Graduate Thesis Or Dissertation
Subterranean Mobility Systems and Online Multi-Robot 3D Octree-Based Occupancy Grid Map Merging Public Deposited
- Abstract
The DARPA Subterranean Challenge provided competing teams from around the world the opportunity to work on the development of autonomous multi-robot solutions for the exploration of unknown subterranean environments to support of first responders and military personnel. These environment present challenges to current autonomous mobility and software systems via complex terrain topologies, communications limitations, degraded perception among others. Proposed here are UGV (unmanned ground vehicle) mobility solutions and an extension to the multi-robot mapping solution developed by Team MARBLE. The first part of this thesis describes the UGV development and supporting communication beacon and beacon deployment hardware solutions deployed during the Subterranean Challenge. The second part of this work addresses multi-robot map generation issues experienced by MARBLE. The proposed alignment procedure seeks to correct this issue and thus expand the capabilities of current multi-robot mapping solutions.
- Creator
- Date Issued
- 2022-04-15
- Academic Affiliation
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- Commencement Year
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- Last Modified
- 2022-07-07
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Thumbnail | Title | Date Uploaded | Visibility | Actions |
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Torres_colorado_0051N_17712.pdf | 2022-07-07 | Public | Download | |
Thesis_Approval_Form.pdf | 2022-07-07 | Public | Download |