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.
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Showing 1 to 17 of 17 for “"Time-Optimal Path"”.
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Harvest-Time Optimal Path Planning in Dynamic Flows
… of these vehicles, efficient methods for path planning are critical. Path planning, in the most general sense, corresponds to a set of rules to be provided to an autonomous robot for navigating from one configuration to another in some optimal fashion. Increasingly, having autonomous …
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Energy-time optimal path planning in strong dynamic flows
… equation-based methodology that predicts time-energy optimal paths for autonomous vehicles navigating in dynamic environments. The differential equations solve the multi-objective optimization problem of navigating a vehicle autonomously in a dynamic flow field to any destination with the …
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Three-dimensional time-optimal path planning in dynamic and realistic environments
… of currents may vary greatly with depth. Hence, path planning to generate safe and fast vehicle trajectories in such a three-dimensional environment becomes crucial for the successful operation of these vehicles. In addition, many marine vehicles can only move in specific directions and with a …
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Time-Optimal Path Planning in the Portugal-Azores-Madeira Ocean Region
… rapidly increasing. The challenge of creating an optimal navigation route between departure and destination points for these vehicles has many applications, including ocean data collection, transportation and distribution of goods, naval operations, search and rescue, marine pollution, ocean …
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Time-optimal path planning in uncertain flow fields using stochastic dynamically orthogonal level set equations
Path-planning has many applications, ranging from self-driving cars to flying drones, and to our daily commute to work. Path-planning for autonomous underwater vehicles presents an interesting problem: the ocean flow is dynamic and unsteady. Additionally, we may not have perfect knowledge of the …
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Time-optimal path planning for sea-surface vehicles under the effects of strong currents and winds
A path-planning methodology that takes into account sea state fields, specifically wind forcing, is discussed and exemplified in this thesis. This general methodology has been explored by the Multidisciplinary Simulation, Estimation, and Assimilation Systems group (MSEAS) at MIT, however this is …
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Reachability prediction and optimal path planning for autonomous ocean vehicles
… small aircraft is rapidly increasing. Creating time-optimal navigation routes for these vehicles has wide-ranging applications, including ocean data collection, transportation and distribution of goods, naval operations, search and rescue, detecting marine pollution, ocean cleanup, conservation, …
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Energy optimal path planning using stochastic dynamically orthogonal level set equations
… and rigorous methodology that can predict energy-optimal paths from among all time-optimal paths to complete an underwater mission. For this, we develop rigorous a new stochastic Dynamically Orthogonal Level Set optimization methodology. In our thesis, after a review of existing path planning …
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Time-optimal multi-waypoint mission planning in dynamic flow fields
… the use of exact equations to predict time-optimal mission plans for a marine vehicle that visits a number of locations in a given dynamic ocean current field. The missions demonstrated begin and end in the same location and visit a finite number of locations or waypoints in the minimal …
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Planning for Dynamic Nonprehensile Object Transport
… methods can require large computation times if there exist challenging boundary conditions. Iterative Time Optimal Path Parameterization, or iTOPP, guarantees a feasible local minimum for a dynamic grasping problem by iteratively decreasing transit time for a trajectory initially …
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Flight Vehicle Control and Aerobiological Sampling Applications
… transport process. In this work flight vehicle path planning, control and coordination strategies are considered for unmanned autonomous aerial vehicles. A time-optimal path planning algorithm, that is simple enough to be solved in real time, is derived based on geometric concepts. The method …
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Algorithmic Aspects of Perception-Aware Motion Planning on Resource-Constrained Platforms
… integral tool in numerous applications involving time-critical missions in GPS-denied environments. Due to their small size and lean energy budget, MAVs are often equipped with a camera to aid ego-localization. This introduces at least two fundamental challenges. First, cameras are of little use …
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Adaptive Stochastic Reduced-Order Modeling for Autonomous Ocean Platforms
… (MSEAS) reanalyses, specifically from the real-time exercises in the Middle Atlantic Bight region. We also highlight our results using the Navy’s Hybrid Coordinate Ocean Model (HYCOM) forecasts in the North Atlantic region. We then apply the adaptive ROM onboard forecasting algorithm to …
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Path planning and adaptive sampling in the coastal ocean
… in complex dynamic environments, the planning of paths and the collection of observations are basic, indispensable problems. In the oceanic and atmospheric environments, the concurrent use of multiple mobile sensing platforms in unmanned missions is growing very rapidly. Opportunities for a …
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Dynamical Reduced-Order Models for High-Dimensional Systems
… for higher fidelity simulations and faster run times grows quickly; we will always grasp at what is just beyond our computational reach. No matter if we seek to understand biological, chemical, or physical systems, the bottleneck of scientific computing is almost always the same: high …
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High-Dimensional Optimal Path Planning and Multi-Timescale Lagrangian Data Assimilation in Stochastic Dynamical Ocean Environments
… and make decisions under uncertainty, all in optimal integrated fashion and over long duration, persistently adapting to and sustainably utilizing the ocean environment. The ocean is a prime example of multiscale nonlinear multidisciplinary and strongly coupled dynamics where measurements of …
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Probabilistic regional ocean predictions : stochastic fields and optimal planning
… the distributions of reachable regions, time-optimal paths, and risk-optimal paths in uncertain, strong and dynamic flows is also essential for their optimal and safe operations. Motivated by the above needs, the objectives of this thesis are to develop and apply the theory, schemes, and …