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 20 of 74 for “"Unmanned Vehicles"”.
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Adaptive consensus based formation control of unmanned vehicles
… attention to formation control of multiple unmanned vehicles due to a variety of commercial and defense applications. Consensus-based formation control is considered to be more robust and reliable when compared to other formation control methods due to scalability and inherent properties …
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Applied Nonlinear Control of Unmanned Vehicles with Uncertain Dynamics
The presented research concerns the control of unmanned vehicles. The results introduced in this dissertation provide a solid control framework for a wide class of nonlinear uncertain systems, with a special emphasis on issues related to implementation, such as control input amplitude and rate …
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Trajectory planning for unmanned vehicles using robust receding horizon control
… algorithms for a team of cooperating unmanned vehicles operating in an uncertain and dynamic environment. The first, designed for a single vehicle, is the Robust Safe But Knowledgeable (RSBK) algorithm, which combines several previously published approaches to recover the main …
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Modeling real-time human-automation collaborative scheduling of unmanned vehicles
… operator control of multiple heterogeneous Unmanned Vehicles (UVs). Real-time scheduling for multiple UVs in uncertain environments will require the computational ability of optimization algorithms combined with the judgment and adaptability of human supervisors. Automated Schedulers (AS), …
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Discrete-time Stable Geometric Controller and Observer Designs for Unmanned Vehicles
<p>In the first part of this dissertation, we consider tracking control of underactuated systems on the tangent bundle of the six-dimensional Lie group of rigid body motions, SE(3). We formulate both asymptotically and finite-time stable tracking control schemes for underactuated rigid bodies that …
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Autonomous adaptation and collaboration of unmanned vehicles for tracking submerged contacts
… operations are vital to future naval operations. Unmanned systems, including autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs), are anticipated to play a key role for critical tasks such as mine countermeasures (MCM) and anti-submarine warfare (ASW). Addressing these …
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Human-guided management of collaborating unmanned vehicles in degraded communication environments
Unmanned Aerial Systems (UASs) currently fulfill important roles in modern military operations. Present commitments to research and development efforts for future UASs indicate that their ubiquity and the scope of their applications will only continue to increase. For sophisticated UASs …
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Hardware Testbed for Relative Navigation of Unmanned Vehicles Using Visual Servoing
Future generations of unmanned spacecraft, aircraft, ground, and submersible vehicles will require precise relative navigation capabilities to accomplish missions such as formation operations and autonomous rendezvous and docking. The development of relative navigation sensing and control …
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Development of a Multi-Level Emergency Stop System for Unmanned Vehicles
As the use of unmanned vehicles continues to grow, so does the need for systems to safely test and operate these vehicles. While there are safety systems designed for this purpose, they are often developed for a specific vehicle platform. The Multi-Level Emergency Stop (MLES) system provides three …
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Development of a Tow Capacity Test Device for Small Unmanned Vehicles
Unmanned ground vehicles (UGVs) will increasingly be used for tasks such as retrieving injured soldiers from a battlefield, transporting supplies, and towing other small vehicles and payloads. To date, the unmanned test community has not standardized on an apparatus or test operating procedure …
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Architecture for planning and execution of missions with fleets of unmanned vehicles
Esta tesis presenta contribuciones en el campo de la planificación automática y la programación de tareas, la rama de la inteligencia artificial que se ocupa de la realización de estrategias o secuencias de acciones típicamente para su ejecución por parte de vehículos no tripulados, robots …
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A discrete event simulation model for unstructured supervisory control of unmanned vehicles
Most current Unmanned Vehicle (UV) systems consist of teams of operators controlling a single UV. Technological advances will likely lead to the inversion of this ratio, and automation of low level tasking. These advances will also lead to a growth in UV use in large-scale applications such as …
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Assessing the impact of low workload in supervisory control of networked unmanned vehicles
… in the context of controlling a network of unmanned vehicles (UxVs) in a search, track, and destroy mission with the assistance of an automated planner. In addition, this research focused on assessing the physical, social, and cognitive coping mechanisms that operators rely upon during …
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Planning under uncertainty and constraints for teams of autonomous agents
One of the main advantages of unmanned, autonomous vehicles is their potential use in dangerous situations, such as victim search and rescue in the aftermath of an urban disaster. Unmanned vehicles can complement human first responders by performing tasks that do not require human expertise (e.g., …
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Deep learning methods applied to anomaly detection in vehicle manufacturing and operations
… one of the most common modes of transportation, vehicles are very closely related to our lives. As a result, safety is an important issue in both vehicle production process and vehicle operations. Recently, unmanned vehicles have received much attention from both companies and academia. The first …
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Ant colony optimization for agile motion planning
With the need for greater autonomy in unmanned vehicles growing, design of algorithms for mission-level planning becomes essential. The general field of motion planning for unmanned vehicles falls into this category. Of particular interest is the case of operating in hostile environments with …
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Computer Vision Algorithms for Mobile Camera Applications
… activity monitoring, guidance and navigation of unmanned vehicles, autonomous driving and driver assistance, by using data from one or more of these sensors. In this thesis, we focus on multiple mobile camera applications, and present lightweight algorithms suitable for embedded mobile platforms. …
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Optimal and receding-horizon path planning algorithms for communications relay vehicles in complex environments
… constrained environment for teams of unmanned vehicles. This problem involves a lead vehicle that must gather information from a set of locations and relay it back to its operator. In general, these locations and the lead vehicle's position are beyond line of-sight from the operator …
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A Novel Method to Locate Targets Using Active Vision and Robotic Inertial Navigation Data
Unmanned vehicles are increasingly being used for mobile sensing missions. These missions can range from target acquisition to chemical and biological sensing. The reason why these vehicles are increasingly being used is because they can carry many different types of sensors and can function as a …
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