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 28 for “"Random trees"”.
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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 …
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Consistent hashing and random trees : algorithms for caching in distributed networks
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1998.
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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 …
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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 …
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Path planning for autonomous parafoils using particle chance constrained rapidly-exploring random trees in a computationally constrained environment
Particle chance constrained rapidly-exploring random trees (PCC-RRT) is a sampling-based path-planning algorithm which uses particles to approximate an uncertainty distribution. In this thesis, we study the use of PCC-RRT on an autonomous parafoil. Specifically, we explore the behavior of PCC-RRT …
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Efficient nearest-neighbor search algorithms for sub-Riemannian geometries
… Road Maps (PRMs), Rapidly-exploring Random Trees (RRTs) and a large number of variants thereof. In this thesis, we focus on a crucial building block shared by these algorithms: nearest-neighbor search. While nearest-neighbor search is known as the asymptotically dominant bottleneck of …
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A perception-guided approach to motion and manipulation planning
Rapidly-Exploring Random Trees (RRT) have been successfully applied to many different robotics systems for motion and manipulation planning under non-holonomic constraints. However, the conventional RRT algorithm may perform poorly in the presence of noise and uncertainty. This thesis proposes a …
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Obstacle Detection and Avoidance System for Unmanned Aerial Vehicles Based on Monocular Camera
… around large, static objects like buildings or trees. However, detecting small objects and handling dynamic aerial environments remain challenging. To address this, we introduce an innovative system for small object detection and real-time path planning using a monocular camera. Our dual-stage …
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Obstacle Avoidance for Small Unmanned Air Vehicles
… This research compares rapidly-exploring random trees to genetic algorithms for UAV pre-mission path planning. It also presents two methods for using image feature movement and UAV telemetry to calculate depth and detect obstacles. The first method uses pixel ray intersection and the …
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Sampling-based path planner for guided airdrop in urban environments
… guidance. The algorithm uses Rapidly-Exploring Random Trees (RRT) to efficiently search for feasible paths through complex environments. Most importantly, Rewire-RRT provides a mechanism to build and rewire the tree to explicitly minimize the risk of collision with obstacles along each path and …
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Validation and optimization of analog circuits using randomized search algorithms
… validation and machine learning. Duplex uses random tree data structures. Duplex is based on partitioning and separating the problem space into multiple smaller spaces such as input, state and the function space. Duplex simultaneously controls, biases and monitors the growth of the random …
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Modeling and control of a robot manipulator
… Three versions of the Rapidly-exploring Random Trees planning algorithm namely, basic RRT, RRT Ball and RRT_ are compared. Results obtained show that RRT_ is more suitable than RRT and RRT Ball in terms of the length and the consistency of the trajectories produced. A Force Angle …
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Multi-Robot Path Planning Using Sampling-Based Algorithms and Reinforcement Learning
… algorithms such as RRT (Rapidly-exploring Random Trees), RRT*, and M* to the test to determine which has the best performance in terms of time spent developing and executing the path plan, overall path plan route length, completion success rate, and scalability to more complex situations. A …
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Nonlinear trajectory optimization with path constraints applied to spacecraft reconfiguration maneuvers
… constraints and solved using Rapidly-exploring Random Trees (RRT's). The improvement step is posed as a feasible nonlinear optimization problem and solved by an iterative optimization similar to a sequential linear programming method. The primary contribution of the thesis is an improvement to …
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Bald eagle habitat use on B. Everett Jordan Lake and Falls Lake, North Carolina
… those of forest stands and individual roost trees. Eagles chose roost areas that were less dense, had less canopy cover, were closer to forest edges, and had larger trees than random forest areas (P < 0.05). Within roost areas eagles choose trees that were larger (height and dbh) than random …
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A credit risk management model for a portfolio of low-income consumer loans in Mexico
… utilizing Logistic regressions, CART models, Random Trees, and Clustering over training and out-of-sample data sets. Our results not only generated powerful models in terms of statistical accuracy in out-of-sample data sets, but also provided a detail list of robust PD predictors (at 95% …
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Motion Planning For Autonomous Vehicles In Non-Signalized Intersections
… raises the risk of accidents. Rapidly Exploring Random Trees (RRT) is a widely adopted algorithm in robotics for motion planning due to its simplicity and probabilistic completeness. Over the years, researchers have made modifications to the basic RRT algorithm to improve its performance in …
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Ensemble Methods for Anomaly Detection
… are iteratively examined, and improving the random forest algorithms for detecting anomalies in streaming data.</p> <p>We design and evaluate multiple ensemble strategies using score normalization, rank aggregation and majority voting, to combine the results from six well-known base …
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Learning Probabilistic Generative Models For Fast Sampling-Based Planning
… Mixture Models (GMMs) for Rapidly-exploring Random Trees (RRT). In addition, we introduce a new probabilistically safe local steering primitive based on the probabilistic model. Our local steering procedure is based on a new notion of a convex probabilistically safety corridor that is …
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