Browsing Engineering (Faculty of) by Supervisor "Smith, Stephen"
Now showing items 1-20 of 20
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Assessing user specifications of robot behaviour for material transport tasks
(University of Waterloo, 2019-09-25)Robots are an established component of many existing manufacturing processes. In the majority of cases, these robots operate in segregated areas, separated from human workers. However, as robots' capabilities in sensing ... -
Coverage Path Planning for a Moving Vehicle
(University of Waterloo, 2020-04-21)A simple coverage plan called a Conformal Lawn Mower plan is demonstrated. This plan enables a UAV to fully cover the route ahead of a moving ground vehicle. The plan requires only limited knowledge of the ground vehicle's ... -
Dead Reckoning for Distributed Network Online Games
(University of Waterloo, 2021-05-07)Online networked games are becoming increasingly popular. One type of network architecture used in these games is a distributed network architecture, where players send periodic updates to each other and each player must ... -
Distributed Task Allocation and Task Sequencing for Robots with Motion Constraints
(University of Waterloo, 2016-04-20)This thesis considers two routing and scheduling problems. The first problem is task allocation and sequencing for multiple robots with differential motion constraints. Each task is defined as visiting a point in a subset ... -
Estimation and Control of Dynamical Systems with Applications to Multi-Processor Systems
(University of Waterloo, 2016-08-23)System and control theory is playing an increasingly important role in the design and analysis of computing systems. This thesis investigates a set of estimation and control problems that are driven by new challenges ... -
Intent Classification during Human-Robot Contact
(University of Waterloo, 2020-10-15)Robots are used in many areas of industry and automation. Currently, human safety is ensured through physical separation and safeguards. However, there is increasing interest in allowing robots and humans to work in close ... -
Lattice-Based Motion Planning with Optimal Motion Primitives
(University of Waterloo, 2021-12-23)In the field of navigation for autonomous vehicles, it is the responsibility of a local planner to compute reference trajectories that are then be followed by a tracking controller. These trajectories should be safe, ... -
Learning a Motion Policy to Navigate Environments with Structured Uncertainty
(University of Waterloo, 2020-01-24)Navigating in uncertain environments is a fundamental ability that robots must have in many applications such as moving goods in a warehouse or transporting materials in a hospital. While much work has been done on navigation ... -
Minimizing Robot Digging Times to Retrieve Bins in Robotic-Based Compact Storage and Retrieval Systems
(University of Waterloo, 2023-10-05)In this thesis, we study storage policies for a robotic-based compact storage and retrieval system (RCS/RS), which provides high-density storage in distribution center and warehouse applications. In the system, items are ... -
Minimizing Turns in Single and Multi Robot Coverage Path Planning
(University of Waterloo, 2017-01-20)Spurred by declining costs of robotics, automation is becoming a prevalent area of interest for many industries. In some cases, it even makes economic sense to use a team of robots to achieve a goal faster. In this thesis ... -
Motion Planning and Safety for Autonomous Driving
(University of Waterloo, 2019-12-11)This thesis discusses two different problems in motion planning for autonomous driving. The first is the problem of optimizing a lattice planner control set for any particular autonomous driving task, with the goal of ... -
Multi-robot Coverage and Redeployment Algorithms
(University of Waterloo, 2020-09-25)In this thesis, we focus on two classes of multi-robot task allocation and deployment problems motivated by applications in ride-sourcing transportation networks and service robots: 1) coverage control with multiple robots, ... -
Multi-Robot Path Planning for Persistent Monitoring in Stochastic and Adversarial Environments
(University of Waterloo, 2020-05-15)In this thesis, we study multi-robot path planning problems for persistent monitoring tasks. The goal of such persistent monitoring tasks is to deploy a team of cooperating mobile robots in an environment to continually ... -
On Legible and Predictable Robot Navigation in Multi-Agent Environments
(University of Waterloo, 2022-11-24)Legibility has recently become an important property to consider in the design of social navigation planners. Legible motion is intent-expressive, which when employed during social robot navigation, allows others to quickly ... -
Online Scheduling of Operator Assistance for Multi-Robot Teams with Uncertain Robot Capabilities and Environments
(University of Waterloo, 2023-01-16)In this study, we consider the problem of allocating human operator assistance in a system with multiple autonomous robots. Each robot is assigned with an independent mission, each defined as a sequence of tasks. While ... -
A Pursuit Evasion Game Approach to Obstacle Avoidance
(University of Waterloo, 2021-08-27)We propose an event triggered obstacle avoidance control scheme that guarantees the safety of a mobile robot in a material transport task at a warehouse. This collision avoidance strategy is based on a pursuer static ... -
Robotic Motion Planning in Uncertain Environments via Active Sensing
(University of Waterloo, 2017-09-08)Perception and control are at the foundation of automation, and in recent years, we have seen growth in feasible applications including self-driving cars and smart homes. As automation moves from regulated, well-monitored ... -
Robotic Path Planning for High-Level Tasks in Discrete Environments
(University of Waterloo, 2018-04-10)This thesis proposes two techniques for solving high-level multi-robot motion planning problems with discrete environments. We focus on an important class of problems that require an allocation of spatially distributed ... -
Route Planning and Operator Allocation in Robot Fleets
(University of Waterloo, 2023-10-03)In this thesis, we address various challenges related to optimal planning and task allocation in a robot fleet supervised by remote human operators. The overarching goal is to enhance the performance and efficiency of the ... -
Specifying User Preferences for Autonomous Robots through Interactive Learning
(University of Waterloo, 2020-09-28)This thesis studies a central problem in human-robot interaction (HRI): How can non-expert users specify complex behaviours for autonomous robots? A common technique for robot task specification that does not require ...