tolerant Dynamic Task Allocation For Heterogeneous Multi-Robot Systems, Jack R. Cline

Master's Theses

This research presents a novel approach to dynamic task allocation in heterogeneous multi-robot systems with integrated fault detection capabilities. As multiple industries are becoming more reliant on multi-robot systems for tasks, maintaining operational efficiency despite robot failures becomes critical. We propose a framework that combines optimization-based task allocation with a Kalman filter that estimates task progress for anomaly detection to identify unreliable agents and dynamically redistribute tasks. Observing values such as the normalized innovation squared (NIS), covariance, and progress rate, the algorithm can designate a robot as faulty. Embedding information about which robots are faulty in the task algorithm allows …

Ecen191/Robo150 Robotics Tools: Evaluating The Impact Of Project-Based Learning On Teaching Effectiveness, Nikhil Satyala

UNL Faculty Course Portfolios

The course selected for this study aims to introduce the skills and knowledge needed to utilize software and hardware tools used to design and operate robots. In this introductory course, undergraduate students in the Robotics Engineering major are provided with the opportunity to broaden their skill set with focus on specializing in one of three engineering disciplines (Software, Electrical and Mechanical). The primary goal of this course is to teach how develop the proficiency in basic concepts in robotics and enable the students to build and program a small-scale fully functional robotic arm. In this portfolio study, I investigated the …

Adversarial Deep Reinforcement Learning For Tank Duel Simulation Using Lidar-Based Observations, Braedan Kennedy

Master's Theses

Previous research has demonstrated that reinforcement learning agents can learn to steer differential-drive robots around obstacles using 2D lidar scans as observations. However, these studies typically treat all range returns as undifferentiated obstacles—objects to avoid—without distinguishing between different object types. This thesis builds upon previous research by introducing an adversarial task in which an agent must interpret raw range readings to both avoid static obstacles and identify, pursue, and engage a hostile target.

To investigate this problem, this thesis introduces TankGame, a novel, lightweight 2D tank duel simulator. Each agent receives a 360° lidar scan, controls its motion via tread …

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. …

Gamified Gait Rehabilitation Via Real-Time Biofeedback And Adaptive Hip-Exoskeleton Control, Mariya Huzaifa Tohfafarosh

Theses

Gait impairments arise from systemic diseases, age-related degeneration, musculoskeletal dysfunctions, or neurological conditions. While traditional rehabilitation can be effective, they often face challenges such as high costs, inaccessibility, and low patient engagement. To address these challenges, my work introduces a virtual reality-based rehabilitation (VRBR) system, integrating real-time motion and electromyographic (EMG) muscle activation feedback with a gamified virtual environment for enhanced adaptability and engagement. The system includes a custom-designed hip-exoskeleton that provides adaptive spring-like assistance or resistance, supporting both mobility-impaired users and strength training. Assistance levels can be tuned to match the user's progress. Additionally, a custom pressure insole was …

Exploring The Limits Of Multimodal Foundation Models For Visual Temporal Reasoning And Gesture Recognition Tasks, Ziyao Shangguan

Computer Science Theses

Multimodal foundation models (MFMs) have demonstrated impressive capabilities in static vision-language tasks such as image captioning, video summarization, and cross modal retrieval. However, their ability to reason over time—especially in gesture-rich video inputs—remains limited. This thesis investigates the temporal reasoning capabilities of MFMs in the context of gesture understanding, a critical component for enabling more expressive human-robot interaction. Through a preliminary study, we show that prompting-based strategies offer only marginal improvements in temporal reasoning, despite producing accurate frame-by-frame descriptions.

To more rigorously evaluate these limitations, we introduce TOMATO, a benchmark designed to assess visual …

Development And Evaluation Of A Simple Human Body Link Model Considering The Degrees-Of-Freedom Of Shoulders, Mizuki Takeda, Yuki Saito, Kaiji Sato

Progress in Scale Modeling, an International Journal

Modeling of the human body is widely utilized in the field of human–robot interaction, warranting the development of a simple model to measure and recognize the human body movements. To this end, a two-dimensional (2D) human body link model in the sagittal plane has been used to represent the human body with rotating joints and links connecting these joints. The joint positions can be determined by using the coordinates of a limited number of points on the links and estimated using a few sensor outputs when the links are of constant length. However, models with constant link lengths may result …

Adaptive Multi-Sensor Fusion For Robust Autonomous Perception In Unstructured Environments, Samantha S. Carley

Theses and Dissertations

Autonomous vehicles commonly employ multiple sensors to perceive their surroundings. Coupling these sensors would ideally improve perception compared to using a single sensor. An autonomous system can be equipped with object localization and classification, often performed using a visual camera to understand a scene intelligently. Object detection and classification can also be applied to LiDAR and infrared (IR) sensors to further enhance scene awareness of the autonomous system. Herein, sensor-level, decision-level, and feature-level fusion are explored to assess their impact on perception and mitigate sensor disagreements. Specifically, the fusing of RGB, LiDAR, and IR sensor data to improve object classification …

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 …

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 …

Ecodrone: Autonomous Environmental Monitoring, Belsen Lee

Student Scholar Symposium Abstracts and Posters

This project presents EcoDrone, an autonomous aerial drone designed for continuous and automated environmental monitoring. Current environmental monitoring methods rely on stationary sensors or manual data collection, limiting real-time response capabilities. This reliance leads to delayed, incomplete, and spatially limited data and restricts the ability to capture real-time changes. Another challenge includes the difficulty of environmental monitoring in challenging terrain, whether it be wildfire areas, dense forestry, or mountainous terrain. EcoDrone overcomes these challenges by autonomously navigating difficult terrain to collect real-time data, offering more flexible and timely monitoring than stationary or manual methods. The central research question investigates integrating …

Soft Modular Robots: From Modular Tensegrity Structures To Bioinspired Sea Robots, Luyang Zhao

Dartmouth College Ph.D Dissertations

The rapid advancement of robotics necessitates systems capable of adapting to complex, unstructured environments. Soft robots, with their flexibility and compliance, excel in delicate interactions, making them ideal for medical applications and search-and-rescue missions. Modular robots, on the other hand, offer reconfigurability, enabling diverse task-specific adaptations in dynamic settings. Despite their individual advantages, the integration of soft and modular robotics remains underexplored. This proposal aims to develop soft modular robots that combine the adaptability of soft robotics with the versatility of modularity. These systems will be capable of autonomously transitioning between locomotion, manipulation, and infrastructure assembly across land, water, and …

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 …

Autonomous Search And Rescue: Real-Time Drone And Robotic Dog Integration, Robert Alexander

Electrical Engineering and Computer Science (MS) Theses

Common robotic navigation techniques often utilize GPS to set up the robot’s reference frame, which is not possible in environments, such as indoor facilities, underground passages, and disaster zones, where GPS is not available. This research explores the integration of a Boston Dynamics Spot robot with a Tello drone to form a non-GPS-based autonomous navigation system. By leveraging coordinate transformation logic, this study enables real-time aerial reconnaissance and ground-based waypoint navigation without reliance on GPS. The methodology includes software development using the Spot SDK and Tello APIs, a virtual networked solution for integration, and an experimental setup to validate navigation …

Ai-Powered Inspection: A Computer Vision System For Efficient Defects Detection In Underground Infrastructures, Rasha Alshawi

LSU New Orleans Theses and Dissertations

Undetected defects in culverts and sewer pipes pose significant risks to public safety, leading to infrastructure collapses, flooding, and transportation disruptions. Traditional manual inspections are time-consuming, costly, and prone to human error, while existing automated methods struggle with occlusions, irregular defect shapes, class imbalances, and high computational demands. To address these challenges, this dissertation develops advanced semantic segmentation systems that automate defect detection, significantly improving efficiency and accuracy.

This research introduces a series of innovative models designed to overcome these challenges in underground infrastructure inspection. Using dual-attentive mechanisms, sparsely connected blocks, and depth-separable convolutions, these models improve segmentation performance and …

Graph Based Deep Reinforcement Learning Aided By Transformers For Multi-Agent Cooperation, Michael S. Elrod

All Theses

Mission planning for a fleet of cooperative autonomous drones in applications that involve serving distributed target points, such as disaster response, environmental monitoring, and surveil- lance, is challenging, especially under partial observability, limited communication range, and uncertain environments. Traditional path-planning algorithms struggle in these scenarios, particu- larly when prior information is not available. To address these challenges, I propose an innovative framework that integrates Graph Neural Networks (GNNs), Deep Reinforcement Learning (DRL), and transformer-based mechanisms for enhanced multi-agent coordination and collective task ex- ecution. My approach leverages GNNs to model agent-agent and agent-goal interactions through adaptive graph construction, enabling efficient …

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 …

Low Cost Additive Manufacturing Of Segmented Stator Composite Polymer Permanent Magnet Dc Motors, Ben Goldberg, Jordan Bailey, Connor Hawkins, Colin Haskins, Razvan Voicu

Symposium of Student Scholars

This study presents a novel approach to the design, manufacture, and optimization of segmented stators for composite construction axial flux permanent magnet DC motors. Traditional axial flux stator manufacturing is both challenging and expensive, creating a bottleneck in rapid prototyping and innovation. To overcome these limitations, the stator is divided into individually fabricated segments using advanced composite polymer materials and low-cost additive manufacturing techniques. This segmentation not only drastically reduces production complexity and cost but also allows for customized coil geometries that maximize the surface area for improved heat dissipation.

A key innovation of our design is the integration of …

Design Of A Teleoperabletendon-Driven Robotic Hand, Zachary Giese, Joseph Gober, Samuel Grisham, Avery Mahan, Aspen White, Brayden May, Aspen White

ATU Scholars Symposium

This work presents the design, implementation, and validation of a 3D-printed tendon-driven robotic hand with a bi-directional wireless control system. The robotic hand emulates human anatomical principles, focusing on replicating flexion and extension mechanisms of the metacarpophalangeal (MCP), proximal interphalangeal (PIP), and distal interphalangeal (DIP) joints via a tendon-pulley system. Iterative prototyping resolved initial challenges in joint stiffness, tendon routing, and servo interference, culminating in a design where a single servo drives both flexion and extension for each joint using a bidirectional tendon control mechanism. A reliable bidirectional wireless communication framework, using Arduino Nano Every microcontrollers and NRF24L01 modules, enables …

Mobile Robots And Autonomous Vehicle Control: A Comprehensive Review Of The Advancements And Challenges, Elvis Tamakloe, Benjamin Kommey, Ernest Ofosu Addo, Daniel Opoku

Makara Journal of Technology

Since their inception, mobile robots have enormously changed the landscape of robotics engineering in recent years. Imperatively, the impact of mobile robots has positively transformed many sectors of human endeavors, i.e., complemented and substituted humans in areas where human interactions were difficult, hazardous, and impossible to thrive and operate. In this regard, the contributions of mobile robots to scientific, social, and economic growth, development, and advancement cannot be overlooked, especially through its decades of transition from Industry 3.0 to 4.0 over the years. To achieve maximum benefits from the use of mobile robots across all important facets, their advancements and …

Clinical Use Of Sit2stand Ai Application For Kinematic Analysis In Prosthesis Users., Samerial Brown

Posters - 2025

Biomechanical analysis is a tool to evaluate prosthetic and orthotic patient's. These tools offer the clinician capability of understanding the mechanism of injury, gait deviation or prosthesis problem. Video based analysis require expensive hardware, software, and training which sometimes costs $40-100,000.

The recent advent of artificial intelligence (AI) has opened up the possibility of acquiring high speed human motion video analysis using low-cost hardware and open-source machine learning algorithms. Still, free assessments like the Sit2Stand test is a current clinical outcome measure which assesses ability of a patient to stand and sit as fast as possible 5x. The faster the …

Swvl: A Custom Ai-Powered Face Tracking Camera Gimbal, Alexander J. Anderson-Mcleod, Jakub Jerzmanowski, Michael Laitarovsky, Trevor Allison, Jagger Tanner

Senior Theses

In response to the growing demand for smarter, more responsive face tracking cameras in the post-pandemic world, our team designed SWVL, a custom AI-powered face tracking gimbal meant to address the limitations commonly encountered by the commercial models currently on the market. These commercially available gimbals come with several issues, such as frequently losing track of the person in the frame and requiring manual resets, which we sought to fix with our implementation. We designed a system with fully custom hardware and software including a 3D printed dual-axis camera gimbal driven by stepper motors, a control PCB based around an …

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 …

Testing Autonomy: Hybrid Scenario Synthesis, Benjamin E. Hargis

Electrical & Computer Engineering Theses & Dissertations

Hybrid Scenario Synthesis merges static and adaptive techniques to generate interactions that rigorously assess autonomous performance under multi-factor testing. Multifactor scenarios employ multiple individual stimuli to rigorously test system responses in complex settings. Static Scenario Testing involves scripted test cases that simulate specific conditions or events. These scenarios represent typical situations an autonomous system might encounter. The benefits of static testing include early defect detection, focused review by trained experts, and efficiency. In multi-factor scenarios, however, statically defined scenario factors are not able to guarantee meaningful interactions as the presence of other factors may invalidate underlying assumptions regarding the system …

Autonomous Underwater Vehicle Planning Using Hybrid D* Lite With Ppo And Td3: Experimental Design And Performance Analysis, Matthew J. Rice

Undergraduate Theses

Autonomous Underwater Vehicles (AUVs) face significant challenges in underwater navigation, including generating smooth paths, avoiding obstacles, and adapting to complex conditions. This paper introduces a hybrid path-planning algorithm, D-RL*, that integrates the D* Lite algorithm for efficient initial pathfinding with Deep Reinforcement Learning methods to refine paths for smoother trajectories. The proposed approach addresses D* Lite's inability to produce continuous, smooth paths and baseline Reinforcement Learnings’ failures in environments requiring significant detours. Experimental results in four progressively complex environments highlight D-RL*’s ability to plan smoother paths than D* Lite while training in a shorter amount of time and generating shorter …

Choosing Robust Leadership: Encompassing The Best-Of-N Model And Swarm Intelligence Optimization For Heterogeneous Multiple Autonomous Unmanned Aerial Vehicle Systems, Kudamuhandiramlage Harith Kolitha Warnakulasooriya

Shelby Hall Graduate Research Forum Presentations

Presentation slides for a presentation given at the 1st annual Shelby Hall Graduate Research Forum at the University of South Alabama.