Planning under uncertainty for dynamic collision avoidance
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2011.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2011
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| Online Access: | http://hdl.handle.net/1721.1/64487 |
| _version_ | 1826208689280778240 |
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| author | Temizer, Selim, 1977- |
| author2 | Leslie Pack Kaelbling and Tomás Lozano-Pérez. |
| author_facet | Leslie Pack Kaelbling and Tomás Lozano-Pérez. Temizer, Selim, 1977- |
| author_sort | Temizer, Selim, 1977- |
| collection | MIT |
| description | Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2011. |
| first_indexed | 2024-09-23T14:09:40Z |
| format | Thesis |
| id | mit-1721.1/64487 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T14:09:40Z |
| publishDate | 2011 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/644872019-04-12T09:02:29Z Planning under uncertainty for dynamic collision avoidance Temizer, Selim, 1977- Leslie Pack Kaelbling and Tomás Lozano-Pérez. Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Electrical Engineering and Computer Science. Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2011. This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. Cataloged from student submitted PDF version of thesis. Includes bibliographical references (p. 157-169). We approach dynamic collision avoidance problem from the perspective of designing collision avoidance systems for unmanned aerial vehicles. Before unmanned aircraft can fly safely in civil airspace, robust airborne collision avoidance systems must be developed. Instead of hand-crafting a collision avoidance algorithm for every combination of sensor and aircraft configurations, we investigate automatic generation of collision avoidance algorithms given models of aircraft dynamics, sensor performance, and intruder behavior. We first formulate the problem within the Partially Observable Markov Decision Process (POMDP) framework, and use generic MDP/POMDP solvers offline to compute vertical-only avoidance strategies that optimize a cost function to balance flight-plan deviation with risk of collision. We then describe a second framework that performs online planning and allows for 3-D escape maneuvers by starting with possibly dangerous initial flight plans and improving them iteratively. Experimental results with four different sensor modalities and a parametric aircraft performance model demonstrate the suitability of both approaches. by Selim Temizer. Ph.D. 2011-06-20T13:45:25Z 2011-06-20T13:45:25Z 2011 2011 Thesis http://hdl.handle.net/1721.1/64487 727063332 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 169 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Electrical Engineering and Computer Science. Temizer, Selim, 1977- Planning under uncertainty for dynamic collision avoidance |
| title | Planning under uncertainty for dynamic collision avoidance |
| title_full | Planning under uncertainty for dynamic collision avoidance |
| title_fullStr | Planning under uncertainty for dynamic collision avoidance |
| title_full_unstemmed | Planning under uncertainty for dynamic collision avoidance |
| title_short | Planning under uncertainty for dynamic collision avoidance |
| title_sort | planning under uncertainty for dynamic collision avoidance |
| topic | Electrical Engineering and Computer Science. |
| url | http://hdl.handle.net/1721.1/64487 |
| work_keys_str_mv | AT temizerselim1977 planningunderuncertaintyfordynamiccollisionavoidance |