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 14 of 14 for “"Real-Time Planning"”.
-
Toward Real-Time Planning for Robotic Search
… assume that the search mission is subject to a time or distance constraint, and that the local environmental conditions affect sensor performance. Because the environment varies by location, the effectiveness of the search sensor also varies by location. Our contribution to search theory …
-
Real-Time Planning and Nonlinear Control for Robust Quadrupedal Locomotion with Tails
This thesis aims to address the real-time planning and nonlinear control of quadrupedal locomotion such that the resulting gaits are robust to various kinds of disturbances. Specifically, this work addresses two scenarios. Namely, a quasi-static formulation in which an inertial appendage (i.e., a …
-
Proactive Planning and Control of Construction Productivity and Cost Using Time Series Data
… predict construction productivity and cost in a timely manner. Thereby, practitioners can make more reliable decisions and implement the decisions in a more effective way while managing projects. Overall, it is envisioned that the new approach can help practitioners to be more proactive so that …
-
Safe and Efficient Motion Planning in Robotic Manipulation through Formal Methods
… challenges due to the need for rapid, real-time planning and the assurance of safe operational paths. The challenges come from varying shapes of the manipulated objects and high-dimensional nature of manipulators. This thesis addresses these issues by developing (1) a mixed-integer …
-
Combinatorial and Robust Optimisation Models and Algorithms for Railway Applications
… railway systems. Railway optimisation deals with planning and scheduling problems over several time horizons. Disturbances are inevitable and severely affect the planning process. Here we focus on two compelling aspects of planning: robust planning and online (real-time) planning.
-
A Multi-DOF Soft Robot Mechanism for Patient Motion Correction and Beam Orientation Selection in Cancer Radiation Therapy
… and deferred positioning procedures sometimes cause eczema or brain damage. We synthesize system identification, finite elastic deformation, and control systems to harness soft robot mechanisms for real-time motion correction in cancer radiation therapy scenarios. Additionally, in most …
-
Perception and Planning of Connected and Automated Vehicles
… are limited in scope and require innovation to realize fully autonomous vehicles. This work addresses the design problems of perception and planning in CAVs. A decentralized sensor fusion system is designed using Multi-target tracking to identify targets within a vehicle's field of view, …
-
Robust Predictive Control for Legged Locomotion
This dissertation aims to realize the goal of developing robust control solutions that can enable legged robots to navigate complex unknown environments. The idea of creating articulated-legged machines that can mimic animal locomotion has fueled the imagination of many researchers. These legged …
-
Modular modeling and control of a hybrid unmanned aerial vehicle’s powertrain
… is the coordination of multi-domain and multi-timescale system dynamics. This thesis seeks to address the challenge of coordination between the slow battery state of charge dynamic and faster electro-mechanical dynamics for a hybrid unmanned aerial vehicle. The graph-based modeling framework …
-
Human-automation collaborative RRT for UAV mission path planning
… team of vehicles performing semi-autonomous path planning while avoiding no-fly zones and replanning on the fly. Unfortunately, real time planning and replanning can be a computationally burdensome task, particularly in the high density obstacle environments that are envisioned in future urban …
-
A systematic architecting approach for supply chains
… and enabled seamless collaboration models, real-time planning, and quick responses among participants in supply chain systems. Globalization, specification, and the use of technologies that pursue low costs with high services have been dominating the supply chain design for years. Since 9/11 …
-
Hierarchical Control of Constrained Multi-Agent Legged Locomotion: A Data-Driven Approach
… computationally efficient enough to be used in a real-time manner for trajectory planning. In order to test the method rigorously, we consider a series of experiments to examine how the planner works when using different gait parameters than that which was used during data collection. Furthermore, …
-
A contextual AR model based system on-site construction planning
… of this schedule are vital, however current planning approaches often lead to multiple or misinterpretations of the schedule throughout the planning team. Four Dimensional Computer Aided Design (4D CAD) has emerged over the last twenty years as an effective tool during construction project …
-
Collaborative Locomotion of Quadrupedal Robots: From Centralized Predictive Control to Distributed Control
This dissertation aims to realize the goal of deploying legged robots that cooperatively walk to transport objects in complex environments. More than half of the Earth's continent is unreachable to wheeled vehicles---this motivates the deployment of collaborative legged robots to enable the …