Matching Items (402)
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- All Subjects: Choruses
ContributorsSchildkret, David (Conductor) / Chamber Singers (Performer) / ASU Library. Music Library (Publisher)
Created2018-02-10
Description
Navigation and mapping in GPS-denied environments, such as coal mines ordilapidated buildings filled with smog or particulate matter, pose a significant challenge
due to the limitations of conventional LiDAR or vision systems. Therefore there
exists a need for a navigation algorithm and mapping strategy which do not use vision
systems but are still able to explore and map the environment. The map can further
be used by first responders and cave explorers to access the environments.
This thesis presents the design of a collision-resilient Unmanned Aerial Vehicle
(UAV), XPLORER that utilizes a novel navigation algorithm for exploration and
simultaneous mapping of the environment. The real-time navigation algorithm uses
the onboard Inertial Measurement Units (IMUs) and arm bending angles for contact
estimation and employs an Explore and Exploit strategy. Additionally, the quadrotor
design is discussed, highlighting its improved stability over the previous design.
The generated map of the environment can be utilized by autonomous vehicles to
navigate the environment. The navigation algorithm is validated in multiple real-time
experiments in different scenarios consisting of concave and convex corners and circular
objects. Furthermore, the developed mapping framework can serve as an auxiliary
input for map generation along with conventional LiDAR or vision-based mapping
algorithms.
Both the navigation and mapping algorithms are designed to be modular, making
them compatible with conventional UAVs also. This research contributes to the
development of navigation and mapping techniques for GPS-denied environments,
enabling safer and more efficient exploration of challenging territories.
ContributorsPandian Saravanakumaran, Aravind Adhith (Author) / Zhang, Wenlong (Thesis advisor) / Das, Jnaneshwar (Committee member) / Berman, Spring (Committee member) / Arizona State University (Publisher)
Created2023
ContributorsGlenn, Erica (Conductor) / Evans, Bartlett R. (Conductor) / Oh, Eun-Mi (Conductor) / Thompson, Jason D. (Conductor) / Schildkret, David (Conductor) / Concert Choir (Performer) / Arizona Statesmen (Performer) / Women's Chorus (Performer) / Gospel Choir (Performer) / Barrett Choir (Performer) / Chamber Singers (Performer) / Choral Union (Performer) / ASU Library. Music Library (Publisher)
Created2017-11-30
ContributorsUniversity Choirs (Performer) / ASU Library. Music Library (Publisher)
Created2000-11-16
ContributorsSchildkret, David (Conductor) / White, Jamilyn (Performer) / Krison, Danielle (Performer) / Barefield, Robert (Performer) / FitzPatrick, Carole (Performer) / Chamber Singers (Performer) / Choral Union (Performer) / Symphonic Chorale (Performer) / University Symphony Orchestra (Performer) / ASU Library. Music Library (Publisher)
Created2007-04-26
ContributorsLyne, Gregory K. (Performer) / Stutzman, Gina (Performer) / Woodgate, Lyn (Performer) / Cornner, Charles B. (Performer) / Rozukalns, Andris L. (Performer) / Women's Choir (Performer) / University Choir (Performer) / ASU Library. Music Library (Publisher)
Created1996-11-24
ContributorsCherland, Carl (Performer) / Fuller, Charles L. (Performer) / O'Brien, Robert (Performer) / Hooper, Wm. John (Performer) / Graduate Chorale (Performer) / Recital Chorale (Performer) / ASU Library. Music Library (Publisher)
Created1987-10-01
ContributorsRoueche, Michelle (Performer) / Partin, Darrell (Performer) / Wiest-Parthun, Karen (Performer) / Harvison, Emery (Performer) / Hernandez, Rene (Performer) / Foley, Laura (Performer) / Women's Choir (Performer) / ASU Library. Music Library (Publisher)
Created1994-04-21
ContributorsParthun, Karen (Conductor) / Hickman, Miriam, 1955- (Performer) / University Choir (Performer) / Vocal Jazz Ensemble (Performer) / ASU Library. Music Library (Publisher)
Created2000-11-19
ContributorsPeterson, Craig C. (Director) / Butler, Robb (Director) / Forkner, Christina (Contributor) / Leman, Christi (Performer) / Miller, Kenny (Musician) (Performer) / Howard, Johnothon (Performer) / Gibson, Ted (Performer) / Herberger Singers (Performer) / University Choir (Performer) / ASU Library. Music Library (Publisher)
Created2003-10-12