Washington University in St. Louis Washington University Open Scholarship Engineering and Applied Science Theses & McKelvey School of Engineering Dissertations Winter 12-15-2014 Contextualized Robot Navigation David Vincent Lu Washington University in St. Louis Follow this and additional works at: https://openscholarship.wustl.edu/eng_etds Part of the Engineering Commons Recommended Citation Lu, David Vincent, "Contextualized Robot Navigation" (2014). Engineering and Applied Science Theses & Dissertations. 62. https://openscholarship.wustl.edu/eng_etds/62 This Dissertation is brought to you for free and open access by the McKelvey School of Engineering at Washington University Open Scholarship. It has been accepted for inclusion in Engineering and Applied Science Theses & Dissertations by an authorized administrator of Washington University Open Scholarship. For more information, please contact
[email protected]. WASHINGTON UNIVERSITY IN ST. LOUIS School of Engineering and Applied Science Department of Computer Science and Engineering Thesis Examination Committee: William D. Smart, Co-Chair Robert Pless, Co-Chair Chris Gill Caitlin Kelleher Bilge Mutlu Annamaria Pileggi Contextualized Robot Navigation by David V. Lu A dissertation presented to the Graduate School of Arts & Sciences of Washington University in partial fulfillment of the requirements for the degree of DOCTOR OF PHILOSOPHY December 2014 Saint Louis, Missouri c 2014, David V. Lu Contents List of Figures :::::::::::::::::::::::::::::::::::::: v List of Tables ::::::::::::::::::::::::::::::::::::::: vii Acknowledgments :::::::::::::::::::::::::::::::::::: viii Abstract :::::::::::::::::::::::::::::::::::::::::: x 1 Problem Statement ::::::::::::::::::::::::::::::::: 1 1.1 The Difficulty of Human-Robot Interaction . .1 1.2 \Robotic Motion" . .5 1.2.1 Prior Work . .6 1.3 Creating a Theory of Mind with Acting . .7 1.4 Robot Platforms . .9 1.4.1 The Robot Operating System - ROS .