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Title:Sensing and filtering for localization tasks
Author(s):Katsev, Maksym
Advisor(s):LaValle, Steven M.
Department / Program:Computer Science
Discipline:Computer Science
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:M.S.
Genre:Thesis
Subject(s):Sensing
Navigation
Adaptive Control
Abstract:This thesis considers two navigation problems for robots with weak sensors and simple motion primitives. We evaluate the capabilities of the robots and propose algorithms that allow them to navigate to certain points in the plane and to learn information about the robot model or the landmark locations. We, furthermore, demonstrate example tasks, such as convex hull computation, that can be performed using this information.
Issue Date:2014-05-30
URI:http://hdl.handle.net/2142/49583
Rights Information:Copyright 2014 Maksym Katsev
Date Available in IDEALS:2014-05-30
Date Deposited:2014-05


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