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An Approach to Reducing Parameter Uncertainty for Robotic Surface Assembly Tasks
Title
An Approach to Reducing Parameter Uncertainty for Robotic Surface Assembly Tasks
Author
Saric, Amar
Date Created
2014
Subjects--Topical
Computer science, Robotics
Description
In contrast to hard automation, which relies on the precise knowledge of all parameters and special-purpose machinery, the goal of flexible assembly is to overcome the inherent uncertainty in the location of the parts. The main result of this diss...
EKF Accelerometer Wheel Based Odometry
Title
EKF Accelerometer Wheel Based Odometry
Author
Morgan, Jacob
Date Created
2021
Subjects--Topical
Electrical engineering, Computer science, Robotics
Description
Gathering information on robot motion is critical in determining how a mobile robothas interacted in its environment. The information about a robot’s motion, called odometry is generally collected by tracking wheel behavior for ground based robots...
Manipulation and Perception Synergy for Autonomous Robots in Unknown Environments
Title
Manipulation and Perception Synergy for Autonomous Robots in Unknown Environments
Author
Mao, Huitan
Date Created
2019
Subjects--Topical
Computer science, Robotics
Description
Intelligent robots have been increasingly used in unstructured and unknown environments rather than being limited in well-controlled settings. The key to successful autonomous robot operations in such environments is to combine robot manipulation ...
Online Robot Exploration and Perceptual Coverage of Large-Scale Unknown Environments: Scalable Optimization and Generalized Software Framework
Title
Online Robot Exploration and Perceptual Coverage of Large-Scale Unknown Environments: Scalable Optimization and Generalized Software Framework
Author
Vutetakis, David
Date Created
2023
Subjects--Topical
Robotics, Computer science, Artificial intelligence
Description
This dissertation addresses the problem of non-myopic online exploration and visual sensor coverage of large-scale unknown environments using an autonomous robot. We introduce a novel perception roadmap, referred to as the Active Perception Networ...
Robust and Reliable Real-time Adaptive Motion Planning
Title
Robust and Reliable Real-time Adaptive Motion Planning
Author
Mcleod, Sterling
Date Created
2019
Subjects--Topical
Computer science, Robotics
Description
A key goal in robotics is to enable autonomous motion for mobile robots in a real world dynamic environment with unknown obstacles. This problem requires bringing together state-of-the-art algorithms in path planning, robot control, and perception...
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...