Relevant bibliographies by topics / Autonomous robots; Path planning / Dissertations / Theses
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Dissertations / Theses on the topic 'Autonomous robots; Path planning'

Author: Grafiati
Published: 4 June 2021
Last updated: 1 February 2022

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1

Crous, C. B. "Autonomous robot path planning." Thesis, Stellenbosch : University of Stellenbosch, 2009. http://hdl.handle.net/10019.1/2519.

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Thesis (MSc (Mathematical Sciences. Computer SCience))--University of Stellenbosch, 2009.<br>In this thesis we consider the dynamic path planning problem for robotics. The dynamic path planning problem, in short, is the task of determining an optimal path, in terms of minimising a given cost function, from one location to another within a known environment of moving obstacles. Our goal is to investigate a number of well-known path planning algorithms, to determine for which circumstances a particular algorithm is best suited, and to propose changes to existing algorithms to make them per
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2

Schmitt, Paul Richard. "Reactive path shaping : local path planning for autonomous mobile robots in aisles." Thesis, Georgia Institute of Technology, 1996. http://hdl.handle.net/1853/17778.

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3

balakrishnan, mohanakrishnan. "COVERAGE PATH PLANNING AND CONTROL FOR AUTONOMOUS MOBILE ROBOTS." Master's thesis, University of Central Florida, 2005. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/2769.

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Coverage control has many applications such as security patrolling, land mine detectors, and automatic vacuum cleaners. This Thesis presents an analytical approach for generation of control inputs for a non-holonomic mobile robot in coverage control. Neural Network approach is used for complete coverage of a given area in the presence of stationary and dynamic obstacles. A complete coverage algorithm is used to determine the sequence of points. Once the sequences of points are determined a smooth trajectory characterized by fifth order polynomial having second order continuity is generated. An
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Qin, Caigong. "A computational framework for manipulator motion planning." Thesis, University of Oxford, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.362068.

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5

Cowlagi, Raghvendra V. "Hierarchical motion planning for autonomous aerial and terrestrial vehicles." Diss., Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/41066.

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Autonomous mobile robots - both aerial and terrestrial vehicles - have gained immense importance due to the broad spectrum of their potential military and civilian applications. One of the indispensable requirements for the autonomy of a mobile vehicle is the vehicle's capability of planning and executing its motion, that is, finding appropriate control inputs for the vehicle such that the resulting vehicle motion satisfies the requirements of the vehicular task. The motion planning and control problem is inherently complex because it involves two disparate sub-problems: (1) satisfaction of th
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6

Hasler, Michael Douglas. "Simulation for Improvement of Dynamic Path Planning in Autonomous Search and Rescue Robots." Thesis, University of Canterbury. Electrical and Computer Engineering, 2009. http://hdl.handle.net/10092/4475.

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To hasten the process of saving lives after disasters in urban areas, autonomous robots are being looked to for providing mapping, hazard identification and casualty location. These robots need to maximise time in the field without having to recharge and without reducing productivity. This project aims to improve autonomous robot navigation through allowing comparison of algorithms with various weightings, in conjunction with the ability to vary physical parameters of the robot and other factors such as error thresholds/limits. The lack of a priori terrain data in disaster sites, means tha
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7

Haight, Timothy A. "Layered path planning for an autonomous mobile robot." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1994. http://handle.dtic.mil/100.2/ADA286138.

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Thesis (M.S. in Computer Science and M.S. in Mathematics) Naval Postgraduate School, September 1994.<br>Thesis advisor(s): Yutaka Kanayama, Craig W. Rasmussen. "September 1994." Bibliography: p. 43-44. Also available online.
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8

Selin, Magnus. "Efficient Autonomous Exploration Planning of Large-Scale 3D-Environments : A tool for autonomous 3D exploration indoor." Thesis, Linköpings universitet, Artificiell intelligens och integrerade datorsystem, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-163329.

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Exploration is of interest for autonomous mapping and rescue applications using unmanned vehicles. The objective is to, without any prior information, explore all initially unmapped space. We present a system that can perform fast and efficient exploration of large scale arbitrary 3D environments. We combine frontier exploration planning (FEP) as a global planning strategy, together with receding horizon planning (RH-NBVP) for local planning. This leads to plans that incorporate information gain along the way, but do not get stuck in already explored regions. Furthermore, we make the potential
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Hernández, Vega Juan David. "Online path planning for autonomous underwater vehicles under motion constraints." Doctoral thesis, Universitat de Girona, 2017. http://hdl.handle.net/10803/457592.

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The most common applications of autonomous underwater vehicles (AUVs) include imaging and inspecting different kinds of structures on the sea. Most of these applications require a priori information of the area or structure to be inspected, either to navigate at a safe and conservative altitude or to 2/2 pre-calculate a survey path. However, there are other applications where it's unlikely that such information is available (e.g., exploring confined natural environments like underwater caves). In this respect, this thesis presents an approach that endows an AUV with the capabilities to
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Moletta, Marco. "Path planning for autonomous aerial robots in unknown underground zones optimized for vertical tunnels exploration." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-285574.

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Robotics is revolutionizing the work in dangerous environments like mines and tunnels, making life easier and safer for the workers. The specific case considered in this thesis regards UAVs used for 3D mapping of these zones. However, the use of UAVs in underground mines can be challenging for many reasons, such as reduced visibility, no GPS localization available and limited wireless communication, challenges that can be partially solved by using au- tonomous robots. Precisely for these reasons, this work aims to contribute on this application with the implementation of an autonomous path pla
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11

Galceran, Yebenes Enric. "Coverage path planning for autonomous underwater vehicles." Doctoral thesis, Universitat de Girona, 2014. http://hdl.handle.net/10803/133832.

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This thesis proposes new methods to find collision-free paths allowing an AUV to cover an area of the ocean floor with its sensors, which is known as coverage path planning. First, we propose a coverage path planning method to plan 2D, safe-altitude surveys which provides a principled way to account for obstacles in AUV survey planning. Its main advantage is that it minimizes redundant coverage when the vehicle navigates at constant depth, leading to shorter paths. Second, we provide a method to account for the uncertainty in the vehicle position estimates when planning 2D surveys. The method
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Chow, Terence Y. (Terence Yuet-Wei). "Software architecture, path planning, and implementation for an autonomous robot." Thesis, Massachusetts Institute of Technology, 1996. http://hdl.handle.net/1721.1/38149.

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13

Razavian, Adam A. "Cognitive Based Adaptive Path Planning Algorithm for Autonomous Robotic Vehicles." NSUWorks, 2004. http://nsuworks.nova.edu/gscis_etd/793.

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Processing requirement of a complex autonomous robotic vehicle demands high efficiency in algorithmic and software execution. Today's advanced computer hardware technology provides processing capabilities that were not available a decade ago. There are still major space and time limitations on these technologies for autonomous robotic applications. Increasingly, small to miniature mobile robots are required for reconnaissance, surveillance, and hazardous material detections for military and industrial applications. The small sized autonomous mobile robotic applications have limited power capac
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Rajasingh, Joshua. "Lane Detection and Obstacle Avoidance in Mobile Robots." University of Cincinnati / OhioLINK, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1288980793.

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15

Larkin, Susan M. "Wheeled autonomous mobile robots for use in harsh environments : a survey of recent publications /." Thesis, This resource online, 1996. http://scholar.lib.vt.edu/theses/available/etd-01312009-063343/.

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16

Sylvester, Chadwick Allen. "Path planning and control of a nonholonomic autonomous robotic system for docking." [Gainesville, Fla.] : University of Florida, 2003. http://purl.fcla.edu/fcla/etd/UFE0002830.

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17

Tang, Robert. "A Semi-autonomous Wheelchair Navigation System." Thesis, University of Canterbury. Mechanical Engineering, 2012. http://hdl.handle.net/10092/6472.

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Many mobility impaired users are unable to operate a powered wheelchair safely, without causing harm to themselves, others, and the environment. Smart wheelchairs that assist or replace user control have been developed to cater for these users, utilising systems and algorithms from autonomous robots. Despite a sustained period of research and development of robotic wheelchairs, there are very few available commercially. This thesis describes work towards developing a navigation system that is aimed at being retro-fitted to powered wheelchairs. The navigation system developed takes a systems e
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Walker, Ross. "Autonomous robot navigation through a crowded and dynamic environment : using a novel form of path planning to demonstrate consideration towards pedestrians and other robots." Thesis, University of Sheffield, 2017. http://etheses.whiterose.ac.uk/18833/.

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This thesis presents a novel path planning algorithm for robotic crowd navigation through a pedestrian environment. The robot is designed to negotiate its way through the crowd using considerate movements. Unlike many other path planning algorithms, which assume cooperation with other pedestrians, this algorithm is completely independent and requires only observation. A considerate navigation strategy has been developed in this thesis, which utilises consideration as an directs an autonomous mobile robot. Using simple methods of predicting pedestrian movements, as well as simple relative dista
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19

Cavallin, Kristoffer, and Peter Svensson. "Semi-Autonomous,Teleoperated Search and Rescue Robot." Thesis, Umeå University, Department of Computing Science, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-31928.

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<p>The interest in robots in the urban search and rescue (USAR) field has increased the last two decades. The idea is to let robots move into places where human rescue workers cannot or, due to high personal risks, should not enter.In this thesis project, an application is constructed with the purpose of teleoperating a simple robot. This application contains a user interface that utilizes both autonomous and semi-autonomous functions, such as search, explore and point-and-go behaviours. The purpose of the application is to work with USAR principles in a refined and simplified environment, and
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20

Wzorek, Mariusz. "Selected Aspects of Navigation and Path Planning in Unmanned Aircraft Systems." Licentiate thesis, Linköpings universitet, UASTECH – Teknologier för autonoma obemannade flygande farkoster, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-71147.

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Unmanned aircraft systems (UASs) are an important future technology with early generations already being used in many areas of application encompassing both military and civilian domains. This thesis proposes a number of integration techniques for combining control-based navigation with more abstract path planning functionality for UASs. These techniques are empirically tested and validated using an RMAX helicopter platform used in the UASTechLab at Linköping University. Although the thesis focuses on helicopter platforms, the techniques are generic in nature and can be used in other robotic s
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Chen, Fei. "Autonomous Mission Planning for Multi-Terrain Solar-Powered Unmanned Ground Vehicles." The Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1554387780484243.

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22

Prusakiewicz, Lukas, and Simon Tönnes. "Comparison of autonomous waypoint navigation methods for an indoor blimp robot." Thesis, KTH, Mekatronik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-284458.

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The Unmanned Aerial Vehicle (UAV) has over the last years become an increasingly prevalent technology in several sectors of modern society. Many UAVs are today used in a wide series of applications, from disaster relief to surveillance. A recent initiative by the Swedish Sea Rescue Society (SSRS) aims to implement UAVs in their emergency response. By quickly deploying drones to an area of interest, an assessment can be made, prior to personnel getting there, thus saving time and increasing the likelihood of a successful rescue operation. An aircraft like this, that will travel great distances,
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23

Fayad, Carole. "Development of techniques for global/local path planning of an autonomous mobile robot in dynamic environments." Thesis, University of Nottingham, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.368954.

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24

Diamantopoulos, Anastasios. "A reduced visibility graph approach for motion planning of autonomously guided vehicles." Thesis, University of South Wales, 2001. https://pure.southwales.ac.uk/en/studentthesis/a-reduced-visibility-graph-approach-for-motion-planning-of-autonomously-guided-vehicles(3f368020-0a83-42e5-ba83-b4a4a6257bc2).html.

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This thesis is concerned with the robots' motion planning problem. In particular it is focused on the path planning and motion planning for Autonomously Guided Vehicles (AGVs) in well-structured, two-dimensional static and dynamic environments. Two algorithms are proposed for solving the aforementioned problems. The first algorithm establishes the shortest collision-semi-free path for an AGV from its start point to its goal point, in a two-dimensional static environment populated by simple polygonal obstacles. This algorithm constructs and searches a reduced visibility graph, within the AGV's
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25

Nilsson, Per Johan Fredrik. "Planning semi-autonomous drone photo missions in Google Earth." Thesis, Mittuniversitetet, Avdelningen för data- och systemvetenskap, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:miun:diva-31473.

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This report covers an investigation of the methods and algorithms required to plan and perform semi-autonomous photo missions on Apple iPad devices using data exported from Google Earth. Flight time was to be minimized, taking wind velocity and aircraft performance into account. Google Earth was used both to define what photos to take, and to define the allowable mission area for the aircraft. A benchmark mission was created containing 30 photo operations in a 250 by 500 m area containing several no-fly-areas. The report demonstrates that photos taken in Google Earth can be reproduced in reali
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Cheng, Yongqiang. "Wireless mosaic eyes based robot path planning and control : autonomous robot navigation using environment intelligence with distributed vision sensors." Thesis, University of Bradford, 2010. http://hdl.handle.net/10454/4421.

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As an attempt to steer away from developing an autonomous robot with complex centralised intelligence, this thesis proposes an intelligent environment infrastructure where intelligences are distributed in the environment through collaborative vision sensors mounted in a physical architecture, forming a wireless sensor network, to enable the navigation of unintelligent robots within that physical architecture. The aim is to avoid the bottleneck of centralised robot intelligence that hinders the application and exploitation of autonomous robot. A bio-mimetic snake algorithm is proposed to coordi
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Chen, Qi. "Studies in autonomous ground vehicle control systems structure and algorithms /." Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1165959992.

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28

Ezequiel, Carlos Favis. "Real-Time Map Manipulation for Mobile Robot Navigation." Scholar Commons, 2013. http://scholarcommons.usf.edu/etd/4481.

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Mobile robots are gaining increased autonomy due to advances in sensor and computing technology. In their current form however, robots still lack algorithms for rapid perception of objects in a cluttered environment and can benefit from the assistance of a human operator. Further, fully autonomous systems will continue to be computationally expensive and costly for quite some time. Humans can visually assess objects and determine whether a certain path is traversable, but need not be involved in the low-level steering around any detected obstacles as is necessary in remote-controlled systems
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Elias, Ricardo. "A VIRTUAL REALITY VISUALIZATION OFAN ANALYTICAL SOLUTION TOMOBILE ROBOT TRAJECTORY GENERATIONIN THE PRESENCE OF MOVING OBSTACLES." Master's thesis, University of Central Florida, 2007. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/2438.

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Virtual visualization of mobile robot analytical trajectories while avoiding moving obstacles is presented in this thesis as a very helpful technique to properly display and communicate simulation results. Analytical solutions to the path planning problem of mobile robots in the presence of obstacles and a dynamically changing environment have been presented in the current robotics and controls literature. These techniques have been demonstrated using two-dimensional graphical representation of simulation results. In this thesis, the analytical solution published by Dr. Zhihua Qu in December 2
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Bays, Matthew Jason. "Stochastic Motion Planning for Applications in Subsea Survey and Area Protection." Diss., Virginia Tech, 2012. http://hdl.handle.net/10919/26763.

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This dissertation addresses high-level path planning and cooperative control for autonomous vehicles. The objective of our work is to closely and rigorously incorporate classication and detection performance into path planning algorithms, which is not addressed with typical approaches found in literature. We present novel path planning algorithms for two different applications in which autonomous vehicles are tasked with engaging targets within a stochastic environment. In the first application an autonomous underwater vehicle (AUV) must reacquire and identify clusters of discrete underwater o
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Girbés, Juan Vicent. "Clothoid-based Planning and Control in Intelligent Vehicles (Autonomous and Manual-Assisted Driving)." Doctoral thesis, Universitat Politècnica de València, 2016. http://hdl.handle.net/10251/65072.

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[EN] Nowadays, there are many electronic products that incorporate elements and features coming from the research in the field of mobile robotics. For instance, the well-known vacuum cleaning robot Roomba by iRobot, which belongs to the field of service robotics, one of the most active within the sector. There are also numerous autonomous robotic systems in industrial warehouses and plants. It is the case of Autonomous Guided Vehicles (AGVs), which are able to drive completely autonomously in very structured environments. Apart from industry and consumer electronics, within the automotive fiel
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Muralidharan, Aravind. "Sonar Based Navigation: Follow the Leader for Bearcat III." Cincinnati, Ohio : University of Cincinnati, 2001. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=ucin998320900.

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33

Schmitz, Austin. "Row crop navigation by autonomous ground vehicle for crop scouting." Thesis, Kansas State University, 2017. http://hdl.handle.net/2097/36237.

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Master of Science<br>Department of Biological & Agricultural Engineering<br>Daniel Flippo<br>Robotic vehicles have the potential to play a key role in the future of agriculture. For this to happen designs that are cost effective, robust, and easy to use will be necessary. Robotic vehicles that can pest scout, monitor crop health, and potentially plant and harvest crops will provide new ways to increase production within agriculture. At this time, the use of robotic vehicles to plant and harvest crops poses many challenges including complexity and power consumption. The incorporation of sma
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Sinyukov, Dmitry Aleksandrovich. "Semi-autonomous robotic wheelchair controlled with low throughput human- machine interfaces." Digital WPI, 2017. https://digitalcommons.wpi.edu/etd-dissertations/242.

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For a wide range of people with limited upper- and lower-body mobility, interaction with robots remains a challenging problem. Due to various health conditions, they are often unable to use standard joystick interface, most of wheelchairs are equipped with. To accommodate this audience, a number of alternative human-machine interfaces have been designed, such as single switch, sip-and-puff, brain-computer interfaces. They are known as low throughput interfaces referring to the amount of information that an operator can pass into the machine. Using them to control a wheelchair poses a number
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Coelho, Fabrício de Oliveira. "Missões autônomas em robôs móveis com tração diferencial: planejamento de caminhos, localização e mapeamento." Universidade Federal de Juiz de Fora (UFJF), 2018. https://repositorio.ufjf.br/jspui/handle/ufjf/6497.

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Submitted by Geandra Rodrigues (geandrar@gmail.com) on 2018-03-27T13:16:05Z No. of bitstreams: 1 fabriciodeoliveiracoelho.pdf: 19075776 bytes, checksum: 5f9c07d95c6d348d64825d66fda1c6f3 (MD5)<br>Approved for entry into archive by Adriana Oliveira (adriana.oliveira@ufjf.edu.br) on 2018-03-27T13:40:24Z (GMT) No. of bitstreams: 1 fabriciodeoliveiracoelho.pdf: 19075776 bytes, checksum: 5f9c07d95c6d348d64825d66fda1c6f3 (MD5)<br>Made available in DSpace on 2018-03-27T13:40:24Z (GMT). No. of bitstreams: 1 fabriciodeoliveiracoelho.pdf: 19075776 bytes, checksum: 5f9c07d95c6d348d64825d66fda1c6f3 (MD5)
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36

Sanches, Rodrigo Marcon. "Desenvolvimento de um sistema de planejamento de trajetória para veículos autônomos agrícolas." Universidade de São Paulo, 2012. http://www.teses.usp.br/teses/disponiveis/18/18149/tde-29112012-211414/.

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O objetivo deste trabalho é desenvolver um sistema de navegação global para que veículos agrícolas autônomos possam executar missões em campos de cultivo através de um sistema de planejamento de trajetórias. Missões podem ser entendidas como sendo tarefas (p.ex.: de monitoramento, coleta de amostras, etc.) através de pequenas rotas que os veículos devem seguir ao longo de seus trabalhos diários, percorrendo a menor distância possível entre os pontos de origem e destino. O planejamento de trajetória foi dividido em etapas para facilitar o entendimento de cada uma delas. O mapeamento apresentado
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Sant\'Ana, Felipe Taha. "Estimação de probabilidade de colisão com obstáculos móveis para navegação autônoma." Universidade de São Paulo, 2015. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-04082015-113151/.

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Na área de robótica móvel autônoma é importante que o robô siga uma trajetória livre de obstáculos. Estes podem ser desde obstáculos estáticos, como paredes e cadeiras em um ambiente interno, ou mesmo obstáculos móveis, como pessoas caminhando na calçada e carros passando pela rua, quando consideramos ambientes externos. No caso de um ambiente estático, o problema pode ser resolvido planejando uma trajetória livre de colisões, sendo que não é necessário um replanejamento se todos os obstáculos estáticos foram considerados. Para ambientes onde os obstáculos estão em constante movimento, é neces
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Sert, Hugues. "De l’utilisation de l’algèbre différentielle pour la localisation et la navigation de robots mobiles autonomes." Thesis, Ecole centrale de Lille, 2013. http://www.theses.fr/2013ECLI0002/document.

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Ce travail étudie l'apport de l'algèbre différentielle à deux problématiques principales de la robotique mobile à roues, la localisation et la navigation. La première problématique consiste à être capable de dire où le robot se situe dans son environnement. Nous supposons ici que nous possédons un certain nombre de points d'intérêt de l'espace dont les coordonnées dans cette espace sont connues. En fonction du nombre de points d'intérêt, il est possible ou non de localiser le robot. Cette notion de localisabilité est définie et étudiée dans le cadre algébrique. Nous montrons que ce cadre d'étu
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Rusu, Alexandru. "Planification de chemin et navigation autonome pour un rover d’exploration planétaire." Thesis, Toulouse, ISAE, 2014. http://www.theses.fr/2014ESAE0049/document.

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Dans le cadre du programme ExoMars, l’ESA va déployer un rover sur Mars dont la mission sera de réaliser des prélèvements d’échantillons par forage souterrain et les analyser à l’aide des instruments scientifiques embarqués. Pour atteindre en toute sécurité les différents points d’intérêt où seront effectués ces prélèvements, le rover devra être capable de parcourir plus de 70 mètres par sol (jour martien) tout en respectant les limitations des communications interplanétaires. Les performances des algorithmes de navigation autonome embarqués impacteront directement la réussite scientifique de
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Megda, Poliane Torres. "Detecção e classificação de obstáculos aplicados ao planejamento de trajetórias para veículos de passeio em ambiente urbano." Universidade de São Paulo, 2011. http://www.teses.usp.br/teses/disponiveis/18/18149/tde-24072013-111120/.

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Todos os dias a quantidade de veículos nas estradas em todo o mundo está aumentando. Este crescimento combinado com a negligência dos motoristas e alguns fatores externos, tais como estradas mal conservadas e condições climáticas adversas resultaram em um enorme aumento na quantidade de acidentes e, conseqüentemente, de mortes. Atualmente muitos grupos de pesquisa e empresas automotivas estão desenvolvendo e adaptando tecnologias que podem ser incorporadas nos veículos para reduzir esses números. Um exemplo interessante dessas tecnologias é a detecção e classificação de obstáculos móveis (veíc
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41

Ferreira, Giordano Bruno Santos. "Modelos baseados em autômatos celulares para o planejamento de caminhos em robôs autônomos." Universidade Federal de Uberlândia, 2014. https://repositorio.ufu.br/handle/123456789/12573.

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Conselho Nacional de Desenvolvimento Científico e Tecnológico<br>Considering path planning problem for autonomous robots, the objective is to find a list of steps to be applied to obtain a path between the initial point and the goal. This work aims the investigation and implementation of cellular automata (CA) based models to path-planning. In an initial phase, a comparative study was conducted among the cellular automata-based methods to path-planning published in the literature. Subsequently, two published works were chosen to be implemented in simulation environments to verify the actual ap
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Switzer, Barbara T. "Robotic path planning with obstacle avoidance /." Online version of thesis, 1993. http://hdl.handle.net/1850/11712.

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43

Karamanlis, Vasilios. "Mulltivariate motion planning of autonomous robots." Thesis, Monterey, California. Naval Postgraduate School, 1997. http://hdl.handle.net/10945/8705.

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A problem of motion control in robot motion planning is to find a smooth transition while going from one path to another. The key concept of our theory is the steering function, used to manipulate the motion of our vehicle. The steering function determines the robot's position and orientation by controlling path curvature and speed. We also present the - neutral switching method - algorithm that provides the autonomous vehicle with the capability to determine the best leaving point which allows for a smooth transition from one path to another in a model-based polygonal world. The above mention
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44

McKeever, Scott Douglas 1976. "Path planning for an autonomous vehicle." Thesis, Massachusetts Institute of Technology, 2000. http://hdl.handle.net/1721.1/8741.

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Thesis (S.M.)--Massachusetts Institute of Technology, Sloan School of Management, 2000.<br>Includes bibliographical references (p. 163-164).<br>The desire for highly capable unmanned autonomous vehicles (UAVs), has necessitated the need for more research into the problems faced by these vehicles. One classic problem faced by UAVs concerns how the vehicle should traverse its environment in order to leave the current position and arrive at a desired location. The path to this goal location must maneuver the vehicle around any obstacles and reach the goal with minimal cost. A variant of this prob
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45

Shanmugavel, M. "Path planning of multiple autonomous vehicles." Thesis, Cranfield University, 2007. http://hdl.handle.net/1826/1745.

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Safe and simultaneous arrival of constant speed, constant altitude UAVs on target is solved by design of paths of equal lengths. The starting point of the solution is the well-known Dubins path which is composed of circular arcs and line segments, thus requiring only one simple manoeuvre - constant rate turn. An explicit bound can be imposed on the rate during the design and the resulting paths are the minimum time solution of the problem. However, transition between arc and line segment entails discontinuous changes in lateral accelerations (latax), making this approach impractical for real f
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Shanmugavel, Madhavan. "Path planning of multiple autonomous vehicles." Thesis, Cranfield University, 2007. http://dspace.lib.cranfield.ac.uk/handle/1826/1745.

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Safe and simultaneous arrival of constant speed, constant altitude UAVs on target is solved by design of paths of equal lengths. The starting point of the solution is the well-known Dubins path which is composed of circular arcs and line segments, thus requiring only one simple manoeuvre - constant rate turn. An explicit bound can be imposed on the rate during the design and the resulting paths are the minimum time solution of the problem. However, transition between arc and line segment entails discontinuous changes in lateral accelerations (latax), making this approach impractical for real f
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47

Wooden, David T. "Graph-based Path Planning for Mobile Robots." Diss., Available online, Georgia Institute of Technology, 2006, 2006. http://etd.gatech.edu/theses/available/etd-11092006-180958/.

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Thesis (Ph. D.)--Electrical and Computer Engineering, Georgia Institute of Technology, 2007.<br>Magnus Egerstedt, Committee Chair ; Patricio Vela, Committee Member ; Ayanna Howard, Committee Member ; Tucker Balch, Committee Member ; Wayne Book, Committee Member.
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Furci, Michele <1988&gt. "Mobile Robots Control and Path Planning Strategies." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2016. http://amsdottorato.unibo.it/7511/.

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Mobile robots gained lots of attention in the last decades. Because of its flexibility and increased capabilities of automation, mobile robots are used in many applications: from domotic, to search and rescue missions, to agriculture, environment protection and many more. The main capability of mobile robots to accomplish a mission is the mobility in the work environment. To move in a certain environment the robots should achieve: guidance, navigation and control. This thesis focuses on guidance and control of mobile robots, with application to certain classes of robots: Vertical Take Off an
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Hague, Tony. "Motion planning for autonomous guided vehicles." Thesis, University of Oxford, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.358592.

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Yiğit, Konuralp. "Path planning methods for Autonomous Underwater Vehicles." Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/67807.

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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (p. 75-81).<br>From naval operations to ocean science missions, the importance of autonomous vehicles is increasing with the advances in underwater robotics technology. Due to the dynamic and intermittent underwater environment and the physical limitations of autonomous underwater vehicles, feasible and optimal path planning is crucial for autonomous underwater operations. The objective of this thesis is to develop and demo
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