MIT Libraries homeMIT Libraries logoDSpace@MIT

MIT
View Item 
  • DSpace@MIT Home
  • MIT Libraries
  • MIT Theses
  • Theses - Dept. of Aeronautics and Astronautics
  • Aeronautics and Astronautics - Master's degree
  • View Item
  • DSpace@MIT Home
  • MIT Libraries
  • MIT Theses
  • Theses - Dept. of Aeronautics and Astronautics
  • Aeronautics and Astronautics - Master's degree
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Information-rich path planning under general constraints using Rapidly-exploring Random Trees

Author(s)
Levine, Daniel S., Ph. D. Massachusetts Institute of Technology.
Thumbnail
DownloadFull printable version (9.135Mb)
Other Contributors
Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.
Advisor
Jonathan P. How.
Terms of use
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
Metadata
Show full item record
Abstract
This thesis introduces the Information-rich Rapidly-exploring Random Tree (IRRT), an extension of the RRT algorithm that embeds information collection as predicted using Fisher information matrices. The primary contribution of this trajectory generation algorithm is target-based information maximization in general (possibly heavily constrained) environments, with complex vehicle dynamic constraints and sensor limitations, including limited resolution and narrow field-of-view. Extensions of IRRT both for decentralized, multiagent missions and for information-rich planning with multimodal distributions are presented. IRRT is distinguished from previous solution strategies by its computational tractability and general constraint characterization. A progression of simulation results demonstrates that this implementation can generate complex target-tracking behaviors from a simple model of the trade-off between information gathering and goal arrival.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2010.
 
Cataloged from PDF version of thesis.
 
Includes bibliographical references (p. 99-104).
 
Date issued
2010
URI
http://hdl.handle.net/1721.1/59684
Department
Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.
Publisher
Massachusetts Institute of Technology
Keywords
Aeronautics and Astronautics.

Collections
  • Aeronautics and Astronautics - Master's degree
  • Aeronautics and Astronautics - Master's degree

Browse

All of DSpaceCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

My Account

Login

Statistics

OA StatisticsStatistics by CountryStatistics by Department
MIT Libraries homeMIT Libraries logo

Find us on

Twitter Facebook Instagram YouTube RSS

MIT Libraries navigation

SearchHours & locationsBorrow & requestResearch supportAbout us
PrivacyPermissionsAccessibility
MIT
Massachusetts Institute of Technology
Content created by the MIT Libraries, CC BY-NC unless otherwise noted. Notify us about copyright concerns.