Autonomous Coordination and Online Motion Modeling for Mobile Robots

Abstract

Robots are rapidly becoming more involved in everyday military operations. As robots become more capable, their tasks will increase to include such roles as exploring enemy controlled buildings and caves. The goal of this thesis is to explore methodologies that allow robots to operate more autonomously. The first goal is to develop an algorithm that allows groups of robots to construct controlled formations with only local information. Experiments investigate the ability of this algorithm to handle obstacles, dynamic conditions, and varying number of robots. The second goal of this work is to demonstrate a method by which a robot can automatically determine how it is moving. Experiments demonstrate the ability of the algorithm to learn new models given models from other surfaces and robots. This work facilitates further research into creating complex formations using only local information and in fully automating current Simultaneous Localization And Mapping (SLAM) applications.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Sep 01, 2007
Accession Number
ADA474495

Entities

People

  • Eric J. Sjoberg

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Autonomous Navigation
  • Autonomous Systems
  • Cartography
  • Computer Graphics
  • Computer Science
  • Computer Vision
  • Control Systems
  • Coordinate Systems
  • Data Sets
  • Fish
  • Global Positioning Systems
  • Kalman Filters
  • Maps
  • Robot Mapping
  • Simultaneous Localization And Mapping
  • Unmanned Vehicles

Fields of Study

  • Computer science

Readers

  • Computer Vision.
  • Team-Based Human-Centered Cognitive Task Decision Making and Information Performance.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy