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Autonomous Wireless Charging System for Robot Swarms: Wireless Charging Hardware

du Plessis, Nicolaas (author), Roos, Martijn (author)

This thesis aims to solve the problem of designing the hardware for a wireless charging system to be used for keeping an autonomous robot swarm alive. Previous designs available to us lacked essential safety features and were very specific in their application. Current wireless charging specifications are also not sufficient to cater to the...

bachelor thesis 2023

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Effects of Partial Observability Solver Methods on Training and Final Policies in Autonomous Driver RL: How do different methods for dealing with partial observability in the environment influence training and the robustness of final policies under various testing conditions?

Çil, Ata (author)

Autonomous driving is a complex problem that can potentially be solved using artificial intelligence. The complexity stems from the system's need to understand the surroundings and make appropriate decisions. However, there are various challenges in constructing such a sophisticated system. One of the main challenges is to make the agent learn...

bachelor thesis 2023

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Evaluating robustness of deep reinforcement learning for autonomous driving: Effects of domain randomization on training and robustness

Bayram, Ege (author)

Deep reinforcement learning has been a topic of research in recent years and has been expanding into the domain of autonomous driving. As autonomous driving is likely to involve people, such as daily commuters, it is necessary to ensure the machine will perform well enough in real-life environments not to put anyone at risk. There exist possible...

bachelor thesis 2023

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Evaluating Robustness of Deep Reinforcement Learning for Autonomous Driving: How does entropy maximization affect the training and robustness of final policies under various testing conditions?

Ortal, Bartu (author)

This research paper aims to investigate the effect of entropy while training the agent on the robustness of the agent. This is important because robustness is defined as the agent's adaptability to different environments. A self-driving car should adapt to every environment that it is being used in since a mistake could cost someone's life....

bachelor thesis 2023

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Comparative Analysis of Exploration Algorithms in Deep Reinforcement Learning for Autonomous Driving: How does epsilon-greedy, random network distillation, bootstrapped DQN affect training and the robustness of final policies under various testing conditions in autonomous driving?

Sozen, Efe (author)

Autonomous driving is a rapidly evolving field that aims to enhance road safety and reduce accidents through the use of advanced software and hardware technologies. Reinforcement learning (RL) combined with deep neural networks has emerged as a promising approach for training autonomous agents. This research paper investigates three exploration...

bachelor thesis 2023

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Post-Spartacusplan: Exploring the future possibilities of innovative public transportation for spatial and mobility transition in Belgian Limburg

Kim, Minseong (author)

Spartacusplan, the transportation plan for the Belgian province of Limburg from 2004, is now turned into the most extensive and ambitious bus rapid transit (BRT) project in Europe. However, the proposed vehicles and network do not correspond well to the region’s highly dispersed, poly-centric structure. Moreover, the dispersed urbanisation...

master thesis 2023

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Autonomous Underwater Docking: Towards vertical docking of an autonomous underwater vehicle to an unmanned surface vehicle in rough seas

van Vliet, Bas (author)

The offshore industry is adopting Autonomous Underwater Vehicles (AUVs), to decrease the costs associated with surveying underwater sites. Despite requiring less human supervision, AUVs still depend on costly servicing from a vessel, before and after deployment. Combining an AUV with an Unmanned Surface Vessel (USV), a survey vessel that...

master thesis 2023

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Bridging the gap bridging the gap between strategy and operations in autonomous maritime logistics: Developing and implementing a simulation-based model

van Gijn, Max (author)

This study integrates strategic decisions and operational control systems in autonomous shipping. By providing ships with situational information and adding a virtual operator, we show that vessels can make informed choices regarding their route and engine settings. To demonstrate this integration, we developed new components that were tested in...

master thesis 2023

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Improving DRL Of Vision-Based Navigation By Stereo Image Prediction

den Ridder, Luc (author)

Although deep reinforcement learning (DRL) is a highly promising approach to learning robotic vision-based control, it is plagued by long training times. This report introduces a DRL setup that relies on self-supervised learning for extracting depth information valuable for navigation. Specifically, a literature study is conducted to investigate...

master thesis 2023

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Influence of Visual Translation on Motion Sickness Development of Autonomous Vehicle Passengers

Elbertse, Mitchel (author)

Autonomous vehicles are becoming increasingly prevalent in society, but the transition from active driver to passive passenger is known to increase the risk and severity of motion sickness. Motion anticipation is a critical factor in this difference, and visual information is known to be a major contributor to motion anticipation. However, the...

master thesis 2023

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Multi-class Trajectory Prediction in Urban Traffic using the View-of-Delft Dataset

Martens, Bruno (author)

Critical to the safe application of autonomous vehicles is the ability to accurately predict the future motion of agents surrounding the vehicle. This is especially important - and challenging - in urban traffic, where vehicles share the road with Vulnerable Road Users (VRUs) such as pedestrians and cyclists. However, the majority of the...

master thesis 2023

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Control System Development for a Gastric Retention and Injection Device for Autonomous Urgent Care Therapy

Cetin, Halithan (author)

Time-sensitive medical emergencies resulting from the entry of harmful agents into the body require immediate and urgent medical attention to prevent irreversible symptoms or fatalities. However, the current process for urgent care relies on human intervention, which can introduce significant delays and potentially compromise the effectiveness...

master thesis 2023

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Game-Theoretic Intention-Aware Planning for Autonomous Vehicles

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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Attitude & orbital control system design for near-Earth asteroid exploration using autonomous miniature satellites

Verwer, Steven (author)

The thesis explores designing an attitude and orbital control system for an autonomous 6U CubeSat near-Earth asteroid fly-by mission, aiming to conceptualize an off-the-shelf solution. It addresses selecting propulsion systems for interplanetary travel, reaction wheel desaturation, and attitude control during the mission.<br/><br/>Through a fuel...

master thesis 2023

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Autonomous Navigation for Binary Asteroid Landing: A vision-based and altimeter-aided navigation filter for small spacecraft

Elffers, Peter (author)

This paper investigates the performance of an autonomous navigation system to navigate a spacecraft in the proximity of a binary asteroid system using optical and laser ranging measurements. The knowledge about the binary asteroid is limited to its orbital parameters and ellipsoid shape models. The accelerometer bias random walk is included in...

master thesis 2023

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Architecture and Task Plan Co-Adaptation with Metaplan for Unmanned Underwater Vehicles

Zwanepol, Jeroen (author)

Unmanned Underwater Vehicles (UUVs) operate in complex environments and need to be able to adapt to sudden failures, or changes in the environment. To achieve autonomous operation, UUVs must have the ability to self-adapt in such cases. To effectively handle component failures and unexpected events, self-adaptation must be applied to both the...

master thesis 2023

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Data-driven optimal control for safe quadrotor navigation in windy environments

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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Integrating human drivers' behavioural rules into microscopic traffic simulation

Vonk, Martijn (author)

Autonomous vehicles (AVs) can solve a lot of problems related to traffic safety, comfort and congestion. While the sensors used by these vehicles are getting cheaper, more accurate, and software is improving, the first completely automated vehicle does not exist yet. When AVs start gradually driving on the roads, there will be a mixed traffic...

master thesis 2023

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The Dynamic Human Vehicle Relationship through Robotic Interaction Systems: An exploratory look into how robots can add value to the interaction with fully autonomous vehicles

Moonen, Sander (author)

With the imminent rise of vehicle automation the human driver will have increasingly less responsibility for driving. At one point this will even mean that cars will be able to fully drive themselves, so that the driver is relieved of all driving related tasks. In this situation the car effectively becomes a robot, resulting in a novel...

master thesis 2023

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Single and Multi-objective Test Cases Prioritization for Self-driving Cars in Virtual Environments

Birchler, Christian (author), Khatiri, Sajad (author), Derakhshanfar, P. (author), Panichella, Sebastiano (author), Panichella, A. (author)

Testing with simulation environments helps to identify critical failing scenarios for self-driving cars (SDCs). Simulation-based tests are safer than in-field operational tests and allow detecting software defects before deployment. However, these tests are very expensive and are too many to be run frequently within limited time constraints...

journal article 2023