Semantic Segmentation using Deep Neural Networks for MAVs

Semantic segmentation methods have been developed and applied to single images for object segmentation. However, for robotic applications such as high-speed agile Micro Air Vehicles (MAVs) in Autonomous Drone Racing (ADR), it is more interesting to consider temporal information as video sequences are correlated over time. In this work, we...

Application of Deep Learning for Spacecraft Fault Detection and Isolation

Spacecraft require high availability, autonomous operation, and a high degree of mission success. Spacecraft use sensors, such as star trackers and GPS, and actuators, such as reaction wheels, to reach and maintain a correct attitude and position. Failures in these components will have a significant negative impact on the success of the mission,...

Generating Robotic Manipulation Trajectories with Neural Networks

In order to interact with environments and appliances made for humans, robots should be able to manipulate a large variety of objects and appliances in human environments. When having experience with manipulating a certain object or appliance, a robot should be able to generalize this behaviour to novel, but similar objects and appliances. When...

Latent Space Modelling of Unsteady Flow Subdomains: Thesis Report

Very complex flows can be expensive to compute using current CFD techniques. In this thesis, models based on deep learning were used to replace certain parts of the flow domain, with the objective of replacing well-known regions with simplified models to increase efficiency. To keep the error produced by the deep learning model bounded, a...

DMQL: Deep Maximum Q-Learning: Combatting Relative Overgeneralisation in Deep Independent Learners using Optimism and Similarity

Various pathologies can occur when independent learners are used in cooperative Multi-Agent Reinforcement Learning. One such pathology is Relative Overgeneralisation, which manifests when a suboptimal Nash Equilibrium in the joint action space of a problem is preferred over an optimal Equilibrium. Approaches exist to combat relative...

DeepSleep: A sensor-agnostic approach towards modelling a sleep classification system

Sleep is a natural state of our mind and body during which our muscles heal and our memories are consolidated. It is such a habitual phenomenon that we have been viewing it as another ordinary task in our day-to-day life. However, owing to the current fast-paced, technology-driven generation, we are letting ourselves be sleep-deprived, giving...