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Qualitative relational mapping and n...

McClelland, Mark J.

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Qualitative relational mapping and navigation for long-term robotic operation.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Qualitative relational mapping and navigation for long-term robotic operation./
Author:	McClelland, Mark J.
Description:	164 p.
Notes:	Source: Dissertation Abstracts International, Volume: 75-11(E), Section: B.
Contained By:	Dissertation Abstracts International75-11B(E).
Subject:	Engineering, Mechanical. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3583181
ISBN:	9781321126402

Qualitative relational mapping and navigation for long-term robotic operation.
McClelland, Mark J.

Qualitative relational mapping and navigation for long-term robotic operation. - 164 p.

Source: Dissertation Abstracts International, Volume: 75-11(E), Section: B.

Thesis (Ph.D.)--Cornell University, 2014.

This item must not be sold to any third party vendors.

The research presented in this work focuses on several aspects of the remote operation of ground vehicles, notably Navigation and Mapping for autonomous robots and the effects of time delay in tele-operated vehicles.

ISBN: 9781321126402Subjects--Topical Terms:

783786
Engineering, Mechanical.

Qualitative relational mapping and navigation for long-term robotic operation.
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020 $a 9781321126402
035 $a (MiAaPQ)AAI3583181
035 $a AAI3583181
040 $a MiAaPQ $c MiAaPQ
100 1 $a McClelland, Mark J. $3 3169947
245 1 0 $a Qualitative relational mapping and navigation for long-term robotic operation.
300 $a 164 p.
500 $a Source: Dissertation Abstracts International, Volume: 75-11(E), Section: B.
500 $a Adviser: Mark Campbell.
502 $a Thesis (Ph.D.)--Cornell University, 2014.
506 $a This item must not be sold to any third party vendors.
506 $a This item must not be added to any third party search indexes.
520 $a The research presented in this work focuses on several aspects of the remote operation of ground vehicles, notably Navigation and Mapping for autonomous robots and the effects of time delay in tele-operated vehicles.
520 $a Navigation and mapping of large, unstructured spaces is achieved by accumulating constraints on the geometrical relationships between landmarks. These relationships are tracked using two qualitative representations of space, one based on qualitative angles between landmark triples, and a second which also considers qualitative edge lengths. For the first representation, measurements and graph inference are performed by way of manually computed lookup tables based on geometrical constraints on qualitative states. For the second representation, measurements are generated online using a branch-and-bound algorithm to solve a set of nonlinear feasibility problems, while lookup tables for inference are generated using a similar, offline approach. Estimates of the Relative Neighborhood Graph are extracted from the qualitative map and used to perform long-distance navigation.
520 $a The effects of human control of remote vehicles are considered, focusing on the question of how operators are able to compensate for time delays when teleoperating vehicles in continuous motion. Statistical models fit to experimental data using the Least Angle Regression and Sparse Multinomial Regression algorithms show that human operators anticipate future control needs by predicting rover motion forward through time to determine predicted off-track errors. The relative contributions of environmental features to model predictive power is used to determine how feature 'importance' varies as a function of time delay.
590 $a School code: 0058.
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Computer Science. $3 626642
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0548
690 $a 0984
690 $a 0771
710 2 $a Cornell University. $b Mechanical Engineering. $3 2093058
773 0 $t Dissertation Abstracts International $g 75-11B(E).
790 $a 0058
791 $a Ph.D.
792 $a 2014
793 $a English
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3583181