Autonomous Landing of an Unmanned Aerial Vehicle

With the advancement in technology, Unmanned Aerial Vehicles (UAVs) have been able to safely maneuver in risky environments. During landing, the UAV should be able to slow down while not affecting its physical design. Currently, multiple sensors are being used to increase the accuracy while landing which might weigh down some of the smaller UAVs...

Cooperative Localization of Unmanned Aerial Vehicles using ADS-B

As unmanned aerial systems (UAS) turn into a full-fledged industry, the sky will be much more crowded in the future. Large-scale UAV applications make reliable UAV navigation a pressing need. Traditionally, global navigation satellite system (GNSS) is extensively used as the primary positioning, navigation, and timing (PNT) service. However,...

Robust Formation Control against Observation Losses

Distributed formation control has received increasing attention in multiagent systems. Maintaining certain geometry in space is advantageous in many applications such as space interferometry and underwater sensing. At present, there is a variety of distributed solutions for agents to converge to desired formations and track a series of...

Distributed Gaussian Process for Multi-agent Systems

This work is focused on the distributed system, i.e. Multi-agent Systems (MAS), with application in environmental monitoring and learning. The specific task is to develop algorithms, i.e. Gaussian Process (GP), that are robust, accurate and fully-distributed to learn the unknown spatial environmental field. The two main problems are (1). how to...

Detect and Avoid for Autonomous Agents in Cluttered Environments

Autonomous agents are the future of many services and industries such as delivery systems, surveillance and monitoring, and search and rescue missions. An important aspect in an autonomous agent is the navigation system it uses to traverse the environment. Not much emphasis has been paid in the past on autonomous agent navigation in cluttered...

Distributed Particle Filtering

The recent advances in wireless communication, micro-fabrication, and integration have led to the rise of multi-agent networks such as wireless sensor networks, drone swarms, and satellite arrays. These multi-agent networks comprise multiple agents, which cooperate to solve a problem collectively, beyond the individual knowledge of a single...

Communication system for a deepsea robot: Analysis of underwater communication using electric quasi-static fields

In this report the analysis of underwater communication using electric quasi-static fields is undertaken, in which key aspects that influence the performance the communication between a transmitting and receiving electrode is examined. A mathematical model was proposed for the transmission and reception of the quasistatic field and the expected...

Towards Sustainable Satellite Swarms: MSc Aerospace Engineering Thesis

Satellite swarms are an emerging mission architecture which offer a flexible, robust alternative to traditional space missions. Drawing inspiration from naturally occurring swarms such as honey bees or ant colonies, satellite swarms consist of individual satellite agents working cooperatively towards a common goal. Distributed multi-agent space...

Targetless Camera-LiDAR Calibration for Autonomous Systems

In recent decades, the field of autonomous driving has witnessed rapid development, benefiting from the development of artificial intelligence-related technologies such as machine learning. Autonomous perception in driving is a key challenge, in which multi-sensor fusion is a common feature. Due to the high resolution and rich information, the...

Time Synchronization for Anchorless Satellite Networks

In this thesis, we propose a new class of pairwise frequency, multi-domain time synchronization and ranging algorithms for anchorless mobile networks of asynchronous nodes. We apply these techniques and study network and mission level aspects of time synchronization to Orbiting Low Frequency Array for Radio astronomy (OLFAR), a proposed...

Energy-Efficient Particle Filter SLAM for Autonomous Exploration

Autonomous robots are increasingly used in more and more applications, such as warehouse robots, search-and-rescue robots and autonomous vacuum cleaners. These applications are often in environments where the GPS signals are denied or inaccurate, which makes it difficult to localize the robot in an unknown environment. To overcome this problem...

Edge State Kalman Filtering for Distributed Formation Control Systems

Formation control problems consider a set of mobile agents with the underlying goal of attaining and maintaining a state where the relative positions of agents are stable in accordance with the desired configuration.<br/>Navigation for formation control is typically achieved through localization in a global reference frame, e.g., via GNSS....

Distributed Coordination for Multi-fleet Truck Platooning

Truck platooning refers to coordinating a group of heavy-duty vehicles at a close inter-vehicle distance to reduce overall fuel consumption. This coordination between trucks is traditionally achieved by adjusting the schedule, velocity, and routines to increase the platooning chances, and thus improve the overall fuel efficiency. However, the...