Manchester United and Leeds United are two of the English Premier League’s most popular and historically successful clubs, and together constitute one of English football’s most interesting and inexplicable rivalries. English popular opinion claims that this rivalry is based on the Wars of the Roses and the royal houses of Lancaster and York, so this thesis engages with this idea and analyzes the rivalry's connections to this medieval historical event. Furthermore, the top flight English football league's evolution into the English Premier League brought social and economic changes to the sport, both at a broad and ground level, and this thesis finds out how much these changes affected this rivalry. All in all, this thesis analyzes medieval, social, cultural, and economic historical connections to one of English football's most unique club rivalries.
for Unmanned Aerial Vehicles.
Towards enabling a UAV to autonomously sense and avoid moving obstacles, this thesis makes the following contributions. Initially, an image-based reactive motion planner is developed for a quadrotor to avoid a fast approaching obstacle. Furthermore, A Dubin’s curve based geometry method is developed as a global path planner for a fixed-wing UAV to avoid collisions with aircraft. The image-based method is unable to produce an optimal path and the geometry method uses a simplified UAV model. To compensate
these two disadvantages, a series of algorithms built upon the Closed-Loop Rapid Exploratory Random Tree are developed as global path planners to generate collision avoidance paths in real time. The algorithms are validated in Software-In-the-Loop (SITL) and Hardware-In-the-Loop (HIL) simulations using a fixed-wing UAV model and in real flight experiments using quadrotors. It is observed that the algorithm enables a UAV to avoid moving obstacles approaching to it with different directions and speeds.