Thesis (Ph.D.) - University of St Andrews, February 2010.

No description available.

No description available.

Pursuit-evasion games are the subject of a variety of research initiatives seeking to provide some level of autonomy to mobile, robotic vehicles with on-board controllers. Applications of these controllers include defense topics such as unmanned aerial vehicle (UAV) and unmanned underwater vehicle (UUV) navigation for threat surveillance, assessment, or engagement. Controllers implementing pursuit-evasion algorithms are also used for improving everyday tasks such as driving in traffic when used for collision avoidance maneuvers. Currently, pursuit-evasion tactics are incorporated into the control by solving the Hamilton-Jacobi-Isaacs (HJI) equation explicitly, simplifying the solution using approximate dynamic programming, or using a purely finite-horizon approach. Unfortunately, these methods are either subject to difficulties of long computational times or having no guarantees of succeeding in the pursuit-evasion game. This leads to more difficulties of implementing these tactics on-line in a real robotic scenario where the opposing agent may not be known before the maneuver is required. This dissertation presents a novel method of solving the HJI equation by partitioning the state space into regions of local, finite horizon control laws. As a result, the HJI equation can be reduced to solving the Hamilton-Jacobi-Bellman equation recursively as information is received about an opposing agent. Adding complexity to the problem structure results in a decreased calculation time to allow pursuit-evasion tactics to be calculated on-board an agent during a scenario. The algorithms and implementation methods are given explicitly and illustrated with an example of two robotic vehicles in a collision avoidance maneuver. / Ph. D.

Collision avoidance is treated as a game of two players with opposing desiderata. In the application to automated car-like vehicles, we will use a differential game in order to model and assess a worst-case analysis. The end result will be an almost analytic representation of a boundary between a "safe" set and a "unsafe" set. We will generalize the research in [27] to non-identical players and begin the setup of the boundary construction. Then we will consider the advantages and disadvantages of manipulation of the cost function through the solution and control techniques. In particular, we introduce a possible way to incorporate a secondary objective such as sticking to a straight path. We also look a hybrid technique to reduce steering when the opposing player is out of the reach of the vehicle; i.e., is out of the "unsafe" set and less extreme maneuvers may be desired. We first look at a terminal cost formulation and through retrograde techniques may shape this boundary between the "safe" and "unsafe" set. We would like this research, or part thereof, to be assessed and simulated on a simulation vehicle such as that used in the Flexible Low-cost Automated Scaled Highway (FLASH) at the Virginia Tech Transportation Institute (VTTI). In preparation, we briefly look at the sensor demands from this game-theoretic approach. / Master of Science

In recent years, Unmanned Aerial Vehicles (UAVs) have been used extensively in military conflict situations to execute intelligence, surveillance and reconnaissance missions. However, most of the current UAV platforms have limited collaborative capabilities, and consequently they must be controlled individually by operators on the ground. The purpose of the research presented in this thesis is to derive algorithms that can enable multiple UAVs to reason about the movements of multiple ground targets and autonomously coordinate their efforts in real-time to ensure that the targets do not escape. By improving the autonomy of multivehicle systems, the workload placed on the command and control operators is reduced significantly. To derive effective adversarial control algorithms, the adversarial scenario is modeled as a multiplayer differential game. However, due to the inherent computational complexity of multiplayer differential games, three less computationally demanding differential pursuit-evasion game-based algorithms are presented. The purpose of the algorithms is to quickly derive interception strategies for a team of autonomous vehicles. The algorithms are applicable to scenarios with different base assumptions, that is, the three algorithms are meant to complement one another by addressing different types of adversarial problems.

Cette thèse articule plusieurs questions importantes dans les opérations durables et la gestion de la chaîne d'approvisionnement, non seulement afin de fournir des idées pour améliorer la performance des entreprises, mais aussi pour inciter ces dernières à adopter les moyens appropriés pour un meilleur environnement de notre société. Le lien entre le niveau de l'entreprise et le niveau de la société est que l'amélioration de la performance écologique par une meilleure gestion des opérations dans les entreprises et les chaînes d'approvisionnement est un élément indispensable pour améliorer l'environnement dans notre société. Prenons la Chine comme exemple. Depuis quelques années, le gouvernement a commencé à favoriser toutes les initiatives pour résoudre les problèmes de pollution de l'air. Un moyen important et utile est de mettre en place une réglementation stricte et de surveiller les efforts des entreprises qui seront passibles d'amendes sérieuses si certaines normes ne sont pas respectées par des inspections aléatoires. Par conséquent, les entreprises doivent coopérer pour améliorer leur rentabilité et, plus important encore, leurs impacts environnementaux. Grâce à cet effort prolongé, malgré le fait que la situation future est incertaine, la qualité de l'air s'est progressivement améliorée en Chine. Cette thèse, dans un cadre plus général, vise à fournir aux entreprises des informations importantes afin qu'elles soient non seulement en mesure de respecter la réglementation, mais aussi en mesure d'apporter véritablement leur contribution à la construction d'un environnement meilleur pour les générations futures. Notre objectif fondamental est d'obtenir une compréhension approfondie des compromis auxquels les entreprises sont confrontées, de modéliser les problèmes de recherche de solutions possibles et d'aider les entreprises/chaînes d'approvisionnement à améliorer leur performance d'un point de vue théorique. Ensuite, la thèse aidera indirectement les entreprises à réaliser l'importance du développement de moyens de gestion durable des opérations et de la chaîne d'approvisionnement sur notre société. La thèse est organisée comme la structure suivante. Le chapitre 3 est le premier essai, Environmental Collaboration and Process Innovation in Supply Chain Management with Coordination. Le chapitre 4 comprend le contenu du deuxième essai, Remanufacturing of Multi-Component Systems with Product Substitution, et le troisième essai, Joint Dynamic Pricing and Return Quality Strategies Under Demand Cannibalization , est présenté au chapitre 5. Le chapitre 6 donne les remarques finales générales des trois essais, suivies de la liste de référence, et les annexes. / This thesis articulates several important issues in sustainable operations and supply chain management not only to provide insights for enhancing the performance of firms but also to appeal to the enterprises to adopt appropriate means for a better environment of our society. The link from firm level to society level is that, to improve the green performance through better operations management efficiency in firms and supply chains, is an indispensable element to ameliorate the environment in our society. Taking China as an example. Since a few years ago (The Straitstimes, 2017; Stanway & Perry, 2018), the government started to spare no effort in resolving the air pollution problems. An important and useful means is to put strict regulations and monitoring the efforts of firms which will face serious fine if certain standards are not met by random inspection. Therefore, firms have to cooperate for the betterment of its profitability and, more importantly, the environmental impacts. Throughout the endeavor, despite the uncertain future situation, the air quality has gradually improved in China (Zheng, 2018). This thesis, in a more general setting, aims to provide important insights to firms so that they are not only able to meet the regulations but genuinely to make contributions to building a better environment for our future generations. Basically, our goal is to obtain deep understanding of the trade-offs with which companies are faced, and to model the problems for seeking possible solutions and helping firms/supply chains to enhance their performance from a theoretical point of view. Then, indirectly, the work will help firms to realize the importance of developing sustainable operations and supply chain management means on our society. The structure of the thesis is organized as follows. Chapter 2 introduces the thesis in French. Chapter 3 is the first essay, Environmental Collaboration and Process Innovation in Supply Chain Management with Coordination. Chapter 4 includes the contents of the second essay, Remanufacturing of Multi-Component Systems with Product Substitution , and the third essay, Joint Dynamic Pricing and Return Quality Strategies Under Demand Cannibalization, is introduced in Chapter 5. Chapter 6 gives the general concluding remarks of the three essays which is followed by the reference list and the appendices.

Thesis (Ph. D.)--Ohio State University, 2006. / Title from first page of PDF file. Includes bibliographical references (p. 145-151).

No presente trabalho serão apresentadas questões usuais em jogos diferenciais, nos quais os jogadores envolvidos têm objetivos diferentes; ou seja, enquanto um dos jogadores tenta fugir, o outro tenta pegar. Além disso, será definido um modelo de especificação para o jogo diferencial lobos e cordeiro. As Redes de Petri foram escolhidas como forma de especificação para o jogo proposto. Assim, o objetivo será estabelecer estratégias eficientes para o jogo lobos e cordeiro para que se possa realizar um estudo da complexidade das questões apresentadas para este jogo, levando-se em consideração a especificação formal apresentada para tal jogo. / In this work usual questions in differential games will be presented, in which the involved players have different objectives; that is, while one of the players tries "to run away", the other tries "to catch". Moreover, a specification for the differential game "wolves and lamb" will be defined. The Petri Nets had been chosen as specification formalism for the considered game. Thus, the objective is to establish efficient strategies for the game wolves and lamb so that we can carry out a study of the complexity of the presented questions, taking into consideration the presented formal specification for the game.

No presente trabalho serão apresentadas questões usuais em jogos diferenciais, nos quais os jogadores envolvidos têm objetivos diferentes; ou seja, enquanto um dos jogadores tenta fugir, o outro tenta pegar. Além disso, será definido um modelo de especificação para o jogo diferencial lobos e cordeiro. As Redes de Petri foram escolhidas como forma de especificação para o jogo proposto. Assim, o objetivo será estabelecer estratégias eficientes para o jogo lobos e cordeiro para que se possa realizar um estudo da complexidade das questões apresentadas para este jogo, levando-se em consideração a especificação formal apresentada para tal jogo. / In this work usual questions in differential games will be presented, in which the involved players have different objectives; that is, while one of the players tries "to run away", the other tries "to catch". Moreover, a specification for the differential game "wolves and lamb" will be defined. The Petri Nets had been chosen as specification formalism for the considered game. Thus, the objective is to establish efficient strategies for the game wolves and lamb so that we can carry out a study of the complexity of the presented questions, taking into consideration the presented formal specification for the game.