Centralized task offloading on distributed remote robot agent(s) : simultaneous localization and mapping

Simple item page
dc.contributor.advisorJulien, Christine, D. Sc.
dc.contributor.advisorPryor, Mitchell Wayne
dc.creatorMeza, Daniel I.
dc.date.accessioned2024-04-30T02:01:38Z
dc.date.available2024-04-30T02:01:38Z
dc.date.issued2023-12
dc.date.submittedDecember 2023
dc.date.updated2024-04-30T02:01:39Z
dc.description.abstractThis thesis contributes to an ongoing initiative aimed at providing a comprehensive hardware and software solution for routine radiation surveying in nuclear facilities. The proposed Minibot system is a robotic application featuring a server computer that coordinates multiple mobile agents to collaboratively map hazardous indoor environments. The robot agents, designed to be small, low-powered, and cost-effective, strategically offload computational tasks to a central computer, facilitating the execution of complex algorithms for Simultaneous Localization and Mapping (SLAM). This work explores the unique improvements and limitations associated with using small, wheeled robotic platforms, the feasibility of running computationally complex applications through a distributed structure, and the real-world deployment conditions that may affect mapping performance and system scalability.
dc.description.departmentElectrical and Computer Engineering
dc.format.mimetypeapplication/pdf
dc.identifier.uri
dc.identifier.urihttps://hdl.handle.net/2152/124970
dc.identifier.urihttps://doi.org/10.26153/tsw/51571
dc.language.isoen
dc.subjectSlam
dc.subjectRos
dc.subjectTask offloading
dc.subjectCentralized
dc.subjectMapping
dc.subjectDistributed
dc.subjectRobotics
dc.subjectDeployment
dc.subjectSimulation
dc.subjectRadiation
dc.subjectResource-constrained
dc.subjectSmall robots
dc.subjectServer computer
dc.titleCentralized task offloading on distributed remote robot agent(s) : simultaneous localization and mapping
dc.typeThesis
dc.type.materialtext
thesis.degree.departmentElectrical and Computer Engineering
thesis.degree.grantorThe University of Texas at Austin
thesis.degree.nameMaster of Science in Engineering

Access full-text files

Original bundle

Now showing 1 - 1 of 1
Thumbnail Image
Name:
MEZA-PRIMARY-2024-1.pdf
Size:
34.02 MB
Format:
Adobe Portable Document Format
Download

License bundle

Now showing 1 - 2 of 2
No Thumbnail Available
Name:
PROQUEST_LICENSE.txt
Size:
4.45 KB
Format:
Plain Text
Description:
Download
No Thumbnail Available
Name:
LICENSE.txt
Size:
1.84 KB
Format:
Plain Text
Description:
Download

Collections

UT Electronic Theses and Dissertations