Automotive Engineering Commons^™

Safe Navigation Of Quadruped Robots Using Density Functions, Andrew Zheng

All Theses

Safe navigation of mission-critical systems is of utmost importance in many modern autonomous applications. Over the past decades, the approach to the problem has consisted of using probabilistic methods, such as sample-based planners, to generate feasible, safe solutions to the navigation problem. However, these methods use iterative safety checks to guarantee the safety of the system, which can become quite complex. The navigation problem can also be solved in feedback form using potential field methods. Navigation function, a class of potential field methods, is an analytical control design to give almost everywhere convergence properties, but under certain topological constraints and …

Integrated Energy-Aware Motion Planning And Charge Scheduling Of Unmanned Aerial Vehicles, Hayleyesus Alemayehu

All Theses

The growing demand for unmanned aerial vehicles (UAVs) is driven by their operational convenience, cost-effectiveness, availability, and adaptability to various scenarios. In energy-constrained environments, optimizing energy consumption and ensuring a continuous power supply for UAVs is crucial for mission success. The objective of this thesis is to address this issue by integrating energy-aware motion planning and charge scheduling for UAVs by utilizing a charger hosted on an unmanned ground vehicle (UGV), whose rendezvous locations and routes are jointly computed to minimize overall energy consumption.

This thesis proposes a hierarchical trajectory and control framework comprising local and global planners for each …