Traditional autonomy among robotic and other artificial agents was accomplished via automated planning methods that found a viable sequence of actions, which, if executed by an agent, would result in the successful completion of the given task(s). However, many tasks that we would like robotic agents to perform involve goals that are complex, poorly-defined, or hard to specify. Furthermore, significant amounts of data or computation are required for agents to reach reasonable performance. As a result, autonomous systems still rely on human operators to play a supervisory role to ensure that robotic operations are completed quickly and successfully. The presented work aims to improve the traditional methods of robot autonomy by developing an intuitive means for(human operators to adapt/mold the behaviors and decision making of autonomous agents) autonomous agents to leverage the flexibility and expertise of human end users. Specifically, this work shows the results of three machine learning-based approaches for modifying and extending established robot navigation behaviors and skills through human demonstration. Our first project combines Imitation learning with classical navigation software to achieve long-horizon planning and navigation that follows navigation rules specified by a human user. We show that this method can adapt a robot's navigation behavior to become more like that of a human demonstrator. Moreover, for a minimal amount of demonstration data, we find that this approach outperforms recent baselines in both navigation success rate and trajectory similarity to the demonstrator. In the second project, we introduce a method of communicating complex skills over a short-horizon task. Specifically, we explore using imitation learning to teach a robot the complex skill needed to safely navigate through negative obstacles in simulation. We find that this proposed method could imitate complex navigation behaviors and generalize to novel environments in simulation with minimal demonstration. Furthermore, we find that this method compares favorably to a classical motion planning algorithm which was modified to assign traversal cost based on the terrain slope local to the robot's current pose. Finally, we demonstrate a practical implementation of the second approach in a real-world environment. We show that the proposed method results in a policy that can generalize across differently shaped obstacles and across simulation and reality. Moreover, we show that the proposed method still outperforms the classical motion planning algorithm when tasked to navigate negative obstacles in the real world. / Doctor of Philosophy / With the rapid advancement of computing power and growing technical literacy of the general public, the tasks that robots should be able to accomplish have multiplied. Robots can, however, be limited by the human ability to effectively convey how tasks should be performed. For example, autonomous robot navigation to a specified path planning software suite that generates feasible and obstacle-free trajectories through a cluttered environment. While these modules can be modified to meet task-specific constraints and user preferences, current modification procedures require substantial effort on the part of an expert roboticist with a great deal of technical training. The desired tasks and skills are difficult to effectively convey in a machine legible format. These tasks often require technical expertise in multiple mechatronic disciplines and hours of hand tuning that the typical end user does not have. In this dissertation, we examine methods that directly leverage human users to teach robots how to perform tasks that are generally difficult to specify pragmatically. We focus on methods that allow human users to extend established robot navigation behaviors and skills by demonstrating their own preferred approaches. We evaluate the performances of our proposed approaches in terms of navigation success rate, adherence to the demonstrated behavior, and their ability to apply what they have learned to novel environments. Moreover, we showed that our approaches compare favorably to recent machine learning-based approaches to autonomous navigation, and classical navigation techniques with respect to these metrics.

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Automation of hydraulic earth moving and construction equipment is of prime economic and social importance in today's marketplace. A human operator can be replaced or augmented with a robotic system when the job is too dull, dirty or dangerous. There are a myriad of applications in both Government and Industry that could benefit from augmenting or replacing an operator of hydraulic equipment with an intelligent robotic system. A specific important situation is the removal of unexploded ordnance (UXO). The removal of UXO is a troubling environmental problem that plagues people around the world. This document addresses the danger that UXO pose to military groups in applications such as active range clearance and disposal of unexploded or dud munitions. Disposing of these munitions is a difficult problem, which first begins by determining their location. The process can be aided through the use of teleoperated hydraulic equipment, which allows the operator to be located at a safe distance from these munitions. In the past, converting a large piece of hydraulic construction equipment for teleoperated use has been an expensive task. An important result of this research is demonstrating that through readily available commercial products and existing design methodologies, such robotic tasks can be accomplished at relatively low cost and in a timely, reliable fashion. / Master of Science

The increased use of Unmanned Ground Vehicles affects how Integrated Logistics Support is performed due to the removal of onboard operators. This thesis aims to identify key differences between how Integrated Logistics Support is performed on Manned and Unmanned Ground Vehicles. Thereby providing the industry with the requested basis for necessary changes in Integrated Logistics Support for future systems. By conducting semi-structured interviews, six experts provided knowledge of inherent differences between Manned and Unmanned Ground Vehicles. The interview data was used to develop Maintenance Concepts for Manned and Unmanned Ground Vehicles. By comparing these maintenance concepts, differences were identified mainly in the form of maintenance and support operations due to the disappearance of the onboard operator. Multiple questions were also raised by the experts, asking when unmanned ground vehicles should be considered consumable, how redundant they should be, where the boundaries of cyber lie within the system, and to what degree they are autonomous. This work signifies the importance of continued research on the topic of Integrated Logistics Support in regard to future unmanned systems. / Den ökade användningen av Obemannade Markfordon (UGV) påverkar hur Integrerat Logistikstöd (ILS) utförs på grund av att ombordoperatörer tas bort. Denna uppsats syftar till att identifiera viktiga skillnader mellan hur Integrerat Logistikstöd utförs på Bemannade och Obemannade Markfordon. Därigenom ges branschen den efterfrågade grunden för nödvändiga förändringar inom Integrerat Logistikstöd för framtida system. Genom att genomföra semistrukturerade intervjuer bidrog sex experter med kunskap om grundläggande skillnader mellan Bemannade och Obemannade Markfordon. Intervjudatan användes för att utveckla underhållskoncept för Bemannade och Obemannade Markfordon. Genom att jämföra dessa underhållskoncept identifierades skillnader främst i form av underhålls- och stödoperationer på grund av att ombordoperatören försvinner. Experterna väckte också flera frågor om när Obemannade Markfordon ska betraktas som förbrukningsvaror, hur redundanta de ska vara, var gränserna för cyber ligger inom systemet och i vilken grad de är autonoma. Detta arbete understryker vikten av fortsatt forskning inom Integrerat Logistikstöd vad gäller framtida obemannade system.

In this paper I describe a motion planning technique for intelligent ground vehicles. The technique is an implementation of a path selection algorithm based on fuzzy inference. The approach extends on the motion planning algorithm known as driving with tentacles. The selection of the tentacle (a drivable path) to follow relies on the calculation of a weighted cost function for each tentacle in the current speed set, and depends on variables such as the distance to the desired position, speed, and the closeness of a tentacle to any obstacles. A Matlab simulation and the practical implementation of the fuzzy inference rule on a Clearpath Husky robot within the Robot Operating System (ROS) framework are provided.

Mobile robots are commonly used to achieve tasks involving tracking a desired trajectory and following a predefined path in different types of terrains that have different surface characteristics. A mobile robot can perform the same navigation task task over different surfaces if the tracking performance and accuracy are not essential. However, if the tracking performance is the main objective, due to changing the characteristics of wheel-ground interaction, a single set of controller parameters or an equation of motion might be easily failing to guarantee a desired performance and accuracy. The interaction occurring between the wheels and ground can be integrated into the system model so that the performance of the mobile robot can be enhanced on various surfaces. This modeling approach related to wheel-ground interaction can also be incorporated into the motion controller. In this thesis study, modeling studies for a two wheeled differential drive mobile robot and a steerable four-wheeled robot vehicle are carried out. A strategy to achieve better tracking performance for a differential drive mobile robot is developed by introducing a procedure including the effects of external wheel forces / i.e, traction, rolling and lateral. A new methodology to represent the effects of lateral wheel force is proposed. An estimation procedure to estimate the parameters of external wheel forces is also introduced. Moreover, a modeling study that is related to show the effects of surface inclination on tracking performance is performed and the system model of the differential drive mobile robot is updated accordingly. In order to accomplish better trajectory tracking performance and accuracy for a steerable four-wheeled mobile robot, a modeling work that includes a desired trajectory generator and trajectory tracking controller is implemented. The slippage is defined via the slip velocities of steerable front and motorized rear wheels of the mobile robot. These slip velocities are obtained by using the proposed slippage estimation procedure. The estimated slippage information is then comprised into the system model so as to increase the performance and accuracy of the trajectory tracking tasks. All the modeling studies proposed in this study are tested by using simulations and verified on experimental platforms.

To teleoperate an unmanned vehicle a rich set of information should be gathered from surroundings.These systems use sensors which sends high amounts of data and processing the data in CPUs can be time consuming. Similarly, the algorithms that use the data may work slow because of the amount of the data. The solution is, preprocessing the data taken from the sensors on the vehicle and transmitting only the necessary parts or the results of the preprocessing. In this thesis a 180 degree laser scanner at the front end of an unmanned ground vehicle (UGV) tilted up and down on a horizontal axis and point clouds constructed from the surroundings. Instead of transmitting this data directly to the path planning or obstacle avoidance algorithms, a preprocessing stage has been run. In this preprocess rst, the points belonging to the ground plane have been detected and a simplied version of ground has been constructed then the obstacles have been detected. At last, a simplied ground plane as ground and simple primitive geometric shapes as obstacles have been sent to the path planning algorithms instead of sending the whole point cloud.

<p>The goal of this thesis is to make an unmanned ground vehicle (UGV) follow a given reference trajectory, without colliding with obstacles in its way. This thesis will especially focus on modeling and controlling the UGV, which is based on the power wheelchair Trax from Permobil.</p><p>In order to make the UGV follow a given reference trajectory without colliding, it is crucial to know the position of the UGV at all times. Odometry is used to estimate the position of the UGV relative a starting point. For the odometry to work in a satisfying way, parameters such as wheel radii and wheel base have to be calibrated. Two control signals are used to control the motion of the UGV, one to control the speed and one to control the steering angles of the two front wheels. By modeling the motion of the UGV as a function of the control signals, the motion can be predicted. A path following algorithm is developed in order to make the UGV navigate by maps. The maps are given in advance and do not contain any obstacles. A method to handle obstacles that comes in the way is presented.</p>

The goal of this thesis is to make an unmanned ground vehicle (UGV) follow a given reference trajectory, without colliding with obstacles in its way. This thesis will especially focus on modeling and controlling the UGV, which is based on the power wheelchair Trax from Permobil. In order to make the UGV follow a given reference trajectory without colliding, it is crucial to know the position of the UGV at all times. Odometry is used to estimate the position of the UGV relative a starting point. For the odometry to work in a satisfying way, parameters such as wheel radii and wheel base have to be calibrated. Two control signals are used to control the motion of the UGV, one to control the speed and one to control the steering angles of the two front wheels. By modeling the motion of the UGV as a function of the control signals, the motion can be predicted. A path following algorithm is developed in order to make the UGV navigate by maps. The maps are given in advance and do not contain any obstacles. A method to handle obstacles that comes in the way is presented.

Virtual visualization of mobile robot analytical trajectories while avoiding moving obstacles is presented in this thesis as a very helpful technique to properly display and communicate simulation results. Analytical solutions to the path planning problem of mobile robots in the presence of obstacles and a dynamically changing environment have been presented in the current robotics and controls literature. These techniques have been demonstrated using two-dimensional graphical representation of simulation results. In this thesis, the analytical solution published by Dr. Zhihua Qu in December 2004 is used and simulated using a virtual visualization tool called VRML.