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Interception algorithm for autonomous vehicles with imperfect information

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dc.contributor.advisor John N. Tsitsiklis. en_US
dc.contributor.author Hickman, Randal E en_US
dc.contributor.other Massachusetts Institute of Technology. Operations Research Center. en_US
dc.date.accessioned 2006-03-29T18:35:41Z
dc.date.available 2006-03-29T18:35:41Z
dc.date.copyright 2005 en_US
dc.date.issued 2005 en_US
dc.identifier.uri http://hdl.handle.net/1721.1/32340
dc.description Thesis (S.M.)--Massachusetts Institute of Technology, Sloan School of Management, Operations Research Center, 2005. en_US
dc.description Includes bibliographical references (p. 144-146). en_US
dc.description.abstract Autonomous vehicles often operate in environments with imperfect information. This thesis addresses the case of a system of autonomous vehicles and sensors attempting to intercept a moving object of interest that arrives stochastically and moves stochastically after arrival. A sensor array is placed in the area of expected arrivals. As the object of interest moves across the sensor system, the system initially receives perfect information of the object's movements. After the object of interest leaves the sensor system, the algorithm uses statistical estimation techniques to develop confidence intervals about points of expected interception. The algorithm assigns the optimal, autonomous chase vehicle from a set of pre-positioned autonomous vehicles, develops movement commands for the assigned vehicle, and considers reassignment of chase vehicles as appropriate given the stochastic movements of the object of interest. Dynamic programming is employed to optimize system parameters, and the thesis considers a reformulation of the problem that uses dynamic programming as a structural model for the entire algorithm. en_US
dc.description.statementofresponsibility by Randal E. Hickman. en_US
dc.format.extent 146 p. en_US
dc.format.extent 8115890 bytes
dc.format.extent 8123533 bytes
dc.format.mimetype application/pdf
dc.format.mimetype application/pdf
dc.language.iso eng en_US
dc.publisher Massachusetts Institute of Technology en_US
dc.rights 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. en_US
dc.rights.uri http://dspace.mit.edu/handle/1721.1/7582
dc.subject Operations Research Center. en_US
dc.title Interception algorithm for autonomous vehicles with imperfect information en_US
dc.type Thesis en_US
dc.description.degree S.M. en_US
dc.contributor.department Massachusetts Institute of Technology. Operations Research Center. en_US
dc.identifier.oclc 61463356 en_US


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