Search NASA⌕ Search

SEARCH · Search NASA

Results for “multiobject tracking”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

2 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Tracing the efficient curve for multi-objective control-structure optimization

A recently developed active set algorithm for tracing parameterized optima is adapted to multiobjective optimization. The algorithm traces a path of Kuhn-Tucker points using homotopy curve tracking techniques, and is based on identifying and maintaining the set of active constraints. Second order necessary optimality conditions are used to determine nonoptimal stationary points on the path. In the bi-objective optimization case the algorithm is used to trace the curve of efficient solution (Pareto optima). As an example, the algorithm is applied to the simultaneous minimization of the weight and control force of a ten-bar truss with two collocated sensors and actuators, with some interesting results.

Rakowska, J.↗
NASA NTRS2008

Spatial Coverage Planning and Optimization for Planetary Exploration

We are developing onboard planning and scheduling technology to enable in situ robotic explorers, such as rovers and aerobots, to more effectively assist scientists in planetary exploration. In our current work, we are focusing on situations in which the robot is exploring large geographical features such as craters, channels or regional boundaries. In to develop valid and high quality plans, the robot must take into account a range of scientific and engineering constraints and preferences. We have developed a system that incorporates multiobjective optimization and planning allowing the robot to generate high quality mission operations plans that respect resource limitations and mission constraints while attempting to maximize science and engineering objectives. An important scientific objective for the exploration of geological features is selecting observations that spatially cover an area of interest. We have developed a metric to enable an in situ explorer to reason about and track the spatial coverage quality of a plan. We describe this technique and show how it is combined in the overall multiobjective optimization and planning algorithm.

autonomy↗