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 20 of 53 for “"GPS-denied"”.
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Partially Supervised Reinforcement Learning for GPS-Denied Navigation
… task where a drone at one time has access to GPS location information, which it has now lost and needs to navigate in the same area but at a future time with no GPS signal and differing transition dynamics. To address this, we introduce a novel simulator and algorithm for navigation that …
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Multiple hypothesis positioning algorithm for robust GPS-denied navigation
In the past few decades, GPS has become the dominant source of precision navigation and is often required for many modern systems to operate. However, recent exposure of GPS vulnerabilities have called into question its overall resiliency and shown necessity for robust alternatives. Precision …
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Localisation and navigation in GPS-denied environments using RFID tags
… little or no features as well as no access to GPS or stationary towers, which are usually used for navigation. In addition dust and debris may hinder optical methods for ranging. This study looks at the feasibility of using randomly distributed RFID tags to autonomously navigate in this …
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Vision Based Localization of Drones in a GPS Denied Environment
… for the localization of multiple drones in a GPS-denied environment. This pipeline would help us with cooperative formation control, autonomous delivery, search and rescue operations etc. To achieve this we integrate a custom trained YOLO (You Only Look Once) object detection network, for …
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Vision-Aided Navigation for GPS-Denied Environments Using Landmark Feature Identification
… are dependent on Global Positioning System (GPS) technology. Many applications of interest, however, entail operations in environments in which GPS is intermittent or completely denied. These applications include operations in complex urban or indoor environments as well as missions in …
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Beyond LiDAR for Unmanned Aerial Event-Based Localization in GPS Denied Environments
… an Unmanned Aerial Vehicle (UAV) especially when GPS is unreliable due to coverage blackouts and/or GPS degradation [10]. Furthermore, if it is possible to deploy multiple in-situ static intelligent acoustic autonomous sensors that can identify anomalous sounds given context, then the sensors can …
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Planning in information space for a quadrotor helicopter in a GPS-denied environment
Unmanned Air Vehicles (UAVs) have thus far had limited success in flying autonomously indoors, with the exception of specially instrumented locations. In indoor environments, accurate global positioning information is unavailable, and the vehicle has to rely on onboard sensors to detect …
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Wireless sensor network planning with application to UWB localization in GPS-denied environments
Wireless Sensor Networks (WSN) have received much attention in the past 5 years, and much progress has been made in designing hardware, communications protocols, routing, and sensor fusion algorithms. The planning and deployment of the WSN, however, has been overlooked to a great extent. These are …
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Full season navigation and control of ultra-compact autonomous ag-bot in GPS denied environment
… only a 2-D Hokuyo UST-10LX LiDAR and an RTK GPS as the primary sensors for navigation. Its purpose is to ensure that the robot can navigate through rows of crops without damaging the plants in narrow row-based and high-leaf-cover semi-structured crop plantations, such as corn (Zea mays), …
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Collaborative Unmanned Air and Ground Vehicle Perception for Scene Understanding, Planning and GPS-denied Localization
… existing maps are now out of date. Areas without GPS are another concern, especially when the involved systems are tasked with navigating a path planned by a remote base station. Scene understanding via robots' perception data (e.g. images) can greatly assist in overcoming these challenges. This …
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Test and evaluation of an image-matching navigation system for a UAS operating in a GPS-denied environment
Without corrective updates from the Global Positioning System, navigational capabilities are degraded significantly when the inertial navigation system becomes the only source of an unmanned aerial vehicle’s movement estimate. Today, unmanned vehicles are easily equipped with a variety of passive …
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Geomagnetic Aided Dead-Reckoning Navigation
… an alternative approach to enhance navigation in GPS-denied environments. Particularly, it develops an integrated navigation architecture based on geomagnetic referencing models capable of dead reckoning at GPS denied intervals. A geomagnetic matching algorithm combined with a nearest contour …
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Design, Development and Implementation of Intelligent Algorithms to Increase Autonomy of Quadrotor Unmanned Missions
… to enhance the quadrotor autonomy under GPS denied environments. An optical flow sensor and a laser range finder are used within an Extended Kalman Filter for position estimation and its estimation performance is analyzed by comparing against measurements from a GPS module. Flight testing …
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Autonomous flight in unstructured and unknown indoor environments
… sensing, control, and navigation suites for GPS-denied flight, there have been few demonstrations of stable, goal-directed flight in real environments. The main focus of this research is the development of real-time state estimation techniques that allow our quadrotor helicopter to fly …
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Inertial Navigation System Drift Reduction Using Scientific Machine Learning
… (INS) are crucial for accurate navigation in GPS-denied environments, but they suffer from drift errors that accumulate over time. This thesis introduces Scientific Machine Learning (SciML) as an innovative approach to mitigate INS drift by integrating physical models with machine learning …
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Applications and Development of Intelligent UAVs for the Resource Industries
… model the terrain quickly and effortlessly with GPS localization and advanced mission planning software. Recently, the usage of drones has expanded to underground mines, with advancements in drone autonomy in GPS-denied environments. Developments in lidar technology and Simultaneous Localization …
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Automated High-quality Image Acquisition for UAV-enabled Bridge Visual Inspection
… difficulties in accurate UAV localisation in GPS-denied bridge areas, and potential image quality issues. These challenges hinder the widespread adoption of UAVs in real bridge inspection. This study aims to establish a systematic framework for enabling UAVs to automatically capture …
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Vehicle egomotion estimation using computer vision
… alter is meant to allow the UAV to navigate in GPS-denied environments using measurements from a suite of cameras. The extended Kalman alter integrates measurements from multiple non-overlapping cameras as well as an IMU and occasional GPS. Simulations are conducted to evaluate the performance …
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Development and applications of a vision-based unmanned helicopter
… the vision-based motion estimation of the UAV in GPS-denied conditions. A vision augmented approach is proposed to realize the vision-based motion estimation and flight control based on the Kalman filtering. Both applications have been tested in the flight to demonstrate the capabilities of the …
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Robust range-based localization and motion planning under uncertainty using ultra-wideband radio
… using ultra-wideband (UWB) radio signals in GPS-denied environments; and planning robot trajectories that incorporate belief uncertainty using probabilistic state estimates. Addressing the former, we improve upon traditional approaches to range-based localization by capturing non-linear …
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