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which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Abstract Localization for humanoid robots becomes difficult when events that disrupt robot positioning information occur. This holds especially true in symmetric environments because landmark data may not be sufficient to determine… (More)
Acknowledgments First and foremost, my sincere gratitude must go to my advisor, Dr. Robert Ghrist, without whom the thesis could never be made possible. I want to thank him for his continuous support and guidance of my PhD research. He is always supporting, motivating, knowledgable, patient, and willing to help.