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 26 for “"Robust Planning"”.
-
Robust planning for autonomous parafoil
Parafoil trajectory planning systems must be able to accurately guide the highly non-linear, under-actuated parafoil system from the drop zone to the pre-determined impact point. Parafoil planning systems are required to navigate highly complex terrain scenarios, particularly in the presence of an …
-
Robust planning for Effects-Based Operations
… and analyze methods of creating theater-level robust mission plans for Effects Based Operations (EBO) of teams of Unmanned Aerial Vehicles (UAVs), and propose methods of effectively presenting the robust plan to an end user. Recent conflicts have demonstrated the utility of UAVs in performing …
-
Robust planning for unmanned underwater vehicles
… subsequently uncertainty is addressed using a robust optimization approach. Solutions were tested through simulation and computational results are presented which indicate that the robust approach handles larger problems than could previously be solved in a reasonable running time while …
-
Robust planning and scheduling using column generation
Autonomous Planning and Scheduling (APS) is the problem of autonomously planning, scheduling and executing a sequence of actions in an environment to achieve some goals. Due to the increased adoption of APS in sensitive applications, there is an increasing need for models that are robust to the …
-
Stochastic optimization for robust planning in transportation
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Civil and Environmental Engineering, 1998.
-
Robust planning for heterogeneous UAVs in uncertain environments
… algorithms will need to incorporate notions of robustness to successfully accomplish the mission in the presence of uncertainty in the information of the environment. This uncertainty could result from inherent sensing errors, incorrect prior information, loss of communication with teammates, or …
-
Towards Robust Planning for High-DoF Robots in Human Environments: The Role of Optimization
Robot motion planning has been a key component in the race to achieve true robot autonomy. It encompasses methods to generate robot motion that meets kinematic constraints, robot dynamics and that is safe (avoids colliding with the environment). It has been particularly successful in efficiently …
-
A robust planning and control methodology for design-build fast-track civil engineering and architectural projects
A robust planning and control methodology is developed by integrating the applications of axiomatic design concept, concurrent engineering, graphical evaluation and review technique (GERT), and the system dynamics modeling technique. The goal of the proposed methodology is to help create a robust …
-
Distributed coordination and control experiments on a multi-UAV testbed
… noise.The product of this thesis is a robust planning system that is tolerant of the types of uncertainty experienced by real aircraft. This robustness has been demonstrated by more than 20 successful flights on a fully automated UAV testbed.
-
Geometric Approaches for 3-Dimensional Shape Approximation
… of arbitrary objects is important for achieving robust planning and control for robotic manipulation tasks and sim2real transfer. Currently, the most common solution for obtaining such models is generating them by hand. However, this process is not generalizable or scalable. Neural Radiance …
-
Experimental testbeds for real-time motion planning : implementation and lessons learned
… and testing environments for real-time motion planning. First of all, robust planning and control system using closed-loop prediction RRT approach was implemented on a robotic forklift. The system displayed robust performance in the execution of several tasks in an uncertain demonstration …
-
Combinatorial and Robust Optimisation Models and Algorithms for Railway Applications
… deals with an investigation of combinatorial and robust optimisation models to solve railway problems. Railway applications represent a challenging area for operations research. In fact, most problems in this context can be modelled as combinatorial optimisation problems, in which the number of …
-
Robust reconnaissance asset planning under uncertainty
… integer optimization formulation and two robust mixed-integer optimization extensions to address this problem. Robustness is applied to our model using both polyhedral and ellipsoidal uncertainty sets resulting in tractable mixed integer linear and second order cone problems. We show …
-
Integrated motion planning and model learning for mobile robots with application to marine vehicles
Robust motion planning algorithms for mobile robots consider stochasticity in the dynamic model of the vehicle and the environment. A practical robust planning approach balances the duration of the motion plan with the probability of colliding with obstacles. This thesis develops fast analytic …
-
Robust control of cost impact on fast-tracking building construction projects
… unexpected cost increase due to uncertainty in planning and management. To handle such inherent risks, fast-tracking should be undertaken with proper planning and management in a systematic manner. A closer observation of the design and construction process reveals that all of the …
-
Empty Railcar Repositioning Subject to Travel Time Uncertainty
… and must be taken into account to suggest a robust planning. This thesis presents the linear program used in a prototype tool for the optimization of empty railcar repositioning strategy designed for the SNCF¹. The resulting schedule is computed with CPLEX and minimizes moving cost, delay and …
-
Time and cost overruns on high-rise building construction in Bangladesh
… main causes o f time-overruns were ‘cash flow’, ‘planning and scheduling deficiency’ and ‘design changes’. A scree graph identified 31 important variables that caused delays but factor analysis reduced these to 14 factors. Stepwise regression found no strong links among the factors to identify …
-
A Framework for Utilising Lean Construction Strategies to Promote Safety on Construction Sites
… involvement and empowerment, persistence, robust planning and gradual step-by-step implementation. The study, therefore, concludes that Lean Construction techniques have positive relationships with safety issues on construction sites in the UK and on the basis of the relationships develops …
-
Integrated Tactical-Operational Supply Chain Planning with Stochastic Dynamic Considerations
Integrated robust planning systems that cover all levels of SC hierarchy have become increasingly important. Strategic, tactical, and operational SC plans should not be generated in isolation to avoid infeasible and conflicting decisions. On the other hand, enterprise planning systems contain over …
-
Designing robust railroad blocking plans
… resources. We illustrate the benefits of robust planning by comparing the total costs of our robust plans with those of our deterministic plans. The experiments show that the the realized costs can be reduced by around 50% using robust blocking plans.
Page 1 of 2