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- Rol, Remy (author) master thesis 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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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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Ferreira de Brito, B.F. (author)Autonomous robots will profoundly impact our society, making our roads safer, reducing labor costs and carbon dioxide (CO2) emissions, and improving our life quality. However, to make that happen, robots need to navigate among humans, which is extremely difficult. Firstly, humans do not explicitly communicate their intentions and use intuition...doctoral thesis 2022
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van Veen, Nils (author)In the field of cooperative AI, an environment is created called Overcooked AI based on the popular Overcooked game. Originally the environment is used to study deep reinforcement learning, on the other hand it also allows for cooperative planning methods of which the paper will focus on. These methods include coupled based planning with...bachelor thesis 2022
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Lupău, Cătălin (author)In this paper, we explore the creation of control algorithms for swarms of robots playing the role of either predator or prey in an environment filled with static obstacles. The paper devel- ops on a famous flock simulation model proposed by Craig Reynolds called boids. The paper analyzes a zero-sum game situation, in which one swarm of robots,...bachelor thesis 2022
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Leon Dasi, Mireia (author)The number of space objects has largely increased in the recent years, becoming a considerable threat to the present and future of satellite operations and human spaceflight. This introduces a need to accurately compute the risk of collision between satellites and space debris. Current methodologies are limited by the type of encounter and the...master thesis 2022
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Zhu, H. (author)Planning safe motions for multi-robot systems is crucial for deploying them in real-world applications such as target tracking, environmental monitoring, and multi-view cinematography. Traditional approaches mainly solve the multi-robot motion planning problem in a deterministic manner, where the robot states and system models are perfectly...doctoral thesis 2022
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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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Zhu, H. (author), Ferreira de Brito, B.F. (author), Alonso Mora, J. (author)In this paper, we present a decentralized and communication-free collision avoidance approach for multi-robot systems that accounts for both robot localization and sensing uncertainties. The approach relies on the computation of an uncertainty-aware safe region for each robot to navigate among other robots and static obstacles in the...journal article 2022
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Zhang, Liang (author), Chen, Pengfei (author), Li, M. (author), Chen, Linying (author), Mou, Junmin (author)The consequences caused by bridge failures owing to the ship-bridge collision are always severe in terms of loss of life, economy, and environmental consequences to individuals and societies. The previous studies focused on the ship-bridge collision mainly concentrated on passive anti-collision, such as strengthening the bridge structure or...journal article 2022
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Du, Zhe (author), Negenborn, R.R. (author), Reppa, V. (author)This paper proposes a distributed control scheme for autonomous tugboats to tow a ship in a restricted water traffic environment ensuring collision avoidance while being compliant with maritime regulation called COLREGS. The complex problem is cooperatively solved by addressing three sub-optimization problems. The first is to optimize the...journal article 2022
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Bai, C. (author), Yan, Peng (author), Pan, W. (author), Guo, Jifeng (author)Multi-robot formation control has been intensively studied in recent years. In practical applications, the multi-robot system's ability to independently change the formation to avoid collision among the robots or with obstacles is critical. In this study, a multi-robot adaptive formation control framework based on deep reinforcement learning...journal article 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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Metz, I.C. (author), Ellerbroek, J. (author), Mühlhausen, Thorsten (author), Kügler, Dirk (author), Hoekstra, J.M. (author)Bird strike prevention in civil aviation has traditionally focused on the airport perimeter. Since the risk of especially damaging bird strikes outside the airport boundaries is rising, this paper investigates the safety potential of operational bird strike prevention involving pilots and controllers. In such a concept, controllers would be...journal article 2021
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Zhang, Q. (author), Pan, W. (author), Reppa, V. (author)This paper presents a novel model-reference reinforcement learning algorithm for the intelligent tracking control of uncertain autonomous surface vehicles with collision avoidance. The proposed control algorithm combines a conventional control method with reinforcement learning to enhance control accuracy and intelligence. In the proposed...journal article 2021
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Zhu, H. (author), Martinez Claramunt, Francisco (author), Ferreira de Brito, B.F. (author), Alonso Mora, J. (author)This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots to achieve predictive collision avoidance. These motion predictions can be obtained among robots by...journal article 2021
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Ferreira de Brito, B.F. (author), Everett, Michael (author), How, Jonathan Patrick (author), Alonso Mora, J. (author)Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local trajectory optimization methods, such as model predictive control (MPC), can deal with those changes but require...journal article 2021
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Metz, I.C. (author), Ellerbroek, Joost (author), Mühlhausen, Thorsten (author), Kügler, Dirk (author), Kern, Stefan (author), Hoekstra, J.M. (author)Involving air traffic controllers and pilots into the bird strike prevention process is considered an essential step to increase aviation and avian safety. Prior to implementing operational measures such as real-time warning systems, it is vital to evaluate their feasibility. This paper studies the efficacy of a bird strike advisory system for...journal article 2021