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 20 of 31 for “"Random tree"”.
-
Characterizing drag and velocity within model mangrove forests of ordered and random tree arrangement
… in velocity and drag force on model mangrove trees within 13 different simulated mangrove forest segments in a flume were investigated. The simulated forests were composed of 1/12 scale model Rhizophora mangrove trees placed at three densities: low (3.42 trees/m²), medium (6.34 trees/m²), and …
-
Information theory of random trees induced by stochastic grammars.
… been done on the information theory of binary random rooted tree models in which every nonleaf vertex in a tree has exactly two children. Let α be a positive integer parameter > 2. The main contribution of this thesis is to extend the information theory results for binary random tree models to …
-
Information-rich path planning under general constraints using Rapidly-exploring Random Trees
… the Information-rich Rapidly-exploring Random Tree (IRRT), an extension of the RRT algorithm that embeds information collection as predicted using Fisher information matrices. The primary contribution of this trajectory generation algorithm is target-based information maximization in …
-
Robust randomized trajectory planning for satellite attitude tracking control
… presents a novel guidance strategy that uses a randomized trajectory planning algorithm in a closed-loop fashion to provide robust motion planning and execution. By closing the guidance, navigation, and control loop around a randomized trajectory planning algorithm, a robotic vehicle can …
-
Predictive Path Planning For Vehicles at Non-signalized Intersections
… of computational resources. Rapidly-exploring Random Tree (RRT) as an effective local path planning methodology can determine a feasible path in the static environment. Few improvements are proposed to adopt the RRT to the non-signalized intersections. Gaussian Processes Regression (GPR) is …
-
Counter-Intuitive Behavior in Locally Optimal Solar Sail Escape Trajectories
… a search technique known as a rapidly-exploring random tree. This method is capable of negotiating non-convex search spaces to find escape trajectories exhibiting counter-intuitive behavior that better approximates locally optimal solutions, while also providing increased robustness through …
-
On-Board Artificial Intelligence for Failure Detection and Safe Trajectory Generation
… with the multi-goal Rapidly-Exploring Random Tree (RRT*) path planning algorithm to generate safe trajectories based on a reduced flight envelope. A high-fidelity model of a fixed-wing unmanned aerial vehicle is used to demonstrate the capabilities of the approach by timely generating …
-
Decentralized path planning for multiple agents in complex environments using rapidly-exploring random trees
… the Decentralized Multi-Agent Rapidly-exploring Random Tree (DMARRT) algorithm, is an extension of the CL-RRT algorithm to the multi-agent case, retaining its ability to plan quickly even with complex constraints. Moreover, a merit-based token passing coordination strategy is also presented as a …
-
Human-aware Motion Planning for Aerial Robots
… trajectory prediction with Rapidly-exploring Random Tree Star RRT* for path planning. The objective is to efficiently and safe navigate in the area with human. Drones would avoid moving human and maintaining optimal flight path. During training SGAN model, we use both public datasets and …
-
Self-limitation, dynamic and flexible approaches for particle swarm optimisation
… Probabilistic Road Map (PRM), Rapidly-explore Random Tree (RRT) and Dijkstra’s Algorithm (DA) were also included in the path planning problem in order to compare these new techniques’ performances against Classical methods of path planning. Results showed all five introduced techniques managed …
-
On the occurrences of motifs in recursive trees, with applications to random structures
… three problems related to motifs and recursive trees. In the first problem we consider a collection of uncorrelated motifs and their occurrences on the fringe of random recursive trees. We compute the exact mean and variance of the multivariate random vector of the counts of occurrences of the …
-
Optimal and receding-horizon path planning algorithms for communications relay vehicles in complex environments
… is a new modification of the Rapidly-Exploring Random Tree algorithm that makes it more efficient at finding paths that are applicable to the communications chaining problem. The second solution takes a distributed, receding-horizon approach, where each vehicle solves for its own path using a …
-
A Study of Malware Behaviour of Webpages
… empty class. As a base classifier of bagging, random tree is applied because it can handle similar types of data as bagging, but better than other classifiers because it is faster and more accurate. The findings of the research show that all features in botnet dataset are equally important to …
-
Sample-based motion planning in high-dimensional and differentially-constrained systems
… algorithms, such as the Rapidly-exploring Random Tree (RRT), have proven to be effective in path planning for systems subject to complex kinematic and geometric constraints. The performance of these algorithms, however, degrade as the dimension of the system increases. Furthermore, …
-
Real-Time Roadway Mapping and Ground Robotic Path Planning Via Unmanned Aircraft
… and road detection method, the Rapidly-exploring Random Tree (RRT) algorithm was modified for real-time application and efficient data processing. Considerations of incomplete maps and goal adjustments was also incorporated. Finally, aerial imagery from an actual UAV flight was processed using …
-
Multi-directional Rapidly Exploring Random Graph (mRRG) for Motion Planning
… according to their transition feasibility. Tree-based sampling-based planners (e.g., Rapidly-Exploring Random Tree, or RRT) start growing a tree outward from an initial configuration of the robot. In this work, we propose a multi-directional Rapidly-Exploring Random Graph (mRRG) for robotic …
-
Computationally-efficient path planning algorithms in obstacle-rich environments based on visibility graph method
… Potential Fields (PF) and Rapidly-Exploring Random Tree (RRT). Among those, VG is superior in terms of producing a path with the least length and completeness. However, VG has a drawback due to the fact that its computation time will increase in obstacle-rich environments. Moreover, as a path …
-
Distributed time-critical coordination strategies for unmanned aerial systems in cluttered environments
… guide the growth of a rapidly-exploring random tree through the narrow passages in cluttered and uncertain scenarios. To this effect, specific silhouette and tolerance verification queries are designed for the geometric objects that represent vehicle motion and environmental obstacles. …
-
Human-automation collaborative RRT for UAV mission path planning
… Recent work has proposed the use of a randomized algorithm known as the Rapidly exploring Random Tree (RRT) algorithm for path planning. While capable of finding feasible solutions quickly, it is unclear how well a human operator will be able to supervise a team of UAVs that are …
-
Two-stage path planning approach for designing multiple spacecraft reconfiguration maneuvers and application to SPHERES onboard ISS
… using a bi-directional Rapidly-exploring Random Tree (RRT) planner. A transition algorithm then augments this guess with feasible dynamics that are propagated from the beginning to the end of the trajectory. The resulting output is a feasible initial guess to the complete optimal control …
Page 1 of 2