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Filtering by: Creator Maina, Geoffrey M. Remove constraint Creator: Maina, Geoffrey M. Resource Type Dissertation Remove constraint Resource Type: Dissertation

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  • 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
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    : Non-Myopic Distributed Coordination and Planning for Robotic Teams Abstract approved: Geoffrey A

  • 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
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    Exploration Abstract approved: Geoffrey A Hollinger Emerging applications for robotic data collection

  • Augmented Deep Learning Techniques for Robotic State Estimation

    Creator:
    Nicolai, Austin L.
    Abstract:
    While robotic systems may have once been relegated to structured environments and automation style tasks, in recent years these boundaries have begun to erode. As robots begin to operate in largely unstructured environments, it becomes more difficult for them to effectively interpret their surroundings. As sensor technology improves, the amount...
    Resource Type:
    Dissertation
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    Deep Learning Techniques for Robotic State Estimation Abstract approved: Geoffrey A. Hollinger While

  • 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
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    Abstract approved: Geoffrey A. Hollinger Deep learning has recently revolutionized robot perception in

  • Multiagent learning for locomotion and coordination in tensegrity robotics

    Creator:
    Iscen, Atil
    Abstract:
    Tensegrity structures are composed of pure compressional elements that are connected via a network of pure tensional elements. The concept of tensegrity promises numerous advantages to the field of robotics. Tensegrity robots are, however, notoriously difficult to control due to their oscillatory nature and nonlinear interaction between the components. Multiagent...
    Resource Type:
    Dissertation
    Full Text:
    : Kagan Tumer Geoffrey Hollinger Tensegrity structures are composed of pure compressional elements that

  • 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,...
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    Dissertation
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    -Guided Robotic Information Gathering Abstract approved: Geoffrey A. Hollinger Information gathering

  • 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
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    Techniques for Fast and Robust Motion Planning Abstract approved: Geoffrey A. Hollinger Motion planning is

  • Adaptive Multiagent Traffic Management for Autonomous Robotic Systems

    Creator:
    Rebhuhn, Carrie
    Abstract:
    There is growing commercial interest in the use of unmanned aerial vehicles (UAVs) in urban environments, specifically for package delivery applications. However, the size, complexity and sheer numbers of expected UAVs makes conventional air traffic management that relies on human air traffic controllers infeasible. To enable UAVs to safely and...
    Resource Type:
    Dissertation

  • Predicting the stability, equilibrium response, and nonequilibrium dynamics of ecological systems

    Creator:
    Hosack, Geoffrey R.
    Abstract:
    In this dissertation, new theory and its applications are developed to predict three properties of complex ecological communities: stability, equilibrium response, and non-equilibrium dynamics. First, a graph-theoretic analysis identifies the interconnections in a complex ecosystem that promote or diminish stability (Chapter 2). The hierarchy of interactions that influences stability and...
    Resource Type:
    Dissertation
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    AN ABSTRACT OF THE DISSERTATION OF Geoffrey R. Hosack for the degree of Doctor of Philosophy in

  • Deoxyribonucleotides as determinants of DNA replication fidelity in bacteriophage T4

    Creator:
    Sargent, Roy Geoffrey
    Abstract:
    Imbalanced deoxyribonucleoside triphosphate (dNTP) pools are mutagenic for DNA synthesis in both intact cells and cell-free replication systems. Almost certainly, such mutagenesis involves competition between correctly and incorrectly base-paired precursors at replication sites. However, there are certain differences between the intact cell and cell-free systems that do not always allow...
    Resource Type:
    Dissertation
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    fidelity in bacteriophage T4 AN ABSTRACT OF THE THESIS OF Roy Geoffrey Sargent for the degree of Doctor