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Rozprawy doktorskie na temat „Indoor robotics”

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Data publikacji: 22 marca 2025

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1

Vojta, Jakub. "Bezpečnost provozu mobilních robotů v indoor prostředí." Master's thesis, Vysoké učení technické v Brně. Ústav soudního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-232641.

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During cooperation with the Bender Robotics company a need for operational safety assessment of an autonomous mobile robot (AMR) emerged. Operational safety evaluation is a step towards mass production of the studied robot. Market entry of a product requires a string of various actions and safety assessment is one of them. For risk identification and severity rating were used legal requirements, best practice given by standards, FMEA method, experiment and RIPRAN method. Threats, possible scenarios and risks analysis is systematically discussed through all areas of operation of the robot, from
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Pettersson, Rasmus. "Continuous localization in indoor shifting environment." Thesis, Uppsala universitet, Fasta tillståndets elektronik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-326270.

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In this Master Thesis different approaches to mobile localization within construction environments are investigated. At first an overview of different sensors commonly used within localization is presented together with different map representations and a system consisting of a laser scanner and wheel encoders is chosen. The hardware is prepared for the open source ROS environment and three different algorithms for localization are tested. Two algorithms, Gmapping and HectorSLAM, used for Simultaneous Localization and Mapping, are compared. The best map is then used by a Monte Carlo localizati
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3

Perko, Eric Michael. "Precision Navigation for Indoor Mobile Robots." Case Western Reserve University School of Graduate Studies / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1345513785.

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Yang, Yin. "Nonlinear control and state estimation of holonomic indoor airship." Thesis, McGill University, 2012. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=106573.

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Three full-state optimal controllers are proposed to fulfill the requirements of flying an indoor holonomic airship in real-time, namely, hovering control, set-point control and continuous reference tracking. In the hovering control design, the airship is assumed to be a quasi stationary plant, and an infinite horizon linear quadratic regulator (LQR) operating in again scheduling manner is employed. Meanwhile, a controller based on the state-dependent Riccati equation (SDRE) and ad hoc feedforward compensation is synthesized to tackle the set-point control problem. Lastly, a continuous tracker
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5

Gandhi, Anall Vijaykumar. "An Accuracy Improvement Method for Cricket Indoor Location System." Wright State University / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=wright1369316496.

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6

Valdmanis, Mikelis. "Localization and navigation of a holonomic indoor airship using on-board sensors." Thesis, McGill University, 2011. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=97204.

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Two approaches to navigation and localization of a holonomic, unmanned, indoor airship capable of 6-degree-of-freedom (DOF) motion using on-board sensors are presented. First, obstacle avoidance and primitive navigation were attempted using a light-weight video camera. Two optical flow algorithms were investigated. Optical flow estimates the motion of the environment relative to the camera by computing temporal and spatial fluctuations of image brightness. Inferences on the nature of the visible environment, such as obstacles, would then be made based on the optical flow field. Results showed
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7

Szenher, Matthew D. "Visual homing in dynamic indoor environments." Thesis, University of Edinburgh, 2008. http://hdl.handle.net/1842/3193.

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Our dissertation concerns robotic navigation in dynamic indoor environments using image-based visual homing. Image-based visual homing infers the direction to a goal location S from the navigator’s current location C using the similarity between panoramic images IS and IC captured at those locations. There are several ways to compute this similarity. One of the contributions of our dissertation is to identify a robust image similarity measure – mutual image information – to use in dynamic indoor environments. We crafted novel methods to speed the computation of mutual image information with bo
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8

Fernandez, labrador Clara. "Indoor Scene Understanding using Non-Conventional Cameras." Thesis, Bourgogne Franche-Comté, 2020. http://www.theses.fr/2020UBFCK037.

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Les humains sont en mesure d’interpréter l’environnement qui les entourent avec peu d’effort grâce à système visuel très performant. Par analogie, un système de vision capable de recueillir les mêmes informations sur l’environnement est hautement souhaitable en robotique autonome pour effectuer des tâches complexes et ainsi interagir avec les humains.À cet égard, nous nous sommes particulièrement intéressés aux environnements intérieurs, dans lesquels les humains passent presque toute leur vie. Dans ce travail, pour faire une analyse efficace et rapide des scènes, nous avons opté pour l’utilis
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9

Xiao, Zhuoling. "Robust indoor positioning with lifelong learning." Thesis, University of Oxford, 2014. http://ora.ox.ac.uk/objects/uuid:218283f1-e28a-4ad0-9637-e2acd67ec394.

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Indoor tracking and navigation is a fundamental need for pervasive and context-aware applications. However, no practical and reliable indoor positioning solution is available at present. The major challenge of a practical solution lies in the fact that only the existing devices and infrastructure can be utilized to achieve high positioning accuracy. This thesis presents a robust indoor positioning system with the lifelong learning ability. The typical features of the proposed solution is low-cost, accurate, robust, and scalable. This system only takes the floor plan and the existing devices, e
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10

Selin, Magnus. "Efficient Autonomous Exploration Planning of Large-Scale 3D-Environments : A tool for autonomous 3D exploration indoor." Thesis, Linköpings universitet, Artificiell intelligens och integrerade datorsystem, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-163329.

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Exploration is of interest for autonomous mapping and rescue applications using unmanned vehicles. The objective is to, without any prior information, explore all initially unmapped space. We present a system that can perform fast and efficient exploration of large scale arbitrary 3D environments. We combine frontier exploration planning (FEP) as a global planning strategy, together with receding horizon planning (RH-NBVP) for local planning. This leads to plans that incorporate information gain along the way, but do not get stuck in already explored regions. Furthermore, we make the potential
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11

Althaus, Philipp. "Indoor Navigation for Mobile Robots : Control and Representations." Doctoral thesis, KTH, Numerical Analysis and Computer Science, NADA, 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3644.

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<p>This thesis deals with various aspects of indoor navigationfor mobile robots. For a system that moves around in ahousehold or office environment,two major problems must betackled. First, an appropriate control scheme has to bedesigned in order to navigate the platform. Second, the form ofrepresentations of the environment must be chosen.</p><p>Behaviour based approaches have become the dominantmethodologies for designing control schemes for robotnavigation. One of them is the dynamical systems approach,which is based on the mathematical theory of nonlineardynamics. It provides a sound theor
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12

Karlsson, Ahlexander, and Robert Skoglund. "Video-rate environment recognition through depth image plane segmentation for indoor service robot applications on an embedded system." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-35595.

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As personal service robots are expected to gain widespread use in the near future there is a need for these robots to function properly in a large number of different environments. In order to acquire such an understanding this thesis focuses on implementing a depth image based planar segmentation method based on the detection of 3-D edges in video-rate speed on an embedded system. The use of plane segmentation as a mean of understanding an unknown environment was chosen after a thorough literature review that indicated that this was the most promising approach capable of reaching video-rate sp
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13

Falomir, Llansola Zoe. "Qualitative Distances and Qualitative Description of Images for Indoor Scene Description and Recognition in Robotics." Doctoral thesis, Universitat Jaume I, 2011. http://hdl.handle.net/10803/52897.

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<p>The automatic extraction of knowledge from the world by a robotic system as human beings interpret their environment through their senses is still an unsolved task in Artificial Intelligence. A robotic agent is in contact with the world through its sensors and other electronic components which obtain and process mainly numerical information. Sonar, infrared and laser sensors obtain distance information. Webcams obtain digital images that are represented internally as matrices of red, blue and green (RGB) colour coordinate values. All this numerical values obtained from the environment need
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14

Vallivaara, I. (Ilari). "Simultaneous localization and mapping using the indoor magnetic field." Doctoral thesis, Oulun yliopisto, 2018. http://urn.fi/urn:isbn:9789526217741.

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Abstract The Earth’s magnetic field (MF) has been used for navigation for centuries. Man-made metallic structures, such as steel reinforcements in buildings, cause local distortions to the Earth’s magnetic field. Up until the recent decade, these distortions have been mostly considered as a source of error in indoor localization, as they interfere with the compass direction. However, as the distortions are temporally stable and spatially distinctive, they provide a unique magnetic landscape that can be used for constructing a map for indoor localization purposes, as noted by recent research in
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15

Dichtl, Johann. "On 2D SLAM for Large Indoor Spaces - A Polygon-Based Solution." Thesis, Ecole nationale supérieure Mines-Télécom Lille Douai, 2019. http://www.theses.fr/2019MTLD0006.

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Le SLAM d'espaces intérieurs est un sujet important en robotique. La majorité des solutions actuelles se basent sur une carte sous forme de grille 2D. Bien que permettant de réaliser des cartographies satisfaisantes, cette solution admet des limites liées à la quantité importante de mémoire qu'elle requiert. Dans cette thèse, nous introduisons PolySLAM un algorithme de SLAM qui permet de produire des cartes vectorielles 2D à base de polygones<br>Indoor SLAM and exploration is an important topic in robotics. Most solutions today work with a 2D grid representation as map model, both for the inte
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16

Rasines, Suárez Javier. "Gaussian process-assisted frontier exploration and indoor radio source localization for mobile robots." Thesis, KTH, Robotik, perception och lärande, RPL, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-236062.

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Autonomous localization of a radio source is addressed, in the context of autonomous charging for drones in indoor environments. A radio beacon will be the only input used by the robot to navigate to an unknown charging station, at an unknown area. Previous proposed algorithms used frontier-based exploration and the measured RSS to compute the direction to the source. The use of Gaussian processes is studied to model the Radio Signal Strength (RSS) distribution and generate an estimation of the gradient. This gradient was also incorporated into a frontier exploration algorithm and was compared
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17

Persson, Lucas, and Sebastian Markström. "Indoor localization of hand-held Shopping Scanners." Thesis, KTH, Data- och elektroteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-208931.

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This thesis investigates applicable indoor navigation systems for the next generation of hand-held shopping scanners, on behalf of the company Virtual Stores. The thesis research and review applicable indoor localization methods and ways to combine and evaluate received localization data in order to provide accurate navigation without introducing any other worn equipment for a potential user. Prototype navigation systems was proposed, developed and evaluated using a combination of carefully placed radio transmitters that was used to provide radio based localization methods using Bluetooth or U
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18

Falomir, Llansola Zoe [Verfasser], Maria Teresa [Akademischer Betreuer] Escrig, and Christian [Akademischer Betreuer] Freksa. "Qualitative Distances and Qualitative Description of Images for Indoor Scene Description and Recognition in Robotics / Zoe Falomir Llansola. Gutachter: Christian Freksa. Betreuer: Maria Teresa Escrig." Bremen : Staats- und Universitätsbibliothek Bremen, 2011. http://d-nb.info/1072156628/34.

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19

Shakeel, Amlaan. "Service robot for the visually impaired: Providing navigational assistance using Deep Learning." Miami University / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=miami1500647716257366.

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20

Rudol, Piotr. "Increasing Autonomy of Unmanned Aircraft Systems Through the Use of Imaging Sensors." Licentiate thesis, Linköpings universitet, UASTECH – Teknologier för autonoma obemannade flygande farkoster, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-71295.

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The range of missions performed by Unmanned Aircraft Systems (UAS) has been steadily growing in the past decades thanks to continued development in several disciplines. The goal of increasing the autonomy of UAS's is widening the range of tasks which can be carried out without, or with minimal, external help. This thesis presents methods for increasing specific aspects of autonomy of UAS's operating both in outdoor and indoor environments where cameras are used as the primary sensors. First, a method for fusing color and thermal images for object detection, geolocation and tracking for UAS's o
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21

Duberg, Daniel. "Safe Navigation of a Tele-operated Unmanned Aerial Vehicle." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-221701.

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Unmanned Aerial Vehicles (UAVs) can navigate in indoor environments and through environments that are hazardous or hard to reach for humans. This makes them suitable for use in search and rescue missions and by emergency response and law enforcement to increase situational awareness. However, even for an experienced UAV tele-operator controlling the UAV in these situations without colliding into obstacles is a demanding and difficult task. This thesis presents a human-UAV interface along with a collision avoidance method, both optimized for a human tele-operator. The objective is to simplify t
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22

Andrade-Cetto, Juan. "Environment learning for indoor mobile robots." Doctoral thesis, Universitat Politècnica de Catalunya, 2003. http://hdl.handle.net/10803/6185.

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Aquesta tesi tracta el problema de l'aprenentatge automàtic d'entorns estructurats n robòtica mòbil. Particularment, l'extracció de característiques a partir dels senyals dels sensors, la construcció autònoma de mapes, i l'autolocalització de robots.<br/>S'estudien els fonaments matemàtics necessaris per a l'extracció de característiques a partir d'imatges i registres d'un làser, els quals permeten la identificació unívoca dels elements de l'entorn. Els atributs extrets a partir del senyal d'un sol sensor poden ser insuficients quan es volen caracteritzar els elements de l'entorn de forma inva
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23

McCoig, Kenneth. "A MOBILE ROBOTIC COMPUTING PLATFORM FOR THREE-DIMENSIONAL INDOOR MAPPI." Master's thesis, University of Central Florida, 2004. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/2372.

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There are several industries exploring solutions to quickly and accurately digitize unexplored indoor environments, into useable three-dimensional databases. Unfortunately, there are inherent challenges to the indoor mapping process such as, scanning limitations and environment complexity, which require a specific application of tools to map an environment precisely with low cost and high speed. This thesis successfully demonstrates the design and implementation of a low cost mobile robotic computing platform with laser scanner, for quickly mapping with high resolution, urban and/or indoor env
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24

Dag, Antymos. "Autonomous Indoor Navigation System for Mobile Robots." Thesis, Linköpings universitet, Programvara och system, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-129419.

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With an increasing need for greater traffic safety, there is an increasing demand for means by which solutions to the traffic safety problem can be studied. The purpose of this thesis is to investigate the feasibility of using an autonomous indoor navigation system as a component in a demonstration system for studying cooperative vehicular scenarios. Our method involves developing and evaluating such a navigation system. Our navigation system uses a pre-existing localization system based on passive RFID, odometry and a particle filter. The localization system is used to estimate the robot pose
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25

Shen, Jiali. "Visual navigation algorithms for indoor service robots." Thesis, University of Essex, 2008. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.446554.

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26

Islam, Rasel Rashedul. "Obstacle Detection for Indoor Navigation of Mobile Robots." Master's thesis, Universitätsbibliothek Chemnitz, 2017. http://nbn-resolving.de/urn:nbn:de:bsz:ch1-qucosa-225279.

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Obstacle detection is one of the major focus area on image processing. For mobile robots, obstacle detection and collision avoidance is a notorious problem and is still a part of the modern research. There are already a lot of research have been done so far for obstacle detection and collision avoidance. This thesis evaluates the existing various well-known methods and sensors for collision free navigation of the mobile robot. For moving obstacle detection purpose the frame difference approach is adopted. Robotino® is used as the mobile robot platform and additionally Microsoft Kinect is used
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27

Hennig, Matthias, Henri Kirmse, and Klaus Janschek. "Global Localization of an Indoor Mobile Robot with a single Base Station." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2012. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-83687.

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The navigation tasks in advanced home robotic applications incorporating reliable revisiting strategies are dependent on very low cost but nevertheless rather accurate localization systems. In this paper a localization system based on the principle of trilateration is described. The proposed system uses only a single small base station, but achieves accuracies comparable to systems using spread beacons and it performs sufficiently for map building. Thus it is a standalone system and needs no odometry or other auxiliary sensors. Furthermore a new approach for the problem of the reliably detecti
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28

Qutteineh, Jafar. "Investigation of Cooperative SLAM for Low Cost Indoor Robots." Thesis, Högskolan i Halmstad, Halmstad Embedded and Intelligent Systems Research (EIS), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-31931.

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In robotics, SLAM is the problem of dynamically building a map while simultaneously using it to localize the robot. Most SLAM solutions rely on laser ranger devices or vision sensors (cameras). This work studies the possibility of extending current established SLAM solutions to low cost robotic platforms with few low quality short range distance sensors (Infrared and Sonar) and weak odometery information. This work starts by studying the performance of a low cost robotic platform `DiddyBorg' and build models for sensors and odometry to be used in SLAM implementation. Next, three SLAM solutions
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29

Quebe, Stephen C. "Modeling, Parameter Estimation, and Navigation of Indoor Quadrotor Robots." BYU ScholarsArchive, 2013. https://scholarsarchive.byu.edu/etd/3565.

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This thesis discusses topics relevant to indoor unmanned quadrotor navigation and control. These topics include: quadrotor modeling, sensor modeling, quadrotor parameter estimation, sensor calibration, quadrotor state estimation using onboard sensors, and cooperative GPS navigation. Modeling the quadrotor, sensor modeling, and parameter estimation are essential components for quadrotor navigation and control. This thesis investigates prior work and organizes a wide variety of models and calibration methods that enable indoor unmanned quadrotor flight. Quadrotor parameter estimation using a par
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30

Newberry, John Christopher, and john newberry@rmit edu au. "On the Micro-Precision Robotic Drilling of Aerospace Components." RMIT University. Aerospace, Mechanical and Manufacturing Engineering, 2007. http://adt.lib.rmit.edu.au/adt/public/adt-VIT20080513.162719.

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This dissertation describes research concerned with the use of advanced measurement techniques for the control of robotic manufacturing processes. The work focused on improving the state of technology in the precision robotic machining of components within the aerospace manufacturing industry within Australia. Specific contributions are the development of schemes for the use of advanced measurement equipment in precision machining operations and to apply flexible manufacturing techniques in automated manufacturing. The outcome of the research enables placement of a robotic end effector to
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31

Asthana, Ambika. "Software architecture for controlling an indoor hovering robot from a remote host." Access electronically, 2007. http://www.library.uow.edu.au/adt-NWU/public/adt-NWU20080905.112058/index.html.

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32

Keller, Brian Matthew. "Multi-spectral System for Autonomous Robotic Location of Fires Indoors." Thesis, Virginia Tech, 2013. http://hdl.handle.net/10919/23101.

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Autonomous firefighting platforms are being developed to support firefighters.  One aspect of this is location of a fire inside a structure.  A multi-spectral sensor platform and fire location algorithm was developed in this research to locate a fire indoors autonomously. The multi-spectral sensor platform used a long wavelength infrared (LWIR) camera and ultraviolet (UV) sensor.  The LWIR camera was chosen for its ability to see through smoke, while the UV sensor was selected for its ability to discriminate between fires and non-fire hot objects.  The fire location algorithm by radiation e
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33

Taylor, Trevor. "Mapping of indoor environments by robots using low-cost vision sensors." Thesis, Queensland University of Technology, 2009. https://eprints.qut.edu.au/26282/1/Trevor_Taylor_Thesis.pdf.

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For robots to operate in human environments they must be able to make their own maps because it is unrealistic to expect a user to enter a map into the robot’s memory; existing floorplans are often incorrect; and human environments tend to change. Traditionally robots have used sonar, infra-red or laser range finders to perform the mapping task. Digital cameras have become very cheap in recent years and they have opened up new possibilities as a sensor for robot perception. Any robot that must interact with humans can reasonably be expected to have a camera for tasks such as face recognition,
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34

Taylor, Trevor. "Mapping of indoor environments by robots using low-cost vision sensors." Queensland University of Technology, 2009. http://eprints.qut.edu.au/26282/.

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For robots to operate in human environments they must be able to make their own maps because it is unrealistic to expect a user to enter a map into the robot’s memory; existing floorplans are often incorrect; and human environments tend to change. Traditionally robots have used sonar, infra-red or laser range finders to perform the mapping task. Digital cameras have become very cheap in recent years and they have opened up new possibilities as a sensor for robot perception. Any robot that must interact with humans can reasonably be expected to have a camera for tasks such as face recognition,
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35

Gomes, Pedro Miguel de Barros. "LADAR based mapping and obstacle detection system for service robots." Master's thesis, Faculdade de Ciências e Tecnologia, 2010. http://hdl.handle.net/10362/4589.

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Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para a obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores<br>When travelling in unfamiliar environments, a mobile service robot needs to acquire information about his surroundings in order to detect and avoid obstacles and arrive safely at his destination. This dissertation presents a solution for the problem of mapping and obstacle detection in indoor/outdoor structured3 environments, with particular application on service robots equipped with a LADAR. Since this system was
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36

Ruangpayoongsak, Niramon. "Development of autonomous features and indoor localization techniques for car-like mobile robots." [S.l.] : [s.n.], 2006. http://deposit.ddb.de/cgi-bin/dokserv?idn=982279469.

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37

Yan, Yu Pei. "A path planning algorithm for the mobile robot in the indoor and dynamic environment based on the optimized RRT algorithm." Thesis, University of Macau, 2018. http://umaclib3.umac.mo/record=b3951594.

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38

Jiang, Lixing [Verfasser]. "Object Recognition and Saliency Detection for Indoor Robots using RGB-D Sensors / Lixing Jiang." München : Verlag Dr. Hut, 2016. http://d-nb.info/1106593723/34.

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39

Bista, Suman Raj. "Indoor navigation of mobile robots based on visual memory and image-based visual servoing." Thesis, Rennes 1, 2016. http://www.theses.fr/2016REN1S074/document.

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Cette thèse présente une méthode de navigation par asservissement visuel à l'aide d'une mémoire d'images. Le processus de navigation est issu d'informations d'images 2D sans utiliser aucune connaissance 3D. L'environnement est représenté par un ensemble d'images de référence avec chevauchements, qui sont automatiquement sélectionnés au cours d'une phase d'apprentissage préalable. Ces images de référence définissent le chemin à suivre au cours de la navigation. La commutation des images de référence au cours de la navigation est faite en comparant l'image acquise avec les images de référence à
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40

Nazemzadeh, Payam. "Indoor Localization of Wheeled Robots using Multi-sensor Data Fusion with Event-based Measurements." Doctoral thesis, Università degli studi di Trento, 2016. https://hdl.handle.net/11572/367712.

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In the era in which the robots have started to live and work everywhere and in close contact with humans, they should accurately know their own location at any time to be able to move and perform safely. In particular, large and crowded indoor environments are challenging scenarios for robots' accurate and robust localization. The theory and the results presented in this dissertation intend to address the crucial issue of wheeled robots indoor localization by proposing some novel solutions in three complementary ways, i.e. improving robots self-localization through data fusion, adopting collab
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Nazemzadeh, Payam. "Indoor Localization of Wheeled Robots using Multi-sensor Data Fusion with Event-based Measurements." Doctoral thesis, University of Trento, 2016. http://eprints-phd.biblio.unitn.it/1867/1/PhD_Thesis_PayamNazemzadeh.pdf.

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In the era in which the robots have started to live and work everywhere and in close contact with humans, they should accurately know their own location at any time to be able to move and perform safely. In particular, large and crowded indoor environments are challenging scenarios for robots' accurate and robust localization. The theory and the results presented in this dissertation intend to address the crucial issue of wheeled robots indoor localization by proposing some novel solutions in three complementary ways, i.e. improving robots self-localization through data fusion, adopting collab
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Blomqvist, Anneli. "Millimeter Wave Radar as Navigation Sensor on Robotic Vacuum Cleaner." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-288146.

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Does millimeter-wave radar have the potential to be the navigational instrument of a robotic vacuum cleaner in a home? Electrolux robotic vacuum cleaner is currently using a light sensor to navigate through the home while cleaning. Recently Texas Instruments released a new mmWave radar sensor, operating in the frequency range 60-64 GHz. This study aims to answer if the mmWave radar sensor is useful for indoor navigation. The study tests the sensor on accuracy and resolution of angles and distances in ranges relevant to indoor navigation. It tests if various objects made out of plastic, fabric,
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Magrin, Carlos Eduardo Setenareski. "Fusão de sensores utilizando técnica de fingerprint kNN e ponderação de atributos para localização indoor de um robô móvel." reponame:Repositório Institucional da UFPR, 2015. http://hdl.handle.net/1884/42967.

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Orientador : Prof. Dr. Eduardo Todt<br>Dissertação (mestrado) - Universidade Federal do Paraná, Setor de Ciências Exatas, Programa de Pós-Graduação em Informática. Defesa: Curitiba, 15/12/2015<br>Inclui referências : f. 97-103<br>Resumo: Robôs moveis dependem do conhecimento sobre o ambiente para se locomoverem, assim sensores sao utilizados para detectar objetos, medir distancias de paredes e estimar a distancia percorrida. Porem, sensores estao sujeitos a ruídos de leitura e defeitos, e para conseguir relevantes valores de medicao do ambiente e possível utilizar o processo de fusao de sensor
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CANCHUMUNI, SMITH WASHINGTON ARAUCO. "PROBABILISTIC SIMULTANEOUS LOCALIZATION AND MAPPING OF MOBILE ROBOTS IN INDOOR ENVIRONMENTS WITH A LASER RANGE FINDER." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2013. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=23357@1.

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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO<br>COORDENAÇÃO DE APERFEIÇOAMENTO DO PESSOAL DE ENSINO SUPERIOR<br>PROGRAMA DE EXCELENCIA ACADEMICA<br>Os Robôs Móveis são cada vez mais inteligentes, para que eles tenham a capacidade de semover livremente no interior deumambiente, evitando obstáculos e sem assistência de um ser humano, precisam possuir um conhecimento prévio do ambiente e de sua localização. Nessa situação, o robô precisa construir um mapa local de seu ambiente durante a execução de sua missão e, simultaneamente, determinar sua localização. Este problema é conhecido como Map
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Stefansson, Thor. "3D obstacle avoidance for drones using a realistic sensor setup." Thesis, KTH, Robotik, perception och lärande, RPL, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-233807.

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Obstacle avoidance is a well researched area, however most of the works only consider a 2D environment. Drones can move in three dimensions. It is therefore of interest to develop a system that ensures safe flight in these three dimensions. Obstacle avoidance is of highest importance for drones if they are intended to work autonomously and around humans, since drones are often fragile and have fast moving propellers that can hurt humans. This project is based on the obstacle restriction algorithm in 3D, and uses OctoMap to conveniently use the sensor data from multiple sensors simultaneously a
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Ghorpade, Vijaya Kumar. "3D Semantic SLAM of Indoor Environment with Single Depth Sensor." Thesis, Université Clermont Auvergne‎ (2017-2020), 2017. http://www.theses.fr/2017CLFAC085/document.

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Pour agir de manière autonome et intelligente dans un environnement, un robot mobile doit disposer de cartes. Une carte contient les informations spatiales sur l’environnement. La géométrie 3D ainsi connue par le robot est utilisée non seulement pour éviter la collision avec des obstacles, mais aussi pour se localiser et pour planifier des déplacements. Les robots de prochaine génération ont besoin de davantage de capacités que de simples cartographies et d’une localisation pour coexister avec nous. La quintessence du robot humanoïde de service devra disposer de la capacité de voir comme les h
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Rojas, Castro Dalia Marcela. "The RHIZOME architecture : a hybrid neurobehavioral control architecture for autonomous vision-based indoor robot navigation." Thesis, La Rochelle, 2017. http://www.theses.fr/2017LAROS001/document.

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Les travaux décrits dans cette thèse apportent une contribution au problème de la navigation autonome de robots mobiles dans un contexte de vision indoor. Il s’agit de chercher à concilier les avantages des différents paradigmes d’architecture de contrôle et des stratégies de navigation. Ainsi, nous proposons l’architecture RHIZOME (Robotic Hybrid Indoor-Zone Operational ModulE) : une architecture unique de contrôle robotique mettant en synergie ces différentes approches en s’appuyant sur un système neuronal. Les interactions du robot avec son environnement ainsi que les multiples connexions n
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Frese, Udo. "An O(log n) algorithm for simultaneous localization and mapping of mobile robots in indoor environments Ein O(log n)-Algorithmus für gleichzeitige Lokalisierung und Kartierung mobiler Roboter in Innenräumen /." [S.l. : s.n.], 2004. http://deposit.ddb.de/cgi-bin/dokserv?idn=972029516.

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SAVARESE, FRANCESCO. "Data Fusion Methods and Algorithms in the Context of Autonomous Systems - A path planning algorithms analysis and optimization exploiting fused data." Doctoral thesis, Politecnico di Torino, 2019. http://hdl.handle.net/11583/2752655.

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Alves, Raulcézar Maximiano Figueira. "Coordenação, localização e navegação para robôs de serviço em ambientes internos." Universidade Federal de Uberlândia, 2017. http://dx.doi.org/10.14393/ufu.te.2017.21.

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A Robótica tem iniciado uma transição de Robótica Industrial para Robótica de Serviço, movendo-se em direção as necessidades diárias dos seres humanos. Para realizar essa transição, robôs necessitam de mais autonomia para executar tarefas em espaços dinâmicos ocupados por humanos, diferente dos ambientes controlados das fábricas. Nesta tese, é investigado um problema no qual um time de robôs completamente autônomos deve visitar certos locais em um ambiente interno usado por humanos a fim de executar algum tipo de tarefa. Este problema está relacionado a três importantes questões da Robótica e
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