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 9 of 9 for “"Probabilistic roadmap"”.
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Robot Planning in Uncertain, Dynamic Environments
… environments by introducing Relative Temporal Probabilistic Roadmaps (Rel-T-PRM), a novel motion planning algorithm that builds upon the Temporal Probabilistic Roadmap (T-PRM) algorithm. The Rel-T-PRM allows for variable dynamic obstacle size, enables robustness with respect to minor changes in …
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Robust range-based localization and motion planning under uncertainty using ultra-wideband radio
… that incorporate belief uncertainty using probabilistic state estimates. Addressing the former, we improve upon traditional approaches to range-based localization by capturing non-linear sensor dynamics using a Monte Carlo method for hidden bias estimation. For the latter, we overcome …
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Planning in information space for a quadrotor helicopter in a GPS-denied environment
… As a starting point, I apply the Belief Roadmap (BRM) algorithm, an information-theoretic extension of the Probabilistic Roadmap algorithm, incorporating sensing during the path-planning process. I make two theoretical contributions in this research. First, I extend the original BRM to …
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Probabilistic Roadmaps for Virtual Camera Pathing with Cinematographic Principles
… motion planning algorithm, specifically the probabilistic roadmap. This algorithm uses a rapidly-exploring random tree to quickly cover a space and generate small maps with good coverage. For this work, the camera pitch and height along a specified path were automatically generated using …
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Sampling-based algorithms for optimal path planning problems
… 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 well outside the robotics domain. However, a large portion of this research effort has …
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Distributed intelligent systems for a swarm of robots
… such as biologically inspired formations or Probabilistic RoadMap (PRM) tend to have a fixed shape, where robots are positioned in a fixed location point within the swarm, preventing the swarm from adjusting its formation to adapt to the unknown area, thus, are not suitable to explore unknown …
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Shortest Path Problems: Domain Restriction, Anytime Planning, and Multi-objective Optimization
… and accuracy of our algorithm is tested on Probabilistic Roadmap graphs to minimize the distance of travel subject to a constraint on the overall threat exposure to enemy observers.
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Molecular Docking With Haptic Guidance and Path Planning
Molecular docking drives many important biological processes including immune system recognition and cellular signalling. Molecular docking occurs when molecules interact and form complexes. Predicting how specific molecules dock with each other using computational methods has several applications …
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Surveying Underwater Shipwrecks with Probabilistic Roadmaps
… is needed to do so. Paths are generated by a probabilistic roadmap algorithm that uses a rapidly-exploring random tree to quickly cover the volume of exploration space and generate small maps with good coverage. The roadmap is constructed out of nodes, each having its own weight. The weight of …