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 22 for “"rapidly-exploring random tree"”.
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Information-rich path planning under general constraints using Rapidly-exploring Random Trees
This thesis introduces the Information-rich Rapidly-exploring Random Tree (IRRT), an extension of the RRT algorithm that embeds information collection as predicted using Fisher information matrices. The primary contribution of this trajectory generation algorithm is target-based information …
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Robust randomized trajectory planning for satellite attitude tracking control
… presents a novel guidance strategy that uses a randomized trajectory planning algorithm in a closed-loop fashion to provide robust motion planning and execution. By closing the guidance, navigation, and control loop around a randomized trajectory planning algorithm, a robotic vehicle can …
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Predictive Path Planning For Vehicles at Non-signalized Intersections
… in an enormous waste of computational resources. Rapidly-exploring Random Tree (RRT) as an effective local path planning methodology can determine a feasible path in the static environment. Few improvements are proposed to adopt the RRT to the non-signalized intersections. Gaussian Processes …
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Counter-Intuitive Behavior in Locally Optimal Solar Sail Escape Trajectories
… generator using a search technique known as a rapidly-exploring random tree. This method is capable of negotiating non-convex search spaces to find escape trajectories exhibiting counter-intuitive behavior that better approximates locally optimal solutions, while also providing increased …
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On-Board Artificial Intelligence for Failure Detection and Safe Trajectory Generation
… in combination with the multi-goal Rapidly-Exploring Random Tree (RRT*) path planning algorithm to generate safe trajectories based on a reduced flight envelope. A high-fidelity model of a fixed-wing unmanned aerial vehicle is used to demonstrate the capabilities of the approach by …
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Decentralized path planning for multiple agents in complex environments using rapidly-exploring random trees
… developed, the Decentralized Multi-Agent Rapidly-exploring Random Tree (DMARRT) algorithm, is an extension of the CL-RRT algorithm to the multi-agent case, retaining its ability to plan quickly even with complex constraints. Moreover, a merit-based token passing coordination strategy is …
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Human-aware Motion Planning for Aerial Robots
… GAN SGAN for human trajectory prediction with Rapidly-exploring Random Tree Star RRT* for path planning. The objective is to efficiently and safe navigate in the area with human. Drones would avoid moving human and maintaining optimal flight path. During training SGAN model, we use both public …
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Optimal and receding-horizon path planning algorithms for communications relay vehicles in complex environments
… Also presented is a new modification of the Rapidly-Exploring Random Tree algorithm that makes it more efficient at finding paths that are applicable to the communications chaining problem. The second solution takes a distributed, receding-horizon approach, where each vehicle solves for its …
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Sample-based motion planning in high-dimensional and differentially-constrained systems
… path planning algorithms, such as the Rapidly-exploring Random Tree (RRT), have proven to be effective in path planning for systems subject to complex kinematic and geometric constraints. The performance of these algorithms, however, degrade as the dimension of the system increases. …
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Real-Time Roadway Mapping and Ground Robotic Path Planning Via Unmanned Aircraft
… of road locations and road detection method, the Rapidly-exploring Random Tree (RRT) algorithm was modified for real-time application and efficient data processing. Considerations of incomplete maps and goal adjustments was also incorporated. Finally, aerial imagery from an actual UAV flight was …
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Computationally-efficient path planning algorithms in obstacle-rich environments based on visibility graph method
… Voronoi Diagram (VD), Potential Fields (PF) and Rapidly-Exploring Random Tree (RRT). Among those, VG is superior in terms of producing a path with the least length and completeness. However, VG has a drawback due to the fact that its computation time will increase in obstacle-rich environments. …
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Distributed time-critical coordination strategies for unmanned aerial systems in cluttered environments
… motion-planning algorithm guide the growth of a rapidly-exploring random tree through the narrow passages in cluttered and uncertain scenarios. To this effect, specific silhouette and tolerance verification queries are designed for the geometric objects that represent vehicle motion and …
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Human-automation collaborative RRT for UAV mission path planning
… Recent work has proposed the use of a randomized algorithm known as the Rapidly exploring Random Tree (RRT) algorithm for path planning. While capable of finding feasible solutions quickly, it is unclear how well a human operator will be able to supervise a team of UAVs that are …
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Two-stage path planning approach for designing multiple spacecraft reconfiguration maneuvers and application to SPHERES onboard ISS
… differential constraints using a bi-directional Rapidly-exploring Random Tree (RRT) planner. A transition algorithm then augments this guess with feasible dynamics that are propagated from the beginning to the end of the trajectory. The resulting output is a feasible initial guess to the complete …
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Human-RRT collaboration in Unmanned Aerial Vehicle mission path planning
… finding algorithms have used variations of a randomized algorithm called Rapidly exploring Random Tree (RRT). This randomized sampling algorithm finds fairly short feasible paths, and it finds them efficiently, however human operators supervising UAV missions may have difficulty collaborating …
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Probabilistic Roadmaps for Virtual Camera Pathing with Cinematographic Principles
… the probabilistic roadmap. This algorithm uses a rapidly-exploring random tree to quickly cover a space and generate small maps with good coverage. For this work, the camera pitch and height along a specified path were automatically generated using cinematographic and geometric principles. These …
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Sampling-based algorithms for optimal path planning problems
… such the Probabilistic RoadMap (PRM) and the Rapidly-exploring Random Tree (RRT) algorithms, have been demonstrated on several robotic platforms, and found applications well outside the robotics domain. However, a large portion of this research effort has been limited to the classical feasible …
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The Creation of Motion Planning Software for a Car-like Robot
… necessary. The planning software uses an online Rapidly-exploring Random Tree Star (RRT*) algorithm, which attempts to improve upon the solutions generated by the RRT* algorithm while the robot is tracking the prevailing best solution. The control software uses a trajectory tracking control …
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Development of a full-stack RoboRacer autonomous racing system capable of overtaking in a head-to-head race
… decisions, and a local planner using the rapidly-exploring random tree star (RRT*) algorithm to compute collision-free trajectories around dynamic obstacles. The control module computes the necessary control commands to follow the planned trajectory. Three different control strategies are …
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Robust planning for autonomous parafoil
… guidance. Building on the chance-constrained rapidly exploring random tree (CC-RRT) [1] algorithm, this planner, CC-RRT with Analytic Sampling, considers the non-linear dynamics, as well as the under-actuated control authority of the parafoil by construction. Additionally, CC-RRT with Analytic …
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