Searched for: contributor%3A%22Alonso+Mora%2C+J.+%28graduation+committee%29%22
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de Gooijer, Jessica (author)
Reinforcement learning, especially deep reinforcement learning, has made many advances in the last decade. Similarly, great strides have been made in multi-agent reinforcement learning. Systems of cooperative autonomous robots are increasingly being used, for which multi-agent reinforcement learning can be used as a training method. However, the...
master thesis 2023
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Han, Shaohang (author)
Automated vehicles represent an exciting advancement in transportation, offering a range of benefits that have the potential to revolutionize how we travel. They can improve safety, efficiency, accessibility, and sustainability, holding promise for transforming our cities and communities. However, generating safe, comfortable, and efficient...
master thesis 2023
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Seferlis, Ilias (author)
As Autonomous Vehicles (AVs) navigate through dynamic and constantly changing environments, it is crucial that they take into account the impact of their actions on the decisions of others for safe and efficient interaction with humans. In doing so, they need to anticipate how humans will behave in different situations based on their intentions....
master thesis 2023
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Probst, Johanna (author)
Creating autonomous Micro Aerial Vehicles for executing complex missions poses various challenges, including safe navigation in the presence of external wind disturbances. Most current navigation methods handle external wind disturbances through real-time estimation and rejection algorithms in the control stage, but lack safety guarantees in...
master thesis 2023
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Potters, Susan (author)
Mobile robots are getting more common in warehouses, distribution centers and factories, where they are used to boost productivity. At the same time, they are moving into the everyday world, where they need to operate in uncontrolled and cluttered environments. In order to extend the set of tasks that a robot can autonomously accomplish in such...
master thesis 2022
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Pollack, Justin (author)
Nowadays, machine learning (ML) methods rapidly evolve for their use in model-based control applications. Model-based control requires an accurate model description of the dynamical system to reassure the performance of the controller. Conventionally, this model description is retrieved from first-principles modelling which can be problematic if...
master thesis 2022
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Sie, Anand (author)
Ongoing research in autonomous driving currently focuses on creating new applications for autonomous vehicles (AV) and connected autonomous vehicles (CAV). Specifically, motion planning and control solutions are being developed based on the combination of Artificial Potential Functions (APF) with economic Model Predictive Control (eMPC). These...
master thesis 2022
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Barendse, Thomas (author)
Demand for online grocer Picnic has increased exponentially over the past years, and their truck transport operation must scale with it. Given the resource constraints at all warehouses, as well as other specific restrictions, this poses a Multi Depot Pickup and Delivery Problem with Resource Constraints, for which no good solutions are found to...
master thesis 2022
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van Dam, Jessie (author)
To safely deploy legged robots in the real world, it is necessary to provide them with the ability to reliably detect unexpected contacts and accurately estimate the corresponding contact force. Therefore, a collision detection, isolation, and identification pipeline is proposed for a quadrupedal manipulator. An approach based on band-pass...
master thesis 2022
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de Vringer, Stefan (author)
Realistic vehicle routing problems have been highly relevant for years in a wide variety of domains. One such domain is food delivery, where well-crafted routes can reduce costs and contribute to customer satisfaction. This thesis formulates a problem variant for the restaurant meal delivery problem in order to examine the reoptimization of meal...
master thesis 2022
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Chen, Weiming (author)
Research and development of motion control in the field of autonomous driving is significantly increasing nowadays. Model predictive control (MPC) is one of the most powerful and practical tools currently available. It is important to select the parameters of the MPC, such as weights, in a way so that different control objectives can be met...
master thesis 2022
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Marcelis, N.H.H. (author)
With the performance of current motion planning methods being highly dependent on the quality of the perception system, robust 3D multi-object detection and tracking are vital for autonomous driving applications. Despite all the advancements in 2D and 3D object detectors, robust tracking of pedestrians in dense scenarios is still a challenging...
master thesis 2021
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Radhakrishnan, Prakash (author)
Simultaneous Localisation and Mapping (SLAM) provide a novel solution for the robots to localise and navigate an unknown environment. Initial SLAM research focused mainly on the indoor environment, assuming the background to be primarily static. In contrast, the real world has dynamic interactions that restrict the implementation of SLAM to...
master thesis 2021
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Dhankhar, Rupak (author)
This thesis was aimed for the Master of Science degree in Mechanical Engineering at The Delft University of Technology. The goal of this research was to formulate an assignment algorithm for autonomous guidance, control, and navigation system for spacecraft formation flying using a Model Predictive Control approach for estimation of fuel...
master thesis 2021
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van der Marel, Simon (author)
As autonomous driving is a popular and ever growing field of research, real world experiments provide a required manner of testing. In this thesis a driving research platform is developed, with a focus on platooning using visual messaging. These visual messages are conveyed using LED matrices. This thesis proposes two methods of LED matrix...
master thesis 2021
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van Houtum, Paul (author)
Modern retail stores are increasingly implementing automated systems with the aim of assisting both the customer and employee. Much research is conducted on robotic applications within such environments; one of these applications concerns deploying an autonomous mobile manipulator to assist humans in retail stores. Such a robot requires the...
master thesis 2021
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Straathof, Robin (author)
Brachytherapy (BT) is an essential component in the treatment of cervical cancer as it allows for locally delivering a high dose to the tumour with minimal trauma to surrounding tissues and organs at risk (OARs). However, in advanced cervical cancer patients commercially available BT applicators are particularly ill-adapted and therefore result...
master thesis 2021
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van Unen, Wouter (author)
In the automotive industry, automation is on the rise and it increases safety while decreasing costs. Improved sensor performance and greater computing power steers the future of the shipping industry in the same direction. Avoiding obstacles in close proximity is one of the current challenges. This research provides a generic and open- source...
master thesis 2020
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van der Geest, Xander (author)
The use of distributed multi-agent formation control for non-holonomic mobile robots shows great promise in practical environments. In this thesis, a Robot Operating System (ROS) package is developed in which various formation control algorithms are implemented for use on a group of skid-steer drive mobile robots. These formation control...
master thesis 2020
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Govers, Jurriaan (author)
This thesis is focused on protecting sensitive data in optimization-based control methods. We propose a novel Privacy-preserving Model Predictive Controller (PMPC) where multiple agents are controlled by an untrusted external coordinator. By using the Paillier additively Homomorphic Encryption (HE) scheme, our PMPC allows the coordinator to...
master thesis 2020
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