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Articles 1 - 9 of 9
Full-Text Articles in Navigation, Guidance, Control and Dynamics
On Uncertainty For Ill-Posed Robot Decision Problems, Jared Joseph Beard
On Uncertainty For Ill-Posed Robot Decision Problems, Jared Joseph Beard
Graduate Theses, Dissertations, and Problem Reports
As robots adopt more real world responsibilities, they will be expected to solve more complicated problems. In some cases limited prior knowledge will result in unmodelled environmental conditions; in others, multiple users may have competing perspectives on how to frame a decision problem. Many existing frameworks, namely Markov decision processes (MDP) presuppose users have identified a specific problem with models sufficient to solve or learn a problem. If we wish to extend MDPs to novel problems or those heavily dependent on user feedback, autonomous decision makers must be able to identify limitations in how a given problem is framed and …
Motion Planning In Artificial And Natural Vector Fields, Bernardo Martinez Rocamora Junior
Motion Planning In Artificial And Natural Vector Fields, Bernardo Martinez Rocamora Junior
Graduate Theses, Dissertations, and Problem Reports
This dissertation advances the field of autonomous vehicle motion planning in various challenging environments, ranging from flows and planetary atmospheres to cluttered real-world scenarios. By addressing the challenge of navigating environmental flows, this work introduces the Flow-Aware Fast Marching Tree algorithm (FlowFMT*). This algorithm optimizes motion planning for unmanned vehicles, such as UAVs and AUVs, navigating in tridimensional static flows. By considering reachability constraints caused by vehicle and flow dynamics, flow-aware neighborhood sets are found and used to reduce the number of calls to the cost function. The method computes feasible and optimal trajectories from start to goal in challenging …
Planetary Rover Inertial Navigation Applications: Pseudo Measurements And Wheel Terrain Interactions, Cagri Kilic
Planetary Rover Inertial Navigation Applications: Pseudo Measurements And Wheel Terrain Interactions, Cagri Kilic
Graduate Theses, Dissertations, and Problem Reports
Accurate localization is a critical component of any robotic system. During planetary missions, these systems are often limited by energy sources and slow spacecraft computers. Using proprioceptive localization (e.g., using an inertial measurement unit and wheel encoders) without external aiding is insufficient for accurate localization. This is mainly due to the integrated and unbounded errors of the inertial navigation solutions and the drifted position information from wheel encoders caused by wheel slippage. For this reason, planetary rovers often utilize exteroceptive (e.g., vision-based) sensors. On the one hand, localization with proprioceptive sensors is straightforward, computationally efficient, and continuous. On the other …
Increasing The Reliability Of Software Systems On Small Satellites Using Software-Based Simulation Of The Embedded System, Matthew D. Grubb
Increasing The Reliability Of Software Systems On Small Satellites Using Software-Based Simulation Of The Embedded System, Matthew D. Grubb
Graduate Theses, Dissertations, and Problem Reports
The utility of Small Satellites (SmallSats) for technology demonstrations and scientific research has been proven over the past few decades by governments, universities, and private companies. While the research and technology demonstration objectives that can be provided by these SmallSats are becoming similar to larger spacecraft, their reliability still falls behind. This is in part due to the reduced cost of SmallSat missions in comparison to large spacecraft, which requires cheaper components, rapid development schedules, and accepted risk. In these missions, the importance of the flight software is often overlooked, and the software is rushed through development and not fully …
Localization Algorithms For Gnss-Denied And Challenging Environments, Chizhao Yang
Localization Algorithms For Gnss-Denied And Challenging Environments, Chizhao Yang
Graduate Theses, Dissertations, and Problem Reports
In this dissertation, the problem about localization in GNSS-denied and challenging environments is addressed. Specifically, the challenging environments discussed in this dissertation include two different types, environments including only low-resolution features and environments containing moving objects. To achieve accurate pose estimates, the errors are always bounded through matching observations from sensors with surrounding environments. These challenging environments, unfortunately, would bring troubles into matching related methods, such as "fingerprint" matching, and ICP. For instance, in environments with low-resolution features, the on-board sensor measurements could match to multiple positions on a map, which creates ambiguity; in environments with moving objects included, the …
Planning Algorithms Under Uncertainty For A Team Of A Uav And A Ugv For Underground Exploration, Matteo De Petrillo
Planning Algorithms Under Uncertainty For A Team Of A Uav And A Ugv For Underground Exploration, Matteo De Petrillo
Graduate Theses, Dissertations, and Problem Reports
Robots’ autonomy has been studied for decades in different environments, but only recently, thanks to the advance in technology and interests, robots for underground exploration gained more attention. Due to the many challenges that any robot must face in such harsh environments, this remains an challenging and complex problem to solve.
As technology became cheaper and more accessible, the use of robots for underground ex- ploration increased. One of the main challenges is concerned with robot localization, which is not easily provided by any Global Navigation Services System (GNSS). Many developments have been achieved for indoor mobile ground robots, making …
Active Localization For Robotic Systems: Algorithms And Cost Metrics, Jared Strader
Active Localization For Robotic Systems: Algorithms And Cost Metrics, Jared Strader
Graduate Theses, Dissertations, and Problem Reports
In the real world, a robotic system must operate in the presence of motion and sensing uncertainty. This is caused by the fact that the motion of a robotic system is stochastic due to disturbances from the environment, and the states are only partially observable due noise in the sensor measurements. As a result, the true state of a robotic system is unknown, and estimation techniques must be used to infer the states from the belief, which is the probability distribution over all possible states. Accordingly, a robotic system must be capable of reasoning about the quality of the belief …
Fast Decision-Making Under Time And Resource Constraints, Kyle Gabriel Lassak
Fast Decision-Making Under Time And Resource Constraints, Kyle Gabriel Lassak
Graduate Theses, Dissertations, and Problem Reports
Practical decision makers are inherently limited by computational and memory resources as well as the time available in which to make decisions. To cope with these limitations, humans actively seek methods which limit their resource demands by exploiting structure within the environment and exploiting a coupling between their sensing and actuation to form heuristics for fast decision-making. To date, such behavior has not been replicated in artificial agents. This research explores how heuristics may be incorporated into the decision-making process to quickly make high-quality decisions through the analysis of a prominent case study: the outfielder problem. In the outfielder problem, …
Immunity-Based Framework For Autonomous Flight In Gps-Challenged Environment, Mohanad Al Nuaimi
Immunity-Based Framework For Autonomous Flight In Gps-Challenged Environment, Mohanad Al Nuaimi
Graduate Theses, Dissertations, and Problem Reports
In this research, the artificial immune system (AIS) paradigm is used for the development of a conceptual framework for autonomous flight when vehicle position and velocity are not available from direct sources such as the global navigation satellite systems or external landmarks and systems. The AIS is expected to provide corrections of velocity and position estimations that are only based on the outputs of onboard inertial measurement units (IMU). The AIS comprises sets of artificial memory cells that simulate the function of memory T- and B-cells in the biological immune system of vertebrates. The innate immune system uses information about …