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Cancrinus, Ernst (author)
<div>Achieving autonomous inclined landing would be an important step towards quadrotors which are able to land anywhere and under any conditions. If a quadrotor is able to safely land anywhere, even when a landing platform is not available, this would open up many useful applications. Firstly, the quadrotor could safely land whenever its...
master thesis 2024
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Wolleswinkel, Bart (author)
This thesis addresses the detection and prevention of adversarial attacks on self-triggered control (STC) systems and demonstrates how manipulating the sampling times can be used to provide a secure control framework. Secure control is vital to guarantee both the safety and security of critical infrastructure, which has been the target of...
master thesis 2024
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Tiburzio, Seb (author)
In robotic manipulation of deformable objects, the continuum nature of the object state leads to prohibitively high degrees of freedom when traditional modelling techniques are applied, leading to much research focusing on approaches that avoid an explicit object model. However, without such a model the opportunities for long horizon planning...
master thesis 2023
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LIU, Xinjie (author)
Many autonomous navigation tasks require mobile robots to operate in dynamic environments involving interactions between agents. Developing interaction-aware motion planning algorithms that enable safe and intelligent interactions remains challenging. Dynamic game theory renders a powerful mathematical framework to model these interactions...
master thesis 2023
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Bojtár, Veronika (author)
Simulation environments are useful for a wide range of applications and their functionalities continue to improve every year. The aim of this thesis project was to create a simulation environment with high levels of realism and assess its capabilities through the use case of generating distributed drone traffic rules.<br/><br/>This thesis...
master thesis 2023
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Manivannan, Denesh (author)
Socially compliant robot navigation in pedestrian environments remains challenging owing to uncertainty in human behavior and varying pedestrian preferences in different social contexts. Local optimization planners like Model Predictive Control can incorporate collision avoidance constraints, but they can only lead to socially compliant...
master thesis 2022
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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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Gracia Merino, Ibón (author)
There is growing interest to control cyber-physical systems under complex specifications while retaining formal performance guarantees. In this thesis we present a framework for formal control of uncertain systems under complex specifications. We consider dynamical systems with random disturbances, whose probability distribution is unknown. When...
master thesis 2022
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Bos, Fred (author)
The free energy principle is a recent theory that originates from the neuroscience. It provides a unified framework that combines action perception and learning in the human brain. This research aims to implement the perception aspect of the free energy principle into robotics. This is achieved via the dynamic expectation maximisation (DEM)...
master thesis 2021
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LUO, Qi (author)
Motion planning in cluttered environments is challenging for multi-robot systems, in which each robot needs to avoid obstacles as well as other robots. This thesis presents a distributed risk-aware motion planning method for multi-robot systems in dynamic environments. For each robot navigating in a multi-robot scenario, two major risk elements...
master thesis 2021
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Vroom, Nino (author)
The concept of motion planning for a path following task is highly relevant. Having a comfortable reference motion is an advantage for automated vehicles, since this leads to more higher comfort for the passengers, in turn leading to higher adoption of ADAS. Defining a speed profile can be done in three different ways. First is a heuristics...
master thesis 2021
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Dharaneppanavar, Sourabh (author)
In the future, Human Driven Vehicles (HDV's) are expected to interact with Automated Vehicles (AV’s) and Connected AV’s (CAV’s). Due to the differences in the expected driving behavior of AV’s (ACC) and CAV’s (CACC) compared to HDV’s, the nature of traffic breakdown phenomena in the future can be expected to change. AV’s (ACC) and CAV’s (CACC)...
master thesis 2021
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Meccanici, Floris (author)
The general approach to generate collision free motion in a constraint environment is to use path planners, which demand a known environment and potentially fail otherwise. Learning from Demonstration (LfD) can be used instead to teach the robot unknown parts of the environment, such as a goal deviation or an unforeseen obstacle. The general...
master thesis 2021
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Tsolakis, Anastasios (author)
Nonholonomic mechanical systems encompass a large class of practically interesting robotic structures, such as wheeled mobile robots, space manipulators, and multi-fingered robot hands. However, few results exist on the cooperative control of such systems in a generic, distributed approach. In this work we extend a recently developed distributed...
master thesis 2021
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van der Linden, M.J. (author)
The application of autonomous robotic vehicles to explore unknown environments is a growing field of interest in the research community. This thesis report studies the practical implementation of employing three autonomous vehicles to navigate towards a signal emitting source in an unknown environment. The group of autonomous vehicles is...
master thesis 2021
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Muniyandi, Raj Kumar (author)
Growth of mobility for people and goods transportation has been increasing steadily over the years. With the perpetual increase in number of road vehicles, comes the inevitable problems of traffic and pollution. Various intelligent traffic technologies and strategies have been proposed and implemented over the years to...
master thesis 2020
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Benders, Dennis (author)
Recent developments in neuroscience research, mainly introduced by neuroscientist Karl J. Friston, have resulted in a concept called the Free Energy Principle (FEP). The FEP is a brain theory unifying action, perception and learning. An important observation is that autonomous robots have to perform similar tasks to the human brain. Therefore,...
master thesis 2020
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Tomy, Abhishek (author)
A human driver can gauge the intention and signals given by other road users indicative of their future behaviour. The intentions and signals are identified by looking at the cues originating from vulnerable road users or their surroundings (hand signals, head orientation, posture, traffic signals, distance to curb, etc.). Taking all these cues...
master thesis 2020
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Rios Lazcano, Andrea (author)
Advanced Driver Assistance Systems (ADAS) aim to increase safety and reduce mental workload. However, the gap in the understanding of the closed-loop driver-vehicle interaction often leads to reduced user acceptance. In this research, an optimal torque control law is calculated online in the Model Predictive Control (MPC) framework to guarantee...
master thesis 2020
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Khusro, Yash Raj (author)
Driving simulators are widely used for understanding Human-Machine Interaction, driver behavior and driver training. The effectiveness of such simulators in this process depends largely on their ability to generate realistic motion cues. Though the conventional filter-based motion cueing strategies have provided reasonable results, these methods...
master thesis 2020
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