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Ni, Xinrui (author), Hu, Wei (author), Fan, Q. (author), Cui, Yibing (author), Qi, Chongkai (author)Artificial bee colony (ABC) is a prominent algorithm that offers great exploration capabilities among various meta-heuristic algorithms. However, its monotonous and one-dimensional search strategy limits its searching performance in the solving process. Thus, to address this issue, a Q-learning based multi-strategy integrated ABC algorithm ...journal article 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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Anil Meera, A. (author)The potential impact of a grand unified theory of the brain on the robotics community might be immense, as it might hold the key to the general artificial intelligence. Such a theory might make revolutionary leaps in robot intelligence by improving the quality of our lives. The last two decades have witnessed the rise of one such brain theory -...doctoral 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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Adams, S.J.L. (author), Jarne Ornia, D. (author), Mazo, M. (author)We present a biologically inspired design for swarm foraging based on ant’s pheromone deployment, where the swarm is assumed to have very restricted capabilities. The robots do not require global or relative position measurements and the swarm is fully decentralized and needs no infrastructure in place. Additionally, the system only requires...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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Botros, Alexander (author), Gilhuly, Barry (author), Wilde, N. (author), Sadeghi, Armin (author), Alonso Mora, J. (author), Smith, Stephen L. (author)We study the problem of deploying a fleet of mobile robots to service tasks that arrive stochastically over time and at random locations in an environment. This is known as the Dynamic Vehicle Routing Problem (DVRP) and requires robots to allocate incoming tasks among themselves and find an optimal sequence for each robot. State-of-the-art...journal article 2023
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Chen, Szu Tung (author), Ermis, G. (author), Sharpanskykh, Alexei (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...journal article 2023
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Xin, Jianbin (author), Wu, Xuwen (author), D'Ariano, Andrea (author), Negenborn, R.R. (author), Zhang, Fangfang (author)Most of the existing path planning methods of automated guided vehicles (AGVs) are static. This paper proposes a new methodology for the path planning of a fleet of AGVs to improve the flexibility, robustness, and scalability of the AGV system. We mathematically describe the transport process as a dynamical system using an ad hoc mixed...journal article 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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He, Xinyu (author), He, Fang (author), Li, L. (author), Zhang, Lei (author), Xiao, Gang (author)High-tech giants and start-ups are investing in drone technologies to provide urban air delivery service, which is expected to solve the last-mile problem and mitigate road traffic congestion. However, air delivery service will not scale up without proper traffic management for drones in dense urban environment. Currently, a range of Concepts...journal article 2022
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Xin, Jianbin (author), Qu, Yaoguang (author), Zhang, Fangfang (author), Negenborn, R.R. (author)Existing motion planning algorithms for multi-robot systems must be improved to address poor coordination and increase low real-time performance. This paper proposes a new distributed real-time motion planning method for a multi-robot system using Model Predictive Contouring Control (MPCC). MPCC allows separating the tracking accuracy and...journal article 2022
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Dutta, Shamak (author), Wilde, N. (author), Smith, Stephen L. (author)We present a new mixed integer formulation for the discrete informative path planning problem in random fields. The objective is to compute a budget constrained path while collecting measurements whose linear estimate results in minimum error over a finite set of prediction locations. The problem is known to be NP-hard. However, we strive to...conference paper 2022
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Zammit, C. (author)Unmanned Aerial Vehicles (UAVs) are being integrated into all spheres of life, for a wide range of application in civil, commercial and military applications in both indoor and outdoor environments. UAV onboard intelligence is a paramount requirement in the realisation of UAV Traffic Management System (UTM) and Air Traffic Management (ATM)...doctoral thesis 2021