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 7 of 7 for “"Safe Trajectory"”.
-
Safe trajectory planning of autonomous vehicles
This thesis presents a novel framework for safe online trajectory planning of unmanned vehicles through partially unknown environments. The basic planning problem is formulated as a receding horizon optimization problem using mixed-integer linear programming (MILP) to incorporate kino-dynamic, …
-
On-Board Artificial Intelligence for Failure Detection and Safe Trajectory Generation
… range of flight conditions. Adequate commanded trajectory generation and modification, as well as high-performance trajectory tracking control laws have been an essential focus of researchers given that integration into the National Air Space (NAS) is becoming a primary need. However, the …
-
Safe Control and Coordination of Multiple Autonomous Vehicles
… techniques for the distributed control and safe coordination of autonomous vehicles, specially those with nonholonomic dynamic models. We consider in particular the problem of safe trajectory tracking for a group of interacting autonomous nonholonomic vehicles. In addressing this problem, …
-
Motion Planning For Autonomous Vehicles In Non-Signalized Intersections
… in terms of success rate and time to find a safe trajectory. The algorithm was implemented experimentally on scaled cars for the validation of its feasibility. The experimental results show good sim-to-real transfer for this algorithm. The second part of the thesis proposes a novel algorithm …
-
Threat Assessment and Proactive Decision-Making for Crash Avoidance in Autonomous Vehicles
… challenges encountered in autonomous vehicles' safe decision-making. Predicting a threat in advance can give an autonomous vehicle enough time to avoid crashes or near crash situations. Most vehicles on roads are human-driven, making it challenging to predict their intentions and movements due …
-
Optimization-Based Guidance for Satellite Relative Motion
… sliding mode controller which tracks the linear trajectory in the presence of a higher fidelity orbit model shows that the closed-loop system is both asymptotically stable and robust to disturbances and un-modeled dynamics. Next, a novel method of computing discrete-time, multi-revolution, …
-
Safety-Aware Trajectory Generation for Increased Autonomy in Advanced Air Mobility
… and with increased levels of autonomy, making safe operation under abnormal or degraded conditions a critical requirement. Failures or performance degradation can reduce the maneuvering capability of an aircraft, causing trajectories planned under nominal conditions to become dynamically …