RF-guided exploration for robotic manipulation
Name
1241686235-MIT.pdf
Size
1.56 MB
Format
Adobe PDF
Checksum (MD5)
c9aace40951ca9faa54768e67e421726
Author(s)
Leng, Junshan.
Advisor(s)
Fadel Adib.
Alternative Title
Radiofrequency-guided exploration for robotic manipulation
Date Issued
2020
Publisher
Massachusetts Institute of Technology
Abstract
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.
Description
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]).
Subjects
Program in Media Arts and Sciences
MIT Department
Program in Media Arts and Sciences (Massachusetts Institute of Technology)
Terms of Use
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.
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