Increase of computational power and development of new methods in artificial intelligence allow these days many real-world problems to be solved automatically by a~computer program without human interaction. This includes automatized design of walking robots in a~physical virtual environment that can eventually result in construction of real robots. This work compares two different approaches to evolve virtual robotic organisms: artificial ontogeny, where the organism first grows using an~artificial ontogenetic process, and more direct methods. Furthermore, it proposes a~novel approach to evolve virtual robotic organisms: Hypercube-based artificial ontogeny that is combination of artificial ontogeny and Hypercube-based neuroevolution of augmenting topologies (HyperNEAT). Powered by TCPDF (www.tcpdf.org)

This work presents a novel technique for lifelong localization of robots. It performs a tight fusion of GPS and Multi-State Constraint Kalman Filter, a visual-inertial odometry method for robot localization. It is shown in exper- iments that the proposed algorithm achieves better position accuracy than either GPS and Multi-State Constraint Kalman Filter alone. Additionally, the experiments demonstrate that the algorithm is able to reliably operate when the GPS signal is highly corrupted by noise or even in presence of substantial GPS outages. 1

Diplomová práce se zabývá návrhem a realizací vestavěného řídicího systému určeného pro autonomní mobilní robot Advee. Řídicí systém tvoří vrstvu abstrakce mezi hardwarovými prostředky robotu a vyššími vrstvami řízení, které provádějí lokalizaci robotu a plánování pohybu. V rámci návrhu byla vyvinuta modulární struktura systému a zvoleny prostředky mezimodulové komunikace. Navržený systém byl pak implementován včetně podpory komunikačních standardů EIA-485 a CAN bus. Zvolená architektura systému se v praxi osvědčila --- prototyp robotu Advee řízený popsaným systémem má za sebou více než 500 hodin komerčního provozu s minimem poruch.

The goal of this work is design and realization of an autonomous mobile robot, capable of navigation and map creation, using stereoscopic camera and robotic operation system ROS. ** This is an added text for reaching minimal length needed for uploading into information system. **

We propose a novel 3D navigation system for autonomous vehicle path-planning. The system processes a point-cloud data from an rgb-d camera and creates a 3D occupancy grid with adaptable cell size. Occupied grid cells contain normal distribution characterizing the data measured in the area of the cell. The normal distributions are then used for cell classification, traversability and collision checking. The space of traversable cells is then used for path-planning. The ability to work in three-dimensional space allows the usage of autonomous robots in highly structured environments with multiple levels, uneven surface or various elevated and underground crossings. That is important for the usage of robots in real- world scenarios, in urban areas or for disaster rescue missions. Powered by TCPDF (www.tcpdf.org)

This thesis deals with modular robotics and self-reconfigurable robotic systems. At the beginning are systems defined and classified, the main emphasis is on Molecubes. After that, similar system is designed with a focus on the actual construction of the modules. In conclusion, several sample assemblies was made.

During cooperation with the Bender Robotics company a need for operational safety assessment of an autonomous mobile robot (AMR) emerged. Operational safety evaluation is a step towards mass production of the studied robot. Market entry of a product requires a string of various actions and safety assessment is one of them. For risk identification and severity rating were used legal requirements, best practice given by standards, FMEA method, experiment and RIPRAN method. Threats, possible scenarios and risks analysis is systematically discussed through all areas of operation of the robot, from design and construction to control software. All the steps are described in logical order. Starting with information research, going on with series of analysis and ending with suggestions for increased operational safety of autonomous mobile robots.

This student paper discusses basic concept of quadrocopter for purpose of academic platform for testing and development. Paper includes basic overview of construction, stabilization and controlling of quadrocopter. As result of this paper is presented concept of quadrocopter and its constructed prototype with included software console for wireless control under Android system.

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The thesis addresses the dynamic state estimation problem for the field of robotics, particularly for unmanned aerial vehicles (UAVs). Based on data collected from an UAV, we design several probabilistic models for estimation of its state (mainly speed and rotation angles), including the configurations where one of the sensors is not available. We use Kalman filter and Particle filter and focus on learning the model parameters using EM algorithm. The EM algorithm is then adjusted with respect to non-Gaussian density of some sensor errors and modified using model complexity penalization terms for better generalization. We implement these methods in MATLAB environment and evaluate on separate datasets. We also analyze data from a ground robot and use our implementation of Particle filter for estimation of its position. Powered by TCPDF (www.tcpdf.org)