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 8 of 8 for “"Optimal trajectory generation"”.
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Multi-fidelity Optimal Trajectory Generation: Optimal Experiment Design for Robot Learning
… battery voltage fluctuations often compromise trajectory reliability, even when conforming to ideal dynamics. However, the typical data-driven methods are usually developed in simulated environments. Consequently, the transition to real-world dynamics requires extensive fine-tuning, which can …
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Lossless convexification of quadrotor motion planning with experiments
… position constraints. Using the convexied optimal trajectory generation problem with physical and path constraints, an algorithm is developed that generates fuel optimal trajectories given the initial state and desired final state. As a proof of concept, a quadrotor testbed is developed …
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Design and control of a compact aerial manipulation system with a Delta-type parallel robot
… features, modern flight controllers, and optimal trajectory generation. They are primarily designed for versatile indoor pick-and-place tasks where the characteristics of the proposed solution introduce useful kinematic properties. We explore these traits to address critical deficiencies …
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Optimal Control in Aircraft Trajectory Planning
Trajectory planning for autonomous and piloted aircraft must satisfy not only geometric constraints but also full six-degree-of-freedom dynamics, actuator limits, and mission- or safety-driven performance objectives. This thesis investigates optimal control as a refinement tool for …
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Long-duration proximity operations flexibly optimized for efficient inspection and servicing using free-orbit dynamics
… problem from the perspective of continuous optimal trajectory control. A numerical optimization framework is presented for developing and analyzing fuel-, energy-, and time-optimal trajectories with multiple phases using Gauss pseudospectral collocation software. Emphasis is placed on energy …
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Dynamics and control of electromagnetic satellite formations
… problem is a nonlinear and constrained optimal time control problem as fuel cost for EMFF is zero. Two different methods of trajectory generation, namely feedback motion planning using the Artificial Potential Function Method (APFM) and optimal trajectory generation using the Legendre …
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Particle Filtering and Optimal Control for Vehicles and Robots
This thesis covers areas within estimation and optimal control of vehicles, in particular four-wheeled vehicles. One topic is how to handle delayed and out-of-sequence measurements (OOSMs) in tracking systems. The motivation for this is that with technological development and exploitation of more …
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Path planning and control of flying robots with account of human’s safety perception
… intention, and emotional state. Then, an optimal motion planner generates a trajectory, parameterized in Bernstein polynomials, which minimizes the cost related to the mission objectives while satisfying the constraints on the predicted human’s safety perception. Using Model Predictive …