Rasche, Christoph: A cooperative and verifiable UAV behavior for 3D environments. 2013
Content
Acknowledgements
Zusammenfassung
Abstract
Table of Contents
Introduction
Evolution of Autonomous Systems
Autonomous Systems in Nature
Autonomous Robotic Systems
State-of-the-Art
Contrasting the Thesis
Summary
Cooperative Path Planning Foundations
Path Planning
Cell Decomposition
Potential Field Theory
Formation Flights
Cooperative Behavior
Verification
Summary
Architectural System Design
Decentralized UAV Flights
Problem Statement
State-of-the-Art
Harmonic Potential Field Computation
Path Planning
Verification
Summary
Behavioral Formation Flights
Problem Statement
State-of-the-Art
Bifurcating Potential Field
Formation Potential Field
Superpositioned Potential Field
Resulting Potential Fields
Overview of Formation Shapes
Formation Handling
Verification
Summary
Cooperative Behavior
Evaluation
Assumptions
Experimental Setup
Decentralized Exploration
Exploration in Formation
Cooperative Behavior
Behavioral Exploration
Single UAV Obstacle Avoidance
Obstacle Avoidance in Formation
Single UAV Task Allocation
Multi-UAV Task Allocation
Conclusion
Summary
Summary and Outlook
Algorithms
Neighbor Finding
Flood Fill
Update Octree
Combine Octree
Harmonic Potential Field Calculations
Bifurcating Potential Field Calculations
Task Creation
Task Allocation
Definitions
Nomenclature
List of Figures
List of Tables
Own Publications Related to the Thesis
Bibliography