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 47 for “"cluttered environments"”.
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Efficient Robot Motion Planning in Cluttered Environments
… given start and goal states in an environment cluttered with obstacles. As tasks become more complex, there is a need to develop more sophisticated motion planning algorithms that can compute high quality solutions for the robot quickly. This thesis primarily address the challenge in three …
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Robot Navigation in Cluttered Environments with Deep Reinforcement Learning
<p>The application of robotics in cluttered and dynamic environments provides a wealth of challenges. This thesis proposes a deep reinforcement learning based system that determines collision free navigation robot velocities directly from a sequence of depth images and a desired direction of …
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Motion planning algorithms and implementations for obstacle-cluttered environments
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms
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Planning and control for quadrotor flight through cluttered environments
… flight have typically been limited to sparse environments due to the computational burden associated with planning for a large number of obstacles. We hypothesized that it would be possible to do efficient planning and robust execution in obstacle-dense environments using the novel Iterative …
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Distributed time-critical coordination strategies for unmanned aerial systems in cluttered environments
… of cooperating unmanned aerial systems through cluttered and uncertain environments, subject to a broad range of coordination and temporal constraints. The proposed solution expands the type of time-critical missions that can be automated using cooperative motion control frameworks. This work …
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Hidden object doppler : estimating motion, size and material properties of moving non-line-of-sight objects in cluttered environments
… path light transport analysis to explore the environments beyond line of sight. What is moving around the corner interests everyone including a driver taking a turn, a surgeon performing laparoscopy and a soldier entering enemy base. State of the art techniques that do range imaging are …
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Towards Safety-Assured Environments of Autonomous Robots via Intent Expressive Autonomy
… to enhance human safety, particularly in cluttered environments. While previous research has focused on uncluttered settings, our work introduces a measure for clutteredness based on an entropic measure of the environment, and a novel motion planner based on potential fields. Tested in a …
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Object-Centric Planning for Long-Horizon Robotic Manipulation and Navigation
… long-horizon tasks within complex and novel environments. The sparse and factored nature of object-centric planning makes it a good candidate for the reasoning engine inside such an agent. However, several challenges remain under an object-centric planning framework. Challenges arise in areas …
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Integrated perception and control at high speed
… high-speed quadrotor flight through unknown cluttered environments using integrated perception and control. Motivated by experiments in which the difficulty of accurate state estimation was a primary limitation on speed, our method forgoes maintaining a map in favor of using only …
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Feedback control of dynamical systems using neuromorphic vision sensors
… algorithms for high-speed motion planning in cluttered environments using neuromorphic vision sensors.
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Eye movement guidance in familiar visual scenes : a role for scene specific location priors in search
… rapid and strategic eye movements in complex, cluttered environments. Attention allocation is known to be influenced by low level image features, visual scene context, and top down task constraints. Scene specific context develops when observers repeatedly search the same environment (e.g. …
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Optimization-based Motion Planning for Humanoid Fall Recovery
… of their upper and lower limbs in challenging environments and legged robots' inherent terrain adaptability makes them competent to provide assistance in these hazardous conditions. Though being considered as attractive candidates, humanoid robots suffer from a great risk of falling resulting …
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Modeling and Applications of Everting Vine Robots
… excel at passively navigating convoluted and cluttered environments. This thesis will provide evaluation of an inflated beam model applied to everted tubes, and secondly it will outline a proposed application of everted tubes: advanced airway management. Everted tubes have often been modeled …
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Collaborative Motion for Mobile Platforms
In dense cluttered environments, autonomous physical agents will face many challenges including limited routes, obstructed sensors, and limited communication. Equipping the agents with inter-agent communication alleviates some of the issues, but providing a mechanism for forming groups allows the …
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Low-latency trajectory planning for high-speed navigation in unknown environments
… to navigate autonomously through unknown, cluttered environments at high-speeds is still an open problem in the robotics community. Advancements in light-weight, small form factor computing has allowed the application of state-of-the-art perception and planning algorithms to the high-speed …
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An autonomous forklift research platform for warehouse operations
… of overhead loads, operation in unstructured cluttered environments, and operation in collaboration with human operators.
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Algorithms for Generation and Tracking of Fast and Agile Flight Trajectories
High-speed flight through cluttered environments is essential to many time-sensitive robotics applications. It requires motion planning and flight control algorithms that enable highly accurate maneuvering at the edge of the vehicle’s capability. These algorithms must overcome challenges particular …
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Touch at a distance : underwater object identification using pressure sensors
… obstacles and navigate dexterously in complex environments. Similarly, pressure sensors could be used on underwater vehicles to expand their range of operability by filling the gap left by sonar and vision systems in turbid cluttered environments. To understand how much information can be …
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Biomimetic sonar design and the investigation of the role of peripheral dynamics for target classification in bat biosonar
… which allow for navigation in extremely cluttered environments. One such adaptation is the rapid motion of the pinna and noseleaf observed in certain families of old-world bats (Rhinolophidae and Hipposiderae). Little is known about the physical properties about this adaptation affects …
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