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Filtering by: Alternative title ssim Circular of information no. 545 Remove constraint Alternative title ssim: Circular of information no. 545 Degree Level Doctoral Remove constraint Degree Level: Doctoral Non-Academic Affiliation Oregon State University. Collaborative Robotics and Intelligent Systems (CoRIS) Institute Remove constraint Non-Academic Affiliation: Oregon State University. Collaborative Robotics and Intelligent Systems (CoRIS) Institute

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  • 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
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    -dependent information objective function. The distribution of information throughout the environment is the

  • Geometry of Locomotion

    Creator:
    Ramasamy, Suresh
    Abstract:
    Many animals and robots move through the world by coupling cyclical changes in shape called gaits to an interaction with the environment. Because mobility is an important aspect of such robots, a key metric when evaluating design and performance of mobile robots is the efficiency of their optimal gaits. The...
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    Dissertation
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    in the tangential direction e‖ produces no change in area, as the area of the triangle given by half

  • 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...
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    Dissertation
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    improvements is a reduction in risk and improvement of the quality of robotic information collection. This

  • Counterfactual thinking applied to multiagent systems

    Creator:
    Zerbel, Nicholas
    Abstract:
    Multiagent approaches are well suited to designing autonomous solutions for systems that feature complex interactions between many individuals such as in autonomous traffic systems and multi-robot exploration systems. However, creating autonomous agents that function effectively in these systems is a challenging task. In these complex environments, agents need informative reward...
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    Dissertation
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    to UVs using a counterfactual state (B). Agents combine information from their observations of the

  • Robust Long Term Autonomy Through Local Behaviors

    Creator:
    Yates, Connor L.
    Abstract:
    Multi-robot teams offer promising solutions for many long term deployments in remote and dangerous domains, such as extraterrestrial or underseas exploration. However, long term deployments present many problems preventing robot teams from operating effectively. Learning over long time scales is makes it difficult to assign credit to robots' actions, as...
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    Dissertation
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    cannot capture the entirety of the information the agent needs to inform policy updates. Fur- thermore

  • Geometric Motion Planning for Inertial Systems

    Creator:
    Faraji, Hossein
    Abstract:
    In order to enable better visualization and understanding of the effect of the robot's geometry and inertia on the robot's trajectories, this dissertation proposes to use geometric mechanics to bridge the gap between the physical motion of a robot and its mathematical structure. The main focus of this research is...
    Resource Type:
    Dissertation
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    major axes of the ellipses, even though the geodesic path is shorter and has no curvature. The arrows