Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 12 of 12 for “"Cell Decomposition"”.
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Incremental geometric robot motion planning
… incremental algorithms to compute an exact cell decomposition of the collision-free portion of the robot configuration space for a line segment robot moving freely in the plane amidst polygonal obstacles. After computing an initial decomposition of the collision-free portion of the robot …
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Quantitative Topology of Loop Space
… an efficient family of cycles built out of the cells of a cell decomposition the underlying manifold.
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The homotopy type of the matroid Grassmannian
… its relationship to the ordinary Schubert cell decomposition of the Grassmannian. Since the classifying spaces for rank k matroid bundles and rank k vector bundles are, respectively, obtained by taking colimits of the above spaces as n grows, this result provides a natural equivalence …
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On the geometry and parametrization of almost invariant subspaces and observer theory
… fixed restriction indices. They constructed a cell decomposition of the Brunovsky strata into so called Kronecker cells. In my thesis I show that in the tight case this cell decomposition is induced by a Bruhat decomposition of a generalized flag manifold. I identify the adherence order of the …
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Energy efficient path planning: the effectiveness of Q-learning algorithm in saving energy
… several unstructured and unknown environments. A cell decomposition method was used to generate the search space representation of the environments, within which the algorithm operated. The results show that the Q-learning path planner paths on average consumed 3.04% less energy than the A* path …
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Qualitative topological coverage of unknown environments by mobile robots
… coverage information is overcome by embedding a cell decomposition, called slice decomposition, within the map. This is achieved using landmarks in the topological map as cell boundaries in slice decomposition. Slice decomposition is a new cell decomposition method which uses the landmarks in the …
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Combinatorial optimization on embedded curves
… the triangulation X times, we can build another cell decomposition of the input surface of complexity O(n), in O(min(X, n^2 log X)) time, whose 1-skeleton contains the input curve. We emphasize the the cell decomposition algorithm takes polynomial time even if X is exponential. The main …
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Combinatorial aspects of total positivity
… and prove an enumeration theorem for a natural cell decomposition of it. This result leads to a new q-analog of the Eulerian numbers, which interpolates between the binomial coefficients, the Eulerian numbers, and the Narayana numbers. In the second part of my thesis I introduce the totally …
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A homotopy-based hierarchical framework for semi-autonomous/autonomous vehicle navigation
… representation of the navigation decisions by cell sequences to divide a collision-free vehicle navigation problem using cell decomposition. Then, it proposes a sampling-based method to evaluate the desirability of each navigation decisions in terms of control input safety margin. In order to …
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Combinatorics related to the totally nonnegative Grassmannian
… of the Grassmannian, showed that it has a nice cell decomposition using matroid strata, and introduced several combinatorial objects that encode such cells. In this thesis, we focus on the combinatorial aspects of such associated objects. In chapter 1, we review the definition of the cells in …
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Complex Analysis on Planar Cell Complexes
… that arises from the framework of a planar cell complex. Construction of this theory is largely integration-based. A combination of two cell complexes, the double and its associated diamond complex, allows for the development of a discrete Cauchy Integral Formula.
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Application of a Decomposition Strategy to the Optimal Synthesis/Design and Operation of a Fuel Cell Based Total Energy System
A decomposition methodology based on the concept of "thermoeconomic isolation" applied to the synthesis/design and operational optimization of a stationary cogeneration proton exchange membrane fuel cell (PEMFC) based total energy system (TES) for residential/commercial applications is the focus of …