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.
Results
Showing 1 to 20 of 22 for “"Cost-to-go"”.
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Real-time path-planning using mixed-integer linear programming and global cost-to-go maps
… control and optimization, it is now possible to build aerial vehicles which do not need pilots. An important capability for such autonomous vehicles is to be able to generate their own path to navigate in a constrained environment and accomplish mission objectives, such as reaching waypoints …
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Projected equation and aggregation-based approximate dynamic programming methods for Tetris
… of Tetris. We focus on ADP methods where the cost-to- go function J is approximated with [phi]r, where [phi] is some matrix and r is a vector with relatively low dimension. There are two major categories of methods: projected equation methods and aggregation methods. In projected equation …
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A simulator for autonomous and semiautonomous controllers performing obstacle avoidance in the presence of delay
This thesis discusses a MATLAB based simulator designed to aid in the study of various controllers performing obstacle avoidance tasks in the presence of delay. The simulator is divided into functional blocks, each of which is described in detail. Several controllers were developed and their …
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A new approach to multistage serial inventory systems
… consider a single product multistage serial inventory system with several installations, say N - I, ... , l. Installation N - I intakes exogenous supply of a single commodity. For i E {I, ... N - 2}, installation i is supplied by shipments from installation i + 1. Demands for the finished good …
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Robust planning for autonomous parafoil
Parafoil trajectory planning systems must be able to accurately guide the highly non-linear, under-actuated parafoil system from the drop zone to the pre-determined impact point. Parafoil planning systems are required to navigate highly complex terrain scenarios, particularly in the presence of an …
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Kernel-based approximate dynamic programming using Bellman residual elimination
Many sequential decision-making problems related to multi-agent robotic systems can be naturally posed as Markov Decision Processes (MDPs). An important advantage of the MDP framework is the ability to utilize stochastic system models, thereby allowing the system to make sound decisions even if …
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Trajectory planning for unmanned vehicles using robust receding horizon control
This thesis presents several trajectory optimization algorithms for a team of cooperating unmanned vehicles operating in an uncertain and dynamic environment. The first, designed for a single vehicle, is the Robust Safe But Knowledgeable (RSBK) algorithm, which combines several previously published …
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Fast Multi-query Planning in Graphs of Convex Sets
… within static environments. Our objective is to precompute optimal plans between predefined sets of source and target conditions, in an effort to enable fast online planning and reduce GCS solve times. Our solution consists of two stages. Offline, we use semidefinite programming to compute a …
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Approximate dynamic programming with applications in multi-agent systems
… of approximate dynamic programming methods used to manage multi-agent systems. The purpose of this thesis is to develop an architectural framework and theoretical methods that enable an autonomous mission system to manage real-time multi-agent operations. To meet this goal, we begin by discussing …
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Algorithms for robust autonomous navigation in human environments
Today's robots are designed for humans, but are rarely deployed among humans. This thesis addresses problems of perception, planning, and safety that arise when deploying a mobile robot in human environments. A first key challenge is that of quickly navigating to a human-specified goal - one with …
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Dynamic programming applied to electromagnetic satellite actuation
… In this thesis, dynamic programming is applied to satellite control, using close-proximity EMFF control as a case study. The concepts of dynamic programming and approximate dynamic programming are discussed. Several versions of the close-proximity EMFF control problem are formulated as a dynamic …
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A generalized label correcting method for optimal kinodynamic motion planning
Nearly all autonomous robotic systems use some form of motion planning to compute reference motions through their environment. An increasing use of autonomous robots in a broad range of applications creates a need for efficient, general purpose motion planning algorithms that are applicable in any …
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Robust bipedal locomotion on unknown terrain
… of bipedal robots have been constructed with the goal of achieving natural and efficient walking in outdoor environments. Unfortunately, there is still a lack of general schemes enabling the robots to reject terrain disturbances. In this thesis, two approaches are presented to enhance the …
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Automated synthesis of low-rank stochastic dynamical systems using the tensor-train decomposition
… amount of interest in the development of ways to verify system behavior. The tight coupling of physical constraints and computation that typically characterize cyber-physical systems make them extremely complex, resulting in unexpected failure modes. Furthermore, disturbances in the environment …
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Optimal planning and control for hazard avoidance of front-wheel steered ground vehicles
… clearance from hazards. These optimal trajectories can be computed numerically, though real-time computation requires simple models and constraints. To simplify the computation of optimal avoidance trajectories, analytical solutions to the optimal planning problem are presented for a point …
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Sampling-Based Motion Planning With Differential Constraints
… constraints, provides a promising direction to calculate reliable and efficient solutions. A large amount of recent efforts have been devoted to various sampling-based MPD algorithms, which iteratively build search graphs using sampled states and controls. This thesis addresses several issues …
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An approach for nonlinear control design via approximate dynamic programming
… around an equilibrium point while minimizing a cost functional that captures the performance of the closed loop system. The optimal control problem can be solved in principle using dynamic programming algorithms such as policy iteration. Exact policy iteration is computationally infeasible for …
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Analytic chance constraints for the robust guidance of autonomous parafoils
Autonomously guided parafoil systems can deliver supplies and aid to remote, geographically diverse locations, while providing important safety and logistical advantages over ground-based transportation methods. A key challenge facing modern airborne delivery systems, such as parafoils, is the …
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Learning in Human and Robot Search: Subgoal, Submodularity, and Sparsity
… robotic applications and it is also central to human daily activities. Searching for targets efficiently consists of NP-hard problems, but young children can search for targets very efficiently . How humans search for targets efficiently is still a mystery. Hence, two central questions are as …
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Approximate dynamic programming for large scale systems
… value function. But in order for this approach to be effective, we need Approximate Dynamic Programming (ADP) algorithms that can deliver `good' approximation to the optimal value function and such an approximation can then be used to derive policies for effective decision-making. From a …
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