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  • Learning-based Techniques for Fast and Robust Motion Planning

    Creator:
    Chow, Scott
    Abstract:
    Motion planning is a cornerstone of autonomous robots, enabling robots to safely and efficiently perform tasks such as package delivery, infrastructure inspection, and manipulation. However, as the field of robotics matures, robotic systems are being developed that (1) are challenging to analytically model, (2) require computationally expensive model-based controllers, and...
    Resource Type:
    Dissertation

  • Multi-Dimensional Task Recognition for Human-Robot Teaming

    Creator:
    Baskaran, Prakash
    Abstract:
    Human-robot teams involve humans and robots collaborating to achieve tasks under various environmental conditions. Successful teaming requires robots to adapt autonomously in real-time to a human teammate's state. An important element of such adaptation is the ability for the robot to infer the tasks performed by their human teammates. Human-robot...
    Resource Type:
    Dissertation

  • Cooperative Collision Avoidance on Small-sized Quadcopters With Indoor Loco Positioning System

    Creator:
    Avadhanula, Ritika
    Abstract:
    Disaster response and surveillance operations will increasingly incorporate Unmanned Aerial Vehicles (UAV)s due to their cost-effectiveness and maneuverability. This trend has driven the research on small-sized quadcopters for varying indoor applications. Small-sized quadcopters' payload and computational capacity limit the usage of complex vision-based collision avoidance algorithms that are employed by...
    Resource Type:
    Capstone Project

  • A distributed mixed-integer-programming approach to fair trajectory planning of autonomous systems

    Creator:
    Brahmbhatt, Khushal
    Abstract:
    In a scenario where multiple Unmanned Aerial Vehicles (UAVs) run by different operators are conducting their independent missions in an urban environment, it is important that the limited airspace is shared in a fair manner. Clarity and uniformity in communicating mission specifications to a central controller is also crucial. This...
    Resource Type:
    Capstone Project

  • 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

  • One Service Robot’s Exploration of Entertainment Methods During COVID-19

    Creator:
    Tsai, Yao-Lin
    Abstract:
    The study focuses on how to use entertainment method approach to prompt people with best practices for COVID safety. During COVID times, there have been many robots deployed in public places such as social distancing enforcer or a robot that provide facial masks, but few investigations have been done to...
    Resource Type:
    Capstone Project

  • Fair Trajectory Planning of Autonomous Systems

    Creator:
    Kurtz, Connor
    Abstract:
    Current research into path planning for Unmanned Aerial Vehicles (UAVs) has placed a major focus on accomplishing the goals of various agents while avoiding collisions between each other. However, there has been little focus on whether the planned trajectories are fair for each agent. This work provides an answer to...
    Resource Type:
    Masters Thesis

  • Topologically-Guided Robotic Information Gathering

    Creator:
    McCammon, Seth
    Abstract:
    Information gathering tasks, such as terrestrial search and rescue, aerial inspection, and marine monitoring, require robotic unmanned systems to make decisions on how to travel within an environment to maximize or minimize a path-dependent information objective function. The distribution of information throughout the environment is the result of various processes,...
    Resource Type:
    Dissertation

  • Realizable Path Planning and Execution for Robotic Systems

    Creator:
    Jones, Dylan A.
    Abstract:
    Performing autonomous robotic tasks in the field, such as ocean monitoring and aerial surveillance, requires planning and executing paths in dynamic environments. In these uncertain and changing environments, it is not uncommon to see a large difference between the path planned by the robotic vehicle and the path that the...
    Resource Type:
    Dissertation

  • Achieving Transparency in Human-Collective Systems

    Creator:
    Roundtree, Karina A.
    Abstract:
    Collective robotic systems are biologically-inspired and exhibit behaviors found in spatial swarms (e.g., fish), colonies (e.g., ants), or a combination of both (e.g., bees). Collective robotic system popularity continues to increase due to their apparent global intelligence and emergent behaviors. Many applications can benefit from the incorporation of collectives, including...
    Resource Type:
    Dissertation