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Full-Text Articles in Computer Engineering
State Omniscience For Cooperative Local Catalog Maintenance Of Close Proximity Satellite Systems, Chris Hays
State Omniscience For Cooperative Local Catalog Maintenance Of Close Proximity Satellite Systems, Chris Hays
Doctoral Dissertations and Master's Theses
Resiliency in multi-agent system navigation is reliant on the inherent ability of the system to withstand, overcome, or recover from adverse conditions and disturbances. In large part, resiliency is achieved through reducing the impact of critical failure points to the success and/or performance of the system. In this view, decentralized multi-agent architectures have become an attractive solution for multi-agent navigation, but decentralized architectures place the burden of information acquisition directly on the agents themselves. In fact, the design of distributed estimators has been a growing interest to enable complex multi-sensor/multi-agent tasks. In such scenarios, it is important that each local …
Implementation Of Path Planning Methods To Detect And Avoid Gps Signal Degradation In Urban Environments, Ayush Raminedi
Implementation Of Path Planning Methods To Detect And Avoid Gps Signal Degradation In Urban Environments, Ayush Raminedi
Doctoral Dissertations and Master's Theses
In the modern world, various missions are being carried out under the assistance of autonomous flight vehicles due to their ability to operate in a wide range of flight conditions. Regardless, these autonomous vehicles are prone to GPS signal loss in urban environments due to obstructions that cause scintillation, multi-path, and shadowing. These effects that decrease the GPS functionality can deteriorate the accuracy of GPS positioning causing losses in signal tracking leading to a decrease in navigation performance. These effects are modeled into the simulation environment and are used as part of the path planning algorithm to provide better navigation …
Uav As A Service: Providing On-Demand Access And On-The-Fly Retasking Of Multi-Tenant Uavs Using Cloud Services, Justin Yapp
Uav As A Service: Providing On-Demand Access And On-The-Fly Retasking Of Multi-Tenant Uavs Using Cloud Services, Justin Yapp
Doctoral Dissertations and Master's Theses
As commercial roles for Unmanned Aerial Vehicles (UAVs) become more well-defined and demand for the services provided by them increases, UAVs rely more on new cloud computing services and co-operative coordination to provide mission planning, control, tracking and data processing. We present UAV as a Service (UAVaaS) framework, which brings features commonly found in traditional cloud services, such as Infrastructure, Platform, and Software as a Service, to the domain of UAVs. Our work aims to conceptualize and design UAVaaS for commercial applications. Specifically, a cloud-provided orchestration framework that allows multi-tenant UAVs to easily serve multiple heterogenous clients at once and …
Dynamics And Control Of Higher-Order Nonholonomic Systems, Jaime Rubio HerváS
Dynamics And Control Of Higher-Order Nonholonomic Systems, Jaime Rubio HerváS
Doctoral Dissertations and Master's Theses
A theoretical framework is established for the control of higher-order nonholonomic systems, defined as systems that satisfy higher-order nonintegrable constraints. A model for such systems is developed in terms of differential-algebraic equations defined on a higher-order tangent bundle. A number of control-theoretic properties such as nonintegrability, controllability, and stabilizability are presented. Higher-order nonholonomic systems are shown to be strongly accessible and, under certain conditions, small time locally controllable at any equilibrium. There are important examples of higher-order nonholonomic systems that are asymptotically stabilizable via smooth feedback, including space vehicles with multiple slosh modes and Prismatic-Prismatic-Revolute (PPR) robots moving open liquid …
Nonlinear Control For Dual Quaternion Systems, William D. Price
Nonlinear Control For Dual Quaternion Systems, William D. Price
Doctoral Dissertations and Master's Theses
The motion of rigid bodies includes three degrees of freedom (DOF) for rotation, generally referred to as roll, pitch and yaw, and 3 DOF for translation, generally described as motion along the x, y and z axis, for a total of 6 DOF. Many complex mechanical systems exhibit this type of motion, with constraints, such as complex humanoid robotic systems, multiple ground vehicles, unmanned aerial vehicles (UAVs), multiple spacecraft vehicles, and even quantum mechanical systems. These motions historically have been analyzed independently, with separate control algorithms being developed for rotation and translation. The goal of this research is to study …