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Data-guided Estimation and Tracking Methods for Unmanned Aerial Vehicles
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| 자료유형 | 학위논문 |
|---|---|
| 서명/저자사항 | Data-guided Estimation and Tracking Methods for Unmanned Aerial Vehicles. |
| 개인저자 | Vasisht, Soumya. |
| 단체저자명 | University of Washington. Aeronautics and Astronautics. |
| 발행사항 | [S.l.]: University of Washington., 2019. |
| 발행사항 | Ann Arbor: ProQuest Dissertations & Theses, 2019. |
| 형태사항 | 111 p. |
| 기본자료 저록 | Dissertations Abstracts International 81-05B. Dissertation Abstract International |
| ISBN | 9781687955708 |
| 학위논문주기 | Thesis (Ph.D.)--University of Washington, 2019. |
| 일반주기 |
Source: Dissertations Abstracts International, Volume: 81-05, Section: B.
Advisor: Mesbahi, Mehran. |
| 이용제한사항 | This item must not be sold to any third party vendors.This item must not be added to any third party search indexes. |
| 요약 | Autonomous aerial robots provide new possibilities to study interesting phenomena and offer a unique vantage point for many surveillance and tracking tasks. Tracking a rogue or an unknown target is an important task in which an agent typically adopts a reactive strategy to the changes reflected in the target observations. As these aerial vehicles increasingly share airspace with fixed wing commercial airplanes, it has become critical to establish reliable, high quality tracking strategies. This work seeks to leverage the concepts of modern control theory, statistics and reinforcement learning to enhance traditional tracking control design strategies to achieve improved tracking performance. A data-guided approach is proposed which shows that embedding observation data in to the control loop improves tracking performance for certain classes of target systems. A comparative study of model-based and model-free approaches for tracking is presented in which an agent, guided by vision-based sensors, directly learns an optimal policy to track the unknown reference trajectory. In addition, a distributed framework is developed in which multiple agents perform consensus on the learned parameters to improve tracking accuracy. Numerical simulations are presented to validate this data-guided tracking scheme for a single agent and a network of agents. |
| 일반주제명 | Aerospace engineering. Robotics. Computer science. |
| 언어 | 영어 |
| 바로가기 | 
: 이 자료의 원문은 한국교육학술정보원에서 제공합니다. |
