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Timmer, Sebastiaan (author)<div>As Neuroscience progresses, there is an increasing amount of research that endorses predictions and reducing of prediction errors as one of the main functions of the brain. active inference is a brain-inspired, mathematical framework that successfully implements this idea both in simulations as well as in robotics. The predictive nature of...master thesis 2024
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Dekker, Rick (author)Airlab, a collaboration between TU Delft and Ahold Delhaize, is developing Albert, a robot tailored to work in a complex supermarket environment. Key to Albert is a product detection and classification module that tells it what products to grasp and where they are located in a shelf. Albert’s existing YOLO‑based product detector a significant...master thesis 2024
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Zwanenburg, Andreas (author)These days, people see more and more applications for drones, including monitoring rainforests to protect plant and animal species. However, drones face challenges when navigating through the dense and cluttered vegetation of the forest. These environments necessitate advanced autonomous detection and navigation to make the drone traverse...master thesis 2024
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van Zwienen, Benjamin (author)In the literature, neural network compression can significantly reduce the number of floating-point operations (FLOPs) of a neural network with limited accuracy loss. At the same time, it is common to manually design smaller networks instead of using modern compression techniques. This thesis will compare the two approaches for the object...master thesis 2023
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Şimşek, Serkan (author)Object detection is one of the hottest topic right now and is a fundamental concept which determines to future of autonomous driving. There are hundreds of papers rolling out every day trying to improve the performances of these detectors by creating more complex models to increase the performance by a very little amount. The problem with...master thesis 2023
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Lafontaine, Stijn (author)This thesis focuses on closed-loop product grasping from supermarket shelves. The case is studied where the robot is in front of a shelf in an Albert Heijn supermarket and is tasked to pick a desired product from that shelf. Enabling a robot to achieve the product-picking task, however, is challenging. While many other robotic picking methods...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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van der Burg, Thijs (author)Object pushing in robotics has numerous applications, but it often relies on room-bound object tracking systems such as Motion Capture (MoCap) for accurate object pose acquisition. Such systems limit the potential use scenarios, since they add complexity and cost and require expansion of the sensor infrastructure for expanding the operational...master thesis 2023
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van Eeden, Simon (author)Visual inspection of liquid medicine containers for contamination and defects is mandatory and crucial to ensure their safety for injection. This document presents research and development of three modules of the Visual Particle Inspection Subsystem (VPIS), an automatic inspection subsystem with the task of detecting and classifying particle...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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Benist, Bram (author)This master thesis introduces Hierarchical Active Inference Control (HAIC) as a control method for nonholonomic systems. This method only requires tuning of a minimal number of hyperparameters and has a relative low computation load. HAIC is based on recent research done in the application of the neuroscientific theory of Active Inference for...master thesis 2023
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de Boer, Wouter (author)Autonomous robots are often successfully deployed in controlled environments. Operation in uncontrolled situations remains challenging; it is hypothesized that the detection of abstract discrete states (ADS) can improve operation in these circumstances. ADS are high-level system states that are not directly detectable and influence system...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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Jousma, Sjoerd (author)This thesis is inspired by Active Inference to contribute to its improvement in the Robotics work field. However, the results and applications of this thesis are useful in a broader perspective, namely in any field that makes use of derivatives and the forecasting of a time-series signal. The goal of this study is to determine a new approach for...master thesis 2022
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van der Meer, Bob (author)Active Inference control is a novel control method based on the free energy principle, which combines action, perception and learning [1][2]. The first Active Inference controller showed promising results on a 7-DOF robot arm for a pick and placing task, however it took nearly six seconds to converge which is too slow [2]. This thesis aims to...master thesis 2022
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Veldhuis, Erik (author)This research proposes a new differentiator for estimating higher order derivatives of an input signal. The main reason why higher order derivatives are necessary is that Active Inference makes use of generalized coordinates. This means that it keeps internally track of higher order temporal derivatives of states, inputs and measurements. The...master thesis 2021
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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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Wiersma, Mark (author)Automated bin-picking is a difficult task that requires solving multiple robotic vision problems including object detection and grasp proposal generation. Current methods use deep learning to approach each of the vision problems of bin-picking separately with the main focus on generating the grasp proposals. For grasp proposal generation, neural...master thesis 2021
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meo, cristian (author)Active inference, a theoretical construct inspired by brain processing, is a promising approach to control artificial agents. Here we present a novel multimodal active inference torque controller for industrial arms that improves the adaptive characteristics of previous active inference approaches but also enables multimodal integration with any...master thesis 2021
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Deken, Mitchel (author)Active inference is a novel brain theory based on the free energy principle, stating that every organism, in order to stay alive, minimizes a certain free energy. This theory is being translated into robot control, hoping to mimic the capabilities of the brain. Research in this field of robotics is still quite young, and active inference has yet...master thesis 2021