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SHI, MOJI (author)Dynamic obstacle avoidance remains a crucial research area for autonomous systems, such as Micro Aerial Vehicles (MAVs) and service robots. <br/>Efforts to develop dynamic collision avoidance techniques in unknown environments have proliferated in recent years. While these methods exhibit impressive and reliable performance in simpler...master thesis 2023
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Wu, Siyuan (author)Recent progress in multiple micro aerial vehicle (MAV) systems has demonstrated autonomous navigation in static environments. Yet, there are limited works regarding the autonomous navigation of multiple MAVs in dynamic and unknown environments. The challenge arises from the complexity of the motion planning problem, which requires the MAVs to...master thesis 2023
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Capus, Luana (author)Space debris has become a rising problem in the aerospace community, leading to the need for effective spacecraft collision avoidance processes. Currently, these processes can be called unilateral as only one object in conjunction is considered maneuverable. This thesis focuses on the implementation of a combined action approach to collision...master thesis 2023
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van der Drift, Victor (author)This thesis presents a comprehensive approach to integrating a trajectory planner and follower for autonomous vehicles (AVs) using model predictive contouring control (MPCC). The planner generates collision-free trajectories with a kinematic bicycle model, while the follower tracks them using a dynamic bicycle model with a smaller integration...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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van Loon, Joaquin (author)Situational awareness within port areas is crucial to avoid collisions, navigate efficiently and reduce congestion. Maritime-traffic controllers constantly monitor the situation in the port and intervene when needed. This study proposes a deep learning model that predicts future vessel positions to assist in this process. The model employs a...master thesis 2023
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van Venrooij, Caspar (author)Autonomous robots hold great potential for positive impacts on society by applying them to tasks that are hazardous, repetitive, or complex and difficult for humans to perform. To achieve these tasks, autonomous robots require the ability to perceive environmental changes and create corresponding motion plans, which involve a combination of...master thesis 2023
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- Rol, Remy (author) master thesis 2023
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Ferranti, L. (author), Lyons, L. (author), Negenborn, R.R. (author), Keviczky, T. (author), Alonso Mora, J. (author)This work presents a method for multi-robot coordination based on a novel distributed nonlinear model predictive control (NMPC) formulation for trajectory optimization and its modified version to mitigate the effects of packet losses and delays in the communication among the robots. Our algorithms consider that each robot is equipped with an...journal article 2023
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Zhang, Lei (author), Liu, Wenjie (author), Du, Zhe (author), Du, Lei (author), Li, Xiaobin (author)Collision avoidance is a priority task for ensuring the safety of a maritime transportation system. However, for a ship towing system, which is characterized by multiple vessels and physical connections, the research works about collision avoidance is limited. Thus, this paper proposes a speed and heading control-based conflict resolution of...journal article 2023
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Cheng, Gang (author), Wu, S. (author), Shi, M. (author), Dong, W. (author), Zhu, H. (author), Alonso Mora, J. (author)Autonomous navigation of Micro Aerial Vehicles (MAVs) in dynamic and unknown environments is a complex and challenging task. Current works rely on assumptions to solve the problem. The MAV's pose is precisely known, the dynamic obstacles can be explicitly segmented from static ones, their number is known and fixed, or they can be modeled with...journal article 2023
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Xin, Jianbin (author), Meng, Chuang (author), D'Ariano, Andrea (author), Schulte, F. (author), Peng, Jinzhu (author), Negenborn, R.R. (author)This paper investigates a novel routing problem of a multi-robot station in a manufacturing cell. In the existing literature, the objective is to minimize the cycle time or energy consumption separately. The routing problem considered in this paper aims to reduce the cycle time and energy consumption jointly for each robot while avoiding...journal article 2023
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Angelini, Franco (author), Angelini, Pierangela (author), Angiolini, Claudia (author), Bagella, Simonetta (author), Caccianiga, Marco (author), Della Santina, C. (author), Gigante, Daniela (author), Hutter, Marco (author), Nanayakkara, Thrishantha (author)In this paper, we first discuss the challenges related to habitat monitoring and review possible robotic solutions. Then, we propose a framework to perform terrestrial habitat monitoring exploiting the mobility of legged robotic systems. The idea is to provide the robot with the Natural Intelligence introduced as the combination of the...journal article 2023
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Liu, Xinjie (author), Peters, L. (author), Alonso Mora, J. (author)Many autonomous agents, such as intelligent vehicles, are inherently required to interact with one another. Game theory provides a natural mathematical tool for robot motion planning in such interactive settings. However, tractable algorithms for such problems usually rely on a strong assumption, namely that the objectives of all players in...journal article 2023
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Bai, X. (author), Fielbaum, Andres (author), Kronmüller, M. (author), Knödler, L. (author), Alonso Mora, J. (author)This paper studies the multi-robot task assignment problem in which a fleet of dispersed robots needs to efficiently transport a set of dynamically appearing packages from their initial locations to corresponding destinations within prescribed time-windows. Each robot can carry multiple packages simultaneously within its capacity. Given a...journal article 2023
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Serra Gomez, A. (author), Zhu, H. (author), Ferreira de Brito, B.F. (author), Böhmer, J.W. (author), Alonso Mora, J. (author)Decentralized multi-robot systems typically perform coordinated motion planning by constantly broadcasting their intentions to avoid collisions. However, the risk of collision between robots varies as they move and communication may not always be needed. This paper presents an efficient communication method that addresses the problem of “when...journal article 2023
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Ferreira de Brito, B.F. (author)Autonomous robots will profoundly impact our society, making our roads safer, reducing labor costs and carbon dioxide (CO2) emissions, and improving our life quality. However, to make that happen, robots need to navigate among humans, which is extremely difficult. Firstly, humans do not explicitly communicate their intentions and use intuition...doctoral thesis 2022
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van Veen, Nils (author)In the field of cooperative AI, an environment is created called Overcooked AI based on the popular Overcooked game. Originally the environment is used to study deep reinforcement learning, on the other hand it also allows for cooperative planning methods of which the paper will focus on. These methods include coupled based planning with...bachelor thesis 2022
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Lupău, Cătălin (author)In this paper, we explore the creation of control algorithms for swarms of robots playing the role of either predator or prey in an environment filled with static obstacles. The paper devel- ops on a famous flock simulation model proposed by Craig Reynolds called boids. The paper analyzes a zero-sum game situation, in which one swarm of robots,...bachelor thesis 2022
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Leon Dasi, Mireia (author)The number of space objects has largely increased in the recent years, becoming a considerable threat to the present and future of satellite operations and human spaceflight. This introduces a need to accurately compute the risk of collision between satellites and space debris. Current methodologies are limited by the type of encounter and the...master thesis 2022