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 15 of 15 for “"Differential Constraints"”.
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Sampling-Based Motion Planning With Differential Constraints
Since differential constraints which restrict admissible velocities and accelerations of robotic systems are ignored in path planning, solutions for kinodynamic and non-holonomic planning problems from classical methods could be either inexecutable or inefficient. Motion planning with differential …
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Path-Finding With Differential Constraints In Real Time Strategy Video Games
… paths are unrealistic for agents that possess differential constraints. For example, when a car-like vehicle moves from one place to another it will follow a jagged path, which overlooks differential constraints that determines how it would realistically move. Using differential constraints in …
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Combined gradient-restoration algorithm for optimal control problems
… problem of minimizing a functional I subject to differential constraints, nondifferential constraints, and general boundary conditions is considered in this thesis. It consists of finding the state x(t), the control u(t), and the parameter-rr so that the functional I is minimized, while the …
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Sample-based motion planning in high-dimensional and differentially-constrained systems
… subject to complex kinematic and geometric constraints. The performance of these algorithms, however, degrade as the dimension of the system increases. Furthermore, sample-based planners rely on distance metrics which do not work well when the system has differential constraints. Such …
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Restoration algorithm for solving optimal control problems with nondifferential constraints and general boundary conditions
… problem of minimizing a functional I, subject to differential constraints, non-differential constraints, and general boundary conditions. It consists of finding the state x(t), the control u(t), and the parameter pi, so that the functional is minimized, while the constraints are satisfied to a …
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High performance and provably safe polling-systems-based control algorithms of all-autonomous intersections
… polling system where customers are subject to differential constraints, which may be interesting in its own right.
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Nonlinear trajectory optimization with path constraints applied to spacecraft reconfiguration maneuvers
… of spacecraft. The motions must also satisfy constraints such as collision avoidance and pointing restrictions on some of the instruments. This problem is particularly difficult due to the nonlinearity of the attitude dynamics and the non-convexity of some of the constraints. The coupling of …
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A quadratic regulator-based heuristic for rapidly exploring state space
… rich dynamical systems with complex, non-convex constraints. In practice, these algorithms perform very well on configuration space planning, but struggle to grow efficiently in systems with dynamics or differential constraints. This is due in part to the fact that the conventional proximity …
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Two-stage path planning approach for designing multiple spacecraft reconfiguration maneuvers and application to SPHERES onboard ISS
… while satisfying an arbitrary number of constraints. This problem is particularly difficult because of the nonlinearity of the attitude dynamics, the non-convexity of some of the constraints, and the coupling between the positions and attitudes of all spacecraft. As a result, the …
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Deep Learning For Surrogate Modeling And Uncertainty Quantification In Science & Engineering
… their derivatives accurately in order to satisfy differential constraints. Motivated by approximation theory, it introduces ActNet, a scalable architecture inspired by modern variants of the Kolmogorov Superposition Theorem. ActNet provides theoretical guarantees on function approximation, stable …
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On Application of Optimal Control to Intelligent Manufacturing
… the feasibility of the solution, algebraic and differential constraints are im- posed on the dynamic response of drives and spindle. The OCP is then solved through an efficient optimisation library developed by the group of Mechatronic Engineering of the Uni- versity of Trento. The EPC has been …
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Geodesic Problems for Mobile Robots
We consider the differential drive because it is ubiquitous in mobile robotics. To obtain a well-defined notion of shortest, the total amount of wheel rotation is optimized. We analytically characterize minimum wheel-rotation trajectories in the absence of obstacles, and identify 52 different …
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Dynamics and optimal control of information transmission in complex systems
… arbitrary optimization problems with composite constraints. Using a predefined library of adjoints of common integro-differential boundary-value problem operators, this platform automates the construction of the necessary conditions for stationary points and extrema, also in the presence of …
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Guidance and Control of Autonomous Unmanned Aerial Systems for Maritime Operations
… using integral-feedback interconnections. Constraints on the trajectory tracking error are enforced using barrier Lyapunov functions, and a user-defined rate of convergence of the trajectory tracking error is guaranteed by employing a reference model for the trajectory tracking error's …
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Fast numerical algorithms for optimal robot motion planning
… from the control theory. In this setting, safety constraints for either a robot or its surroundings are defined as obstacles, which are penalized using infinite cost to guarantee that tasks are performed safely. Unlike in control theory, the complexity of real-world tasks in addition with safety …