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 379 for “"Path Planning"”.
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Robotic Offline Path Planning
The aim of this study is to disseminate a novel path planner which is particularly used for offline robots to build more efficient collision-free trajectories in terms of the length in more skilled fashion. Robotic path planning as one of the most important problems has been under investigation by …
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Learning for informative path planning
… Monte- Carlo simulations in informative path planning. This will enable us to decrease the uncertainty of the weather estimates more than current methods by enabling the evaluation of many more candidate paths given the same amount of resources. The learning method and the path planning …
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Spatial and temporal path planning
… well. The introduction of a time factor to the planning process implies that robots must reason about other processes and agents that move through space independently of the robot's actions. This thesis presents an integrated route planner and spatial representation system for planning real-time …
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Deep Learning-Based Exploration Path Planning
In this thesis, two deep learning-based path planning methods for autonomous exploration of subterranean environments using aerial robots are presented. One approach utilizes imitation learning, where training samples are generated by a sampling-based state of the art exploration path planner, to …
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Path planning using the Newtonian potential
… topological structure of free space in solving path planning problems because of the simplicity in the free space representation and the guidance provided by the negative gradient of the potential field in the form of repulsive forces. In this thesis, a Newtonian potential function is used to …
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Path planning for an autonomous vehicle
… position and arrive at a desired location. The path to this goal location must maneuver the vehicle around any obstacles and reach the goal with minimal cost. A variant of this problem tasks the UAV with tracking a moving target. In this manner the UAVs trajectory is updated through time to …
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Path-planning strategies for ambush avoidance
This thesis examines a variety of ambush games in which one player must navigate between an origin and a destination, and the other player seeks to intercept and ambush him. These games include single-stage games, in which all decisions are made at the outset of the game, and multi-stage games, in …
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Path planning for image based visual servoing
… camera calibration errors, an opportune image path planning can be exploited. This work deals with the problem of generating opportune image plane trajectories for tracked points of the servoing control scheme (a trajectory is made of a path plus a time law). The generated image plane paths …
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Multi-path planning for hydraulic fluid routing
In this thesis, I designed, implemented, and optimized an algorithm to solve the circuit-routing problem, optimizing the solution for exact correctness in a low aspect ratio scenario, as opposed to approximate correctness in high aspect ratio scenarios, where topological approaches are typically …
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Path planning methods for Autonomous Underwater Vehicles
… underwater vehicles, feasible and optimal path planning is crucial for autonomous underwater operations. The objective of this thesis is to develop and demonstrate an efficient underwater path planning algorithm based on the level set method. Specifically, the goal is to compute the paths …
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Collaborative UAV path planning with deceptive strategies
In this thesis, we propose a strategy for a team of Unmanned Aerial Vehicles (UAVs) to perform reconnaissance of an intended route while operating within aural and visual detection range of threat forces. The advent of Small UAVSs (SUAVs) has fundamentally changed the interaction between the …
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Assembly Sequence Optimization and Assembly Path Planning
… of automatic assembly viz., assembly sequence planning and assembly path planning. These issues are addressed separately starting with sequence planning followed by assembly path planning. For efficient assembly without feedback systems (or, passive assembly), an assembler should know the ideal …
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Molecular Docking With Haptic Guidance and Path Planning
… low potential energy ligand states and motion paths with crowdsource scale potential. In an exploratory user study, participants were assigned four different types of devices with varying levels of haptic guidance to search for a potentially docked ligand state. The results demonstrate some …
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Cognitive UAS Path-Planning for Large Spatial Search
… used to their full potential. Some means of planning how to search the area must be developed, with the most basic means of accomplishing this task being creating a predefined path which is guaranteed to cover all known areas. To increase the rate of success and decrease necessary search …
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Minimum energy path planning for ad hoc networks
We introduce the problem of finding a path for a mobile node traveling from a source to a destination while communicating with at least one node from a set of stationary nodes in such a way that minimizes the transmission energy used in communication. We characterize this problem and introduce two …
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Harvest-Time Optimal Path Planning in Dynamic Flows
… of these vehicles, efficient methods for path planning are critical. Path planning, in the most general sense, corresponds to a set of rules to be provided to an autonomous robot for navigating from one configuration to another in some optimal fashion. Increasingly, having autonomous …
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Path Planning for Trajectory Guided Freehand Ultrasound Scan
… To address this issue, we proposed a novel path planning framework that provides real-time guidance for freehand ultrasound and reconstructs 3D images in real-time. A low-cost RGB-D camera with IMU module is mounted on a regular ultrasound probe to estimate the spatial placement of the probe …
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Sampling-based algorithms for optimal path planning problems
Sampling-based motion planning received increasing attention during the last decade. In particular, some of the leading paradigms, such the Probabilistic RoadMap (PRM) and the Rapidly-exploring Random Tree (RRT) algorithms, have been demonstrated on several robotic platforms, and found applications …
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Autonomous Vehicle Path Planning with Remote Sensing Data
Long range path planning for an autonomous ground vehicle with minimal a-priori data is still very much an open problem. Previous research has demonstrated that least cost paths generated from aerial LIDAR and GIS data could play a role in automatically determining suitable routes over otherwise …
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