Hierarchical Active Inference Control for a nonholonomic mobile robot

This master thesis introduces Hierarchical Active Inference Control (HAIC) as a control method for nonholonomic systems. This method only requires tuning of a minimal number of hyperparameters and has a relative low computation load. HAIC is based on recent research done in the application of the neuroscientific theory of Active Inference for...

Towards landing a deep-stalled flying-wing in a powered flat spin: a proof of concept

Flying-wings show great potential for a vast number of applications, in both commercial and military sectors, thanks to their long range and fast forward flight, but suffer due to their lack of vertical take-off and landing capabilities. This paper presents a proof of concept for a novel landing method for a conventional flying wing that does...

Target-oriented predator and prey swarm control in obstacle-filled environments

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,...

Robust adaptation in dynamically switching load frequency control

In recent years, heuristics for adaptive solutions to load frequency control (LFC) in power systems have been proposed that include adapting the LFC targets or adapting the participation factor for the resources. However, stability guarantees for these adaptation ideas are missing, especially in the presence of switching/evolving topologies...

Control Architecture for Human-Like Motion With Applications to Articulated Soft Robots

Human beings can achieve a high level of motor performance that is still unmatched in robotic systems. These capabilities can be ascribed to two main enabling factors: (i) the physical proprieties of human musculoskeletal system, and (ii) the effectiveness of the control operated by the central nervous system. Regarding point (i), the...

Bi-Level Optimal Control Algorithm for Climate Optimized Cruise Trajector: With En-route Step Climb and Descent Flight Modes

In the year 2050, global anthropogenic radiative forcing from aircraft emissions are projected to increase significantly. Recent studies have considered climate optimized flight trajectories to be a promising measure to mitigate non-CO2 emissions’ environmental impact, which is highly sensitive to locus and time of emissions. Estimating the...

Optimising the throughput for an integrated urban-freeway network: Design of an MPC controller using variable speed limits and intersection control

In this MSc Thesis project, a Model Predictive Controller (MPC controller) using variable speed limits and intersection control was designed and subsequently evaluated. The design was based on combining existing control algorithms for urban and freeway networks, integrating them. While this MPC controller improved upon throughput more than MPC...