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Filtering by: Creator Sukhatme, Gaurav S. Remove constraint Creator: Sukhatme, Gaurav S. Advisor Hollinger, Geoffrey Remove constraint Advisor: Hollinger, Geoffrey

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  • Deep learning for robotic exploration

    Creator:
    Caley, Jeffrey A.
    Abstract:
    Emerging applications for robotic data collection include ocean monitoring, emergency response and urban search and rescue. At the core of these applications is a robot's ability to make informed decisions on incomplete data. This dissertation addresses this problem by developing novel techniques for modeling and estimating structured environments using deep...
    Resource Type:
    Dissertation

  • Communication Planning for Cooperative Terrain-Based Underwater Localization

    Creator:
    Anderson, Jacob
    Abstract:
    This thesis presents a decentralized communication planning algorithm for cooperative terrain-based navigation (dec-TBN) with autonomous underwater vehicles. The proposed algorithm uses forward simulation to approximate the value of communicating at each time step. The simulations are used to build a directed acyclic graph that can be searched to provide a...
    Resource Type:
    Masters Thesis

  • Deployment Planning for Multiple Marsupial Robots

    Creator:
    Lee, Chris (Yu Hsuan)
    Abstract:
    Multi-robot systems are versatile and extremely capable of exploration tasks in complex environments. Increasingly sophisticated planners, which incorporate new features of a multi-robot system, are necessary for the operation of the systems. Marsupial robots are multi-robot systems consisting of a carrier robot (e.g., a ground vehicle), which is highly capable...
    Resource Type:
    Masters Thesis
    Full Text:
    practice, the computation of the thresholds takes on the order of seconds. As R 24 Ora cle Our s Ora

  • Non-Myopic Distributed Coordination and Planning for Robotic Teams

    Creator:
    Smith, Andrew
    Abstract:
    As robotic systems become increasingly prevalent in our lives (e.g., by harvesting food, assisting with disaster response and defense, and transporting persons and our goods around the world) there is a growing need to ensure that they can cooperate to achieve their intended goals. Robotic cooperation in the real-world is...
    Resource Type:
    Dissertation
    Full Text:
    . . . . . . . . . . . . . 100 4.4 An example probable action timeline with task claims Π j = [(N (µ = 20.0s,σ = 1.0s),0.1), (N

  • Deep Perception Without a Camera: Enabling 3D Reconstruction and Object Recognition using Lidar and Sonar Sensing

    Creator:
    DeBortoli, Robert A.
    Abstract:
    Deep learning has recently revolutionized robot perception in many canonical robotic applications, such as autonomous driving. However, a similar transformation has yet to occur in more harsh environments including underwater and underground. This is due in part to the difficulty in deploying robots in these environments, which lack large real...
    Resource Type:
    Dissertation