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 35 for “"motion planner"”.
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A Geometry-Based Motion Planner for Direct Machining and Control
… tools directly from process planning software. A motion planning module is developed for the DMAC system that operates directly off path geometry without pre-tessellation. The motion planner is developed with the intent to process Bezier curves. The motion planning module includes a deterministic …
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Fast, reliable and efficient database search motion planner (FREDS-MP) for repetitive manipulator tasks
This thesis presents FREDS-MP, a motion planning framework that leverages state of the art methods for solving a set of practical agricultural manipulator applications. Current methods exhibit unacceptably slow planning and execution times, hence FREDS-MP aims to bridge this gap by speeding up …
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Optimizing the Design of Robot Environments via Interleaved Optimization and White-Box Motion-Planning
Motion planning algorithms lie at the heart of all robotic systems. While each planner optimizes a different utility function, the robot’s environment is consistently the key factor affecting said utilities. Furthermore, in many scenarios (such as an assembly line) this environment is under human …
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Characterizing the Epistemic Uncertainty of Predictive Action Models and Sampling-Based Motion Planners for Robotic Manipulation
… over a geometric graph built by a sampling-based motion planner as a representation of the configuration space to answer a motion planning query. We propose a simple planning system that integrates these uncertainty characterizations to reason about the informational value of executing a …
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A roadmap-based planner for fast collision-free motion in changing environments
… describes the development of a roadmap-based planner to enable high- DOF 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 …
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Robust motion planning for autonomous tracked vehicles in deformable terrain
… vehicle system significantly. In such cases, the motion planning of the autonomous vehicle must be performed robustly, considering the uncertain factors in advance of the real-time navigation. The primary contribution of this thesis is to present a robust optimal global planner for autonomous …
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Robot motion planning with contact from global pseudo-inverse map
In the robot motion planning problems, environment and its objects are often treated as obstacles to be avoided. However, there are situations where contacting with the environment is not costly. Moreover, in many cases, making contact can actually help a robot to maneuver around to reach a goal …
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Motion planning with dynamic constraints through pose graph optimization
… goal for vehicles with arbitrary dynamics. The motion planner extends the application of factor-graph optimization commonly used in simultaneous localization and mapping tasks to the path-planning task, specifically the "timed elastic band" trajectory optimization approach [1] for control input …
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Safe intention-aware maneuvering of autonomous vehicles
… dynamic environment, it is crucial for a vehicle motion planner to be aware of the intentions of the surrounding agent vehicles. Many existing approaches that ignore the intentions of surrounding vehicles would produce risky or over-conservative plans. In this thesis, we describe a maneuver motion …
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Kinodynamic motion planning for high-dimensional physical systems
This thesis presents a kinodynamic motion planner, Kinodynamic Motion Planning by Interior-Exterior Cell Exploration ( KPIECE ), specifically designed for systems with complex dynamics, where physics-based simulation is necessary. A multiple-level grid-based discretization is used to estimate the …
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Active Keyframe Learning (AKL): Learning Interaction and Constraint Keyframes from a Single Demonstration of a Task
… that maximizes the flexibility given to a motion planner by learning the human intent for demonstrated constrained motion online and performing interaction-based and constraint-based segmentation offline. We conduct a user study to evaluate the keyframe, pose, constraint accuracies, …
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Multi-modal motion planning using composite pose graph optimization
This work presents a motion planning framework for multi-modal vehicle dynamics. An approach for transcribing cost function, vehicle dynamics, and state and control constraints into a sparse factor graph is introduced. By formulating the motion planning problem in pose graph form, the motion …
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Integrated motion planning and model learning for mobile robots with application to marine vehicles
Robust motion planning algorithms for mobile robots consider stochasticity in the dynamic model of the vehicle and the environment. A practical robust planning approach balances the duration of the motion plan with the probability of colliding with obstacles. This thesis develops fast analytic …
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Optimization-based Motion Planning for Humanoid Fall Recovery
… humanoid fall recovery with optimization-based motion planning approach. To advance state-of-the-art recovery strategies which mainly focus on open environment, I introduce motion planning algorithms which generalize fall recovery to both open and cluttered environments. I demonstrate two main …
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Dynamic action spaces for autonomous search operations
… introduced in this thesis will implement a motion planner that searches for a contact with the following information available to the decision system: (1) null measurement (i.e., contact not detected at current time), (2) timedated measurement (i.e., clue found at current time that indicates …
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Algorithms for robust autonomous navigation in human environments
… proposed perception algorithm is united with a motion planner to reduce the amount of exploration time before finding the goal. In dynamic human environments, pedestrians also present several important technical challenges for the motion planning system. This thesis contributes a deep …
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MURPHY: A neurally-inspired connectionist approach to learning and performance in vision-based robot motion planning
… A simple vision-based kinematic controller and motion planner based on a connectionist network architecture has been developed, called MURPHY. The physical setup consists of a video camera and a Rhino XR-3 robot arm with three joints that move in the image plane of the camera. We assume no a …
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Path planning and control of flying robots with account of human’s safety perception
… variables, as user’s attention, intention, and emotional state. Then, an optimal motion planner generates a trajectory, parameterized in Bernstein polynomials, which minimizes the cost related to the mission objectives while satisfying the constraints on the predicted human’s safety perception. …
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Real-time predictive modeling and robust avoidance of pedestrians with uncertain, changing intentions
… and pedestrians tend to exhibit a common set of motion patterns. The challenges are therefore to learn these motion patterns such that they can be used to predict future trajectories, and to plan safe paths that incorporate these predictions. This thesis considers the modeling and robust …
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Efficient Motion Planning for Wheeled Mobile Robotics
… robotics, industrial robotics, automotive, ... Motion Planning is a fundamental aspect for the development of autonomous wheeled mobile robots. The capability of planning safe, smooth trajectories, and to locally adjust them in real-time to deal with contingent situations and avoid collisions is …
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