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Bio-Inspired Cooperative Optimal Trajectory Planning For Autonomous Vehicles, Charles Remeikas
Bio-Inspired Cooperative Optimal Trajectory Planning For Autonomous Vehicles, Charles Remeikas
Electronic Theses and Dissertations
With the recent trend for systems to be more and more autonomous, there is a growing need for cooperative trajectory planning. Applications that can be considered as cooperative systems such as surveying, formation flight, and traffic control need a method that can rapidly produce trajectories while considering all of the constraints on the system. Currently most of the existing methods to handle cooperative control are based around either simple dynamics and/or on the assumption that all vehicles have homogeneous properties. In reality, typical autonomous systems will have heterogeneous, nonlinear dynamics while also being subject to extreme constraints on certain state …
Vision-Based Sensing And Optimal Control For Low-Cost And Small Satellite Platforms, Bradley Sease
Vision-Based Sensing And Optimal Control For Low-Cost And Small Satellite Platforms, Bradley Sease
Electronic Theses and Dissertations
Current trends in spacecraft are leading to smaller, more inexpensive options whenever possible. This shift has been primarily pursued for the opportunity to open a new frontier for technologies with a small financial obligation. Limited power, processing, pointing, and communication capabilities are all common issues which must be considered when miniaturizing systems and implementing low-cost components. This thesis addresses some of these concerns by applying two methods, in attitude estimation and control. Additionally, these methods are not restricted to only small, inexpensive satellites, but offer a benefit to large-scale spacecraft as well. First, star cameras are examined for the tendency …