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 65 for “"Multi-vehicle"”.
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Collision avoidance for multi-vehicle cooperative missions
This thesis focuses on collision avoidance for multi-vehicle coordinated missions. Building upon an existing cooperative control framework, we propose collision-avoidance methods that rely on practicably available obstacle information and allow safe operation without compromising on the mission …
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Underwater multi-vehicle co-operative target-tracking
… is fundamentally challenging for collaborative, multi-robot sensing and tracking operations. Accurate mapping and modeling of an underwater environment is both time consuming and difficult, especially when robots have limited access to a high-quality localization solution such as GPS. …
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Safety of a multi-vehicle system in mixed communication environments
… the occurrence of such crashes is that current vehicles (including those equipped with an Automatic Cruise Control system) do not provide the driver with advance information of events occurring far ahead of him/her. The use of inter-vehicular communication to provide advance warnings to enhance …
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Multi-vehicle rover testbed using a new indoor positioning sensor
… the design and implementation of an indoor multi-rover testbed using a high-precision indoor positioning sensor system. The system model for the rover is derived and used in a Kalman filter that estimates each rover's velocity given the position measurements. These state estimates are then …
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Deep learning-based fine-tuned multi-vehicle tracking with classification correction
Single-camera multi-vehicle tracking is a preliminary step for traffic optimization. To perform vehicle tracking, a fine-tuned classification dataset was created from multiple sources. A ResNet classifier was trained, and its knowledge was utilized to build a localization dataset automatically …
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Safety and feasibility of a cloud-based architecture for multi-vehicle system
… of traffic fatalities happens in high-speed multi-vehicle crashes. Causal analysis of multi-vehicle crashes reveal process model inconsistencies that lead the drivers to make wrong assumptions about vehicle capabilities and lead-vehicle separation distances during adverse road conditions. The …
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Estimation and control of a multi-vehicle testbed using GPS Doppler sensing
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2002.
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Cooperative autonomous systems: Motion planning and coordinated tracking control for multi-vehicle missions
… is presented, which allows a group of Unmanned Vehicle Systems (UxSs) to generate and follow desired trajectories, while coordinating along them in order to satisfy relative temporal constraints. The described methodology is based on two key results. First, a centralized optimal motion planning …
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Framework for multi-vehicle adaptive sampling of jets and plumes in coastal zones
… of thermal and effluent jets and plumes using multiple autonomous surface vehicles. The framework was developed with the goal of achieving rapid and accurate in-situ measurement and characterization of these features. The framework is presented as a collection of simulation, estimation and …
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Evaluation of multi-vehicle architectures for the exploration of planetary bodies in the Solar System
… and reliability, of planetary exploration vehicles. One of the methods proposed to deal with this issue is the use of distributed, multi-vehicle architectures as a replacement for the traditional large, monolithic systems used in flagship missions. However, mission concept formulation …
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A distributed multi-vehicle architecture for autonomous driving simulation with an application to autonomous valet parking
… most existing simulators are designed for single-vehicle scenarios and provide limited support for distributed multi-vehicle experimentation across multiple computing hosts. This thesis presents the Distributed Multi- Autonomous Vehicle Architecture (DMAVA), which enables multiple AVs to operate …
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A multi-vehicle testbed and interface framework for the development and verification of separated spacecraft control algorithms
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2002.
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Controller design for underwater vehicle systems with communication constraints
Real-time cooperation between autonomous vehicles can enable time-critical missions such as tracking and pursuit of a dynamic target or environmental feature, but relies on wireless communications. Underwater communication is almost exclusively accomplished through acoustics, which bring challenges …
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Controller design for underwater vehicle systems with communication constraints
Real-time cooperation between autonomous vehicles can enable time-critical missions such as tracking and pursuit of a dynamic target or environmental feature, but relies on wireless communications. Underwater, communication over distances beyond about one hundred meters is almost exclusively …
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Safe Control and Coordination of Multiple Autonomous Vehicles
… control and safe coordination of autonomous vehicles, specially those with nonholonomic dynamic models. We consider in particular the problem of safe trajectory tracking for a group of interacting autonomous nonholonomic vehicles. In addressing this problem, new model predictive control …
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Distributed cooperative trajectory generation for multiple autonomous vehicles using Pythagorean Hodograph Bézier curves
This dissertation presents a framework for multi-vehicle trajectory generation that enables efficient computation of sets of feasible, collision-free trajectories for teams of autonomous vehicles executing cooperative missions with common objectives. Existing methods for multi-vehicle trajectory …
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Dynamic vehicle routing for robotic networks
… develops concepts and algorithms for dynamic vehicle routing (DVR), that is, for the automatic planning of optimal multi-vehicle routes to provide service to demands (or more generally to perform tasks) that are generated over time by an exogenous process. We consider a rich variety of …
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Avionics systems design for cooperative unmanned air and ground vehicles
… intended for use onboard unmanned air and ground vehicles, that are parts of a multi-vehicle system whose primary mission objective is to provide up-close surveillance capability from a large stand-off distance. Different types of cooperative action between air and ground vehicles, that can help …
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Design of an underwater vertical glider for subsea equipment delivery
… platforms or powered autonomous underwater vehicles (AUVs). An alternative would be to augment existing platforms with navigation and guidance capability, enabling them to actively guide themselves to their destination, with minimal added complexity and power consumption. This defines a new …
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Online trajectory planning for UAVs using mixed integer linear programming
… horizon optimization problem for unmanned aerial vehicles (UAV's). Using MILP, hard constraints for obstacle and multi-vehicle avoidance as well as an approximation of vehicle dynamics are included into the formulation. The complete three dimensional formulation is described. The existing MILP …
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