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 “"Kinodynamic"”.
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Kinodynamic motion planning for high-dimensional physical systems
This thesis presents a kinodynamic motion planner, Kinodynamic Motion Planning by Interior-Exterior Cell Exploration ( KPIECE ), specifically designed for systems with complex dynamics, where physics-based simulation is necessary. A multiple-level grid-based discretization is used to estimate the …
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A hybrid framework for multi-robot kinodynamic planning
The student, Yudi Qin, accepted the attached license on 2024-12-08 at 13:19.
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The Traveling Salesman Problem and orienteering for kinodynamic vehicles
The Traveling Salesman Problem is a major foundational problem in the fields of Computer Science, Operations Research, and Applied Mathematics, in which an agent wants to visit a set of target points with the shortest path possible. This problem is of the highest interest both theoretically in …
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Decoupled Kinodynamic Planning for a Quadruped Robot over Complex Terrain
High-level planning for hybrid-dynamic, legged systems can be challenging due to a need to simultaneously satisfy kinematic and dynamic constraints. Previously developed sampling-based approaches can rapidly generate plans that satisfy kinematic constraints, but often lead to dynamically infeasible …
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A generalized label correcting method for optimal kinodynamic motion planning
… thesis presents a resolution complete optimal kinodynamic motion planning algorithm based on a direct forward search of the set of admissible input signals to a dynamical model. The advantage of this generalized label correcting method is that it does not require a local planning subroutine as …
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Kinematic Chain Monoids for Real-Time Kinodynamic Trajectory Optimization in Legged Robots
… framework to solve dynamics problems and kinodynamic motion planning problems with full consideration of whole-body dynam- ics and contacts. In this thesis I will present DFG and explain the different variables and constraints being used in legged robot trajectory optimization using DFG. …
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Planning for Dynamic Nonprehensile Object Transport
… manipulation struggle to efficiently solve kinodynamic constraints. Gradient-based methods suffer from initialization sensitivity, local optimum convergence, and lack of feasibility guarantees, while sampling-based methods can require large computation times if there exist challenging …
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Informed Planning and Safe Distributed Replanning under Physical Constraints
… with complex dynamics and significant drift (kinodynamic planning). An additional requirement is that realistic systems and agents must safely operate in a realtime fashion (replanning), with partial knowledge of their surroundings (partial observability) and despite the presence or in …
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Stability and robustness analysis tools for marine robot localization and mapping applications
… demonstrated through experiment. An augmented A* kinodynamic path-planning algorithm is then implemented to search the control input space for the globally robustness-optimal survey trajectory.
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Advanced four-dimensional trajectory generation for tactical guidance of unmanned aerial vehicles
… trajectory evaluation it is possible to apply kinodynamic constraints to ensure that the trajectory is within the aircraft's flight envelope.
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A quadratic regulator-based heuristic for rapidly exploring state space
Kinodynamic planning algorithms like Rapidly-Exploring Randomized Trees (RRTs) hold the promise of finding feasible trajectories for rich dynamical systems with complex, non-convex constraints. In practice, these algorithms perform very well on configuration space planning, but struggle to grow …
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Leveraging Structure for Efficient and Dexterous Contact-Rich Manipulation
… a reduction of contact-rich manipulation to kinodynamic motion planning, and exposes the true difficulty of contact-rich manipulation from combinatorial explosion in contact modes to combinatorial and highly non-local decisions over motion planning behaviors.
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A Safe and Robust Multi-Agent Motion Planning Framework for Urban Air Mobility
… method of learning the optimal control for the kinodynamic motion problem, and an algorithm to predict the behavior of independent or adversarial agents in the environment through a cognitive hierarchy approach. Additionally, we use repeated observations of numerous agents to mitigate any …
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Sampling-Based Motion Planning With Differential Constraints
… 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 constraints (MPD), which directly considers differential constraints, provides a promising …
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Autonomous Navigation for Unmanned Aerial Systems - Visual Perception and Motion Planning
L'abstract è presente nell'allegato / the abstract is in the attachment