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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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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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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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Panchal, Isha (author), Metz, I.C. (author), Ribeiro, M.J. (author), Armanini, S.F. (author)
With the rise of new and innovative Urban Air Mobility solutions, there also arises a need to integrate these into the existing airspace. Current airspace users include conventional civil, commercial and general aviation, military air users, police and emergency services as well as a plethora of avian life. Planned additions to the airspace are...
conference paper 2022
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Razdan, Shuhul (author)
With inland transportation increasing every passing day, vehicle platooning offers a good solution towards travelling more efficiently. Along with reducing traffic congestion on roads, platooning also leads to better fuel consumption among vehicles, fewer accidents, and most importantly, vehicle platoons can be made autonomous using optimization...
master thesis 2021
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Bootsma, B.G.N. (author)
This work applies interactive imitation learning for the navigation of a mobile robot. The algorithm"Learning Interactively to Resolve Ambiguity in Sensor Policy Fusion" (LIRA-SPF) is introduced in the field of machine learning for robot navigation. This algorithm extends on existing methods by allowing the ambiguity-free fusion of existing...
master thesis 2021
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de Groot, O.M. (author), Ferreira de Brito, B.F. (author), Ferranti, L. (author), Gavrila, D. (author), Alonso-Mora, J. (author)
We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by incorporating chance constraints into the planning problem. This problem is not suitable for online optimization...
journal article 2021
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Saparia, Smit (author)
The progress in technology has made vehicles safer and the quest to make them even more safe is never ending. Autonomous cars present the solution to make cars much more safer by eliminating the primary cause of road accidents, human error. However, autonomous cars tend to fail in decision making especially in complex traffic environment...
master thesis 2020
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de Groot, Oscar (author)
In this work we consider the problem of cooperative formation control between heterogeneous agents when time-varying delays and/or packet loss are present. Specifically, we introduce a control law for nonlinear fully actuated mechanical agents that separates the cooperative coordinates from the local coordinates, which removes the necessity for...
master thesis 2019
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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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Ledzian, Patrick (author)
Decentralized control and estimation are both active research areas in the field of systems and control. A new approach to these topics utilizes graph theory to characterize inter-agent communication as a graph that, in this thesis, can have time-varying topology. This approach has been named "network-decentralized" and the use of network...
master thesis 2019
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Chowdhri, Nishant (author)
The automotive sector has seen a rapid transition towards autonomous driving with an aim to achieve SAE Level 5 vehicle. The incessant drive for innovation has resulted in modern passenger cars equipped with plethora of control technologies such as ABS, VSC, AFS via EPS assist etc. all working respectively in various critical and non-critical...
master thesis 2019
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Li, Xiajing (author)
Multi-Agent Systems, often referred to a network of loosely connected autonomous units, are widely used to model the dynamics of crowds, vehicles, robots and swarms in traffic management, biological environment, distributed control and communication technologies. Recently, the study of multi-agent systems is rapidly growing due to the beneficial...
master thesis 2019
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van Dam, Floris (author)
In recent years there has been an increasing interest in formation flying with many lightweight spacecraft, as satellite missions can potentially become cheaper and more flexible. An example of such mission is the Silicon Wafer Integrated Femtosatellites mission, consisting of 100 to 1000 spacecraft with a mass of 0.1 kg. Due to modest control...
master thesis 2019
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Huang, Y. (author), van Gelder, P.H.A.J.M. (author)
Collision risk measurement is an essential topic for ship collision prevention. Many risk measures, i.e. DCPA/TCPA, etc., decouple the ship traffic into several pairs of ships and then evaluate the risk in each pair. This kind of measurement loses some information of the entire traffic and might include some biases in risk measurement,...
journal article 2019
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Chen, P. (author), van Gelder, P.H.A.J.M. (author), Mou, J. M. (author)
The maritime shipping industry has been making significant contributions to the development of the regional and global economy. However, maritime accidents and their severe consequences have been posing an incrementing risk to the individuals and societies. It is therefore important to conduct risk analysis on such accidents to support...
journal article 2019
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Floor, Boaz (author)
Motion planning for Autonomous Ground Vehicles (AGVs) in dynamic environments is an extensively studied and complex problem. State of the art methods provide approximate solutions that make conservative assumptions to provide safety and feasibility. We aim to outperform current methods by following a trajectory optimization-based approach,...
master thesis 2018
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van Wijk, Daan (author)
An often preferred method to control a multi-agent system is by a network-decentralised controller. Network-decentralised means that each agent only has knowledge about its own state and the state of its neighbouring agents. In this thesis the multi-agent system consists of holonomic robots moving in a 2-dimensional configuration space. Each...
master thesis 2018
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Dumont-Freixo, Quentin (author)
master thesis 2018
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van der Heide, Oane (author)
To reduce the number of traffic accidents on the roads, nowadays computers are aiding humans or taking over control from humans in vehicles. The necessity of Advanced Driver-Assistance Systems (ADAS) in vehicles is growing. New vehicles are being equipped with ADAS, like Adaptive Cruise Control (ACC), to avoid head-to-tail collisions. Still,...
master thesis 2018
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