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Full-Text Articles in Physical Sciences and Mathematics
Robot Localization Using Visual Image Mapping, Carrie D. Crews
Robot Localization Using Visual Image Mapping, Carrie D. Crews
Theses and Dissertations
One critical step in providing the Air Force the capability to explore unknown environments is for an autonomous agent to be able to determine its location. The calculation of the robot's pose is an optimization problem making use of the robot's internal navigation sensors and data fusion of range sensor readings to find the most likely pose. This data fusion process requires the simultaneous generation of a map which the autonomous vehicle can then use to avoid obstacles, communicate with other agents in the same environment, and locate targets. Our solution entails mounting a Class 1 laser to an ERS-7 …
A Monocular Vision Based Approach To Flocking, Brian Kirchner
A Monocular Vision Based Approach To Flocking, Brian Kirchner
Theses and Dissertations
Flocking is seen in nature as a means for self protection, more efficient foraging, and other search behaviors. Although much research has been done regarding the application of this principle to autonomous vehicles, the majority of the research has relied on GPS information, broadcast communication, an omniscient central controller, or some other form of "global" knowledge. This approach, while effective, has serious drawbacks, especially regarding stealth, reliability, and biological grounding. This research effort uses three Pioneer P2-AT8 robots to achieve flocking behavior without the use of global knowledge. The sensory inputs are limited to two cameras, offset such that the …