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 72 for “"waypoints"”.
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Reflective waypoints and relational bridging: a phenomenological exploration of spiritualities in therapeutic relationships between women living with borderline personality disorder and mental health nurses
… identified bridging experiences or transitional waypoints of BPD recovery represented thematically as, ‘Reflective Self, Letting Go, Navigating Crossings and Serendipitous Seeking’. The study proposes a symbiotic inter-spiritual educational approach that links bridging experiences in method and …
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Minimizing current effects on autonomous surface craft operations in Singapore harbor
… follows a straight-line trajectory between two waypoints under the effects of surface waves and currents. The second controller, Time-Optimal, uses Zermelo's problem and function minimization to find the time-optimal trajectory between two waypoints using a known current field. We further define …
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Optimized Trajectory Generation for Car-Like Robots on a Closed Loop Track
… a given track. The path is generated by choosing waypoints throughout the track then iteratively optimizing the position of these waypoints. The waypoints are then connected by optimized paths represented by curvature polynomials. The end result is a path through the track represented as a spline …
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Distributed Potential Field Method for Cooperative Range-Only Localization in Multi-Robot Networks
… on localization when navigating between waypoints in pre-determined trajectories. For this work, the trajectories are generated by Localization-Constrained Graph Planning (LCGP) as the basis for path planning. This system takes waypoints and improves the localizability of the timesteps in …
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Trajectory Specification to Support High-Throughput Continuous Descent Approaches
… via trajectory optimization, and then locates waypoints with required time of arrival (RTA) constraints along this profile, to optimize a combination of throughput and fuel burn. For representative terminal-area descent profiles at Hartsfield-Jackson Atlanta International Airport (ATL), we find …
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Neuromorphic Systems for Pattern Recognition and Uav Trajectory Planning
… for UAVs in an indoor environment. A sequence of waypoints is selected at the higher-level, which leads the UAV from its current position to the destination. At the lower-level, an optimal trajectory is generated analytically between each pair of adjacent waypoints. The goal of trajectory …
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Neuromorphic Systems For Pattern Recognition And Uav Trajectory Planning
… for UAVs in an indoor environment. A sequence of waypoints is selected at the higher-level, which leads the UAV from its current position to the destination. At the lower-level, an optimal trajectory is generated analytically between each pair of adjacent waypoints. The goal of trajectory …
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Formation Fidelity of Simulated Unmanned Autonomous Vehicles through Periodic Communication
… by directing each boat with a unique set of waypoints in simulation. While these waypoints do not lead to perfect formation behavior, testing shows that implementing this control law using these waypoints allows the formation to be more robust to reduced communication.
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Performance optimization for unmanned vehicle systems
… typically requires that a vehicle visit a set of waypoints once or repetitively, with no a priori specified order. Minimizing the length of the tour traveled by the vehicle through these waypoints requires solving a Traveling Salesman Problem (TSP). We study the TSP for the Dubins' vehicle, which …
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Time-optimal multi-waypoint mission planning in dynamic flow fields
… and visit a finite number of locations or waypoints in the minimal time; this problem bears close resemblance to that of the classic "traveling salesman," albeit with the added complexity of a continuously changing flow field. The paths, or "legs," between all goal waypoints are generated …
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Constant Time Delay Leader Following for Mobile Robots by using Model Predictive Control Tuned on Estimation Uncertainties
… speci ed time delay by estimating a sequence of waypoints travelled by the leader. This work focuses on the design of the two major components of the leader-follower system: the estimator and the controller. Di erent from previous works on constant time delay leaderfollower systems, where the two …
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Task assignment algorithms for teams of UAVs in dynamic environments
… problem first to determine a sequence of waypoints for each vehicle to visit, and then concentrate on designing paths to visit these pre-assigned waypoints. Although this approach greatly simplifies the problem, the task assignment optimization was still too slow for real-time UAV …
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Sensor Fusion and Obstacle Avoidance for an Unmanned Ground Vehicle
… avoidance constraints and provides a set of waypoints to be followed by the unmanned ground vehicle. A waypoint controller is designed and implemented to enable the vehicle to follow the waypoints from the path planner. Open-loop experiments are provided with an unmanned ground vehicle in …
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Teaching Robots using Interactive Imitation Learning
… We present VIEW (Visual Imitation lEarning with Waypoints), a method that focuses on extracting critical waypoints from video demonstrations. By identifying key positions and movements, VIEW allows robots to efficiently replicate tasks with minimal training data. Our experiments show that VIEW …
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Radio propagation analysis for improved UAV data muling of surfaced underwater sensor nodes
… over space is then be used to select best waypoints. Packet reception rate is related to the received signal strength indicator through experimentation and serves as a data efficiency indicator. Both models are then used to gather performance metrics of several simple path planning schemes. …
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The Interacting Multiple Models Algorithm with State-Dependent Value Assignment
… is a measure of its worth, so that, for example, waypoints have high value and regions inside of obstacles have very small value. We propose two methods of incorporating world information as state-dependent modifications to the interacting multiple models (IMM) algorithm, and then we use a game's …
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System Design Methodology and Implementation of Micro Aerial Vehicles
… ability of full mission autonomous control, from waypoints trajectory optimization to position control and aircraft auto-stabilization, while maintaining a full systems take-off weight of not more than 50 g, in a tiny 10 by 10 by 2.5 cm package. The thesis details the design process of such MAVs, …
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Unconventional Computing and Music: An Investigation into Harnessing Physarum polycephalum
… This journey consisted of a selection of waypoints that provided direction while allowing the research to explore applications of Physarum polycephalum in order to establish how it may be useful in Computer Music. These waypoints guided the research from adapting established prototypes for …
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Transitions Between Hover and Level Flight for a Tailsitter UAV
… transitioning between level and hover waypoints is also presented. The simple controller is useful for performing a immediate transition. It is very quick to react and maintains altitude during the maneuver, but tracking is not performed in the lateral direction. The feedback …
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Optimal Task Scheduling and Flight Planning for Multi-Task Unmanned Aerial Vehicles
… at the destination. We interpret possible flight waypoints as location-dependent tasks, hence accommodating the waypoints and in-situ sensing in a unified process of task selection. We construct a weighted time-task graph, and transform the optimal routing of the UAV into a weighted routing …
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