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Full-Text Articles in Engineering
Exploiting The Advantages And Overcoming The Challenges Of The Cable In A Tethered Drone System, Rogerio Rodrigues Lima
Exploiting The Advantages And Overcoming The Challenges Of The Cable In A Tethered Drone System, Rogerio Rodrigues Lima
Graduate Theses, Dissertations, and Problem Reports
This dissertation proposes solutions for motion planning, localization, and landing of tethered drones using only tether variables. A tether-based multi-model localization framework for tethered drones is proposed. This framework comprises three independent localization strategies based on a different model. The first strategy uses simple trigonometric relations assuming that the tether is taut; the second method relies on a set of catenary equations for the slack tether case; the third estimator is a neural network-based predictor that can cover different tether shapes. Multi-layer perceptron networks previously trained with a dataset comprised of the tether variables (i.e., length, tether angles on the …
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 …
Imitation Learning For Swarm Control Using Variational Inference, Hafeez Olafisayo Jimoh
Imitation Learning For Swarm Control Using Variational Inference, Hafeez Olafisayo Jimoh
Graduate Theses, Dissertations, and Problem Reports
Swarms are groups of robots that can coordinate, cooperate, and communicate to achieve tasks that may be impossible for a single robot. These systems exhibit complex dynamical behavior, similar to those observed in physics, neuroscience, finance, biology, social and communication networks, etc. For instance, in Biology, schools of fish, swarm of bacteria, colony of termites exhibit flocking behavior to achieve simple and complex tasks. Modeling the dynamics of flocking in animals is challenging as we usually do not have full knowledge of the dynamics of the system and how individual agent interact. The environment of swarms is also very noisy …