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 11 of 11 for “"collision free motion"”.
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A roadmap-based planner for fast collision-free motion in changing environments
… robotic arms to accomplish tasks based around motion planning problems with motions that feel reactive and intuitive in changing environments. My approach to accomplish this is to combine a roadmap-based motion planner with a sequential, convex trajectory optimization library called TrajOpt. …
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Fast Multi-query Planning in Graphs of Convex Sets
… planning problems in robotics, including collision-free motion planning, skill chaining, and control of hybrid systems. In this thesis, we study the multi-query extension of planning through GCS, motivated by scenarios where robots must operate swiftly within static environments. Our …
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Vision based 3D obstacle detection using a single camera for robots/UAVs
… a single camera in an unknown 3D world for 3D motion of the robot/UAV. Obstacle detection is a pre-requisite for collision-free motion of robots/UAVs. Most of the research in this area has been for 2D motion of the ground robots and with active sensors e.g Laser range finders, Ultrasonic …
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Guiding Nonconvex Trajectory Optimization with Hierarchical Graphs of Convex Sets
Collision-free motion planning with trajectory optimization is inherently nonconvex. Some of this nonconvexity is fundamental: the robot might need to make a discrete decision to go left around an obstacle or right around an obstacle. Some of this nonconvexity is potentially more benign: we might …
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Swarm keeping strategies for spacecraft under J2 and atmospheric drag perturbations
… relative drift of the swarm, preventing collisions within the swarm, and minimizing the fuel used throughout the mission. The development of these methods progresses by eliminating drift using the Hill-Clohessy-Wiltshire equations, removing drift due to nonlinearity, and minimizing the …
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A preliminary study on path planning and obstacle avoidance for construction equipment based on real-time spatial models
… modeling, have the potential not only to obviate collisions between heavy equipment and other on-site objects, but also to allow autonomous heavy equipment to move to target positions quickly without any accidents. Therefore, algorithms for obstacle avoidance and path planning can play a key role …
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Motion Planning along Manifolds with Geodesic Convexity and Analytic Inverse Kinematics
Collision-free motion planning is a fundamental problem in robotics. Most motion planning algorithms operate in the configuration space of a robot, where each dimension corresponds to an individual degree of freedom. Oftentimes, these configuration spaces can be viewed as Euclidean spaces, and many …
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Predictive modeling and socially aware motion planning in dynamic, uncertain environments
… intents (e.g., goals), and (ii) cooperative collision-free motion planning. These issues are not only hard research problems individually, but also tightly coupled since the nearby agents' motion could be affected by the vehicle's choice of action. This work focuses on the interplay between …
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Efficient Robot Motion Planning in Cluttered Environments
… robot that needs to navigate its environment, is Motion Planning: the task of computing a collision-free motion for a (robotic) system between 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 …
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Graphs of Convex Sets with Applications to Optimal Control and Motion Planning
… in GCS: optimal control of dynamical systems and collision-free motion iplanning. In these two areas, our techniques either generalize or significantly improve upon algorithms and optimization methods that have been developed for decades and are widely used in academia and industry. Lastly, the …
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Algorithms for Rectangular Robot Motion Planning
… there is an increasing need for multi-robot motion planning solutions. The basic multi-robot motion planning problem is to decide whether robots can translate from given start positions to given target positions without colliding with each other or any obstacles in the environment on their …