Autonomous coordination and online motion modeling for mobile robots
Sjoberg, Eric J.
Squire, Kevin M.
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Robots are rapidly becoming more involved in everyday military operations. As robots become more capable, their tasks will increase to include such roles as exploring enemy controlled buildings and caves. The goal of this thesis is to explore methodologies that allow robots to operate more autonomously. The first goal is to develop an algorithm that allows groups of robots to construct controlled formations with only local information. Experiments investigate the ability of this algorithm to handle obstacles, dynamic conditions, and varying number of robots. The second goal of this work is to demonstrate a method by which a robot can automatically determine how it is moving. Experiments demonstrate the ability of the algorithm to learn new models given models from other surfaces and robots. This work facilitates further research into creating complex formations using only local information and in fully automating current Simultaneous Localization And Mapping (SLAM) applications.
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INTERACTIVE MAP MAKING FOR ROUTE PLANNING AND OBSTACLE AVOIDANCE IN AN UNSTRUCTURED OUTDOOR ENVIRONMENT Audette, Matthew R. (Monterey, CA; Naval Postgraduate School, 2018-09);As autonomous ground robots fulfill greater roles within the military, there is a requirement for an operator to be able to quickly give minimal route-planning guidance in support of an autonomous mission. The objective ...
Albayrak, Okay (Monterey, California. Naval Postgraduate School, 1996-06);In the literature, formation problems for idealized distributed autonomous mobile robots were studied. Idealized robots are represented by a dimensionless point, are able to instantaneously move in any direction and are ...
Geometric formation with uniform distribution and movement in formation of distributed mobile robots Alptekin, Gokhan (Monterey, California. Naval Postgraduate School, 1996-06);The formation problem of distributed mobile robots was studied in the literature for idealized robots. Idealized robots are able to instantaneously move in any direction, and are equipped with perfect range sensors. In ...