Thesis: S.M., Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, September, 2020 / Cataloged from student-submitted PDF of thesis. / Includes bibliographical references (pages [48]-[53]). / This thesis presents the design, implementation, and evaluation of RVExp, a system that leverages radio perception to design efficient exploration controllers in highly occluded and non-line-of-sight settings. RVExp relies on eye-in-hand vision sensor and battery-less RFID tags attached to the object of interest. Since RF (radio frequency) signals can traverse everyday occlusions, RVExp uses the RFIDs' signals to locate an object through occlusions. At the heart of RVExp's design is a novel radio-visual planner that uses the RFID's location to semantically explore the environment and plan an efficient trajectory toward an occluded target object. The controller can efficiently discover obstacles by biasing a Gaussian belief space planner using the RFID's location. I have built RVExp end-to-end and evaluated its performance in challenging real-world environments. The results show the feasibility of RF-guided exploration and its superiority over standard exploration. / by Junshan Leng. / S.M. / S.M. Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences
| Identifer | oai:union.ndltd.org:MIT/oai:dspace.mit.edu:1721.1/130211 |
| Date | January 2020 |
| Creators | Leng, Junshan. |
| Contributors | Fadel Adib., Program in Media Arts and Sciences (Massachusetts Institute of Technology), Program in Media Arts and Sciences (Massachusetts Institute of Technology) |
| Publisher | Massachusetts Institute of Technology |
| Source Sets | M.I.T. Theses and Dissertation |
| Language | English |
| Detected Language | English |
| Type | Thesis |
| Format | 53 unnumbered pages, application/pdf |
| Rights | MIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided., http://dspace.mit.edu/handle/1721.1/7582 |
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