Searched for: subject%3A%22Path%255C%252BPlanning%22
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Dirks, Remco (author)
Brachytherapy (BT) is an essential component in the curative treatment of cervical cancer. With commercial BT implant devices, called applicators, the radioactive sources can only be positioned in fixed intracavitary channels or in a fixed array of interstitial needles. Patient-tailored BT applicators containing individualised needle channels...
master thesis 2024
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Trip, Kenrick (author)
With the introduction of autonomous vehicles on public roads, their performance in emergency situations has become a strong focus. Collision Imminent Control (CIC) concerns the planning and control of aggressive evasive maneuvers for collision avoidance of automated vehicles. CIC is implemented using adaptive Nonlinear Model Predictive Control ...
master thesis 2024
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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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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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Rol, Remy (author)
master thesis 2023
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Gelling, Lars (author)
The unique six-legged swarming rover Lunar Zebro is designed and produced by students from the Delft University of Technology. The objective of the rover is to accomplish an autonomous mission on the Lunar surface by 2024. This thesis evaluates a path planning algorithm that is designed for autonomous navigation in the Lunar environment. The...
master thesis 2023
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Biront, Andreas (author)
We explain the design and analysis of a novel voxel design with the goal of reducing assembly time and complexity of the robot-material system. Recent advances in robot-material systems, on the other hand, have focused on mechanical properties, design, and production methods. Making it possible to create cellular structures in harsh and remote...
master thesis 2022
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Chen, Szu-Tung (author)
Inspired by the vision of fully autonomous airside operations at Schiphol airport, this study aims to contribute to the short-term goal of automated aircraft ground handling. In this research, we design and evaluate a multi-agent system for planning of automated ground handling. There are two main components in the system, task allocation...
master thesis 2022
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Kamphof, Jorick (author)
Growth in air traffic demand and the increasing importance of reducing emissions cause airports to consider the improvement of their ground surface movement operations in terms of efficiency and environmental impact. Over the past years, engine-off taxiing techniques have been considered to reduce the environmental impact of airport taxiing...
master thesis 2022
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Wijnands, Patrick (author)
This thesis has provided insight into how machine learning can be beneficial to path planning in container terminals. Path planning algorithms can be used in environments with automated vehicles. A well known algorithm is the A* path planning algorithm, which is the fastest optimal path planning algorithm under satisfied conditions. However, the...
master thesis 2022
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Soomers, Joost (author)
The increased pressure to reduce aircraft emissions and the growing demand for air travel causes airports to consider alternatives for fuel-inefficient aircraft taxiing. External towing tugs can be deployed to effectively reduce on-ground fuel burn of outbound aircraft. These new operations are likely to aggravate ground delays as a result of...
master thesis 2022
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Knuyt, Jerry (author)
The loss of wildlife due to illegal poaching activity poses threats on both the survival of iconic animal species and the livelihood of local communities. This research proposes a distributed surveillance model in which a UAV swarm autonomously coordinates continuous surveillance in a dynamic environment. The adaptive behaviour of poachers has...
master thesis 2022
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van Zaanen, Pam (author)
In the history of medicine and surgery, a slow transition is made from open surgery to minimally invasive surgery. Nowadays, natural orifice transluminal endoscopic surgery (NOTES) is investigated and tested. A NOTES procedure includes flexible instruments, which are inserted through natural orifices such as the mouth, nose, anus or vagina. The...
master thesis 2021
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van Unen, Wouter (author)
In the automotive industry, automation is on the rise and it increases safety while decreasing costs. Improved sensor performance and greater computing power steers the future of the shipping industry in the same direction. Avoiding obstacles in close proximity is one of the current challenges. This research provides a generic and open- source...
master thesis 2020
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Martinez Claramunt, F. (author)
Multi-robot motion planning without a central coordinator usually relies on the sharing of planned trajectories among the robots via wireless communication in order to achieve predictive collision avoidance. Path planners found in the literature that feature this scheme usually boast levels of performance comparable with their centralized...
master thesis 2020
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Lyrakis, Alex (author)
The last years there is a wide interest in UAVs which can be attributed to their low cost and wide range of use in recreational, commercial and scientific applications. Despite the large increase in drones, UAV flights are permitted only in secluded areas. In order to be granted access to public areas, it must prove its capacity to sense and...
master thesis 2019
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Haak, Kasper (author)
In modern society cars are one of the most important means of transportation. Unfortunately, many people die in car accidents around the world. Research shows that the number of fatal casualties in car accidents has been increasing for the past decade and that the largest cause of these accidents is the human driver. For this reason, research on...
master thesis 2019
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Oude Grotebevelsborg, Rik (author)
Successful implementation of fully autonomous vehicles is a much desired objective. Within the area of unmanned marine craft or unmanned surface vehicles (USV), the implementation of truly autonomous navigation is still a challenge. During times in which humans are still actively involved in the processof maritime navigation, regulations are...
master thesis 2019
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Tsutsunava, Nick (author)
Kinodynamic planning is motion planning in state space and aims to satisfy kinematic and dynamic constraints. To reduce its computational cost, a popular approach is to use sampling based methods such as RRT with off-line machine learning for estimating the steering cost and inputs. However, scalability and robustness are still open challenges...
master thesis 2018
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Aarts, Jeremy (author)
Manufacturing processes often run on a schedule, because each production step takes a certain amount of time, after which a component is transported to the next machine. Mobile robots can be used to automate transportation of components between production steps. To do so, a task scheduler assigns transportation tasks to robots and a path planner...
master thesis 2018
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