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Vision-Based Autonomous Tracking Of A Non-Cooperative Mobile Robot By A Low-Cost Quadrotor Vehicle, Cheikhna Ahmed Tidiane Sy
Vision-Based Autonomous Tracking Of A Non-Cooperative Mobile Robot By A Low-Cost Quadrotor Vehicle, Cheikhna Ahmed Tidiane Sy
Electrical and Computer Engineering ETDs
The goal of this thesis is the detection and tracking of a ground vehicle, in particular a car-like robot, by a quadrotor. The first challenge to address in any pursuit or tracking scenario is the detection and unique identification of the target. From this first challenge, comes the need to precisely localize the target in a coordinate system that is common to the tracking and tracked vehicles. In most real-life scenarios, the tracked vehicle does not directly communicate information such as its position to the tracking one. From this fact, arises a non-cooperative constraint problem. The autonomous tracking aspect of …
Verification Of Stochastic Reach-Avoid Using Rkhs Embeddings, Adam J. Thorpe
Verification Of Stochastic Reach-Avoid Using Rkhs Embeddings, Adam J. Thorpe
Electrical and Computer Engineering ETDs
A solution to the terminal-hitting and first-hitting stochastic reach-avoid problem for a Markov control process is presented. This solution takes advantage of a nonparametric representation of the stochastic kernel as a conditional distribution embedding within a reproducing kernel Hilbert space (RKHS). Because the disturbance is modeled as a data-driven stochastic process, this representation avoids intractable integrals in the dynamic recursion of the reach-avoid problem since the expectations can be calculated as an inner product within the RKHS. An example using a high-dimensional chain of integrators is presented, as well as for Clohessy-Wiltshire-Hill (CWH) dynamics.