Sökning: "Todor Stoyanov"

Visar resultat 1 - 5 av 8 avhandlingar innehållade orden Todor Stoyanov.

  1. 1. Reliable autonomus navigation in semi-structured environments using the three-dimensional normal distributions transform (3D-NDT)

    Författare :Todor Dimitrov Stoyanov; Achim Lilienthal; Martin Magnusson; Henrik Andreasson; Michael Beetz; Örebro universitet; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; Computer and Systems Science; Datavetenskap;

    Sammanfattning : .... LÄS MER

  3. 2. Truncated Signed Distance Fields Applied To Robotics

    Författare :Daniel Ricão Canelhas; Achim Lilienthal; Todor Stoyanov; Giorgio Grisetti; Örebro universitet; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; 3D mapping; pose estimation; feature detection; shape description; compression; unsupervised learning; Datavetenskap; Computer Science;

    Sammanfattning : This thesis is concerned with topics related to dense mapping of large scale three-dimensional spaces. In particular, the motivating scenario of this work is one in which a mobile robot with limited computational resources explores an unknown environment using a depth-camera. LÄS MER

  4. 3. Vision-based Perception For Autonomous Robotic Manipulation

    Författare :Dinh-Cuong Hoang; Todor Stoyanov; Achim Lilienthal; Per-Erik Forssén; Örebro universitet; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES;

    Sammanfattning : In order to safely and effectively operate in real-world unstructured environments where a priori knowledge of the surroundings is not available, robots must have adequate perceptual capabilities. This thesis is concerned with several important aspects of vision-based perception for autonomous robotic manipulation. LÄS MER

  5. 4. Safe Robotic Manipulation to Extract Objects from Piles : From 3D Perception to Object Selection

    Författare :Rasoul Mojtahedzadeh; Achim J. Lilienthal; Todor Stoyanov; Abdelbaki Bouguerra; Erik Schaffernicht; Patric Jensfelt; Örebro universitet; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; Object Selection; Object Pose Refinement; Gravitational Support Relation; Inter-penetration Resolving; 3D Ranging Sensor Evaluation; Computer Science; Datavetenskap;

    Sammanfattning : This thesis is concerned with the task of autonomous selection of objects to remove (unload) them from a pile in robotic manipulation systems. Applications such as the automation of logistics processes and service robots require an ability to autonomously manipulate objects in the environment. LÄS MER

  7. 5. Efficient and Trustworthy Artificial Intelligence for Critical Robotic Systems

    Författare :Christopher Sprague; Petter Ögren; John Folkesson; Ivan Stenius; Todor Stoyanov; KTH; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; behaviour trees; hybrid dynamical systems; formal guarantees; optimal control; machine learning; autonomy; Datalogi; Computer Science;

    Sammanfattning : Critical robotic systems are systems whose functioning is critical to both ensuring the accomplishment of a given mission and preventing the endangerment of life and the surrounding environment. These critical aspects can be formally captured by convergence, in the sense that the system's state goes to a desired region of the statespace, and safety, in the sense that the system's state avoids unsafe regions of the statespace. LÄS MER