Title:
Distributed Perception in Collaborative Robot Systems with RFID Localization
Distributed Perception in Collaborative Robot Systems with RFID Localization
Author(s)
Merck, Matthew L.
Advisor(s)
Kim, Hyesoon
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Abstract
As the fields of artificial intelligence and distributed robotics (multi-robot systems) continue to develop, the variety of use cases in industry that utilize them grows. Examples include agriculture, aviation, and planetary exploration. The use of computer vision and other machine perception techniques allow robots to become more aware of their surroundings. Additionally, robot builds are becoming sturdier, allowing them to be deployed in increasingly complex environments. Thus, technology for the precise measurement of a robot’s location within its surroundings is necessary, and mapping and localization techniques are improving to better contextualize a robot’s position in its environment. A task commonly used as a “testbed” for multi-robot systems is the foraging task, where robots search for and pick up items in an environment. The goal of this research is to develop a distributed robot system that employs perception and RFID based localization (a method of localization defined in detail later in the thesis) to perform the foraging task. Ultimately, we did not complete a system consisting of 2 or more robots, nor was RFID seamlessly intertwined with system execution. So, this thesis describes our final functional single robot system and challenges we faced in our design. We also contribute areas of future interest at the intersection of these fields.
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Date Issued
2021-05
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Resource Type
Text
Resource Subtype
Undergraduate Thesis