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.
Results
Showing 1 to 20 of 31 for “"risk-aware"”.
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Risk-Aware Planning for Sensor Data Collection
… these collectives must be resilient to the risk and uncertainty of operating in real-world environments. Previous work in multi-agent planning has avoided planning for the loss of agents in environments with risk. In contrast, this dissertation presents a problem formulation that includes …
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Risk-Aware Neural Navigation for Interactive Driving
… and we believe recognizing and responding to risk is a key component of safety. In this work, we aim to answer the question, "How can explainable risk representations be used to produce accurate and safe trajectories?". To answer this question, previous work uses risk metrics to formulate an …
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Risk-aware navigation for UAV digital data collection
… for autonomous UAVs to collect digital data in a risky environment. Three problem formulations are proposed according to different real-world situations. First, we focus on uniform probabilistic risk and assume UAV has unlimited amount of energy. With these assumptions, we provide the graph-based …
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Parsimonious, Risk-Aware, and Resilient Multi-Robot Coordination
… in communication, allow a user to manage the risk of the robot performance, and are resilient to worst-case robot failures and attacks. In the first part of this dissertation, we focus on designing parsimonious communication strategies for target tracking. Specifically, we investigate the …
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Online risk-aware conditional planning with qualitative autonomous driving applications
… of Qualitative Autonomous Driving (QAD) using risk-bounded conditional planning. First, we present Incremental Risk-aware AO* (iRAO*), an online conditional planning algorithm that builds off of RAO* for use in larger dynamic systems like driving. An illustrative example is included to better …
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Risk-Aware Planning by Extracting Uncertainty from Deep Learning-Based Perception
… with a need for strategies that assess the risk involved with different models when applied in real-world and safety-critical situations. This work proposes the use of Bayesian approximations of uncertainty from deep learning in a robot planner, showing that this produces more cautious …
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Risk Aware Planning and Probabilistic Prediction for Autonomous Systems under Uncertain Environments
This thesis considers risk aware planning and probabilistic prediction for autonomous systems under uncertain environments. Motion planning under uncertainty looks for trajectories with bounded probability of collision with uncertain obstacles. Existing methods to address motion planning problems …
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Risk-Aware Human-In-The-Loop Multi-Robot Path Planning for Lost Person Search and Rescue
We introduce a framework that would enable using autonomous aerial vehicles in search and rescue scenarios associated with missing person incidents to assist human searchers. We formulate a lost person behavior model and a human searcher model informed by data collected from past search missions. …
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Robot Motions that Mitigate Uncertainty
… The first part of this dissertation introduces a risk-aware framework for path planning and assignment of multiple robots and multiple demands in unknown environments. The second part introduces a risk-aware motion model for searching for a target object in an unknown environment. To illustrate …
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Probabilistic motion planning and optimization incorporating chance constraints
… or human support robots where uncertainties and risks of plan failure can have severe impact. However, existing risk-aware planners mostly focus on low-dimensional planning tasks, meanwhile planners that can account for uncertainties and react fast in high degree-of-freedom (DOF) robot planning …
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Learning-Based Complex Terrain Navigation Under Uncertainty
… remain in properly quantifying and mitigating risk due to uncertainty in learned models and improving model generalization in novel environments. To address these challenges, this thesis presents a unified framework to learn uncertainty-aware, physics-informed traversability models and achieve …
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Managing Financial Risks for Wind Power Producers in Wholesale Electricity Markets
… power plant operators are exposed to financial risk in wholesale electricity markets due to the uncertain nature of wind forecasts, day-ahead electricity prices, and real-time electricity prices. In the event of a shortfall compared to the production forecast, the wind generator may have to …
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ONLINE RESOURCE ALLOCATION AND ITS APPLICATIONS
… formulations of MAB do not take into account risk. In online decision-making systems, risk is a primary concern. In this regard, the mean-variance and CVaR risk measures are the most common objective functions. Existing algorithms for risk-aware MAB have unrealistic assumptions on the reward …
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Um estudo da aplicação do conceito de risco na conscientização e conhecimento de estudantes de ensino técnico sobre riscos de segurança e saúde ocupacional em laboratório de soldagem
… presents a discussion on the level of risk awareness of students who have welding practice in the laboratories at CEFET/PI, both in Teresina and Floriano. Its main goal is to investigate risk factors involving students, teachers and employees that work in these laboratories. It s an …
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An investigation into the treatment of uncertainty and risk in roadmapping: a framework and a practical process
… an understanding of how uncertainty and risk are manifested in roadmapping in this application, and with developing and testing a roadmapping process that supports appropriate treatment of uncertainty and risk. Roadmapping is an approach to early-stage innovation planning, which is …
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The Island of Last Hope + Time-play with purpose: minoritised stories in contemporary children's time-slip literature
… on which such novels are built, the ethical risks of connecting time-play with minoritised experience, and the affective possibilities of imagery. The commentary tracks a sense of purposeful play through these novels and suggests ways in which writers can engage in risk-aware play.<p></p>
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The Island of Last Hope + Time-play with purpose: minoritised stories in contemporary children's time-slip literature
… on which such novels are built, the ethical risks of connecting time-play with minoritised experience, and the affective possibilities of imagery. The commentary tracks a sense of purposeful play through these novels and suggests ways in which writers can engage in risk-aware play.<p></p>
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Generalizable Long-Horizon Robotic Manipulation under Uncertainty and Partial Observability
… the way for more capable, exploratory, and risk-aware autonomous systems.
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Policy Compilation for Stochastic Constraint Programs
Real-world risk-bounded planning and decision-making problems are fluid, uncertain, and highly dynamic, demanding an architecture which can encode and solve a rich set of problems involving decision-making under uncertainty. While many solution architectures exist for solving deterministic CSPs, …
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Dynamic execution of temporal plans with sensing actions and bounded risk
… execute conditional plans (or policies) within risk bounds (also referred to as chance constraints). By being conditional, the plan allows the autonomous agent to adapt to its environment in real-time by conditioning the choice of activity to be executed on the agent's current level of …
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