Personal Robot: navigator in the lattice world

Item

Title
Personal Robot: navigator in the lattice world
Description
This thesis describes the microscopic origin of the city as the infinite lattice world. Cities have
their own structures. Some are criticized for having a physical layout that defines a hierarchy of dominant
social groups. And some of the others are cherished by having so-called semilattice-like structures. But in
a microscopic view of the city, these structures fade away, and the remaining is the infinitely distributed
nodes. This thesis, “Personal Robot: navigator in the lattice world,” suggests methods of defining the lattice
world using low-discrepancy sampling methods and hierarchical path planning for the robots to move
around the lattice world. The golden ratio sequence is used to define the lattice world. And to generate the
hierarchical path, the potential field, which is used as a heuristic function by a search algorithm, is applied
to the lattice field. And by order of the hierarchy of the paths, each path adds costs to the actions that are
connected to the generated path. At the end of this thesis, several cases of the application of this technology
are introduced: a prototype of a 4-wheel robot, a mobile application that users can modify the potential field
of the lattice world, and scenarios of imaginative city transportation.
Creator
Kim, Taeyong
Subject
Application Development
Computational Design
Drawing
Planning Algorithms
Robotics
Unity
Robotics
Computer engineering
Design
Contributor
Sayegh, Allen
Kaijima, Sawako
Date
2022-06-09T04:02:19Z
2022
2022-06-08
2022-05
2022-06-09T04:02:19Z
Type
Thesis or Dissertation
text
Format
application/pdf
application/pdf
application/octet-stream
application/octet-stream
Identifier
Kim, Taeyong. 2022. Personal Robot: navigator in the lattice world. Master's thesis, Harvard Graduate School of Design.
29211625
https://nrs.harvard.edu/URN-3:HUL.INSTREPOS:37372336
0000-0003-3816-7714
Language
en
Item sets
Graduate School of Design