Gesture-based Graph-theoretic Robot Formation Control
A Master of Science thesis in Mechatronics Engineering by Mahroo Sajid entitled, “Gesture-based Graph-theoretic Robot Formation Control”, submitted in June 2022. Thesis advisor is Dr. Shayok Mukhopadhyay. Soft copy is available (Thesis, Completion Certificate, Approval Signatures, and AUS Archives C...
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| Format: | doctoralThesis |
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2022
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| Online Access: | http://hdl.handle.net/11073/24293 |
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| _version_ | 1864513438372331520 |
|---|---|
| author | Sajid, Mahroo |
| author_facet | Sajid, Mahroo |
| author_role | author |
| dc.contributor.none.fl_str_mv | Mukhopadhyay, Shayok |
| dc.creator.none.fl_str_mv | Sajid, Mahroo |
| dc.date.none.fl_str_mv | 2022-09-27T06:49:45Z 2022-09-27T06:49:45Z 2022-06 |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | 35.232-2022.30 http://hdl.handle.net/11073/24293 |
| dc.language.none.fl_str_mv | en_US |
| dc.subject.none.fl_str_mv | Human-Swarm Interaction Formation Control Hand-Gesture recognition |
| dc.title.none.fl_str_mv | Gesture-based Graph-theoretic Robot Formation Control |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/publishedVersion info:eu-repo/semantics/doctoralThesis |
| description | A Master of Science thesis in Mechatronics Engineering by Mahroo Sajid entitled, “Gesture-based Graph-theoretic Robot Formation Control”, submitted in June 2022. Thesis advisor is Dr. Shayok Mukhopadhyay. Soft copy is available (Thesis, Completion Certificate, Approval Signatures, and AUS Archives Consent Form). |
| format | doctoralThesis |
| id | aus_9121b3f17243308d290f446745c84121 |
| identifier_str_mv | 35.232-2022.30 |
| language_invalid_str_mv | en_US |
| network_acronym_str | aus |
| network_name_str | aus |
| oai_identifier_str | oai:repository.aus.edu:11073/24293 |
| publishDate | 2022 |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| spelling | Gesture-based Graph-theoretic Robot Formation ControlSajid, MahrooHuman-Swarm InteractionFormation ControlHand-Gesture recognitionA Master of Science thesis in Mechatronics Engineering by Mahroo Sajid entitled, “Gesture-based Graph-theoretic Robot Formation Control”, submitted in June 2022. Thesis advisor is Dr. Shayok Mukhopadhyay. Soft copy is available (Thesis, Completion Certificate, Approval Signatures, and AUS Archives Consent Form).Multi-robot systems have many diverse applications including but not limited to surveillance, search and rescue operations, hazardous material handling, agriculture etc. Formation control is a key requirement out of the many facets of robotic swarm control. While the formation control problem has been extensively explored, including vastly different and various approaches; consensus-based formation control has definitive advantages in terms of providing a robust and distributed control algorithm. In the proposed work, the notion of consensus-based control of the formations of a robotic network utilizing bare-handed gestures is explored. While similar examples can be found in recent research endeavors (including selection and command of groups of UAVs, UGVs and under-water robots), most utilize electronic or specialized devices for the purpose of Human-Swarm Interaction (HSI). This is despite the major breakthroughs in the field of image recognition and classification. The proposed gesture-recognition approach is based on an algorithm capable of discerning the finger count (number of open digits) in 2.5 seconds (on average) with 88.75% accuracy thus affording the user a vocabulary of up to five (5) individual commands / directives to assemble and control the robotic swarm. The gesture recognition algorithm was modified to increase the detection accuracy to 90.8%.College of EngineeringMultidisciplinary ProgramsMaster of Science in Mechatronics Engineering (MSMTR)Mukhopadhyay, Shayok2022-09-27T06:49:45Z2022-09-27T06:49:45Z2022-06info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/doctoralThesisapplication/pdf35.232-2022.30http://hdl.handle.net/11073/24293en_USoai:repository.aus.edu:11073/242932025-06-26T12:36:58Z |
| spellingShingle | Gesture-based Graph-theoretic Robot Formation Control Sajid, Mahroo Human-Swarm Interaction Formation Control Hand-Gesture recognition |
| status_str | publishedVersion |
| title | Gesture-based Graph-theoretic Robot Formation Control |
| title_full | Gesture-based Graph-theoretic Robot Formation Control |
| title_fullStr | Gesture-based Graph-theoretic Robot Formation Control |
| title_full_unstemmed | Gesture-based Graph-theoretic Robot Formation Control |
| title_short | Gesture-based Graph-theoretic Robot Formation Control |
| title_sort | Gesture-based Graph-theoretic Robot Formation Control |
| topic | Human-Swarm Interaction Formation Control Hand-Gesture recognition |
| url | http://hdl.handle.net/11073/24293 |