Searched for: subject%3A%22Motion%255C+Planning%22
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Kockelkoren, Michiel (author)
In recent years, the deployment of ground-based mobile robots has gained more and more interest in various domains. In contrast to other types of mobile robots, legged robots can traverse irregular terrains, climb stairs, and step over obstacles. However, these unique properties intensify the energy demand and require highly advanced perception...
master thesis 2024
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ZHANG, Frankie (author)
Task and Motion Planning (TAMP) has progressed significantly in solving intricate manipulation tasks in recent years, but the robust execution of these plans remains less touched. Particularly, generalizing to diverse geometric scenarios is still challenging during execution. In this work, we propose a reactive TAMP method to deal with...
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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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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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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Rado, Karlo (author)
A key challenge for SaR robotics is to avoid dynamic obstacles in cluttered environments, with limited and noisy information. In this research, a controller for SaR robots is developed by coupling a local heuristic motion planner with a model predictive control (MPC) based trajectory tracker. Constraint tightening and tube-based control are used...
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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Jansma, Walter (author)
With the world’s population recently surpassing the 8 billion mark, population growth poses significant challenges on the planet. This growth is particularly evident in urban areas, and as a consequence, cities must find innovative ways to accommodate the increasing pressure on the current road infrastructure. In Amsterdam, a city with an...
master thesis 2022
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Varma, Vivek (author)
Automated driving is where automobiles meet robotics. With the recent advances in intelligence, sensor technology, wireless technology, and computation power, we are inching ever closer to realising full autonomy in a vehicle. We are nowhere near the end of the line, however. Automated vehicles will have to interact with static obstacles like...
master thesis 2022
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Sridharan, Anish (author)
For travelling from point A to point B, autonomous vehicles generate a route between the points. During the mission, the vehicle uses a motion planning and controls algorithm to follow the planned route while avoiding static and dynamic obstacles. Motion planning algorithms generally plan over a future time horizon to smoothly follow the route...
master thesis 2022
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Rajesh, Nishant (author)
Motion sickness is a common phenomenon, with close to two-thirds of the population experiencing it in their lifetime. With the advent of automated vehicles in the market, it is anticipated to become an even greater problem as the passengers face a lack of predictability of motion and loss of control over the vehicle. This could nullify the host...
master thesis 2022
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de Vries, Jitske (author)
With a growing number of citizens and tourists, the scarce public space, roads, and public transport in Amsterdam are experiencing rising pressure. Instead of utilizing the conventional transportation routes, Autonomous Surface Vessels (ASVs) could transport goods and people via the 165 canals present in Amsterdam. <br/>However, urban canals are...
master thesis 2021
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LUO, Qi (author)
Motion planning in cluttered environments is challenging for multi-robot systems, in which each robot needs to avoid obstacles as well as other robots. This thesis presents a distributed risk-aware motion planning method for multi-robot systems in dynamic environments. For each robot navigating in a multi-robot scenario, two major risk elements...
master thesis 2021
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Brinkman, Sant (author)
Mobile robots that operate in human environments require the ability to safely navigate among humans and other obstacles. Existing approaches use Deep Reinforcement Learning (DRL) to obtain safe robot behavior in such environments, but do not ensure collision avoidance or trajectory feasibility. This issue is solved by methods combining DRL with...
master thesis 2021
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Heerkens, Evelien (author)
Mobile manipulators will be deployed in supermarkets for a large variety of tasks, for instance, for restocking products. The operation time of mobile manipulators can be reduced by generating coupled trajectories for the base and the robot's arm. When planning for high Degree of Freedom (DOF) robots, such as a mobile manipulator, in an obstacle...
master thesis 2021
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Vroom, Nino (author)
The concept of motion planning for a path following task is highly relevant. Having a comfortable reference motion is an advantage for automated vehicles, since this leads to more higher comfort for the passengers, in turn leading to higher adoption of ADAS. Defining a speed profile can be done in three different ways. First is a heuristics...
master thesis 2021
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Agarwal, Achin (author)
The successful integration of autonomous vehicles (AVs) in human environments is highly dependent on their ability to navigate safely and timely through dense traffic conditions. Such conditions involve a diverse range of human behaviors, ranging from cooperative (willing to yield) to non-cooperative human drivers (unwilling to yield) that need...
master thesis 2020
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Croll, Ewoud (author)
Social Navigation is the task of robot motion planning in an environment shared with humans.This is an especially hard sub-problem of motion planning because the planner has to dealwith a dynamic, continuous and unpredictable environment. We present a local motionplanner, namely Neural Network Model Predictive Control, for autonomous ground...
master thesis 2020
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Gupta, Sukrit (author)
A lot research has been conducted in the field of autonomous navigation of mobile robots with focus on Robot Vision and Robot Motion Planning. However, most of the classical navigation solutions require several steps of data pre-processing and hand tuning of parameters, with separate modules for vision, localization, planning and control. All...
master thesis 2020
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van den Berg, Berend (author)
Last decades the autonomous driving research field has shown exponential growth. The social benefits, which include increased safety, mobility and productivity, are the main factor that drive this growth. One of the most difficult problems that vehicle engineers must solve to develop autonomous vehicles is the motion planning problem. They must...
master thesis 2020
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