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 290 for “"Motion Planning"”.
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Visibility-Aware Motion Planning
The motion planning problem, of deciding how to move to achieve a goal, is ubiquitous in robotics. In many robotics applications, there is a map of the environment that is generally useful, but typically outdated as it does not include information about unknown obstacles, such as clutter. This …
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Proving infeasibility in motion planning
Motion planning is a fundamental problem in robotics that has received a lot of attention. The motion planning problem is NP-complete, but previous works in motion planning have been very successful in efficiently finding a valid path in motion planning problems. One class of solutions for solving …
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Extensions of motion planning algorithms
Sample-based motion planning algorithms can be applied to a broad range of circumstances in motion planning of robotics. Though sample-based algorithms are able to generate collision-free paths without the information of obstacles, they still have two weaknesses: one is that it is challenging to …
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Incremental geometric robot motion planning
… of incremental problems in geometric robot motion planning, and give incremental algorithms to solve these problems efficiently. In particular, we present incremental algorithms to compute an exact cell decomposition of the collision-free portion of the robot configuration space for a line …
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Algorithms for Rectangular Robot Motion Planning
… there is an increasing need for multi-robot motion planning solutions. The basic multi-robot motion planning problem is to decide whether robots can translate from given start positions to given target positions without colliding with each other or any obstacles in the environment on their …
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Robot Motion Planning With Visual Constraints
A computational approach to do motion planning on the ${\cal PCM}$ is developed. A modular multi-resolution grid representation is used to represent the ${\cal PCM}.$ Combined with a flexible multi-strategy search, this representation results in a hierarchical planner which is capable of generating …
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A framework for guided motion planning
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-20 without embargo terms
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Human-aware Motion Planning for Aerial Robots
… Rapidly-exploring Random Tree Star RRT* for path planning. The objective is to efficiently and safe navigate in the area with human. Drones would avoid moving human and maintaining optimal flight path. During training SGAN model, we use both public datasets and dataset collected in the lab, which …
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Efficient Robot Motion Planning in Cluttered Environments
… robot that needs to navigate its environment, is Motion Planning: the task of computing a collision-free motion for a (robotic) system between given start and goal states in an environment cluttered with obstacles. As tasks become more complex, there is a need to develop more sophisticated motion …
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Communication-aware motion planning in mobile networks
… communication (information exchange), and motion planning is needed, such that each mobile sensor considers the impact of its motion decisions on both sensing and communication, and optimizes its trajectory accordingly. This is the main motivation for this dissertation. This dissertation …
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Efficient Motion Planning for Wheeled Mobile Robotics
… robotics, industrial robotics, automotive, ... Motion Planning is a fundamental aspect for the development of autonomous wheeled mobile robots. The capability of planning safe, smooth trajectories, and to locally adjust them in real-time to deal with contingent situations and avoid collisions is …
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Motion Planning for Manipulation With Heuristic Search
… in implementation, and consistent behavior. In planning for robotic manipulation, however, these techniques are commonly thought of as impractical due to the high-dimensionality of the planning problem. As part of this thesis work, we have developed a heuristic search-based approach to motion …
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Sampling-Based Motion Planning With Differential Constraints
… 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 constraints (MPD), which directly considers differential constraints, …
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Robot motion planning via curve shortening flows
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2022-04-06 without embargo terms
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Robust online motion planning with reachable sets
… thesis we consider the problem of generating motion plans for a nonlinear dynamical system that are guaranteed to succeed despite uncertainty in the environment, parametric model uncertainty, disturbances, and/or errors in state estimation. Furthermore, we consider the case where these plans …
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Optimizations for sampling-based motion planning algorithms
Sampling-basedalgorithms solve the motion planning problem by successively solving several separate suproblems of reduced complexity. As a result, the efficiency of the sampling-based algorithm depends on the complexity of each of the algorithms used to solve the individual subproblems, namely the …
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Exact geometry algorithms for robotic motion planning
The current generation of robotic motion planning algorithms is dominated by derivatives of the PRM and RRT algorithms. These methods abstract away all geometric information about the underlying problem into a collision checker. While this approach yields simple and general purpose algorithms, it …
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Ant colony optimization for agile motion planning
… growing, design of algorithms for mission-level planning becomes essential. The general field of motion planning for unmanned vehicles falls into this category. Of particular interest is the case of operating in hostile environments with unknown threat locations. When a threat appears, a replan …
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Perception-driven optimal motion planning under resource constraints
… of running traditional vision-based mapping and motion planning algorithms on an embedded platform. Motivated by these challenges, the second part of this thesis presents an algorithmic approach to the problem of motion planning in an unknown environment when the computational costs of mapping …
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Lossless convexification of quadrotor motion planning with experiments
This thesis describes a motion planning method that is designed to guide an autonomous quadrotor. The proposed method is based on a novel lossless convexication, which was first introduced in (12), that allows convex representations of many non-convex control constraints, such as that of the …
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