Information-rich Path Planning Under General Constraints Using Rapidly-exploring Random Trees
Information-rich Path Planning Under General Constraints Using Rapidly-exploring Random Trees

Author: Daniel S. Levine (Ph. D.)

Publisher:

Published: 2010

Total Pages: 104

ISBN-13:

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This thesis introduces the Information-rich Rapidly-exploring Random Tree (IRRT), an extension of the RRT algorithm that embeds information collection as predicted using Fisher information matrices. The primary contribution of this trajectory generation algorithm is target-based information maximization in general (possibly heavily constrained) environments, with complex vehicle dynamic constraints and sensor limitations, including limited resolution and narrow field-of-view. Extensions of IRRT both for decentralized, multiagent missions and for information-rich planning with multimodal distributions are presented. IRRT is distinguished from previous solution strategies by its computational tractability and general constraint characterization. A progression of simulation results demonstrates that this implementation can generate complex target-tracking behaviors from a simple model of the trade-off between information gathering and goal arrival.

Distributed Autonomous Robotic Systems
Distributed Autonomous Robotic Systems

Author: Roderich Groß

Publisher: Springer

Published: 2018-03-13

Total Pages: 697

ISBN-13: 3319730088

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Distributed robotics is an interdisciplinary and rapidly growing area, combining research in computer science, communication and control systems, and electrical and mechanical engineering. Distributed robotic systems can autonomously solve complex problems while operating in highly unstructured real-world environments. They are expected to play a major role in addressing future societal needs, for example, by improving environmental impact assessment, food supply, transportation, manufacturing, security, and emergency and rescue services. The goal of the International Symposium on Distributed Autonomous Robotic Systems (DARS) is to provide a forum for scientific advances in the theory and practice of distributed autonomous robotic systems. This volume of proceedings include 47 original contributions presented at the 13th International Symposium on Distributed Autonomous Robotic Systems (DARS 2016), which was held at the Natural History Museum in London, UK, from November 7th to 9th, 2016. The selected papers in this volume are authored by leading researchers from around the world, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into seven parts, representative of critical long-term and emerging research thrusts in the multi-robot community: Distributed Coverage and Exploration; Multi-Robot Control; Multi-Robot Estimation; Multi-Robot Planning; Modular Robots and Smart Materials; Swarm Robotics; and Multi-Robot Systems in Applications.

Path Planning for Autonomous Parafoils Using Particle Chance Constrained Rapidly-exploring Random Trees in a Computationally Constrained Environment
Path Planning for Autonomous Parafoils Using Particle Chance Constrained Rapidly-exploring Random Trees in a Computationally Constrained Environment

Author: Shoshana Klerman

Publisher:

Published: 2012

Total Pages: 58

ISBN-13:

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Particle chance constrained rapidly-exploring random trees (PCC-RRT) is a sampling-based path-planning algorithm which uses particles to approximate an uncertainty distribution. In this thesis, we study the use of PCC-RRT on an autonomous parafoil. Specifically, we explore the behavior of PCC-RRT in a computationally constrained environment by studying the tradeoff between the number of samples and number of particles per sample and its effect on miss distance in single-threaded coded with a time constraint. We compare the results generated with the PCC-RRT planner to the equivalent data from a nominal planner using rapidly-exploring random trees (RRT) to determine the effect of robustness.

Randomized Path Planning for Linkages with Closed Kinematic Chains
Randomized Path Planning for Linkages with Closed Kinematic Chains

Author: Jeffery Howard Yakey

Publisher:

Published: 1999

Total Pages: 152

ISBN-13:

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There are also a number of applications outside of robotics for which our framework is useful, including computational chemistry and virtual prototyping. We adapt two randomized techniques for motion planning that have had much recent success in solving difficult problems: probabilistic roadmaps and rapidly-exploring random trees. Random sampling and incremental motion algorithms are used in both of these approaches to search the solution space of a linkage containing closed kinematic chains. Our framework has been implemented using probabilistic roadmaps and rapidly-exploring random trees for linkages in a two-dimensional environment with obstacles.

Informatics in Control, Automation and Robotics I
Informatics in Control, Automation and Robotics I

Author: José Braz

Publisher: Springer Science & Business Media

Published: 2006-05-06

Total Pages: 289

ISBN-13: 1402045433

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This is a collection of papers presented at the 1st International Conference on Informatics in Control, Automation and Robotics (ICINCO). The papers focus on real world applications, covering three main themes: Intelligent Control Systems, Optimization, Robotics and Automation, Signal Processing, Systems Modeling and Control. The book will interest professionals in the areas of control and robotics.

Autonomous Robot Vehicles
Autonomous Robot Vehicles

Author: Ingemar J. Cox

Publisher: Springer Science & Business Media

Published: 2012-12-06

Total Pages: 478

ISBN-13: 1461389976

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Autonomous robot vehicles are vehicles capable of intelligent motion and action without requiring either a guide or teleoperator control. The recent surge of interest in this subject will grow even grow further as their potential applications increase. Autonomous vehicles are currently being studied for use as reconnaissance/exploratory vehicles for planetary exploration, undersea, land and air environments, remote repair and maintenance, material handling systems for offices and factories, and even intelligent wheelchairs for the disabled. This reference is the first to deal directly with the unique and fundamental problems and recent progress associated with autonomous vehicles. The editors have assembled and combined significant material from a multitude of sources, and, in effect, now conviniently provide a coherent organization to a previously scattered and ill-defined field.

Path Planning for Autonomous Vehicle
Path Planning for Autonomous Vehicle

Author: Umar Zakir Abdul Hamid

Publisher: BoD – Books on Demand

Published: 2019-10-02

Total Pages: 150

ISBN-13: 1789239915

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Path Planning (PP) is one of the prerequisites in ensuring safe navigation and manoeuvrability control for driverless vehicles. Due to the dynamic nature of the real world, PP needs to address changing environments and how autonomous vehicles respond to them. This book explores PP in the context of road vehicles, robots, off-road scenarios, multi-robot motion, and unmanned aerial vehicles (UAVs ).

Planning Algorithms
Planning Algorithms

Author: Steven M. LaValle

Publisher: Cambridge University Press

Published: 2006-05-29

Total Pages: 844

ISBN-13: 9780521862059

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Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.

Mechanics of Robotic Manipulation
Mechanics of Robotic Manipulation

Author: Matthew T. Mason

Publisher: MIT Press

Published: 2001-06-08

Total Pages: 282

ISBN-13: 9780262263740

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The science and engineering of robotic manipulation. "Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved—grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms. The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry.

Rapid Automation: Concepts, Methodologies, Tools, and Applications
Rapid Automation: Concepts, Methodologies, Tools, and Applications

Author: Management Association, Information Resources

Publisher: IGI Global

Published: 2019-03-01

Total Pages: 1566

ISBN-13: 1522580611

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Through expanded intelligence, the use of robotics has fundamentally transformed the business industry. Providing successful techniques in robotic design allows for increased autonomous mobility, which leads to a greater productivity and production level. Rapid Automation: Concepts, Methodologies, Tools, and Applications provides innovative insights into the state-of-the-art technologies in the design and development of robotics and their real-world applications in business processes. Highlighting a range of topics such as workflow automation tools, human-computer interaction, and swarm robotics, this multi-volume book is ideally designed for computer engineers, business managers, robotic developers, business and IT professionals, academicians, and researchers.