Academic year 2010-2011:

Real-time Smooth Realistic Paths & Navigation

Real-time Smooth Realistic Paths & Navigation

Subject: Autonomous navigation by a UGV or mobile robot from one location to another is a very complex process. The robot must accomplish at least four simultaneous tasks to be successful and efficient: Perception, Localization, Local navigation, Global path planning. The focus in this project will be somewhere between global path planning and local navigation.

In this project the world is represented as grid. Planning space is broken up into discrete, non-overlapping regions (= cells). The result is a graph in which each cell is adjacent to other cells. The global planner searches for the optimal path as a sequence of cells. The global planner will give the path with the lowest cost, but it won't give the most smooth naturally looking path.

Goals of the project are:
1. Perform post processing on the path that will remove the zigzag effect that results from the global path planning algorithm.
2. Execute this path in a safe and natural manner.

Responsible: Kristel Verbiest

Proposal: PDF

Student: Aaron Zampaglione

Institute:The Florida Institute of Technology

 

Tracking and Motion estimation of a mobile target

Tracking and Motion estimation of a mobile target

Subject: The goal of this thesis project is to enable a mobile Pioneer robot (Fig) to detect, estimate the motion, and follow a priori defined target. In the case of this application, the target object will be another Pioneer robot. A single on-board camera will be used as sensory input for this work.

By implementing this robot tracking behavior, further robot collaboration tasks can be achieved.

 

Responsible: Sid Ahmed Berrabah

Proposal: PDF

Student: Carey Eugene

Institute:The Florida Institute of Technology

 

 

Integration of the Time-of-Flight Kinect Camera in the Robot Operating System (ROS)

Integration of the Time-of-Flight Kinect Camera in the Robot Operating System (ROS)

Subject: Integration of the Time-of-Flight Kinect Camera in the Robot Operating System (ROS).

 

Responsible: Eric Colon

Proposal:-

Student: Alex William Hayes

Institute:The Florida Institute of Technology

 

 

3D Scene Reconstruction and Interpretation with a super-resolution ToF-Camera

3D Scene Reconstruction and Interpretation with a super-resolution ToF-Camera

Subject: At the UGV Centre, we have developed a methodology for automatic detection of 3D planes in stereo images. As input to this algorithm, a pair of stereo images is given and the output is a simplified 3D view of the structure of the scene. The problem with the algorithm though, is that for now it is off-line: it uses previously recorded stereo video sequences and is written in Matlab as speed of execution was not an issue at the time of development. With this project, we want to make an on-line 3D plane detector, using the input from our Time-Of-Flight Depth vision system and porting the code to C++ for implementation on a real robot.

Responsible: Geert De Cubber

Proposal: PDF

Student: Helmi Oueslati

Institute:The Military Academy of Tunisia

 

Recycling an old robot as a lab tour guide

lab tour guide robot

Subject: The old indoor research platform of the UGV Centre (see picture on the left) suffered some damage due to previous master thesis projects.


It was partially repaired, restoring some basic functionality.


The aim of this work is to finish this reparation process and to prepare this robot for his future life as a lab tour guide robot.

 

Responsible: Geert De Cubber

Proposal: PDF

Student: Kevin Surzyn

Institute:The Florida Institute of Technology

 

Implementation of a differential Global positioning system (DGPS)

Image description

Subject: The objective of this thesis project is to implement a CoRoBa module for a DGPS system. To do this, two GPS units are used. A base station with a known position sends error correction data to the mobile unit (robot) which will use it together with the measurements from its GPS to calculate its position.

Responsible: Sid Ahmed Berrabah

Proposal: PDF

Student: -

Institute:The Military Academy of Tunisia

 

Real-Time Manipulator Control

Real-Time Manipulator Control

Subject: In a previous thesis project, an API with control commands for a manipulator robot established. The goal of this thesis subject is to use the developed API for areal-time robot control application. Envisaged applications are visual servoing tasks like human robot interaction (hand-shaking) or ball-fetching.

Responsible: Geert De Cubber

Proposal: PDF

Student: Jeremie Bours

Institute:The Institut Supérieur d'Enseignement Technologique

 

 

 

Robot path-planning for optimal terrain coverage for a humanitarian demining robot

Optimal Terrain Coverage For Humanitarian Demining

Subject: The goal of this thesis subject is to develop a robot path planning methodology which seeks to maximize the terrain coverage of a humanitarian demining robot in a minimum amount of time. The student is given geographic data from a suspected minefield (acquired through remote sensing techniques) and needs to plan the plan of the robot, taking into account the robot kinematics and the terrain (obstacles, slopes, ...)

 

Responsible: Geert De Cubber

Proposal: PDF

Student: Yannick Charles

Institute:The Ecole Centrale de Nantes

 

3D Modeling

3D ModelingStudent: Adrien Douillard

Institute:École Spéciale Militaire de Saint-Cyr in France

Subject: Implement a modern-day version of the Iterative Closest Point algorithm for integrating 3D models captured at different time intervals and provide an adequate visual representation of this 3D model.

Responsible: Geert De Cubber

Proposal: PDF

 

Comparison of multi-robot collaboration strategies

Comparison of multi-robot collaboration strategiesStudent: Andreea Niculescu

Institute:The Technical University Gh. Asachi in Iasi, Romania

Subject: Compare multiple multi-robot control strategies for collaborative mapping, defining quantitative metrics to determine which approaches work best.

Responsible: Daniela Doroftei

Proposal: PDF

 

Live 3D Panorama

Live 3D PanoramaStudent: Emanuel Deliu

Institute:The Technical University Gh. Asachi in Iasi, Romania

Subject: Using a camera mounted on a pan-tilt unit, make a full scan of the environment. Integrate all views automatically using feature point detection and matching. Automatically, make a 2.5D panorama of the input images using open source tools and present the resulting 2.5D model on a website, which is continuously updated, as the pan-tilt unit scans in an infinite loop.

Responsible: Geert De Cubber

Proposal: PDF

 

Programmatical Manipulator Control

Programmatical Manipulator ControlStudent: Stefan-Alexandru Pîrtac

Institute:The Technical University Gh. Asachi in Iasi, Romania

Subject: Reverse-engineer the command and control architecture of an industrial manipulator robot, such that it becomes possible to programmatically control this robot.

Responsible: Geert De Cubber

Proposal: PDF

 

Development of a throwable spy-robot

Throwable spy-robotStudent: Dorin Gelu

Institute:The Technical University Gh. Asachi in Iasi, Romania

Subject: Provide a mechanical end electronical conceptuel design of a throwable mini-spy robot. This robot is intended to be used by the intervention forces, who should be able to throw it through a window or into the next room they want to enter, to assess the situation.

Responsible: Geert De Cubber

Proposal: PDF

 

Target following for Robot Collaboration

Subject: The goal of this thesis project is to enable a mobile Pioneer robot (slave robot) (Fig) to detect and follow a priori defined target. In the case of this application, the target object will be another (master robot) Pioneer robot. A PTZ on-board camera will be used as sensory input for this work.
By implementing this robot following behavior, further robot collaboration tasks can be achieved.

 

 

 

Responsible: Sid Ahmed Berrabah

Proposal: PDF

 

 

 

Academic year 2009-2010:

2D-3D Visual Scene Recognition

2D-3D Visual Scene RecognitionStudent: Ichraf Lahouli

Institute:The Military Academy of Tunisia

Subject: A robot wandering around in a certain (indoor) area must be made able to recognize in what type of room (kitchen, office, toilet, ...) it is, only using data collected through its (stereo) vision system.

Thesis Dissertation: PDF

 

 

Face Tracking

Face TrackingStudent: Mohammed Zrelli

Institute:The Military Academy of Tunisia

Subject: A camera mounted on a pan-tilt-unit must be made to follow a human face.

Thesis Dissertation: PDF

 

Academic year 2008-2009:

Development of a chess-playing Robot

Chess-playing RobotStudent: Islam Amira

Institute:The Military Academy of Tunisia

Subject: A manipulator robot must be made able to play chess against a human opponent

Thesis Dissertation: PDF

 

 

 

Academic year 2007-2008:

Development of an object-following robot

Object-following robotStudent: Wahiba Jomaa

Institute:The Military Academy of Tunisia

Subject: A mobile robot (the Castor) must be made able to follow an object (here: a red ball) via its on-board camera.

Thesis Dissertation: PDF

Video Result: Castor Robot following a red ball

 

Human Victim Detection

Human Victim DetectionStudent: Gabor Marton

Institute:The Budapest University of Technology & Economics

Subject: Development of an algorithm to detect human victims in visual camera images

Thesis Dissertation: PDF