RF-guided exploration for robotic manipulation
Thesis: S.M., Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, September, 2020
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| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2021
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| Online Access: | https://hdl.handle.net/1721.1/130211 |
| _version_ | 1826207478477488128 |
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| author | Leng, Junshan. |
| author2 | Fadel Adib. |
| author_facet | Fadel Adib. Leng, Junshan. |
| author_sort | Leng, Junshan. |
| collection | MIT |
| description | Thesis: S.M., Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, September, 2020 |
| first_indexed | 2024-09-23T13:50:16Z |
| format | Thesis |
| id | mit-1721.1/130211 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T13:50:16Z |
| publishDate | 2021 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1302112021-03-23T03:16:23Z RF-guided exploration for robotic manipulation Radiofrequency-guided exploration for robotic manipulation Leng, Junshan. Fadel Adib. Program in Media Arts and Sciences (Massachusetts Institute of Technology) Program in Media Arts and Sciences (Massachusetts Institute of Technology) Program in Media Arts and Sciences 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 2021-03-22T17:23:48Z 2021-03-22T17:23:48Z 2020 2020 Thesis https://hdl.handle.net/1721.1/130211 1241686235 eng 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 53 unnumbered pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Program in Media Arts and Sciences Leng, Junshan. RF-guided exploration for robotic manipulation |
| title | RF-guided exploration for robotic manipulation |
| title_full | RF-guided exploration for robotic manipulation |
| title_fullStr | RF-guided exploration for robotic manipulation |
| title_full_unstemmed | RF-guided exploration for robotic manipulation |
| title_short | RF-guided exploration for robotic manipulation |
| title_sort | rf guided exploration for robotic manipulation |
| topic | Program in Media Arts and Sciences |
| url | https://hdl.handle.net/1721.1/130211 |
| work_keys_str_mv | AT lengjunshan rfguidedexplorationforroboticmanipulation AT lengjunshan radiofrequencyguidedexplorationforroboticmanipulation |