Application of Control Barrier Functions to Collision Free Model Predictive Control: Robust UAV Trajectories with MPC-CBF and Euclidean Signed Distance Fields

Recent literature in real-time trajectory planning has proposed using Control Barrier Functions (CBFs) as collision constraints in Model Predictive Control (MPC) for efficient guidance, a concept referred to as MPC-CBF. This concept has been explored for both first and second-order CBFs. However, these approaches relied on an analytical...

A Differential Flatness-based Trajectory Planner for Endpoint Control

For increasing the safety of quadcopters the development of recovery control algorithms is crucial. A common cause of quadcopter crashes is collisions. To validate recovery control algorithms on collisions, the quadcopter has to reach the post-collision state. <br/>For this, the principle of 'endpoint control' is introduced, bringing the...

Quantifying Take-Over Quality: A Novel Approach Utilizing a Scenario-Specific Optimized Reference Trajectory

Due to recent advancements in automated driving systems, drivers are able to withdraw themselves from the control loop of the vehicle in certain driving situations. However, system limits occur relatively frequently, which results in the driver having to take back control. It is argued most currently used take-over quality quantification methods...

A metaheuristic optimisation algorithm for network-wide 4D trajectory mid-term planning in a Trajectory Based Operations environment

To accommodate the fast growing air traffic in a safe and efficient way, an ATM paradigm shift from current Time Based Operations towards Trajectory Based Operations (TBO) is envisioned. TBO entails the exchange, maintenance and use of consistent 4D trajectory information for collaborative decision-making on the flight. This thesis addresses a...

Optimising Motor Control in Actuator Alignment

The automation of replanting seedlings into bigger trays (transplanting) has been a major industrialisation step in the horticultural sector. Modern machines are abundant in large companies and are quite effective, but they are very expensive both in purchase and maintenance. With major clients taking these costs for granted, designers have not...