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 112 for “"Planning Algorithms"”.
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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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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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Sampling-based motion planning algorithms for dynamical systems
… 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 emphasis on …
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Sampling and Searching Methods for Practical Motion Planning Algorithms
In its original conception, the motion planning problem considered the search of a robot path from an initial to a goal configuration. The study of motion planning has advanced significantly in recent years, in large part due to the development of highly successful sampling and searching …
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Motion planning algorithms and implementations for obstacle-cluttered environments
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms
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Accelerating path planning algorithms with high level synthesis tools and FPGAs.
Accelerating path planning algorithms with field programmable gate arrays (FPGA) allows the designer to achieve significant performance increases over using a traditional central processing unit (CPU). Converting an algorithm to run on an FPGA is a complicated and time consuming process. This …
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Control, estimation, and planning algorithms for aggressive flight using onboard sensing
… on-board sensing. To that end, we propose novel algorithms in trajectory generation for fixed-wing vehicles, state estimation in unstructured 3D environments, and planning under uncertainty. Aggressive flight through obstacles using on-board sensing involves nontrivial dynamics, spatially varying …
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Computationally-efficient path planning algorithms in obstacle-rich environments based on visibility graph method
Path planning purpose is to find a collision-free path in a defined environment from a starting point to a target point. It is one of the vital aspects in enhancing an autonomy of a robot. Cun·ent studies have been focused on developing path planning algorithms to satisfy the criteria of path …
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Optimal and receding-horizon path planning algorithms for communications relay vehicles in complex environments
This thesis presents new algorithms for path planning in a communications constrained environment for teams of unmanned vehicles. This problem involves a lead vehicle that must gather information from a set of locations and relay it back to its operator. In general, these locations and the lead …
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A Hierarchical Algorithm for Probabilistically Complete Path Planning in Multi-Floor Environments
… described as a weighted graph. However, existing planning algorithms for multi-floor environments modeled in this way do not extend the guarantees on completeness and optimality provided by the underlying motion planning algorithms used within the 2D maps. This work proposes a new algorithm, HRG*, …
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Mission Tasking, Path Planning, and System Integration for an Autonomous Surface Vessel
… communications software, tasking software, and planning algorithms. The results of these developments include a hardware based safety system, a modular power and health monitoring system, an easy to use autoconfiguring inter-process communications stack, a dynamic tasking engine, and a …
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Stochastic Motion Planning for Applications in Subsea Survey and Area Protection
This dissertation addresses high-level path planning and cooperative control for autonomous vehicles. The objective of our work is to closely and rigorously incorporate classication and detection performance into path planning algorithms, which is not addressed with typical approaches found in …
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Motion Planning along Manifolds with Geodesic Convexity and Analytic Inverse Kinematics
Collision-free motion planning is a fundamental problem in robotics. Most motion planning algorithms operate in the configuration space of a robot, where each dimension corresponds to an individual degree of freedom. Oftentimes, these configuration spaces can be viewed as Euclidean spaces, and many …
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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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Optimizing the Design of Robot Environments via Interleaved Optimization and White-Box Motion-Planning
Motion planning algorithms lie at the heart of all robotic systems. While each planner optimizes a different utility function, the robot’s environment is consistently the key factor affecting said utilities. Furthermore, in many scenarios (such as an assembly line) this environment is under human …
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Value of information based distributed inference and planning
… presents efficient distributed sensing and planning algorithms that improve resource planning efficiently by taking into account the obtainable Value of Information (VoI) and improve distributed sensing efficiency by ensuring agents only broadcast high value measurements. The first result …
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Virtual urban traffic network simulator
… and also as a platform for testing route-planning algorithms. The simulator was implemented using the C4 game engine and OpenGL. The simulator is capable of producing both 3- and 2-dimensional visualizations of a traffic network. In this thesis, I describe the key components of the …
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Representation Learning for Grounding Vision and Language in Hierarchical Robot Planning
… vision and language in hierarchical robot planning, aiming to improve the full autonomy and robustness of robot systems for indoor household activities. Autonomous robots interact with local operational environments by following the standard Sense-Plan-Act paradigm. With hierarchical …
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An augmented reality interface for multi-robot tele-operation and control
… control multiple robots. It used advanced path planning algorithms to ensure obstacles are avoided and that the operators are free for higher-level tasks. A sensor data fused AR view is displayed which helped the users pin point source information or help the operator with the goals of the …
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Design and development of an autonomous scaled electric combat vehicle
… there, previously developed mapping and path planning algorithms in addition to a developed localization algorithm are implemented to achieve autonomous navigation. Furthermore, a vision-based close quarter pose correction algorithm is designed and developed to improve upon the limitations …
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