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Wilde, N. (author), Smith, Stephen L. (author), Alonso-Mora, J. (author)When designing a motion planner for autonomous robots there are usually multiple objectives to be considered. However, a cost function that yields the desired trade-off between objectives is not easily obtainable. A common technique across many applications is to use a weighted sum of relevant objective functions and then carefully adapt the...journal article 2024
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Ferede, R. (author), de Croon, G.C.H.E. (author), de Wagter, C. (author), Izzo, Dario (author)Developing optimal controllers for aggressive high-speed quadcopter flight poses significant challenges in robotics. Recent trends in the field involve utilizing neural network controllers trained through supervised or reinforcement learning. However, the sim-to-real transfer introduces a reality gap, requiring the use of robust inner loop...journal article 2024
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Heinen, Jan T. (author), Brockie, S.G. (author), ten Broek, Raymund (author), van der Kruk, E. (author), Moore, J.K. (author)The ollie is the base aerial human–board maneuver, foundational to most modern skateboarding tricks. We formulate and solve an optimal control problem of a two-dimensional simplified human model and a rigid body skateboard with the objective of maximizing the height of the ollie. Our solution simultaneously discovers realistic human-applied...journal article 2024
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Goldman, Thomas (author)This thesis proposes an unsupervised Physics-Informed Neural Network (PINN) for solving optimal control problems with the direct method to design and optimize transfer trajectories. The network adheres analytically to boundary conditions and includes the objective fitness as regularization in its loss function. A test scenario of a planar Earth...master thesis 2023
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Agarwal, Ritik (author)HIsarna is a revolutionary step towards production of green steel. Due to the complex nature of the process the control of various facets of HIsarna is difficult. One of these facets is the slag-composition control, or more specifically slag-basicity. In this thesis an optimal sequential decision making strategy has been developed using the...master thesis 2023
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Spijkerman, Danny (author)Due to the increased share of (offshore) wind turbines, more stringent power requirements have been established. Importantly, the low-voltage ride-through requirement states that a wind turbine must remain connected to the electrical grid after a short intermittent grid fault. In the industry and academia many solutions have been proposed, but...master thesis 2023
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Kaffa, Lauren (author)Loss of control (LOC) is the primary cause of failure of Unmanned Aerial Vehicles (UAV). The safety of these systems can be largely improved by facilitating techniques to prevent LOC to occur, such as Flight Envelope Protection, enabling controllers to keep the system within the Safe Flight Envelope (SFE).<br/>The aim of this work is to examine...master thesis 2023
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Knoppert, Sammie (author)In the last decades, climate change is causing our environment to change rapidly, unprecedented in recent history. Civil engineering structures are dependent on the deteriorating environment they are situated in. Changes can cause an increase in loading due to, for example, extreme weather events or alter the structure’s resistance by, for...master thesis 2023
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Romeijn, Noortje (author)Rapid discharge of excess water has always been the core of Dutch water management. Due to climate change, a change in strategy is required. A future-proof drainage strategy consists of three steps: 1) retention, 2) storage, and 3) controlled removal. This thesis comprises the design and evaluation of an algorithm for groundwater-based Model...master thesis 2023
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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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Robust Jumping with an Articulated Soft Quadruped via Trajectory Optimization and Iterative LearningDing, J. (author), Sels, Mees A.van Loben (author), Angelini, Franco (author), Kober, J. (author), Della Santina, C. (author)Quadrupeds deployed in real-world scenarios need to be robust to unmodelled dynamic effects. In this work, we aim to increase the robustness of quadrupedal periodic forward jumping (i.e., pronking) by unifying cutting-edge model-based trajectory optimization and iterative learning control. Using a reduced-order soft anchor model, the...journal article 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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Zhao, J. (author), Knoop, V.L. (author), Wang, M. (author)Microscopic traffic flow models enable predictions of traffic operations, which allows traffic engineers to assess the efficiency and safety effects of roadway designs. Modeling vehicle trajectories inside intersections is challenging because there is an infinite number of possible paths in a two-dimensional space, and drivers can...journal article 2023
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Cordiano, F. (author), Fochesato, Marta (author), Huang, Linbin (author), De Schutter, B.H.K. (author)We present a model predictive control framework for a class of nonlinear systems affected by additive stochastic disturbances with (possibly) unbounded support. We consider hard input constraints and chance state constraints and we employ the unscented transform method to propagate the disturbances over the nonlinear dynamics in a...journal article 2023
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de Jong, M.N. (author), Campana, Francesca Cala (author), Li, Pengfei (author), Pan, Qiuwei (author), Giordano, G. (author)In 2022, worldwide mpox outbreaks have called attention to mpox virus infection and treatment opportunities using the drugs cidofovir and tecovirimat, which target different stages of in-host viral proliferation, respectively production and shedding. We propose a new model of in-host viral infection dynamics that distinguishes between the two...journal article 2023
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Jain, V. (author), Kumar, Sandeep Suresh (author), Papaioannou, G. (author), Happee, R. (author), Shyrokau, B. (author)In the transition from partial to high automation, occupants will no longer be actively involved in driving. This will allow the use of travel time for work or leisure, where high comfort levels preventing motion sickness are required. In this paper, an optimal trajectory planning algorithm is presented in order to minimise motion sickness in...journal article 2023
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Peters, L. (author), Rubies-Royo, Vicenç (author), Tomlin, Claire J. (author), Ferranti, L. (author), Alonso-Mora, J. (author), Stachniss, Cyrill (author), Fridovich-Keil, David (author)Robots deployed to the real world must be able to interact with other agents in their environment. Dynamic game theory provides a powerful mathematical framework for modeling scenarios in which agents have individual objectives and interactions evolve over time. However, a key limitation of such techniques is that they require a priori...journal article 2023
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Russ, M.F. (author), Philips, S.G.J. (author), Xue, X. (author), Vandersypen, L.M.K. (author)Semiconductor spin qubits demonstrated single-qubit gates with fidelities up to 99.9 % benchmarked in the single-qubit subspace. However, tomographic characterizations reveal non-negligible crosstalk errors in a larger space. Additionally, it was long thought that the two-qubit gate performance is limited by charge noise, which couples to the...journal article 2023
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Evans, Michael (author), Tindemans, Simon H. (author), Angeli, David (author)This paper proposes a framework for the procurement of flexibility reserve from aggregated storage fleets. It allows for arbitrary tree structures of aggregation hierarchy, as well as easily implementable disaggregation via broadcast dispatch. By coupling discharge and recovery modes, the proposed framework enables full-cycle capacity to be...journal article 2022
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Crossman, Genya (author)Scientific computing and applied mathematics enable the exploration of and, sometimes even, the simplification of complex systems through various optimized modeling and simulation methods. These fields create and utilize computational resources to do so. Many problems, however, are still unsolvable or very difficult to solve with current well...master thesis 2022