Date of Award

3-2023

Document Type

Dissertation

Degree Name

Doctor of Philosophy (PhD)

Department

Department of Electrical and Computer Engineering

First Advisor

Clark N. Taylor, PhD

Abstract

Robust alternative navigation for autonomous agents becomes critical without reliable GNSS. Autonomous agents utilize measurement updates to constrain uncertainty. Belief space planning builds graph structures of beliefs within environments based on probable paths, agent and measurement models, and information of the environment. The Rapidly-exploring Random Alt-Nav Belief Graph (RRBANG) algorithm leverages stochastic filtering to implement a range of alt-nav measurement capabilities for robust navigation in GNSS-denied environments.

AFIT Designator

AFIT-ENG-DS-23-M-042

Comments

A 12-month embargo was observed.

Approved for public release. Case number on file.

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