Now showing items 1-20 of 20

    • Acoustical Awareness for Intelligent Robotic Action 

      Martinson, Eric Beowulf (Georgia Institute of Technology, 2007-11-12)
      With the growth of successes in pattern recognition and signal processing, mobile robot applications today are increasingly equipping their hardware with microphones to improve the set of available sensory information. ...
    • Applying inter-layer conflict resolution to hybrid robot control architectures 

      Powers, Matthew D. (Georgia Institute of Technology, 2010-01-20)
      In this document, we propose and examine the novel use of a learning mechanism between the reactive and deliberative layers of a hybrid robot control architecture. Balancing the need to achieve complex goals and meet ...
    • Automatic coordination and deployment of multi-robot systems 

      Smith, Brian Stephen (Georgia Institute of Technology, 2009-03-31)
      We present automatic tools for configuring and deploying multi-robot networks of decentralized, mobile robots. These methods are tailored to the decentralized nature of the multi-robot network and the limited information ...
    • Control of reconfigurability and navigation of a wheel-legged robot based on active vision 

      Brooks, Douglas Antwonne (Georgia Institute of Technology, 2008-07-31)
      The ability of robotic units to navigate various terrains is critical to the advancement of robotic operation in real world environments. Next generation robots will need to adapt to their environment in order to accomplish ...
    • Controlled Lagrangian particle tracking: analyzing the predictability of trajectories of autonomous agents in ocean flows 

      Szwaykowska, Klementyna (Georgia Institute of Technology, 2013-11-18)
      Use of model-based path planning and navigation is a common strategy in mobile robotics. However, navigation performance may degrade in complex, time-varying environments under model uncertainty because of loss of prediction ...
    • Exploring lift-off dynamics in a jumping robot 

      Aguilar, Jeffrey Jose (Georgia Institute of Technology, 2012-11-14)
      We study vertical jumping in a simple robot comprising an actuated mass spring arrangement. The actuator frequency and phase are systematically varied to find optimal performance. Optimal jumps occur above and below (but ...
    • Generation and use of a discrete robotic controls alphabet for high-level tasks 

      Gargas , Eugene Frank, III (Georgia Institute of Technology, 2012-04-06)
      The objective of this thesis is to generate a discrete alphabet of low-level robotic controllers rich enough to mimic the actions of high-level users using the robot for a specific task. This alphabet will be built through ...
    • Graph-based Path Planning for Mobile Robots 

      Wooden, David T. (Georgia Institute of Technology, 2006-11-16)
      In this thesis, questions of navigation, planning and control of real-world mobile robotic systems are addressed. Chapter II contains the first contribution in this thesis, which is a modification of ...
    • Haptic interaction between naive participants and mobile manipulators in the context of healthcare 

      Chen, Tiffany L. (Georgia Institute of Technology, 2014-04-08)
      Human-scale mobile robots that manipulate objects (mobile manipulators) have the potential to perform a variety of useful roles in healthcare. Many promising roles for robots require physical contact with patients and ...
    • Hierarchical motion planning for autonomous aerial and terrestrial vehicles 

      Cowlagi, Raghvendra V. (Georgia Institute of Technology, 2011-05-03)
      Autonomous mobile robots - both aerial and terrestrial vehicles - have gained immense importance due to the broad spectrum of their potential military and civilian applications. One of the indispensable requirements for ...
    • Incremental smoothing and mapping 

      Kaess, Michael (Georgia Institute of Technology, 2008-11-17)
      Incremental smoothing and mapping (iSAM) is presented, a novel approach to the simultaneous localization and mapping (SLAM) problem. SLAM is the problem of estimating an observer's position from local measurements only, ...
    • Life-long mapping of objects and places in domestic environments 

      Rogers, John Gilbert (Georgia Institute of Technology, 2013-01-10)
      In the future, robots will expand from industrial and research applications to the home. Domestic service robots will work in the home to perform useful tasks such as object retrieval, cleaning, organization, and security. ...
    • Model predictive control with haptic feedback for robot manipulation in cluttered scenarios 

      Killpack, Marc Daniel (Georgia Institute of Technology, 2013-11-18)
      Current robot manipulation and control paradigms have largely been developed for static or highly structured environments such as those common in factories. For most techniques in robot trajectory generation, such as ...
    • Multi-robot assignment and formation control 

      Macdonald, Edward A. (Georgia Institute of Technology, 2011-07-08)
      Our research focuses on one of the more fundamental issues in multi-agent, mobile robotics: the formation control problem. The idea is to create controllers that cause robots to move into a predefined formation shape. ...
    • Multi-robot platooning in hostile environments 

      Shively, Jeremy (Georgia Institute of Technology, 2012-04-09)
      The purpose of this thesis is to develop a testing environment for mobile robot experiments, to examine methods for multi-robot platooning through hostile environments, and test these algorithms on mobile robots. Such a ...
    • Optical flow templates for mobile robot environment understanding 

      Roberts, Richard Joseph William (Georgia Institute of Technology, 2014-10-01)
      In this work we develop optical flow templates. In doing so, we introduce a practical tool for inferring robot egomotion and semantic superpixel labeling using optical flow in imaging systems with arbitrary optics. In order ...
    • Optimal, Multi-Modal Control with Applications in Robotics 

      Mehta, Tejas R. (Georgia Institute of Technology, 2007-04-04)
      The objective of this dissertation is to incorporate the concept of optimality to multi-modal control and apply the theoretical results to obtain successful navigation strategies for autonomous mobile robots. The main idea ...
    • The role of trust and relationships in human-robot social interaction 

      Wagner, Alan Richard (Georgia Institute of Technology, 2009-11-10)
      Can a robot understand a human's social behavior? Moreover, how should a robot act in response to a human's behavior? If the goals of artificial intelligence are to understand, imitate, and interact with human level ...
    • Science-centric sampling approaches of geo-physical environments for realistic robot navigation 

      Parker, Lonnie Thomas (Georgia Institute of Technology, 2012-06-20)
      The objective of this research effort is to provide a methodology for assessing the effectiveness of sampling techniques used to gather different types of geo-physical information by a robotic agent. We focus on assessing ...
    • Visual place categorization 

      Wu, Jianxin (Georgia Institute of Technology, 2009-07-06)
      Knowing the semantic category of a robot's current position not only facilitates the robot's navigation, but also greatly improves its ability to serve human needs and to interpret the scene. Visual Place Categorization ...