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Title page for ETD etd-07272005-114921

Type of Document Master's Thesis
Author Fleming, Paul Aaron
Author's Email Address paul.a.fleming@vanderbilt.edu
URN etd-07272005-114921
Title Implementing A Robust 3-Dimensional Egocentric Navigation System
Degree Master of Science
Department Electrical Engineering
Advisory Committee
Advisor Name Title
Dr. Kawamura Committee Member
Dr. Wilkes Committee Member
  • egocentric navigation
  • robotic navigation
  • egosphere
  • sensory egosphere
  • SES
  • LES
Date of Defense 2005-07-21
Availability unrestricted
Robot Navigation is a large component of current robotics research. In this paper, a method to implement the “go-to-goal” aspect of navigation is discussed. Specifically, I will first discuss a method called Egocentric Navigation, which was developed at Vanderbilt University’s Center for Intelligent Systems. Then improvements toward making the system more accurate and efficient will be proposed. Finally, the experimental and simulation results of this new Egocentric Navigational system follow. In total, this paper will lay out a complete system for implementation on a robot which will accomplish navigation to goal in a landmark-based “egocentric” manner.
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