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Reactive Particle Swarm Control Architecture And Application For Scalar Field Adaptive Navigation, Shae Taylor Hart
Reactive Particle Swarm Control Architecture And Application For Scalar Field Adaptive Navigation, Shae Taylor Hart
Engineering Ph.D. Theses
Adaptive navigation is a subcategory of navigation techniques that attempts to identify goal locations that satisfy specific criteria in an unknown area. In 2D scalar field adaptive navigation (SFAN), primitives navigate to or along features of interest in an unknown, possibly time-varying, planar scalar field. Features include extrema, contours, and fronts. This work solves the 2D SFAN problem using swarm robotic techniques. Robotic swarms are a subset of multi-robot systems that use decentralized control of simple interchangeable robots to perform collective actions. A subgroup of swarms is the Reactive Particle Swarm (RPS), characterized based on its simplicity, reactivity to its …
Navigation & Control Of An Automated Swath Surface Vessel For Bathymetric Mapping, Ketan Rasal
Navigation & Control Of An Automated Swath Surface Vessel For Bathymetric Mapping, Ketan Rasal
Mechanical Engineering Master's Theses
With the abundant amount of water on the earth, the study of underwater terrain plays an important role in the use and sustainability of marine resources. A wide variety of technical systems are used to collect such bathymetric data, and autonomous vehicles are being explored as a manner in which to make this process more cost-effective. Students in Santa Clara University's Robotic Systems Laboratory are contributing to this effort through the development of an autonomous SWATH boat that can create such maps. As part of this thesis work, the navigation and control system of this SWATH boat has been significantly …