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 13 of 13 for “"Optimal Motion Planning"”.
-
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 …
-
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 …
-
Provably Asymptotically Near-Optimal Motion Planning with Sparse Data Structures
Asymptotically optimal planners, such as PRM*, guarantee thatsolutions approach optimal as iterations increase. Roadmaps with this property, however, may grow too large. If optimality is relaxed,asymptotically near-optimal solutions produce sparser graphs by notincluding all edges. The idea stems …
-
Exploiting structures of trajectory optimization for efficient optimal motion planning
Trajectory optimization is an important tool for optimal motion planning due to its flexibility in cost design, capability to handle complex constraints, and optimality certification. It has been widely used in robotic applications such as autonomous vehicles, unmanned aerial vehicles, humanoid …
-
Toward optimal motion planning for dynamic robots : applications on-orbit
Robotic motion planning is a well-studied field at the intersection of optimal control, artificial intelligence, and applied mechanics. Methods for robots without dynamics are well-studied and are often practical for real-time deployment on current systems. However, robots that have dynamics, …
-
Analytical and Numerical Optimal Motion Planning for an Underwater Glider
… A reduced-order point-mass model is analyzed for optimal gliding in the presence of a current. Different numerical method solutions are compared while attempting to achieve maximum glide range. The result, although approximate, provides good insight into how the vehicles may be operated more …
-
Fast numerical algorithms for optimal robot motion planning
… high-level autonomous tasks requires solving the optimal motion planning problem for a mobile robot. For example, to reach the desired destination on time, a self-driving car must quickly navigate streets and avoid hazardous obstacles such as buildings or other cars, as well as provide safety for …
-
Cooperative autonomous systems: Motion planning and coordinated tracking control for multi-vehicle missions
In this dissertation a framework for planning and control of cooperative autonomous systems 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 …
-
Rotorcraft Flight Dynamics and Control in Wind for Autonomous Sampling of Spatiotemporal Processes
… unmanned rotorcraft for spatiotemporal sampling, optimal algorithms are developed for two sampling objectives: (1) sampling continuous spatiotemporal fields modeled as Gaussian processes, and (2) optimal motion planning for coordinated target detection, which is an example of a discrete …
-
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 …
-
Efficient Learning and Inference for High-dimensional Lagrangian Systems
… to learning from high-dimensional human motion capture data. The second part of this work is concerned with the application of these methods to high-dimensional motion planning. Algorithms are given to learn and exploit the struc- ture of holonomic motion planning problems effectively via …
-
Sampling-based motion planning algorithms for dynamical systems
… bring further challenges to the problem of motion planning, by additionally complicating the computation of collision-free paths with collision-free dynamic motions. This dissertation proposes efficient approaches for the optimal sampling-based motion planning algorithms, with a strong …
-
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 …