Lyapunov Stable Path Planning and Control for Autonomous Vehicles

In modern society cars are one of the most important means of transportation. Unfortunately, many people die in car accidents around the world. Research shows that the number of fatal casualties in car accidents has been increasing for the past decade and that the largest cause of these accidents is the human driver. For this reason, research on...

Analysis and Control of Mixed Traffic Flow on a Ring with a Single Autonomous Vehicle

This thesis provides a theoretical framework for the arise of stop-and-go waves in platoons of Human-driven Vehicles (HVs) on a ring road topology. Possibilities and limitations for traffic control and suppression of such waves via a single Autonomous Vehicle (AV) are considered. Being HVs prone to show string instability, i.e. a type of...

Ride-Sharing in an Autonomous Future: Relational Service Design for Autonomous Vehicle Ride-Sharing

Changing mobility Mobility is one of the fundamentals of our society and for the first time since the introduction of the automobile in the 1900s, we face a disruptive change in our mobility ecosystem. The rise of autonomous technology will allow us to get from a to b while being able to do other activities on the go. Challenges in change...

Fault Diagnosis of Self-Localization in Autonomous Vehicles Using a Model-Based Approach: The WEpods Case

Autonomous driving is a development that has gained a lot of attention lately, because it can lead to major improvements in the mobility sector. One example of a research project that aims to develop vehicles that are capable of reaching the highest level of autonomy in driving, is the WEpods project. The goal of this research is in line with...

Evaluating the transition from V2G to AV2G: The autonomous battery electric vehicle as decentralised bidirectional electricity storage system

A transition to V2G is hampered by many barriers, such as battery degradation and high investment cost. A dramatic shift towards autonomous vehicles (AVs) in the future transport system drastically changes the conditions for a transition to V2G, potentially resulting in a more flexible V2G system that efficiently deals with bidirectional flows...

Creating value out of data: A product strategy in a moving mobility market

This Master thesis is written to finish the Master program Strategic Product Design in collaboration with ARS Traffic and Transport Technology (ARS T&TT). The main objective is to create a product and marketing strategy for the data warehouse department of ARS T&TT. The design process the project went through is the fuzzy front end shown...

The Detection of Pedestrian Crossing Behaviour

The pedestrian is regarded to be one of the most vulnerable road users. Non-verbal communication between drivers and pedestrians seems to play an important role in the mitigation of collisions. The emergence of autonomous vehicles in traffic in the near future presses the need to investigate objective measures related to pedestrian crossing...

Motion Planning for Non-holonomic Autonomous Vehicles in Parking Spaces: An optimal Control Problem Approach

This MSc. thesis explores the design and implementation of a motion planner for non-holonomic autonomous vehicles in parking spaces. The planner must avoid collisions with static obstacles, satisfy performance, comfort and safety constraints for the motion, satisfy the non-holonomic constraints of the vehicle model, consider the dynamics of the...

Online Trajectory Planning and Control of a MAV Payload System in Dynamic Environments: A Non-Linear Model Predictive Control Approach

Micro Aerial Vehicles (MAVs) are increasingly being used for aerial transportation in remote and urban spaces where portability can be exploited to reach previously inaccessible and inhospitable spaces. Current approaches to MAV swung payload system path planning have primarily focused on pre-generating (agile) collision-free, or conservative...

Deep Reinforcement Learning for Goal-directed Visual Navigation

Safe navigation in a cluttered environment is a key capability for the autonomous operation of Micro Aerial Vehicles (MAVs). This work explores a (deep) Reinforcement Learning (RL) based approach for monocular vision based obstacle avoidance and goal directed navigation for MAVs in cluttered environments. We investigated this problem in the...

Flows Revalued: A future-oriented revaluation of the Strategy of the Two Networks

From the environmental point of view, future mobility (positive) and the change in the hydrological system (negative) are taken as trends from which the urban program needs to develop. This research starts with the conception that the Strategy of te Two Networks (S2N) internalizes a method that could help face the given challenges occurring both...

Optimaliseren van de service van een taxisysteem met zelfrijdende voertuigen

Dit project behandelt de programmering en toepassing van een taxiservice, waarbij de passagiers zich vanaf of naar het treinstation willen verplaatsen. Met behulp van geheeltallig lineair programmeren wordt bepaald welke ritten door de taxi's moeten worden gereden, om de winst te maximaliseren. Dit model is gebaseerd op het model wat beschreven...

The Eagle

SeaState5 wants to facilitate the monitoring process for seabed cables of offshore wind farms. The company wants to achieve this by creating an unmanned vessel, named the Eagle, which can be analyzed from a remote location.<br/><br/>As students from TU Delft, we have been tasked to create a software framework that allows the Eagle to go to a...

The Mobility-Livability Revolution: Engaging Automated Vehicles to Improve Amsterdam's City Centre

The city of Amsterdam has been growing and it continues to grow. While both the amount of visitors and the amount of residents continues to grow, the amount of public space stays approximately the same. This has led to an increasing pressure on livability, accessibility, and public space. Pedestrians, cyclists, and drivers alike often face the...