Wi-Closure: wireless sensing for multi-robot map matching: Enabling fast and reliable search of inter-robot loop closures in repetitive environments

This thesis proposes a novel algorithm, Wi-Closure, to improve computational efficiency and robustness of map matching in multi-robot SLAM. Current state-of-the-art techniques connect maps with inter-robot loop closures, that are usually found through place recognition. Wi-Closure decreases the computational overhead of these approaches by...

Modelling and stabilization of coil deposition in intracranial aneurysm treatment: Improving the safety of neurovascular interventions

An intracranial aneurysm is a bulge in the cerebral vasculature. The rupture of an aneurysm results in a brain bleed. As a consequence, most patients become severely handicapped or may even die. Preventive treatment with endovascular coiling is controversial due to the high risk of complications. These complications are partly caused by the...

Output Regulation of Nonlinear Systems in a Koopman Operator Framework

This thesis considers the problem of nonlinear output regulation in a Koopman operator framework. The goal of output regulation is to asymptotically track a reference and/or simultaneously reject a disturbance signal, both generated by some external autonomous system called the exosystem. The nonlinear output regulation problem is solvable if...

Stabilization of Visually Guided Robotic Lampreys

This thesis contains two contributions to the stabilization of visually guided robotic lampreys: the head stabilization method and the head-led target tracking design. Both approach the problem that camera inputs, attached to the head segment, are disturbed due to the participation of the head in the locomotion gait of the robot. Head...