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 12 of 12 for “"motion coordination"”.
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Motion Coordination of Aerial Vehicles
The coordinated motion control of multiple vehicles has emerged as a field of major interest in the control community. This thesis addresses two topics related to the control of a group of aerial vehicles: the output feedback attitude synchronization of rigid bodies and the formation control of …
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Motion coordination for a mobile robot in dynamic environments
Generating coordinated motion for a mobile robot operating in natural, continuously changing environments among moving obstacles such as humans is a complex task which requires the solution of various sub problems. In this thesis, we will cover the topics of perception and navigation in dynamic …
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Motion Coordination and Performance Analysis of Multiple Vehicle Systems
The last problem addressed is that of the deployment of an environment monitoring network of mobile sensors to improve the network lifetime and sensing quality. A distributed algorithm is presented that improves the system's performance starting from an initial deployment.
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Motion Coordination for Mobile Robotic Networks With Visibility Sensors
… we address problem (ii) by proposing a novel motion coordination algorithm for a group of robotic agents to achieve rendezvous, that is, to move to a common location inside a nonconvex environment. The robots move synchronously in discrete time, they have a range-limited visibility sensor, and …
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Safe navigation and motion coordination control strategies for unmanned aerial vehicles
… UAV control for safe autonomous navigation and motion coordination of multi-UAV systems. The first part of this thesis deals with single-UAV systems. Initially, a hybrid navigation framework is developed for autonomous mobile robots using a general 2D nonholonomic unicycle model that can be …
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Motion coordination and control in the development of a gait rehabilitation system
… trajectories that limit the joints' range of motion (ROM) thus improving the gait training safety. The movement of the input links of gait generation mechanisms must be controlled to provide proper timing of both stance and swing phases during a training session. This research describes the …
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Virtual stationary timed automata for mobile networks
… two important services for mobile networks: motion coordination and end-to-end routing. We split the implementation of the end-to-end routing service into three smaller pieces, consisting of geographic routing and location management services with an end-to-end routing service built on top of …
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Improving Controllers for Formations and Deconfliction among Non-holonomic Vehicles
… formations of systems with non-holonomic motion constraints inspired by solutions in robotics. The geometric reasoning takes place in curvilinear coordinates, which are defined by the curvature of the leaders reference trajectory, in order to directly satisfy the constraints, instead of …
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Dynamic analysis of anthropomorphic manipulators in computer animation
The thesis examines the motion control and motion coordination of articulated bodies, in particular human models, through the use of dynamic analysis. The work concentrates particularly on the use of dynamic analysis as a tool for creating an animated walking sequence. The aim is to relieve the …
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Design, Development, and Human Analogous Control of a Climbing Robot
… and even jump over obstacles with proper motion coordination. It can also move inside narrow passageways by reconfiguring itself. The design of a re-configurable robot capable of traversing a wide range of unconventional terrains is the novelty in this invention. A comprehensive dynamic …
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Fault-tolerant control policies for multi-robot systems
… have witnessed an active interest in distributed motion coordination algorithms for networked mobile autonomous robots. Often, in multi-robot systems, each robot executing a coordination task is a little cost, a disposable autonomous agent that has ad-hoc sensing or communication capability, and …
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An Activity-Based Framework for Automated Placement and Configuration of Multiple Stereo Cameras
… and it requires localization, orientation and motion coordination for a human in tele-immersive environment to complete the task. Finally, in third study, we study the effect of cues and view presentation styles upon the ability to regain proprioceptive abilities. We consider wheelchair …