Download or read book Chance constrained Path Planning in Unstructured Environments written by Rachit Aggarwal and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this dissertation is to develop a framework for chance-constrained path planning in autonomous agents operating in evolving unstructured environments. Path Planning is an important problem in many fields such as robotic manipulators, mobile robotics, scheduling, flight planning, and autonomous cars and aircraft. Often, the presence of external disturbances, measurement errors and/or inadequately modeled processes in the environment can cause uncertainty in characterization of the obstacles' shape, size and location. Traditionally, such unstructured environments are typically modeled using conservative safety margins and posed as constraints or included in the cost function as a penalty. There exist no systematic methods to tune the margins or the cost function with disparate physical meaning, e.g. travel time and safety margin. In this work, the inherent uncertainty in the obstacles is posed as chance-constraints (CC) bounded by the risk of violation of those constraints in an optimal control problem for path planning. Pseudospectral discretization methods are used to transcribe the optimal control problem to a nonlinear program (NLP) which is solved using off-the-shelf optimization solvers. The constrained optimization problems are heavily dependent on a suitable initial guess provided to the solver, which affects both the computation time and optimality of the solution. Triangulation and grid based discrete optimization methods are studied for their merits and employed to generate the initial guesses. It is shown that by varying the risk of violation of obstacle boundaries, a family of solutions can be generated signifying the risk associated with each solution. This approach enables the decision maker to be 'risk-aware' by providing the methodical approach to undertake missions based-on its 'risk-appetite' in the given situation. This idea is then extended to recursive planning for evolving environments. An in-depth example for path planning for small unmanned aerial vehicles (UAVs) flying in a spreading wildfire for situational awareness is studied. An extension to multi-agent operations is also developed. To validate the efficacy of the path planner in real wildfire, a modular multirotor experimental testbed was designed and developed. Field tests demonstrate the validation of the design goals and several performance objectives.
Download or read book Path Planning for Autonomous Parafoils Using Particle Chance Constrained Rapidly exploring Random Trees in a Computationally Constrained Environment written by Shoshana Klerman and published by . This book was released on 2012 with total page 58 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Probability based Path Planning for Stochastic Nonholonomic Systems with Obstacle Avoidance written by Jianping Lin and published by . This book was released on 2015 with total page 106 pages. Available in PDF, EPUB and Kindle. Book excerpt: There exist various path planning methods in robotics. The Probabilistic Roadmap and Rapidly-exploring Random Tree (RRT) became popular in recent decades. It is known that the RRT is more suitable for nonholonomic systems. The RRT is a sampling-based algorithm which is designed for path planning problem and is efficient to handle high-dimensional configuration space (C-space) and nonholonomic constraints. Under the constraints, the RRT can generate paths between an initial state and a goal state while avoiding obstacles. However it does not guarantee that the resulting path is optimal. In systems with stochasticity, targeting error and closeness of the obstacle to the planned path can be considered to obtain the optimal path. In this thesis, the targeting error is defined as the root-mean-square (RMS) distance from the path samples to the desired target and the closeness is defined as probability of obstacle collision. Then, a cost function is defined as a sum of the targeting error and the obstacle closeness, and numerically minimized to find the path. The RRT result serves as an initial starting point for this subsequent optimization.
Download or read book Adaptive State Time Lattices A Contribution to Mobile Robot Motion Planning in Unstructured Dynamic Environments written by Petereit, Janko and published by KIT Scientific Publishing. This book was released on 2017-01-20 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robot motion planning in unstructured dynamic environments is a challenging task. Thus, often suboptimal methods are employed which perform global path planning and local obstacle avoidance separately. This work introduces a holistic planning algorithm which is based on the concept of state.
Download or read book Planning Algorithms written by Steven M. LaValle and published by Cambridge University Press. This book was released on 2006-05-29 with total page 844 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Stochastic Approaches to Mobility Prediction Path Planning and Motion Control for Ground Vehicles in Uncertain Environments written by Gaurav Kewlani and published by . This book was released on 2009 with total page 112 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ability of autonomous or semi-autonomous unmanned ground vehicles (UGVs) to rapidly and accurately predict terrain negotiability, generate efficient paths online and have effective motion control is a critical requirement for their safety and use in unstructured environments. Most techniques and algorithms for performing these functions, however, assume precise knowledge of vehicle and/or environmental (i.e. terrain) properties. In practical applications, significant uncertainties are associated with the estimation of the vehicle and/or terrain parameters, and these uncertainties must be considered while performing the above tasks. Here, computationally inexpensive methods based on the polynomial chaos approach are studied that consider imprecise knowledge of vehicle and/or terrain parameters while analyzing UGV dynamics and mobility, evaluating safe, traceable paths to be followed and controlling the vehicle motion. Conventional Monte Carlo methods, that are relatively more computationally expensive, are also briefly studied and used as a reference for evaluating the computational efficiency and accuracy of results from the polynomial chaos-based techniques.
Download or read book Principles of Robot Motion written by Howie Choset and published by MIT Press. This book was released on 2005-05-20 with total page 642 pages. Available in PDF, EPUB and Kindle. Book excerpt: A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.
Download or read book Smooth Path Planning in Constrained Environments written by Martin Rufli and published by . This book was released on 2009 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Motion Planning in Dynamic Environments written by Kikuo Fujimura and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.
Download or read book Algorithmic Foundations of Robotics XII written by Ken Goldberg and published by Springer Nature. This book was released on 2020-05-06 with total page 931 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the outcomes of the 12th International Workshop on the Algorithmic Foundations of Robotics (WAFR 2016). WAFR is a prestigious, single-track, biennial international meeting devoted to recent advances in algorithmic problems in robotics. Robot algorithms are an important building block of robotic systems and are used to process inputs from users and sensors, perceive and build models of the environment, plan low-level motions and high-level tasks, control robotic actuators, and coordinate actions across multiple systems. However, developing and analyzing these algorithms raises complex challenges, both theoretical and practical. Advances in the algorithmic foundations of robotics have applications to manufacturing, medicine, distributed robotics, human–robot interaction, intelligent prosthetics, computer animation, computational biology, and many other areas. The 2016 edition of WAFR went back to its roots and was held in San Francisco, California – the city where the very first WAFR was held in 1994. Organized by Pieter Abbeel, Kostas Bekris, Ken Goldberg, and Lauren Miller, WAFR 2016 featured keynote talks by John Canny on “A Guided Tour of Computer Vision, Robotics, Algebra, and HCI,” Erik Demaine on “Replicators, Transformers, and Robot Swarms: Science Fiction through Geometric Algorithms,” Dan Halperin on “From Piano Movers to Piano Printers: Computing and Using Minkowski Sums,” and by Lydia Kavraki on “20 Years of Sampling Robot Motion.” Furthermore, it included an Open Problems Session organized by Ron Alterovitz, Florian Pokorny, and Jur van den Berg. There were 58 paper presentations during the three-day event. The organizers would like to thank the authors for their work and contributions, the reviewers for ensuring the high quality of the meeting, the WAFR Steering Committee led by Nancy Amato as well as WAFR’s fiscal sponsor, the International Federation of Robotics Research (IFRR), led by Oussama Khatib and Henrik Christensen. WAFR 2016 was an enjoyable and memorable event.
Download or read book Multi objective Stochastic Path Planning written by Sumantra Dasgupta and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The present research formulates the path planning as an optimization problem with multiple objectives and stochastic edge parameters. The first section introduces different variants of the PP problem and discusses existing solutions to the problem. The next section introduces and solves various versions of the PP model within the scope of this research. The first three versions describe a single entity traveling from a single source to a single destination node. In the first version, the entity has a single objective and abides by multiple constraints. The second version deals with an entity traveling with multiple objectives and multiple constraints. The third version is a modification of the second version where the actual probability distributions of travel times along edges are known. The fourth and final version deals with multiple heterogeneous entities routed from multiple sources (supply nodes) to multiple destinations (demand nodes) along capacitated edges. Each of these formulations is solved by using either exact algorithms or heuristics developed in this research. The performance of each algorithm/heuristic is discussed in the final section. The main contributions of this research are: 1. Provide a framework for analyzing PP in presence of multiple objectives and stochastic edge parameters. 2. Identify candidate constraints where clustering based multi-level programming can be applied to eliminate infeasible edges. 3. Provide an exact O (V.E) algorithm for building redundant shortest paths. 4. Provide an O (V.E+C2) heuristic for generating Pareto optimal shortest paths in presence of multiple objectives where C is the upper bound for path length. The complexity can be further reduced to O (V.E) by using graphical read-out of the Pareto frontier. 5. Provide a cost structure which can capture multiple key probability distribution parameters of edge variables. This is in contrast with usual techniques which just capture single parameters like the mean or the variance of distributions. 6. Provide a MIP formulation to a multi-commodity transportation problem with multiple decision variables, stochastic demands and uncertain edge/route capacities. 7. Provide an alternate formulation to the classic binary facility selection problem.
Download or read book Probabilistic Robotics written by Sebastian Thrun and published by MIT Press. This book was released on 2005-08-19 with total page 668 pages. Available in PDF, EPUB and Kindle. Book excerpt: An introduction to the techniques and algorithms of the newest field in robotics. Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in real-world situations. This book introduces the reader to a wealth of techniques and algorithms in the field. All algorithms are based on a single overarching mathematical foundation. Each chapter provides example implementations in pseudo code, detailed mathematical derivations, discussions from a practitioner's perspective, and extensive lists of exercises and class projects. The book's Web site, www.probabilistic-robotics.org, has additional material. The book is relevant for anyone involved in robotic software development and scientific research. It will also be of interest to applied statisticians and engineers dealing with real-world sensor data.
Download or read book Adaptive Automation for Customized Products written by Sanjay Nambiar and published by Linköping University Electronic Press. This book was released on 2024-05-21 with total page 62 pages. Available in PDF, EPUB and Kindle. Book excerpt: In today’s fast-paced industrial landscape, the drive for greater efficiency and flexibility in product development has sparked significant interest in innovative automation technologies. This thesis explores the usefulness of various automation techniques for customized products such as Knowledge-Based Engineering (KBE), Multidisciplinary Optimization (MDO) and machine learning frameworks. The research begins by establishing an automated framework for fixture design, combining design automation and MDO to streamline the design process. It then moves to optimizing gas turbines, introducing an automation framework that merges CAD templates with KBE principles. For complex and unstructured production, this thesis explores the use of Reinforcement Learning (RL) to tackle challenges in unstructured manufacturing. By utilizing lightweight physics-based engines and RL, the research advances automated assembly validation and mobile robot operations, pushing the boundaries of adaptive production automation. Furthermore, a framework is developed, which integrates smoothly with industrial robotic platforms showcases practical automation solutions and highlights the adaptability and applicability of digital twin technology in real-world situations. This thesis contributes to the field of product development by providing innovative solutions that are rooted in multidisciplinary research. It bridges the theoretical and practical aspects of automation with solutions that overcomes the obstacles to realize seamless integration between digital and physical realities in a manufacturing context.
Download or read book International Joint Conference 15th International Conference on Computational Intelligence in Security for Information Systems CISIS 2022 13th International Conference on EUropean Transnational Education ICEUTE 2022 written by Pablo García Bringas and published by Springer Nature. This book was released on 2022-11-04 with total page 279 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book of Lecture Notes in Networks and Systems contains accepted papers presented at the 15th International Conference on Computational Intelligence in Security for Information Systems (CISIS 2022) and the 13th International Conference on EUropean Transnational Education (ICEUTE 2022). These conferences were held in the beautiful city of Salamanca, Spain, in September 2022. The aim of the CISIS 2022 conference is to offer a meeting opportunity for academic and industry-related researchers belonging to the various, vast communities of computational intelligence, information security, and data mining. The need for intelligent, flexible behaviour by large, complex systems, especially in mission-critical domains, is intended to be the catalyst and the aggregation stimulus for the overall event. After a thorough peer review process, the CISIS 2022 International Program Committee selected 20 papers, which are published in this conference proceedings. In this edition, three special sessions were organized: Cybersecurity in Future Connected Societies, Cybersecurity and Trusted Supply Chains of ICT, and Intelligent Solutions for Cybersecurity Systems. The aim of ICEUTE 2022 is to offer a meeting point for people working on transnational education within Europe. It provides a stimulating and fruitful forum for presenting and discussing the latest works and advances on transnational education within European countries. In the case of ICEUTE 2022, the International Program Committee selected 5 papers, which are also published in this conference proceedings. The selection of papers was extremely rigorous to maintain the high quality of the conferences. We want to thank the members of the Program Committees for their hard work during the reviewing process. This is a crucial process for creating a high-standard conference; the CISIS and ICEUTE would not exist without their help.
Download or read book Autonomous Robot Vehicles written by Ingemar J. Cox and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 478 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Smart Autonomous Aircraft written by Yasmina Bestaoui Sebbane and published by CRC Press. This book was released on 2015-11-18 with total page 434 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the extraordinary growth of Unmanned Aerial Vehicles (UAV) in research, military, and commercial contexts, there has been a need for a reference that provides a comprehensive look at the latest research in the area. Filling this void, Smart Autonomous Aircraft: Flight Control and Planning for UAV introduces the advanced methods of flight contr
Download or read book Advances in Robotics Research written by Torsten Kröger and published by Springer Science & Business Media. This book was released on 2009-05-15 with total page 369 pages. Available in PDF, EPUB and Kindle. Book excerpt: The German Workshop on Robotics is a convention of roboticists from academia and industry working on mathematical and algorithmic foundations of robotics, on the design and analysis of robotic systems as well as on robotic applications. Selected contributions from researchers in German-speaking countries as well as from the international robotics community compose this volume. The papers are organized in ten scientific tracks: Kinematic and Dynamic Modeling, Motion Generation, Sensor Integration, Robot Vision, Robot Programming, Humanoid Robots, Grasping, Medical Robotics, Autonomous Helicopters, and Robot Applications. Due to an extensive review and discussion process, this collection of scientific contributions is of very high caliber and promises to strongly influence future robotic research activities.
