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Multi Robot Exploration For Environmental Monitoring

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Multi robot Exploration for Environmental Monitoring

Multi robot Exploration for Environmental Monitoring Book
Author : Kshitij Tiwari,Nak Young Chong
Publisher : Academic Press
Release : 2019-11-29
ISBN : 0128176083
Language : En, Es, Fr & De

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Book Description :

Multi-robot Exploration for Environmental Monitoring: The Resource Constrained Perspective provides readers with the necessary robotics and mathematical tools required to realize the correct architecture. The architecture discussed in the book is not confined to environment monitoring, but can also be extended to search-and-rescue, border patrolling, crowd management and related applications. Several law enforcement agencies have already started to deploy UAVs, but instead of using teleoperated UAVs this book proposes methods to fully automate surveillance missions. Similarly, several government agencies like the US-EPA can benefit from this book by automating the process. Several challenges when deploying such models in real missions are addressed and solved, thus laying stepping stones towards realizing the architecture proposed. This book will be a great resource for graduate students in Computer Science, Computer Engineering, Robotics, Machine Learning and Mechatronics. Analyzes the constant conflict between machine learning models and robot resources Presents a novel range estimation framework tested on real robots (custom built and commercially available)

Cooperative Robots and Sensor Networks 2015

Cooperative Robots and Sensor Networks 2015 Book
Author : Anis Koubâa,J.Ramiro Martínez-de Dios
Publisher : Springer
Release : 2015-05-18
ISBN : 3319182994
Language : En, Es, Fr & De

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Book Description :

This book compiles some of the latest research in cooperation between robots and sensor networks. Structured in twelve chapters, this book addresses fundamental, theoretical, implementation and experimentation issues. The chapters are organized into four parts namely multi-robots systems, data fusion and localization, security and dependability, and mobility.

Multi robot Active Information Gathering Using Random Finite Sets

Multi robot Active Information Gathering Using Random Finite Sets Book
Author : Philip Mayotte Dames
Publisher : Unknown
Release : 2015
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Many tasks in the modern world involve collecting information, such as infrastructure inspection, security and surveillance, environmental monitoring, and search and rescue. All of these tasks involve searching an environment to detect, localize, and track objects of interest, such as damage to roadways, suspicious packages, plant species, or victims of a natural disaster. In any of these tasks the number of objects of interest is often not known at the onset of exploration. Teams of robots can automate these often dull, dirty, or dangerous tasks to decrease costs and improve speed and safety. This dissertation addresses the problem of automating data collection processes, so that a team of mobile sensor platforms is able to explore an environment to determine the number of objects of interest and their locations. In real-world scenarios, robots may fail to detect objects within the field of view, receive false positive measurements to clutter objects, and be unable to disambiguate true objects. This makes data association, i.e., matching individual measurements to targets, difficult. To account for this, we utilize filtering algorithms based on random finite sets to simultaneously estimate the number of objects and their locations within the environment without the need to explicitly consider data association. Using the resulting estimates they receive, robots choose actions that maximize the mutual information between the set of targets and the binary events of receiving no detections. This effectively hedges against uninformative actions and leads to a closed form equation to compute mutual information, allowing the robot team to plan over a long time horizon. The robots either communicate with a central agent, which performs the estimation and control computations, or act in a decentralized manner. Our extensive hardware and simulated experiments validate the unified estimation and control framework, using robots with a wide variety of mobility and sensing capabilities to showcase the broad applicability of the framework.

Multi Robot and Swarm Olfactory Search

Multi Robot and Swarm Olfactory Search Book
Author : Ali Marjovi
Publisher : LAP Lambert Academic Publishing
Release : 2013
ISBN : 9783659423963
Language : En, Es, Fr & De

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Book Description :

Searching for olfactory targets with mobile robots has received much attention in the recent years due to its applications in chemical leak detection, environmental monitoring, pollution monitoring, inspection of landfills, and search and rescue operations. This thesis aims to address the problem of searching for olfactory targets with a group of mobile robots. A group of robots with on-board sensors can actually form a mobile sensor network, so they can cover larger area in a shorter time and they show better performance in several scenarios in comparison to a single robot. Two types of robotic groups are considered in this thesis; "multi-robot systems" and "swarm robotic systems." For each of these systems a certain objective is defined to address several challenges in robotic olfactory search. "Olfactory search and exploration with multiple robots in structured unknown environments" and "swarm robotics olfactory search in unstructured unknown environments" are the two defined objectives of this thesis. In both objectives, the problem of "odor plume finding" that is the first step to localize odor sources is considered as the main problem.

Robot Ecology

Robot Ecology Book
Author : Magnus Egerstedt
Publisher : Princeton University Press
Release : 2021-12-07
ISBN : 069121168X
Language : En, Es, Fr & De

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Book Description :

A revolutionary new framework that draws on insights from ecology for the design and analysis of long-duration robots Robots are increasingly leaving the confines of laboratories, warehouses, and manufacturing facilities, venturing into agriculture and other settings where they must operate in uncertain conditions over long timescales. This multidisciplinary book draws on the principles of ecology to show how robots can take full advantage of the environments they inhabit, including as sources of energy. Magnus Egerstedt introduces a revolutionary new design paradigm—robot ecology—that makes it possible to achieve long-duration autonomy while avoiding catastrophic failures. Central to ecology is the idea that the richness of an organism’s behavior is a function of the environmental constraints imposed by its habitat. Moving beyond traditional strategies that focus on optimal policies for making robots achieve targeted tasks, Egerstedt explores how to use survivability constraints to produce both effective and provably safe robot behaviors. He blends discussions of ecological principles with the development of control barrier functions as a formal approach to constraint-based control design, and provides an in-depth look at the design of the SlothBot, a slow and energy-efficient robot used for environmental monitoring and conservation. Visionary in scope, Robot Ecology presents a comprehensive and unified methodology for designing robots that can function over long durations in diverse natural environments.

Swarm Robotics A Formal Approach

Swarm Robotics  A Formal Approach Book
Author : Heiko Hamann
Publisher : Springer
Release : 2018-02-10
ISBN : 331974528X
Language : En, Es, Fr & De

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Book Description :

This book provides an introduction to Swarm Robotics, which is the application of methods from swarm intelligence to robotics. It goes on to present methods that allow readers to understand how to design large-scale robot systems by going through many example scenarios on topics such as aggregation, coordinated motion (flocking), task allocation, self-assembly, collective construction, and environmental monitoring. The author explains the methodology behind building multiple, simple robots and how the complexity emerges from the multiple interactions between these robots such that they are able to solve difficult tasks. The book can be used as a short textbook for specialized courses or as an introduction to Swarm Robotics for graduate students, researchers, and professionals who want a concise introduction to the field.

Proceedings

Proceedings Book
Author : Anonim
Publisher : Unknown
Release : 2002
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Proceedings book written by , available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Government Reports Announcements Index

Government Reports Announcements   Index Book
Author : Anonim
Publisher : Unknown
Release : 1995
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

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International Aerospace Abstracts

International Aerospace Abstracts Book
Author : Anonim
Publisher : Unknown
Release : 1999
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

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INET 95 Conference Proceedings

INET 95 Conference Proceedings Book
Author : Anonim
Publisher : Unknown
Release : 1995
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

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Journal of Dynamic Systems Measurement and Control

Journal of Dynamic Systems  Measurement  and Control Book
Author : Anonim
Publisher : Unknown
Release : 2007
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Unsupervised Semantic Perception Summarization and Autonomous Exploration for Robots in Unstructured Environments

Unsupervised Semantic Perception  Summarization  and Autonomous Exploration for Robots in Unstructured Environments Book
Author : Yogesh Girdhar
Publisher : Unknown
Release : 2015
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

"This thesis explores the challenges involved in building autonomous exploration and monitoring systems, and makes contributions on four fronts: describing the semantic context of the collected data, summarizing this information, deciding where to collect this data, and making optimal online irrevocable decisions for physical sample collection. Making high level decisions based on the environmental context of a robot's location requires that we first describe what is being observed in a semantic space with higher level of abstraction than the low level sensor reading. ROST, a realtime online spatiotemporal topic modeling technique that we develop in this thesis solves the problem of obtaining such high level descriptors. Topics in this case represent the latent causes (such as objects and terrains). ROST extends previous work on topic modeling by efficiently taking into account the spatiotemporal context of an observation, and using a novel Gibbs sampling technique to refine the topic label assignment in realtime. Our experiments suggest that taking into account the spatiotemporal context of observations results in better topic labels that have higher mutual information with ground truth labels, compared to topic modeling without taking into account the spatiotemporal context. Moreover we show that the perplexity of the online topic model using the proposed Gibbs sampler is competitive with batch Gibbs sampler. Given a scene descriptor such as bag-of-words, location, or topic distribution, the thesis then proposes a novel online summarization algorithm, which unlike previous techniques focuses on building a navigation summary containing all the surprising scenes observed by the robot. We argue that the summaries produced by the algorithm (called extremum summaries) are ideal for monitoring and inspections tasks, where the goal is to maintain a small set of images that is representative of the diversity of what has been observed. Although computation of an optimal summary, even in the batch case is NP-hard, we empirically show that the approximate online algorithm presented in the thesis produces summaries with cost that is statistically indistinguishable from batch summaries, while running on natural datasets. Cost was measured as the distance of the farthest sample from a sample in the summary. Collecting data from an environment to build a topic model or a summary requires a robot to traverse this environment. If the geographic size of this region of interest is small then we can simply use any space filling curve to plan this path. However, for larger areas this might not be possible, and hence we propose an information theoretic exploration technique which biases the path towards locations with high information gain in topic space. The resulting topic models were empirically shown to perform better than topic models learned with other competing exploration algorithms, such as free space exploration. Performance was measured in terms of mutual information with ground truth labels, and mutual information with topic labels computed in batch mode with complete knowledge of the environment. Many exploration robots are required to collect samples and perform some chemical or physical analysis. Often such a task requires making irrevocable decisions on whether to select the current sample or not. This thesis presents a novel formulation of this task as an instance of the secretaries hiring problem. We examine several existing variants of this problem, and present an optimal solution to a new variant of the secretaries hiring problem, where the goal is to maximize the probability of identifying the top K samples online and irrevocably. Together, the contributions of this thesis are a step towards developing fully autonomous robotic agents that can be used in collaboration with humans to explore dangerous unknown environments." --

Nigerian Journal of Research and Production

Nigerian Journal of Research and Production Book
Author : Anonim
Publisher : Unknown
Release : 2007
ISBN : 0987650XXX
Language : En, Es, Fr & De

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British Reports Translations and Theses

British Reports  Translations and Theses Book
Author : British Library. Document Supply Centre
Publisher : Unknown
Release : 1996
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download British Reports Translations and Theses book written by British Library. Document Supply Centre, available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Government reports annual index

Government reports annual index Book
Author : Anonim
Publisher : Unknown
Release : 199?
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Dissertation Abstracts International

Dissertation Abstracts International Book
Author : Anonim
Publisher : Unknown
Release : 2002
ISBN : 0987650XXX
Language : En, Es, Fr & De

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OTC 20 year Index 1969 1988

OTC 20 year Index  1969 1988 Book
Author : Anonim
Publisher : Unknown
Release : 1988
ISBN : 0987650XXX
Language : En, Es, Fr & De

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The Detroiter

The Detroiter Book
Author : Anonim
Publisher : Unknown
Release : 1986
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

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Towards Cooperative SLAM for Low Cost Biomimetic Robots

Towards Cooperative SLAM for Low Cost Biomimetic Robots Book
Author : Austin Dane Buchan
Publisher : Unknown
Release : 2017
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Bio-inspired millirobots exhibit unique locomotion modalities that allow them to traverse complex, unstructured terrain that traditional robots cannot. This makes them potentially useful in urban search and rescue, structure inspection, environmental monitoring, and surveillance, all of which require some level of situational awareness. The low-cost, lightweight design and difficult-to-model dynamics of these robots also create unique challenges when applying state-of-the-art Simultaneous Localization and Mapping (SLAM) approaches usually used to gain this awareness. In this thesis, we develop a collection of estimation and control techniques that addresses these challenges, allowing teams of millirobots to localize within and map complex, unstructured environments. The analysis covers several facets of the problem, including low-cost millirobot team design, motion modeling, cooperative state estimation, and mapping. We first show the utility of disposable low-cost robots in hazardous environments by using teams of "picket" and "observer" robots for exploration. Next, we explore a data-driven motion modeling approach to approximate the non-linear stochastic dynamics of legged millirobots. Then we develop an inter-robot pose estimation technique using monocular vision and active markers that can operate in visually feature-poor environments, and can scale to teams of computationally constrained robots. We demonstrate this technique first on autonomous underwater vehicles, and then extend it to a team of ground robots cooperatively navigating three-dimensional terrain. Finally, we explore a simple scanning laser technique that can leverage cooperating robots with cameras to map an environment.

Index to IEEE Publications

Index to IEEE Publications Book
Author : Institute of Electrical and Electronics Engineers
Publisher : Unknown
Release : 1998
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Issues for 1973- cover the entire IEEE technical literature.