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Creagh, Conor (author)In recent years, researchers have proposed a variety of approaches to tackle the problem of orbital debris. Debris targets are diverse, and prior knowledge may be limited, with unknown uncooperative debris targets being the most challenging category. A crucial portion of any debris capture scenario is the observation phase during the approach....master thesis 2024
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CHEN, XI (author)In autonomous driving, environmental perception, crucial for navigation and decision-making, depends on integrating data from multiple sensors like cameras and LiDAR. Camera-LiDAR fusion combines detailed imagery with precise depth, improving environmental awareness. Effective data fusion requires accurate extrinsic calibration to align camera...master thesis 2024
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Li, Yiting (author)Localization is one of the most fundamental competencies required by an autonomous robot, providing crucial information about its position for decision-making in indoor environments. In the current literature, an indoor localization system utilizes exteroceptive sensors such as GNSS(Global Navigation Satellite System), a camera, or an ultrasonic...master thesis 2023
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YANG, Xuzhou (author)As unmanned aerial systems (UAS) turn into a full-fledged industry, the sky will be much more crowded in the future. Large-scale UAV applications make reliable UAV navigation a pressing need. Traditionally, global navigation satellite system (GNSS) is extensively used as the primary positioning, navigation, and timing (PNT) service. However,...master thesis 2022
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Boelens, Jelle (author)The study of human motion consists of the analysis of kinematics, dealing with joint angles, velocities and accelerations, and kinetics, which deals with joint torques and interaction forces. Traditionally, kinematics and kinetics are estimated from optical marker data and sometimes measured interaction forces. Inertial measurement units (IMUs)...master thesis 2022
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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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Ali Nawaz, Ali (author)Though NanoSats are becoming increasingly capable of featuring active payloads, and acquiring inertial data at arcsec level precision; the payload operational duty-cycle largely remains limited by its data downlink capabilities. NanoSat laser communication terminal (LCT) promises 1 Gbps data downlink capabilities. However, LEO to ground free...master thesis 2020
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Klein, Keith (author)Acquiring an accurate estimate of position is a challenging problem in coherent radar processing techniques such as Synthetic Aperture Radar (SAR). Even more so, for light and agile platforms such as multi-copters. Due to their unpredictable flight path, their motion must be accurately measured during data acquisition, and compensated for during...master thesis 2020
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Narasimhan, Abishek (author)The thesis aims to develop a Fault Tolerant Control (FTC) architecture, for the case of a damaged actuator for a multirotor that can be applied across multirotor platforms based on their Attainable Virtual Control Set (AVCS). The research is aimed to study the AVCS and identify the parameters that limit the controllability of multirotor UAV post...master thesis 2020
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van Bergen, Thibaut (author)Fleet Cleaner B.V. is a Dutch company which deploys a wheeled hull-fixed Remotely Operated Vehicle (ROV) to clean biofouling off the Vertical Sides (VSs) and the Flat Bottom (FB) of the hull of seagoing cargo vessels, while berthed at the harbour. To ensure maximal cleaning coverage, accurate localization to keep track of the robot trajectory on...master thesis 2020