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Rozprawy doktorskie na temat „Ground robots”

Autor: Grafiati
Data publikacji: 21 grudnia 2024
Data aktualizacji: 31 lipca 2025

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1

Kalyadin, Dmitry. "Robot data and control server for Internet-based training on ground robots." [Tampa, Fla.] : University of South Florida, 2007. http://purl.fcla.edu/usf/dc/et/SFE0002111.

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Serdel, Quentin. "Semantic-assisted Autonomous Ground Robot Navigation in Unstructured Environments." Electronic Thesis or Diss., université Paris-Saclay, 2024. http://www.theses.fr/2024UPAST139.

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Cette thèse porte sur la navigation autonome de robots terrestres dans des environnements non structurés et dépourvus de télécommunications. Afin d'employer des robots mobiles pour effectuer des tâches complexes telles que l'exploration planétaire ou des opérations de sauvetage, ils doivent bénéficier d'une autonomie complète, notamment pour leur navigation sans carte préalable. Les dernières avancées dans le domaine de l'apprentissage profond permettent l'extraction d'informations sémantiques à partir des données capteurs d'un robot. L'exploitation de ces informations, relatives à la nature d
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Shah, Syed Irtiza Ali. "Single camera based vision systems for ground and; aerial robots." Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/37143.

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Efficient and effective vision systems are proposed in this work for object detection for ground&aerial robots venturing into unknown environments with minimum vision aids, i.e. a single camera. The first problem attempted is that of object search and identification in a situation similar to a disaster site. Based on image analysis, typical pixel-based characteristics of a visual marker have been established to search for, using a block based search algorithm, along with a noise and interference filter. The proposed algorithm has been successfully utilized for the International Aerial Robotics
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4

Baleia, José Rodrigo Ferreira. "Haptic robot-environment interaction for self-supervised learning in ground mobility." Master's thesis, Faculdade de Ciências e Tecnologia, 2014. http://hdl.handle.net/10362/12475.

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Dissertação para obtenção do Grau de Mestre em Engenharia Eletrotécnica e de Computadores<br>This dissertation presents a system for haptic interaction and self-supervised learning mechanisms to ascertain navigation affordances from depth cues. A simple pan-tilt telescopic arm and a structured light sensor, both fitted to the robot’s body frame, provide the required haptic and depth sensory feedback. The system aims at incrementally develop the ability to assess the cost of navigating in natural environments. For this purpose the robot learns a mapping between the appearance of objects, give
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Sharma, Rajnikant. "Bearing-Only Cooperative-Localization and Path-Planning of Ground and Aerial Robots." BYU ScholarsArchive, 2011. https://scholarsarchive.byu.edu/etd/2884.

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In this dissertation, we focus on two fundamental problems related to the navigation of ground robots and small Unmanned Aerial Vehicle (UAVs): cooperative localization and path planning. The theme running through in all of the work is the use of bearing only sensors, with a focus on monocular video cameras mounted on ground robots and UAVs. To begin with, we derive the conditions for the complete observability of the bearing-only cooperative localization problem. The key element of this analysis is the Relative Position Measurement Graph (RPMG). The nodes of an RPMG represent vehicle states a
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6

Staub, Nicolas. "Models, algorithms and architectures for cooperative manipulation with aerial and ground robots." Thesis, Toulouse 3, 2018. http://www.theses.fr/2018TOU30169/document.

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Les dernières années ont vu le développement de recherches portant sur l'interaction physique entre les robots aériens et leur environnement, accompagné de l'apparition de nombreux nouveaux systèmes mécaniques et approches de régulation. La communauté centrée autour de la robotique aérienne observe actuellement un déplacement de paradigmes des approches classiques de guidage, de navigation et de régulation vers des tâches moins triviales, telle le développement de l'interaction physique entre robots aériens et leur environnement. Ceci correspond à une extension des tâches dites de manipulation
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7

Yang, Jian. "Real-time trajectory planning for ground and aerial vehicles in a dynamic environment." Orlando, Fla. : University of Central Florida, 2008. http://purl.fcla.edu/fcla/etd/CFE0002031.

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8

Birchmore, Frederick Christopher. "A holistic approach to human presence detection on man-portable military ground robots." Diss., [La Jolla] : University of California, San Diego, 2009. http://wwwlib.umi.com/cr/ucsd/fullcit?p1464660.

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Thesis (M.S.)--University of California, San Diego, 2009.<br>Title from first page of PDF file (viewed July 2, 2009). Available via ProQuest Digital Dissertations. Includes bibliographical references (p. 85-90).
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9

Klamt, Tobias [Verfasser]. "Planning Hybrid Driving-Stepping Locomotion for Ground Robots in Challenging Environments / Tobias Klamt." Bonn : Universitäts- und Landesbibliothek Bonn, 2020. http://d-nb.info/1218301465/34.

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10

Archontakis, Andreas. "Assessing the flight quality of a large UAV for sensors/ground robots aerial delivery." Thesis, Monterey, California. Naval Postgraduate School, 2010. http://hdl.handle.net/10945/5116.

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Approved for public release; distribution is unlimited<br>The new goal for unmanned aerial systems will be to find creative methods of keeping the cost low and still maintain effectiveness. This thesis discusses the importance of UAVs over the last few years, suggests the development of a low-cost, large UAV, and evaluates the results. We also examine the idea of a platform for deploying multiple aerial-delivery, parafoil-based systems and discuss scenarios for the improvement of the collaboration of the large UAV with the Snowflake project.
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11

Hwangbo, Ju Won. "Integration of Orbital and Ground Imagery for Automation of Rover Localization." The Ohio State University, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=osu1276835399.

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Hussein, Marwan. "Absolute localization of mobile robots in forest environments by correlating ground LiDAR to overhead imagery." Thesis, Massachusetts Institute of Technology, 2014. http://hdl.handle.net/1721.1/91877.

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Thesis: S.M. in Engineering and Management, Massachusetts Institute of Technology, Engineering Systems Division, System Design and Management Program, 2014.<br>Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2014.<br>70<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (pages 135-140).<br>A method for the autonomous geolocation of ground vehicles in forest environments is presented. The method provides an estimate of the global horizontal position of a vehicle strictly based on finding a geometric match between a map of o
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13

Putney, Joseph Satoru. "Reactive Navigation of an Autonomous Ground Vehicle Using Dynamic Expanding Zones." Thesis, Virginia Tech, 2006. http://hdl.handle.net/10919/33224.

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Autonomous navigation of mobile robots through unstructured terrain presents many challenges. The task becomes even more difficult with increasing obstacle density, at higher speeds, and when a priori knowledge of the terrain is not available. Reactive navigation schemas are often dismissed as overly simplistic or considered to be inferior to deliberative approaches for off-road navigation. The Potential Field algorithm has been a popular reactive approach for low speed, highly maneuverable mobile robots. However, as vehicle speeds increase, Potential Fields becomes less effective at avoiding
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14

Butzke, Jonathan Michael. "Planning for a Small Team of Heterogeneous Robots: from Collaborative Exploration to Collaborative Localization." Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/1119.

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Robots have become increasingly adept at performing a wide variety of tasks in the world. However, many of these tasks can benefit tremendously from having more than a single robot simultaneously working on the problem. Multiple robots can aid in a search and rescue mission each scouting a subsection of the entire area in order to cover it quicker than a single robot can. Alternatively, robots with different abilities can collaborate in order to achieve goals that individually would be more difficult, if not impossible, to achieve. In these cases, multi-robot collaboration can provide benefits
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15

Pawlowski, Daniel F. "Tracking Dynamic Obstacles in a Structured Urban Environment and Subsequent Decision Making for an Autonomous Ground Vehicle." Case Western Reserve University School of Graduate Studies / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=case1213804587.

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16

Chen, Qi. "Studies in autonomous ground vehicle control systems structure and algorithms /." Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1165959992.

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17

Mathews, Nithin. "Beyond self-assembly: Mergeable nervous systems, spatially targeted communication, and supervised morphogenesis for autonomous robots." Doctoral thesis, Universite Libre de Bruxelles, 2018. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/267717.

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The study of self-assembling robots represents a promising strand within the emerging field of modular robots research. Self-assembling robots have the potential to autonomously adapt their bodies to new tasks and changing environments long after their initial deployment by forming new or reorganizing existing physical connections to peer robots. In previous research, many approaches have been presented to enable self-assembling robots to form composite morphologies. Recent technological advances have also increased the number of robots able to form such morphologies by at least two orders of
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18

MURTY, VIDYASAGAR. "OBSTACLE AVOIDANCE IN AN UNSTRUCTURED ENVIRONMENT FOR THE BEARCAT." University of Cincinnati / OhioLINK, 2003. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1070482938.

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19

Murphy, Taylor Byers. "Apprehending Remote Affordances: Assessing Human Sensor Systems and Their Ability to Understand a Distant Environment." The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1374144285.

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20

Renaudeau, Brice. "Robotique coopérative aéro-terrestre : Localisation et cartographie hétérogène." Thesis, Limoges, 2019. http://www.theses.fr/2019LIMO0012/document.

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Les travaux de cette thèse adressent la problématique de la coopération aéro-terrestre pour la cartographie de l’espace navigable. La nécessité d’une carte pour la navigation et la planification de chemins pour les robots terrestres n’est plus à prouver. L’utilisation d’une coopération aéro-terrestre pour créer une carte navigable à destination du robot terrestre a plusieurs intérêts. Premièrement, le drone peut cartographier rapidement une zone grâce à son champ de vision étendu et ses capacités de déplacement. Deuxièmement, la fusion des cartes créées par ces deux agents permet de tirer le m
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21

Labella, Thomas Halva. "Division of labour in groups of robots." Doctoral thesis, Universite Libre de Bruxelles, 2007. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/210738.

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In this thesis, we examine algorithms for the division of labour in a group of robot. The algorithms make no use of direct communication. Instead, they are based only on the interactions among the robots and between the group and the environment.<p><p>Division of labour is the mechanism that decides how many robots shall be used to perform a task. The efficiency of the group of robots depends in fact on the number of robots involved in a task. If too few robots are used to achieve a task, they might not be successful or might perform poorly. If too many robots are used, it might be a waste of
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22

Sajid, Nisar. "Toward Novel Remote-Center-of-Motion Manipulators and Wearable Hand-Grounded Kinesthetic Haptics for Robot-Assisted Surgery." Kyoto University, 2019. http://hdl.handle.net/2433/242497.

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付記する学位プログラム名: デザイン学大学院連携プログラム<br>Kyoto University (京都大学)<br>0048<br>新制・課程博士<br>博士(工学)<br>甲第21759号<br>工博第4576号<br>新制||工||1713(附属図書館)<br>京都大学大学院工学研究科機械理工学専攻<br>(主査)教授 松野 文俊, 教授 椹木 哲夫, 教授 小森 雅晴<br>学位規則第4条第1項該当
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23

Wang, Xuerui, and Li Zhao. "Navigation and Automatic Ground Mapping by Rover Robot." Thesis, Högskolan i Halmstad, Halmstad Embedded and Intelligent Systems Research (EIS), 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-6185.

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This project is mainly based on mosaicing of images and similarity measurements with different methods. The map of a floor is created from a database of small-images that have been captured by a camera-mounted robot scanning the wooden floor of a living room. We call this ground mapping. After the ground mapping, the robot can achieve self-positioning on the map by using novel small images it captures as it displaces on the ground. Similarity measurements based on the Schwartz inequality have been used to achieve the ground mapping, as well as to position the robot once the ground map is avail
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24

Mudgal, Apurva. "Worst-case robot navigation in deterministic environments." Diss., Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/33924.

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We design and analyze algorithms for the following two robot navigation problems: 1. TARGET SEARCH. Given a robot located at a point s in the plane, how will a robot navigate to a goal t in the presence of unknown obstacles ? 2. LOCALIZATION. A robot is "lost" in an environment with a map of its surroundings. How will it find its true location by traveling the minimum distance ? Since efficient algorithms for these two problems will make a robot completely autonomous, they have held the interest of both robotics and computer science communities. Previous work has focussed mainly on desig
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25

Gomes, Fred. "Monitorização de objetos em 3-D com base em múltiplas câmaras." Master's thesis, Universidade de Aveiro, 2015. http://hdl.handle.net/10773/16489.

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Mestrado em Engenharia de Automação Industrial<br>No ano de 2014 foi concluído um novo edifício na Universidade de Aveiro, para o desenvolvimento de projetos em robótica. Neste edifício está localizado um campo de futebol robótico com dimensões oficiais, para o desenvolvimento do projeto CAMBADA. O futebol robótico representa um banco de ensaio inovador e atraente para os mais recentes avanços em sistemas multiagente, inteligência artificial, perceção, navegação e biped walking. O principal elemento sensor de um robô de futebol deve ser o seu sistema de perceção, muitas das vezes basead
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26

Blank, Sarah T. "The robot club : robots as agents to improve the social skills of young people on the autistic spectrum." Thesis, University of Hertfordshire, 2010. http://hdl.handle.net/2299/4407.

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To better understand the difficulties and strengths associated with both high and low functioning individuals with an autistic spectrum disorder (ASD), the hyper-systemising theory has been proposed by Baron-Cohen and colleagues. It explains the social and communication difficulties in autism and Asperger syndrome (AS) by reference to delays and deficits in empathy, whilst explaining the areas of strength by reference to intact or even superior skill in systemising (Baron-Cohen, 2002). The evidence for hypersystemising alongside hypo-empathising in autism, suggests a corresponding desire to sy
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Al-Jarrah, Rami [Verfasser]. "Development of cooperation between flying robot, ground robot and ground station with fuzzy logic and image processing / Rami Al-Jarrah." Siegen : Universitätsbibliothek der Universität Siegen, 2015. http://d-nb.info/1076911706/34.

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Chemtob, Yohann. "Collective behaviour of zibrafish and robot groups in a constrained environment." Thesis, Université de Paris (2019-....), 2020. http://www.theses.fr/2020UNIP7017.

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Le mouvement collectif est un phénomène observable dans tout le règne animal et notamment chez les poissons. Néanmoins, malgré un grand nombre d’études sur le sujet, les mécanismes de prises de décisions durant ces évènements collectifs sont encore mal compris.Dans cette thèse, nous avons cherché à mieux comprendre les déplacements collectifs en étudiant plus précisément les prises de décision, l’organisation et la cohésion de groupe de poissons sociaux. Nos travaux utilisent le poisson-zèbre (Danio rerio), qui est un modèle d’étude dans différents domaines de recherche. Pour analyser la cohés
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Milionis, Georgios. "A framework for collaborative Quadrotor - ground robot missions." Monterey, California. Naval Postgraduate School, 2011. http://hdl.handle.net/10945/10654.

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The thesis proposes a real-time control algorithm for the cooperation of a joint team consisting of a Quadrotor and a Ground robot for coordinated ISR missions. The intended application focuses on indoor environments, where Global Positioning System signals are unreliable or simply unavailable so that the control algorithms must rely on local sensor information. The thesis describes the appropriate set up of the lab and includes simulations using a full dynamic model of the quadrotor and robot, demonstrating the suitability of the implemented and the proposed control scheme into a waypoint nav
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30

Kira, Zsolt. "Communication and alignment of grounded symbolic knowledge among heterogeneous robots." Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/33941.

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Experience forms the basis of learning. It is crucial in the development of human intelligence, and more broadly allows an agent to discover and learn about the world around it. Although experience is fundamental to learning, it is costly and time-consuming to obtain. In order to speed this process up, humans in particular have developed communication abilities so that ideas and knowledge can be shared without requiring first-hand experience. Consider the same need for knowledge sharing among robots. Based on the recent growth of the field, it is reasonable to assume that in the near future
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31

Sjöö, Kristoffer. "Functional understanding of space : Representing spatial knowledge using concepts grounded in an agent's purpose." Doctoral thesis, KTH, Datorseende och robotik, CVAP, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-48400.

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This thesis examines the role of function in representations of space by robots - that is, dealing directly and explicitly with those aspects of space and objects in space that serve some purpose for the robot. It is suggested that taking function into account helps increase the generality and robustness of solutions in an unpredictable and complex world, and the suggestion is affirmed by several instantiations of functionally conceived spatial models. These include perceptual models for the "on" and "in" relations based on support and containment; context-sensitive segmentation of 2-D maps in
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32

Hung, David, Cinthya Tang, Coby Allred, Kennon McKeever, James Murphy, and Ricky Herriman. "AUTONOMOUS GROUND RECONNAISSANCE DRONE USING ROBOT OPERATING SYSTEM (ROS)." International Foundation for Telemetering, 2017. http://hdl.handle.net/10150/627005.

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The Arizona Autonomous Club is a student organization at the University of Arizona which designs, builds, and competes with Unmanned Air Systems (UAS). This year, a 25% scale Xtreme Decathlon model aircraft was selected and successfully converted into a fully autonomous UAS for the AUVSI Student Unmanned Aerial Systems (SUAS) 2017 competition. The UAS utilizes a Pixhawk autopilot unit, which is an independent, open-hardware project aiming at providing high-end autopilot hardware at low costs and high availability. The Pixhawk runs an efficient real time operating system (RTOS) and includes sen
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33

Winston, Crystal(Crystal E. ). "A Multi-modal Robot for Ground and Aerial Locomotion." Thesis, Massachusetts Institute of Technology, 2019. https://hdl.handle.net/1721.1/123246.

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Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2019<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (pages 39-40).<br>This thesis describes the design and testing of a quadcopter that capable of both driving and flying. This was achieved by mounting quadcopter motors and propellers to the center of each of the robot's four wheels. The wheels are then capable of changing orientation in order to allow the robot to either drive or fly. Each of these wheels contains a gearing and bearing system that decouples the rotation
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34

Islas, Ramírez Omar Adair. "Learning Robot Interactive Behaviors in Presence of Humans and Groups of Humans." Thesis, Paris 6, 2016. http://www.theses.fr/2016PA066632/document.

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Au fil des dernières années les robots ont fait partie de notre quotidien. Même si nous ne les voyons pas, nous dépendons d'eux pour construire nos ordinateurs, téléphones mobiles, voitures, etcetera. Les robots sont utilisés aussi pour l'organisation des produits dans les usines. Un autre domaine de croissance est la robotique sociale. Nous pouvons voir des études tel que des robots d'aide aux enfants autistes. Il y a aussi des robots qui sont utilisés pour accueillir des personnes dans des hôtels ou dans centres commerciaux pour interagir avec les gens. Ainsi, le robot doit comprendre le com
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35

Islas, Ramírez Omar Adair. "Learning Robot Interactive Behaviors in Presence of Humans and Groups of Humans." Electronic Thesis or Diss., Paris 6, 2016. https://accesdistant.sorbonne-universite.fr/login?url=https://theses-intra.sorbonne-universite.fr/2016PA066632.pdf.

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Au fil des dernières années les robots ont fait partie de notre quotidien. Même si nous ne les voyons pas, nous dépendons d'eux pour construire nos ordinateurs, téléphones mobiles, voitures, etcetera. Les robots sont utilisés aussi pour l'organisation des produits dans les usines. Un autre domaine de croissance est la robotique sociale. Nous pouvons voir des études tel que des robots d'aide aux enfants autistes. Il y a aussi des robots qui sont utilisés pour accueillir des personnes dans des hôtels ou dans centres commerciaux pour interagir avec les gens. Ainsi, le robot doit comprendre le com
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36

Couch, Michael Robert. "Pneumatic Particulate Collection System for an Unmanned Ground Sampling Robot." Thesis, Virginia Tech, 2010. http://hdl.handle.net/10919/35913.

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The design of unmanned material collection systems requires a great deal of foresight and innovative design on the engineerâ s part in order to produce solutions to problems operators may encounter in the field. In this thesis, the development of a particulate collection system for use onboard a lightweight, helicopter deployable ground robot is presented. The Unmanned Systems Laboratory at Virginia Tech is developing a ground sampling robot to be carried in the payload pod of a Yamaha RMAX unmanned aerial vehicle. The robotâ s ultimate objective is to collect material samples from a haz
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37

Ferrin, Jeffrey L. "Autonomous Goal-Based Mapping and Navigation Using a Ground Robot." BYU ScholarsArchive, 2016. https://scholarsarchive.byu.edu/etd/6190.

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Ground robotic vehicles are used in many different applications. Many of these uses include tele-operation of the robot. This allows the robot to be deployed in locations that are too difficult or are unsafe for human access. The ability of a ground robot to autonomously navigate to a desired location without a-priori map information and without using GPS would allow robotic vehicles to be used in many of these situations and would free the operator to focus on other more important tasks. The purpose of this research is to develop algorithms that enable a ground robot to autonomously navigate
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38

Mirhassani, Seyedmohsen <1989&gt. "A Ground Robot for Search And Rescue in Hostile Environment." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2018. http://amsdottorato.unibo.it/8416/7/Mirhassani_final.pdf.

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The recent sheer developments in the field of robotics has encouraged the researcher to consider the robots assisting human in different aspects of life. In this context, search and rescue is a very interesting ambient where the capabilities offered by the robots can be used to not only augment the quality of service but also impose lower risk to the human members of the rescue team. To this purpose, project SHERPA has been defined to investigate an intelligent heterogeneous robotic team in a search and rescue mission. The robotic team includes flying robots such as fixed wing and quad co
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39

Ho, Sze-Tek Terence. "Investigating ground swarm robotics using agent based simulation." Thesis, Monterey, Calif. : Naval Postgraduate School, 2006. http://bosun.nps.edu/uhtbin/hyperion.exe/06Dec%5FHo.pdf.

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Thesis (M.S. in Operations Research)--Naval Postgraduate School, December 2006.<br>Thesis Advisor(s): Susan M. Sanchez. "December 2006." Includes bibliographical references (p.111-114). Also available in print.
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40

Rivard, Frédéric. "Localisation relative de robots mobiles opérant en groupe." Mémoire, Université de Sherbrooke, 2005. http://savoirs.usherbrooke.ca/handle/11143/1294.

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Il y a plusieurs avantages à faire travailler des robots mobiles en groupe. Par exemple, un groupe de robots peut diviser une tâche en plusieurs sous-tâches à être effectuées individuellement par des membres du groupe. Lorsque les membres sont capables de se localiser les uns les autres, l'efficacité du groupe en est grandement augmentée. À cette fin, l'objectif du projet est de poursuivre le développement d'un système ultrasonique de localisation relative, système dénommé LAMP. Un premier prototype (LAMP-1) a été développé en 2002, mais sa fonctionnalité avec un groupe de robots n'avait pas
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Rivard, Frédéric. "Localisation relative de robots mobiles opérant en groupe." [S.l. : s.n.], 2005.

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Damers, Julien. "Lie groups applied to localisation of mobile robots." Electronic Thesis or Diss., Brest, École nationale supérieure de techniques avancées Bretagne, 2022. http://www.theses.fr/2022ENTA0007.

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Dans le cadre du développement des énergies renouvelables, les activités offshores liées aux parcs éoliens ont grandement augmenté en nombre. Ainsi les coûts de maintenance et de surveillance de telles structures aussi bien en hommes qu'en moyens se sont accrus et cette tendance s'amplifiera sûrement au cours des prochaines années. Ceci a encouragé le développement des véhicules sous-marins autonomes (AUV). Ceux-ci sont encore très coûteux du fait des capteurs onéreux qu'ils embarquent. Ils sont donc encore rares, ce qui ne suffit pas à combler les actuels besoins. Ainsi le développement d'AUV
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Visell, Yon. "Walking on virtual ground: physics, perception, and interface design." Thesis, McGill University, 2011. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=103551.

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The sensorimotor capacities of the foot are crucial to human locomotion in diverse environments, to gathering information about walking surfaces, and to interacting with objects on the ground. Locomotion is increasingly employed to allow users to control and navigate within immersive virtual environments, but, in contrast to the hand, little attention has been given to the rendering of haptic sensations for the feet. This thesis addresses several challenges motivated by the problem of realizing haptic experiences of walking on virtual ground surfaces. First, a novel family of interfaces is in
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Black, William S. "Adaptive nonlinear control for autonomous ground vehicles." Thesis, Purdue University, 2014. http://pqdtopen.proquest.com/#viewpdf?dispub=1553492.

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<p> We present the background and motivation for ground vehicle autonomy, and focus on uses for space-exploration. Using a simple design example of an autonomous ground vehicle we derive the equations of motion. After providing the mathematical background for nonlinear systems and control we present two common methods for exactly linearizing nonlinear systems, feedback linearization and backstepping. We use these in combination with three adaptive control methods: model reference adaptive control, adaptive sliding mode control, and extremum-seeking model reference adaptive control. We show the
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Hager, Daniel Michael. "Situational Awareness of a Ground Robot From an Unmanned Aerial Vehicle." Thesis, Virginia Tech, 2009. http://hdl.handle.net/10919/32825.

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In the operation of unmanned vehicles, safety is a primary concern. This thesis focuses on the use of computer vision in the development of a situational awareness system that allows for safe deployment and operation of a ground robot from an unmanned aerial vehicle (UAV). A method for detecting utility cables in 3D range images is presented. This technique finds areas of an image that represent edges in 3D space, and uses the Hough transform to find those edges that take the shape of lines, indicating potential utility cables. A mission plan for stereo image capture is laid out as well for ov
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Sridhar, Srivatsan. "Cooperative Perception in Autonomous Ground Vehicles using a Mobile Robot Testbed." Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/88742.

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With connected and autonomous vehicles, no optimal standard or framework currently exists, outlining the right level of information sharing for cooperative autonomous driving. Cooperative Perception is proposed among vehicles, where every vehicle is transformed into a moving sensor platform that is capable of sharing information collected using its on-board sensors. This helps extend the line of sight and field of view of autonomous vehicles, which otherwise suffer from blind spots and occlusions. This increase in situational awareness promotes safe driving over a short range and improves traf
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Davis, Ronald J. "EVOLUTIONARY GROUND REACTION FORCE CONTROL OF A PROSTHETIC LEG TESTING ROBOT." Cleveland State University / OhioLINK, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=csu1396786747.

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Quaiyum, Labiba. "Model Reference Adaptive Backstepping Control of an Autonomous Ground Vehicle." Thesis, Virginia Tech, 2016. http://hdl.handle.net/10919/64509.

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With an increased push for commercial autonomous cars, the demand of high speed systems capable of performing in unstructured driving environments is growing. In this thesis, the behavior of a bio-inspired predator prey model is considered to stimulate a more organic response to obstacles and a moving target than existing algorithms. However, the current predator prey model has a disconnect between the desired velocities commanded and the torque signals provided to the motors due the dynamics of the vehicle not accounted for. This causes the vehicle to derail from its intended trajectory at sh
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Mirza, Naeem Assif. "Grounded sensorimotor interaction histories for ontogenetic development in robots." Thesis, University of Hertfordshire, 2008. http://hdl.handle.net/2299/2551.

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This thesis puts forward a computational framework that can be used by embodied artificial agents (and in particular autonomous robots) for ontogenetic development. The research investigates methods, endowed with which, an embodied agent can develop control structures for increasingly complex and better adapted behaviour, explicitly and incrementally from its history of interaction with its environment. The temporal horizon of an agent is extended so that past experience can be self-organized into a developing structure that can be used to anticipate the future and act appropriately in environ
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El, Kamel Mohamed Anouar. "Stabilisation et régulation de robots mobiles opérant en groupe." Phd thesis, Université d'Evry-Val d'Essonne, 2012. http://tel.archives-ouvertes.fr/tel-00876452.

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Pour les systèmes de commande sous la forme de dx/dt = f (x, u), dans la littérature, les chercheurs s'intéressaient à la stabilisation de ce système de différentes manières : asymptotique, uniformément asymptotique, partielle, en temps fini, etc. Pour aboutir à ces résultats, les méthodes utilisées font appel aux techniques suivantes : Lyapunov, Lasalle, Barbalat, surface glissante, etc. Dans cette thèse, nous nous sommes intéressés à une autre fonctionnalité de la commande, dite commande répulsive stabilisante. Les résultats ont été généralisés au cas d'un système avec dérive et sans dérive.
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