Rozprawy doktorskie na temat „Collision avoidance systems”
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Melega, Marco. "Autonomous Collision avoidance for Unmanned aerial systems". Thesis, Cranfield University, 2014. http://dspace.lib.cranfield.ac.uk/handle/1826/9251.
Pełny tekst źródłaBlackwell, Grahame Kenneth. "An expert systems approach to collision avoidance". Thesis, University of Plymouth, 1992. http://hdl.handle.net/10026.1/1773.
Pełny tekst źródłaBarrios, Cesar. "Predicting Trajectory Paths For Collision Avoidance Systems". ScholarWorks @ UVM, 2015. http://scholarworks.uvm.edu/graddis/386.
Pełny tekst źródłaDegen, Shane C. "Reactive image-based collision avoidance system for unmanned aircraft systems". Thesis, Queensland University of Technology, 2011. https://eprints.qut.edu.au/46969/1/Shane_Degen_Thesis.pdf.
Pełny tekst źródłaMcfadyen, Aaron. "Visual control for automated aircraft collision avoidance systems". Thesis, Queensland University of Technology, 2015. https://eprints.qut.edu.au/81418/1/Aaron_McFadyen_Thesis.pdf.
Pełny tekst źródłaStrömgren, Oliver. "Deep Learning for Autonomous Collision Avoidance". Thesis, Linköpings universitet, Datorseende, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-147693.
Pełny tekst źródłaAlturbeh, Hamid. "Collision avoidance systems for UAS operating in civil airspace". Thesis, Cranfield University, 2014. http://dspace.lib.cranfield.ac.uk/handle/1826/9295.
Pełny tekst źródłaYi, Boliang [Verfasser]. "Integrated Planning and Control for Collision Avoidance Systems / Boliang Yi". Karlsruhe : KIT Scientific Publishing, 2018. http://www.ksp.kit.edu.
Pełny tekst źródłaYick, King-Yeung 1978. "Design and test of intersection collision avoidance systems for automobiles". Thesis, Massachusetts Institute of Technology, 2003. http://hdl.handle.net/1721.1/82790.
Pełny tekst źródłaGorman, Thomas Ian. "Prospects for the Collision-Free Car: The Effectiveness of Five Competing Forward Collision Avoidance Systems". Thesis, Virginia Tech, 2013. http://hdl.handle.net/10919/24721.
Pełny tekst źródłaMaster of Science
Farahmand, Ashil Sayyed. "Cooperative Decentralized Intersection Collision Avoidance Using Extended Kalman Filtering". Thesis, Virginia Tech, 2008. http://hdl.handle.net/10919/36276.
Pełny tekst źródłaMaster of Science
Jia, Yanbo. "An automated cyclist collision avoidance system for heavy goods vehicles". Thesis, University of Cambridge, 2015. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.708620.
Pełny tekst źródłaDoerzaph, Zachary R. "Development of a Threat Assessment Algorithm for Intersection Collision Avoidance Systems". Diss., Virginia Tech, 2007. http://hdl.handle.net/10919/30013.
Pełny tekst źródłaPh. D.
Sahawneh, Laith Rasmi. "Airborne Collision Detection and Avoidance for Small UAS Sense and Avoid Systems". BYU ScholarsArchive, 2016. https://scholarsarchive.byu.edu/etd/5840.
Pełny tekst źródłaMoon, James Nicholas John. "An investigation into the use of multi-agent systems in marine simulator instructor stations". Thesis, University of South Wales, 1997. https://pure.southwales.ac.uk/en/studentthesis/an-investigation-into-the-use-of-multiagent-systems-in-marine-simulator-instructor-stations(a6ae516b-fda8-4be7-985e-3b3a10dee408).html.
Pełny tekst źródłaWolfe, Sage M. "Heavy Truck Modeling and Estimation for Vehicle-to-Vehicle Collision Avoidance Systems". The Ohio State University, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=osu1405704063.
Pełny tekst źródłaEvery, Joshua Lee. "Development of a Driver Behavior Based Active Collision Avoidance System". The Ohio State University, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=osu1429800895.
Pełny tekst źródłaPai, Arun S. "Development of deterministic collision-avoidance algorithms for routing automated guided vehicles /". Online version of thesis, 2008. http://hdl.handle.net/1850/7289.
Pełny tekst źródłaNowak, Jakub. "Robust Control of Coupled Multirobot Systems under Signal Temporal Logic Specifications with Collision Avoidance". Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-240368.
Pełny tekst źródłaMultiagentsystem har fått uppmärksamhet bland robotikforskare på grund av dess prestanda, där de kan prestera bättre än individuella robotar. Sådana system, däremot, bidrar till en ökning i komplexitet, i synnerhet för uppgiftsplaneringsproblemet. Därav behövs en mer so- fistikerad planeringsmetod, särskilt en som kan lösa konflikter mellan lokala uppgifter. Dessa konflikter uppstår från kopplingar mellan ro- botar uttryckta i deras uppgiftsspecifikationer. Ett beräkningsmässigt inexpensivt och kollaborativt kontrollschema är implementerat i ett system bestående av tre rundstrålande robotar. Robotarna utför upp- gifter som är kodade i Signal Temporal Logic, med användning av Prescribed Performance Control. De är garanterade att uppnå speci- kitationerna eller, om det inte är möjligt, uppnå den minst överträdan- de lösningen trots uppgiftskonflikter. Dessutom är kollisionsfria ba- nor producerade. En serie av simuleringar och experiment utförs för att verifiera metodens lönsamhet. Tillvägagångssättet visar sig vara ef- fektivt trots de restriktiva antaganden som ålagts på systemet. Till sist så föreslås direktiv för framtida arbeten så att metoden kan prestera bra i hårdare experimentella scenarier.
Thedchanamoorthy, Sivaranjini. "Optimisation-based verification process of obstacle avoidance systems for unmanned vehicles". Thesis, Loughborough University, 2014. https://dspace.lboro.ac.uk/2134/15106.
Pełny tekst źródłaKirven, Thomas C. "AUTONOMOUS QUADROTOR COLLISION AVOIDANCE AND DESTINATION SEEKING IN A GPS-DENIED ENVIRONMENT". UKnowledge, 2017. https://uknowledge.uky.edu/me_etds/105.
Pełny tekst źródłaGlynn, Patrick Joseph, i n/a. "Collision Avoidance Systems for Mine Haul Trucks and Unambiguous Dynamic Real Time Single Object Detection". Griffith University. Griffith Business School, 2005. http://www4.gu.edu.au:8080/adt-root/public/adt-QGU20060809.163025.
Pełny tekst źródłaScofield, Jan W. (Jan William). "Benefit analysis and feasibility of ground collision avoidance systems on United States Air Force aircraft". Thesis, Massachusetts Institute of Technology, 1995. http://hdl.handle.net/1721.1/41801.
Pełny tekst źródłaIncludes bibliographical references (p. 91-92).
This thesis examines a specific type of USAF aircraft mishaps - Controlled Flight Into Terrain (CFIT) mishaps. The thesis presents data on CFIT mishaps, causes, and efforts to reduce CFIT mishaps through the development and adoption of Ground Collision Avoidance Systems (GCAS) or similar designs - Ground Proximity Warning Systems (GPWS). GPWS exist today on some USAF aircraft, but many times these systems are inadequate (as evidenced by the continued occurrence of CFIT mishaps). Both ongoing and future initiatives by the USAF to adopt and develop better GPWS/GCAS systems were studied. An analysis was performed which studied the cost to the USAF (and the U.S. taxpayer) as a result of CFIT mishaps, and compared with an analysis of the cost to develop and implement improved GPWS/GCAS systems. The results show conclusively that installing GCAS/GPWS on a majority of USAF aircraft is cost effective. Technology exist today which could improve existing GPWS performance, and although efforts to improve GPWS are moving forward, some resistance does exist. Possible reasons for resistance of GCAS/GPWS adoption were studied and several recommendations were made on how to improve the adoption of these systems within the USAF.
by Jan W. Scofield.
S.M.
Berges, Paul Martin. "Exploring the Vulnerabilities of Traffic Collision Avoidance Systems (TCAS) Through Software Defined Radio (SDR) Exploitation". Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/90165.
Pełny tekst źródłaMaster of Science
Since 1993, the Federal Aviation Administration (FAA) requires that many commercial turbine-powered aircraft to be outfitted with an on-board mid-air collision mitigation system. This system is known as the Traffic Collision Avoidance System (TCAS) in the United States, and it is known as the Airborne Collision Avoidance System (ACAS) in other parts of the world. TCAS/ACAS is a type of safety-critical system, which means that implementations need to be highly tolerant to system failures because their operation directly affects the safety of the on-board passengers and crew. However, while safety-critical systems are tolerant to failures, the designers of these systems only account for failures that occur in a cooperative environment; these engineers fail to account for “bad actors” who want to attack the weaknesses of these systems, or they assume that attacking such a system is infeasible. Therefore, to demonstrate how safety-critical systems like TCAS/ACAS are vulnerable to such bad actors, this thesis presents a method for manipulating the TCAS/ACAS in the favor of a bad actor. To start, a method for qualitatively and quantitatively analyzing the system’s vulnerabilities is presented. Then, using Software Defined Radio (SDR), which is a free and open-source effort to combine the flexibility of software with the power of wireless communication, this thesis shows how an actor can craft wireless signals such that they appear to look like an aircraft on a collision course with a target.
Glynn, Patrick Joseph. "Collision Avoidance Systems for Mine Haul Trucks and Unambiguous Dynamic Real Time Single Object Detection". Thesis, Griffith University, 2005. http://hdl.handle.net/10072/365488.
Pełny tekst źródłaThesis (PhD Doctorate)
Doctor of Philosophy (PhD)
Griffith Business School
Full Text
Klaus, Robert Andrew. "Development of a Sense and Avoid System for Small Unmanned Aircraft Systems". BYU ScholarsArchive, 2013. https://scholarsarchive.byu.edu/etd/3761.
Pełny tekst źródłaHodota, Kenichi. "R&D and deployment valuation of intelligent transportation systems : a case example of the intersection collision avoidance systems". Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/35087.
Pełny tekst źródłaIncludes bibliographical references (p. 147-154).
Compared with investments in the conventional infrastructure, those in Intelligent Transportation Technology (ITS) include various uncertainties. Because deployment of ITS requires close public-private partnership, projects concerning the R&D and deployment of ITS technology involve project risks and market risks induced by both the public and private sector. This characteristic makes it difficult to evaluate the value of the project through traditional valuation method such as the benefit cost analysis (BCA) or the discounted cash flow (DCF) method. To address the difficulty, this thesis proposes two appropriate valuation methodologies for R&D and deployment of ITS: decision analysis and "hybrid real options" analysis that combines decision analysis and real option analysis. This thesis applies the proposed methodologies to a case example of the ongoing R&D and deployment project to reduce the automobile crashes at intersection under public-private partnerships. The proposed systems in the project consist of two conflicting concepts; one depends on user acceptance of in-vehicle ITS technology employed, and the other one does not require user acceptance of this ITS technology.
(cont.) To evaluate the value of two concepts, this thesis identifies various uncertainties associated with the project and quantifies them by utilizing various quantitative techniques including the product diffusion model to formulate project risks and market risks. This thesis finally compares the financial value in two concepts and demonstrates that the concept without in-vehicle ITS technology is a more promising system for crash prevention at an intersection than that with this technology and recognizes the value of real option in case of the unfavorable outcome of the R&D stage. The results imply that developing attractive new product and obtaining user acceptance of ITS technology are the most crucial factors to influence the project value and future success of the countermeasures.
by Kenichi Hodota.
S.M.
Lin, Yuan. "Bat swarming as an inspiration for multi-agent systems: predation success, active sensing, and collision avoidance". Diss., Virginia Tech, 2016. http://hdl.handle.net/10919/64858.
Pełny tekst źródłaPh. D.
Graziano, Timothy Michael. "Establishment of a Cyber-Physical Systems (CPS) Test Bed to Explore Traffic Collision Avoidance System (TCAS) Vulnerabilities to Cyber Attacks". Thesis, Virginia Tech, 2021. http://hdl.handle.net/10919/104624.
Pełny tekst źródłaMaster of Science
Traffic Collision Avoidance Systems (TCAS), or Airborne Collision Avoidance Systems ACAS), are safety-critical systems required by the Federal Aviation Administration (FAA) in commercial aircraft. They work by sending queries to surrounding aircraft in the form of radio transmission. Aircraft in the who receive these transmissions send replies. Information in these replies allow the TCAS system to determine if a nearby aircraft may travel too close to itself. TCAS can then determine help both pilots avoid a mid-air collision. Information in the messages can be faked by a malicious actor. To explore these vulnerabilities a test bed is built with commercial grade TCAS equipment. Several types of attacks are evaluated.
Brown, Glenn, i n/a. "Remote Intelligent Air Traffic Control Systems for Non-Controlled Airports". Griffith University. School of Engineering, 2003. http://www4.gu.edu.au:8080/adt-root/public/adt-QGU20040225.084516.
Pełny tekst źródłaBrown, Glenn. "Remote Intelligent Air Traffic Control Systems for Non-Controlled Airports". Thesis, Griffith University, 2003. http://hdl.handle.net/10072/367276.
Pełny tekst źródłaThesis (PhD Doctorate)
Doctor of Philosophy (PhD)
School of Engineering
Faculty of Engineering and Information Technology
Full Text
McLaughlin, Shane Brendan. "Analytic Assessment of Collision Avoidance Systems and Driver Dynamic Performance in Rear-End Crashes and Near-Crashes". Diss., Virginia Tech, 2007. http://hdl.handle.net/10919/29561.
Pełny tekst źródłaPh. D.
Pant, Vivek. "Biomimetic Visual Navigation Architectures for Autonomous Intelligent Systems". Diss., The University of Arizona, 2007. http://hdl.handle.net/10150/194273.
Pełny tekst źródłaKotte, Jens, Carsten Schmeichel, Adrian Zlocki, Hauke Gathmann i Lutz Eckstein. "Concept of an enhanced V2X pedestrian collision avoidance system with a cost function–based pedestrian model". Taylor & Francis, 2017. https://publish.fid-move.qucosa.de/id/qucosa%3A72238.
Pełny tekst źródłaReddy, Nitin. "DRIVER ASSISTANCE FOR ENHANCED ROAD SAFETY AND TRAFFIC MANAGEMENT". Case Western Reserve University School of Graduate Studies / OhioLINK, 2009. http://rave.ohiolink.edu/etdc/view?acc_num=case1237493386.
Pełny tekst źródłaMojtaba, Forghani (Forghani Oozroody). "Design and implementation of safety control for a class of stochastic order preserving systems with application to collision avoidance near intersections". Thesis, Massachusetts Institute of Technology, 2014. http://hdl.handle.net/1721.1/93856.
Pełny tekst źródłaCataloged from PDF version of thesis.
Includes bibliographical references (pages 55-56).
In this thesis, we have designed and implemented a safety control system for collision avoidance near intersections. We have solved the corresponding control problems for a general class of systems that also includes the scenario of the two consecutive vehicles approaching an intersection, which leads to the design of the collision avoidance system. We have gathered the data of behavior of drivers as they approach intersections and have built a stochastic model for that through an optimization problem. The model generates a non-deterministic profile for acceleration of a vehicle which is not equipped with the collision avoidance system and it is used to estimate and predict future stopping profiles of the vehicle in order to take the right control action for avoidance or mitigation of accidents. First we have verified the consistency of the theoretical model with its expected behavior after implementation and then we have implemented the control system on the Prius vehicle in collaboration with TTC (Toyota Technical Center), Ann Arbor, Michigan.
by Mojtaba Forghani.
S.M.
Na, Xiaoxiang. "Game theoretical modelling of a driver's interaction with active steering". Thesis, University of Cambridge, 2014. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.708392.
Pełny tekst źródłaAgardt, Erik, i Markus Löfgren. "Pilot Study of Systems to Drive Autonomous Vehicles on Test Tracks". Thesis, Linköping University, Department of Electrical Engineering, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-12217.
Pełny tekst źródłaThis Master’s thesis is a pilot study that investigates different systems to drive autonomous and non-autonomous vehicles simultaneously on test tracks. The thesis includes studies of communication, positioning, collision avoidance, and techniques for surveillance of vehicles which are suitable for implementation. The investigation results in a suggested system outline.
Differential GPS combined with laser scanner vision is used for vehicle state estimation (position, heading, velocity, etc.). The state information is transmitted with IEEE 802.11 to all surrounding vehicles and surveillance center. With this information a Kalman prediction of the future position for all vehicles can be estimated and used for collision avoidance.
Wikle, Jared Kevin. "Integration of a Complete Detect and Avoid System for Small Unmanned Aircraft Systems". BYU ScholarsArchive, 2017. https://scholarsarchive.byu.edu/etd/6361.
Pełny tekst źródłaGuan, Wenyang. "Adaptive QoS control of DSRC vehicle networks for collaborative vehicle safety applications". Thesis, Swansea University, 2013. https://cronfa.swan.ac.uk/Record/cronfa42507.
Pełny tekst źródłaSvensson, Ulrika. "Blink behaviour based drowsiness detection : method development and validation /". [Linköping, Sweden] : Swedish National Road and Transport Research Institute, 2004. http://www.vti.se.
Pełny tekst źródłaWozniak, Peter. "Range imaging based obstacle detection for virtual environment systems and interactive metaphor based signalization". Thesis, Strasbourg, 2019. http://www.theses.fr/2019STRAD013/document.
Pełny tekst źródłaWith this generation of devices, virtual reality (VR) has actually made it into the living rooms of end-users. These devices feature 6 degrees of freedom tracking, allowing them to move naturally in virtual worlds. However, for a natural locomotion in the virtual, one needs a corresponding free space in the real environment. The available space is often limited. Objects of daily life can quickly become obstacles for VR users if they are not cleared away. The currently available systems offer only rudimentary assistance for this problem. There is no detection of potentially dangerous objects. This thesis shows how obstacles can be detected automatically with range imaging cameras and how users can be effectively warned about them in the virtual environment. 4 visual metaphors were evaluated with the help of a user study
Gariel, Maxime. "Toward a graceful degradation of air traffic management systems". Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/34799.
Pełny tekst źródłaMartin, Wayne Leslie. "Pathological Behaviours in Pilots during Unexpected Critical Events: The Effects of Startle, Freeze and Denial on Situation Outcome". Thesis, Griffith University, 2014. http://hdl.handle.net/10072/366319.
Pełny tekst źródłaThesis (PhD Doctorate)
Doctor of Philosophy (PhD)
School of Biomolecular and Physical Sciences
Science, Environment, Engineering and Technology
Full Text
Xausa, Ilaria [Verfasser], Matthias [Akademischer Betreuer] Gerdts i Olivier [Akademischer Betreuer] Bokanowski. "Verification of Collision Avoidance Systems using Optimal Control and Sensitivity Analysis / Ilaria Xausa. Universität der Bundeswehr München, Fakultät für Luft- und Raumfahrttechnik. Betreuer: Matthias Gerdts. Gutachter: Matthias Gerdts ; Olivier Bokanowski". Neubiberg : Universitätsbibliothek der Universität der Bundeswehr München, 2015. http://d-nb.info/1081029749/34.
Pełny tekst źródłaXausa, Ilaria Verfasser], Matthias [Akademischer Betreuer] [Gerdts i Olivier [Akademischer Betreuer] Bokanowski. "Verification of Collision Avoidance Systems using Optimal Control and Sensitivity Analysis / Ilaria Xausa. Universität der Bundeswehr München, Fakultät für Luft- und Raumfahrttechnik. Betreuer: Matthias Gerdts. Gutachter: Matthias Gerdts ; Olivier Bokanowski". Neubiberg : Universitätsbibliothek der Universität der Bundeswehr München, 2015. http://nbn-resolving.de/urn:nbn:de:bvb:706-4394.
Pełny tekst źródłaOkoloko, Innocent. "Multi-path planning and multi-body constrained attitude control". Thesis, Stellenbosch : Stellenbosch University, 2012. http://hdl.handle.net/10019.1/71905.
Pełny tekst źródłaENGLISH ABSTRACT: This research focuses on the development of new efficient algorithms for multi-path planning and multi-rigid body constrained attitude control. The work is motivated by current and future applications of these algorithms in: intelligent control of multiple autonomous aircraft and spacecraft systems; control of multiple mobile and industrial robot systems; control of intelligent highway vehicles and traffic; and air and sea traffic control. We shall collectively refer to the class of mobile autonomous systems as “agents”. One of the challenges in developing and applying such algorithms is that of complexity resulting from the nontrivial agent dynamics as agents interact with other agents, and their environment. In this work, some of the current approaches are studied with the intent of exposing the complexity issues associated them, and new algorithms with reduced computational complexity are developed, which can cope with interaction constraints and yet maintain stability and efficiency. To this end, this thesis contributes the following new developments to the field of multipath planning and multi-body constrained attitude control: • The introduction of a new LMI-based approach to collision avoidance in 2D and 3D spaces. • The introduction of a consensus theory of quaternions by applying quaternions directly with the consensus protocol for the first time. • A consensus and optimization based path planning algorithm for multiple autonomous vehicle systems navigating in 2D and 3D spaces. • A proof of the consensus protocol as a dynamic system with a stochastic plant matrix. • A consensus and optimization based algorithm for constrained attitude synchronization of multiple rigid bodies. • A consensus and optimization based algorithm for collective motion on a sphere.
AFRIKAANSE OPSOMMING: Hierdie navorsing fokus op die ontwikkeling van nuwe koste-effektiewe algoritmes, vir multipad-beplanning en veelvuldige starre-liggaam beperkte standbeheer. Die werk is gemotiveer deur huidige en toekomstige toepassing van hierdie algoritmes in: intelligente beheer van veelvuldige outonome vliegtuig- en ruimtevaartuigstelsels; beheer van veelvuldige mobiele en industrile robotstelsels; beheer van intelligente hoofwegvoertuie en verkeer; en in lug- en see-verkeersbeheer. Ons sal hier “agente” gebruik om gesamentlik te verwys na die klas van mobiele outonome stelsels. Een van die uitdagings in die ontwikkeling en toepassing van sulke algoritmes is die kompleksiteit wat spruit uit die nie-triviale agentdinamika as gevolg van die interaksie tussen agente onderling, en tussen agente en hul omgewing. In hierdie werk word sommige huidige benaderings bestudeer met die doel om die kompleksiteitskwessies wat met hulle geassosieer word, bloot te l^e. Verder word nuwe algoritmes met verminderde berekeningskompleksiteit ontwikkel. Hierdie algoritmes kan interaksie-beperkings hanteer, en tog stabiliteit en doeltreffendheid behou. Vir hierdie doel dra die proefskrif die volgende nuwe ontwikkelings by tot die gebied van multipad-beplanning van multi-liggaam beperkte standbeheer: • Die voorstel van ’n nuwe LMI-gebasseerde benadering tot botsingsvermyding in 2D en 3D ruimtes. • Die voorstel van ’n konsensus-teorie van “quaternions” deur “quaternions” vir die eerste keer met die konsensusprotokol toe te pas. • ’n Konsensus- en optimeringsgebaseerde padbeplanningsalgoritme vir veelvoudige outonome voertuigstelsels wat in 2D en 3D ruimtes navigeer. • Die bewys van ’n konsensusprotokol as ’n dinamiese stelsel met ’n stochastiese aanlegmatriks. • ’n Konsensus- en optimeringsgebaseerde algoritme vir beperkte stand sinchronisasie van veelvoudige starre liggame. • ’n Konsensus- en optimeringsgebaseerde algoritme vir kollektiewe beweging op ’n sfeer.
Agarwal, Megha, Alisha Bandekar, Ashley Kang, Tyler Martis, Hossein Namazyfard, Alan Yeh, Megha Agarwal i in. "Automotive LiDAR Collision-Avoidance System". Thesis, The University of Arizona, 2017. http://hdl.handle.net/10150/624893.
Pełny tekst źródłaNguyen, Minh Tri. "Commande prédictive sous contraintes de sécurité pour des systèmes dynamiques Multi-Agents". Thesis, Université Paris-Saclay (ComUE), 2016. http://www.theses.fr/2016SACLC071/document.
Pełny tekst źródłaThis thesis presents optimizationbased control techniques for dynamical Multi-Agent systems (MAS) subject to collision avoidance constraints. From the set-theoretic point of view, collision avoidance objective can be translated into non-overlapping conditions for the safety regions characterizing each agent/obstacle while maintaining the convergence towards a specified formation. Among the successful optimizationbased control methods, Model Predictive Control (MPC) is used for constraints handling. First, a leader-follower structure is considered as a basic decentralized architecture. The followers functioning zone assignment is decided by the leader and then the local linear feedback control is computed such that the follower operates strictly inside its authorized zone, offering anti-collision guarantees. Second, a dynamic Voronoi partition based deployment of the agents using an inner target driver is developed. The main novelty is to consider the Chebyshev center as the inner target for each agent, leading to an optimization-based decentralized predictive control design. In the same topic, other inner targets are considered such as the center of mass or vertex interpolated center. Third, set-theoretic tools are used to design a centralized FDI layer for dynamical MAS, leading to the exclusion of a faulty agent from the MAS formation and the integration of an external healthy/recovered agent in the current formation. The set-based FDI allows detecting and isolating these faulty agents to protect the current formation using centralized predictive control techniques
Park, Jaeyong. "Safe Controller Design for Intelligent Transportation System Applications using Reachability Analysis". The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1366201401.
Pełny tekst źródła