Robots are becoming more and more prevalent today and one of the challenges for robots is navigating around dynamic environments. Dynamic environments are those where a robot has no a priori information and the environmental conditions can change at any time. This can apply to a…
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Path planning for a manipulator in the 3-dimensional work space of known and static obstacles is addressed. The path connecting a pair of start and goal configurations is constructed in a short period of computation time. This has been a problem for other methods which exhibit e…
As an attempt to steer away from developing an autonomous robot with complex centralised intelligence, this thesis proposes an intelligent environment infrastructure where intelligences are distributed in the environment through collaborative vision sensors mounted in a physical…
Visual Simultaneous Localisation and Mapping (SLAM) is a vital technology for the advancement of autonomous robotics, providing a means of both mapping and pose estimation from visual data. Many advances in visual and RGB-D SLAM however have built upon established point feature …
In robotics, path planning refers to the process of establishing paths for robots to move from initial positions to goal positions without colliding into any obstacle within specified environments. Constructing roadmaps and searching for paths in the roadmaps is one of the most …
Robotics has been the subject of academic study from as early as 1948. For much of this time, study has focused on very specific applications in very well controlled environments. For example, the first commercial robots (1961) were introduced in order to improve the efficiency …
An Unmanned Aerial Vehicle (UAV) is an aircraft without a human pilot on board. Its flight is controlled either autonomously by computers onboard the vehicle, or remotely by a pilot on the ground, or by another vehicle. In recent years, UAVs have been used more commonly than pri…