L. Lyons
7 records found
1
Authored
DART
A Compact Platform for Autonomous Driving Research
This paper presents the design of a research platform for autonomous driving applications, the Delft's Autonomous-driving Robotic Testbed (DART). Our goal was to design a small-scale car-like robot equipped with all the hardware needed for on-board navigation and control while ...
We propose a novel approach to track the state of charge (SoC) of batteries in mobile robots to improve their capabilities. The batteries' status is critical to accomplish their mission, but limited battery life can be a challenge. Our methodology focuses on modeling and estim ...
Time-Inverted Kuramoto Model Meets Lissajous Curves
Multi-Robot Persistent Monitoring and Target Detection
This letter proposes a distributed strategy to achieve both persistent monitoring and target detection in a rectangular and obstacle-free environment. Each robot has to repeatedly follow a smooth trajectory and avoid collisions with other robots. To achieve this goal, we rely ...
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 r ...
Contributed
autonomous vehicles to properly test new control algorithms can be a challenge
due to three main factors: costs, ...