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FREE BODIES IN UNSTEADY VISCOUS FLOWS AND SIMPLE MECHANICAL ANALOGS: NONLINEAR DYNAMICS AND UNDERACTUATED CONTROL
Title
FREE BODIES IN UNSTEADY VISCOUS FLOWS AND SIMPLE MECHANICAL ANALOGS: NONLINEAR DYNAMICS AND UNDERACTUATED CONTROL
Author
Abrajan Guerrero, Rodrigo
Date Created
2018
Subjects--Topical
Mechanical engineering, Mechanics, Robotics
Description
In this dissertation we study the interactions between free bodies and unsteady viscous flows, with particular interest in locomotion and in particle transport in streaming flows.For self-propelling bodies, we present systems with two different me...
IMPLEMENTATION OF PATH PLANNING ALGORITHMS ON A MOBILE ROBOT IN DYNAMIC INDOOR ENVIRONMENTS
Title
IMPLEMENTATION OF PATH PLANNING ALGORITHMS ON A MOBILE ROBOT IN DYNAMIC INDOOR ENVIRONMENTS
Author
Panchpor, Aishwarya
Date Created
2018
Subjects--Topical
Electrical engineering, Robotics
Description
The objective of this thesis was to review and analyze existing algorithms for robot localization and mapping in dynamic indoor environments. Some of the existing algorithms include occupancy grid approach, artificial intelligence approach, dense ...
Implementation of Multi Robot Simultaneous Localization and Mapping
Title
Implementation of Multi Robot Simultaneous Localization and Mapping
Author
KSHIRSAGAR, JAYDEEP
Date Created
2018
Subjects--Topical
Robotics
Description
For any robot to effectively traverse its environment, it requires a map and its pose (location along with the orientation) within that map. Often, a map will not be available if the robot is presented with an unfamiliar environment. This scenario...
Improving Dense Real-Time 3D SLAM Using Sparse Geometric Constraints
Title
Improving Dense Real-Time 3D SLAM Using Sparse Geometric Constraints
Author
Papadakis, John-Richard
Date Created
2018
Subjects--Topical
Robotics
Description
This thesis explores the extension of a state of the art dense RGBD SLAM system to include detected geometries as elements in the estimated global map. The existing approach leverages an algorithm for dense visual odometry, which is analyzed in de...
STRUCTURE-FROM-MOTION AND RGBD DEPTH FUSION
Title
STRUCTURE-FROM-MOTION AND RGBD DEPTH FUSION
Author
Chandra shekar, Akash
Date Created
2018
Subjects--Topical
Computer science, Robotics
Description
Abstract This article describes a technique to augment a typical RGBD sensor by integrating depth estimates obtained via Structure-from-Motion (SfM) with depth measurements from an RGBD sensor. Limitations in the RGBD depth sensing technology prev...
Self-Propelling Robotic Hydrofoil Arrays: Mechanics, Efficiency, and Optimization
Title
Self-Propelling Robotic Hydrofoil Arrays: Mechanics, Efficiency, and Optimization
Author
Bhansali, Rakshit
Date Created
2018
Subjects--Topical
Mechanical engineering, Robotics
Description
Mathematical models for the self-propulsion of articulated bodies in fluids at low Reynolds number can be interpreted geometrically in terms of connections in principal bundles. Visualization of the local curvature of a connection in this context ...