Control analysis of an active inference controller for a skid-steer mobile robot: An analysis on the performance of the active inference controller focusing on convergence time

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...

Real-Time PPP-RTK Performance Analysis Using Ionospheric Corrections from Multi-Scale Network Configurations

The long convergence time required to achieve high-precision position solutions with integer ambiguity resolution-enabled precise point positioning (PPP-RTK) is driven by the presence of ionospheric delays. When precise real-time ionospheric information is available and properly applied, it can strengthen the underlying model and substantially...

Next Generation Precise Satellite Positioning: Analysis of advanced positioning techniques with multiple navigation satellite systems using Curtin's PPP-RTK User Platform

Many different Global Navigation Satellite Systems (GNSS) are currently in orbit or are being deployed. Research on positioning techniques using these satellites is ongoing. The Curtin GNSS Research Centre has developed a software tool for further testing of these techniques. This thesis represents the testing done on the Curtin PPP-RTK User...