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1. Chandler, Bryant Eldon. Robust Object Tracking: A Path-Planning Approach.

Degree: MS, 2017, Brigham Young University

When attempting to follow ground-based moving objects (hereafter referred to as ``waldos'') using an unmanned air vehicle (UAV), occlusion can become a significant problem for computer vision algorithms designed to track the object. When a waldo is occluded, the computer vision algorithm loses the track and the UAV's ability to predict movement degrades. We propose a path-planning and replanning method that moves a UAV to a location that maximizes the important waldos that can be seen while accounting for occlusion, and attempts to maximize the area it can see during travel. The proposed work moves beyond state-of-the-art algorithms designed to follow a single waldo while accounting for occlusion to enable tracking multiple prioritized waldos.

Subjects/Keywords: path-planning; rapid replanning; RRT*; FMT*; ORRT*; OFMT* target tracking; Computer Sciences

…They provide rapid replanning for new path end-points and adaptation to time-varying cost… …review for IROS which presents the algorithms for rapid replanning with dynamic cost. Chapter 4… …Rapid Replanning with Dynamic Cost. In International Conference on Intelligent Robots and… …x29; rapid replanning when goals change, (b) adapting paths when the cost function… …illustrated that the only algorithm which might be faster than ORRT* and OFMT* for rapid replanning… 

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Chandler, B. E. (2017). Robust Object Tracking: A Path-Planning Approach. (Masters Thesis). Brigham Young University. Retrieved from https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=7540&context=etd

Chicago Manual of Style (16th Edition):

Chandler, Bryant Eldon. “Robust Object Tracking: A Path-Planning Approach.” 2017. Masters Thesis, Brigham Young University. Accessed February 26, 2020. https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=7540&context=etd.

MLA Handbook (7th Edition):

Chandler, Bryant Eldon. “Robust Object Tracking: A Path-Planning Approach.” 2017. Web. 26 Feb 2020.

Vancouver:

Chandler BE. Robust Object Tracking: A Path-Planning Approach. [Internet] [Masters thesis]. Brigham Young University; 2017. [cited 2020 Feb 26]. Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=7540&context=etd.

Council of Science Editors:

Chandler BE. Robust Object Tracking: A Path-Planning Approach. [Masters Thesis]. Brigham Young University; 2017. Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=7540&context=etd

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