L. Ferranti
27 records found
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Unmanned Surface Vessels (USVs) face significant control challenges due to uncertain environmental disturbances, such as waves and currents. This thesis proposes a trajectory tracking controller based on Active Disturbance Rejection Control (ADRC) implemented on the DUS V2500, a
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Mobile manipulators, which integrate a robotic arm on a mobile base, are increasingly being explored and deployed in sectors such as healthcare, logistics, and aerospace. While motion planning for these systems has been studied in single-agent scenarios, the use of multiple robot
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Achieving autonomous inclined landing would be an important step towards quadrotors which are able to land anywhere and under any conditions. If a quadrotor is able to safely land anywhere, even when a landing platform is not available, this would open up many useful applica
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A secure control framework for self-triggered control
Exploiting aperiodic sampling for the detection and prevention of stealthy attacks
This thesis addresses the detection and prevention of adversarial attacks on self-triggered control (STC) systems and demonstrates how manipulating the sampling times can be used to provide a secure control framework. Secure control is vital to guarantee both the safety and secur
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This work builds upon the Gaussian Belief Propagation (GBP) stack, utilizing it as the core framework for distributed multi-robot exploration missions. The GBP stack’s key strength lies in its single-factor graph representation of competencies such as planning, map consensus, and
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Simulation environments are useful for a wide range of applications and their functionalities continue to improve every year. The aim of this thesis project was to create a simulation environment with high levels of realism and assess its capabilities through the use case of gene
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In robotic manipulation of deformable objects, the continuum nature of the object state leads to prohibitively high degrees of freedom when traditional modelling techniques are applied, leading to much research focusing on approaches that avoid an explicit object model. However,
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Socially compliant robot navigation in pedestrian environments remains challenging owing to uncertainty in human behavior and varying pedestrian preferences in different social contexts. Local optimization planners like Model Predictive Control can incorporate collision avoidance
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There is growing interest to control cyber-physical systems under complex specifications while retaining formal performance guarantees. In this thesis we present a framework for formal control of uncertain systems under complex specifications. We consider dynamical systems with r
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Motion planning in cluttered environments is challenging for multi-robot systems, in which each robot needs to avoid obstacles as well as other robots. This thesis presents a distributed risk-aware motion planning method for multi-robot systems in dynamic environments. For each r
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The concept of motion planning for a path following task is highly relevant. Having a comfortable reference motion is an advantage for automated vehicles, since this leads to more higher comfort for the passengers, in turn leading to higher adoption of ADAS. Defining a speed prof
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In the future, Human Driven Vehicles (HDV's) are expected to interact with Automated Vehicles (AV’s) and Connected AV’s (CAV’s). Due to the differences in the expected driving behavior of AV’s (ACC) and CAV’s (CACC) compared to HDV’s, the nature of traffic breakdown phenomena in
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Teleoperated online Learning from Demonstration in a partly unknown environment
Using a semi-autonomous care robot
The general approach to generate collision free motion in a constraint environment is to use path planners, which demand a known environment and potentially fail otherwise. Learning from Demonstration (LfD) can be used instead to teach the robot unknown parts of the environment,
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The free energy principle is a recent theory that originates from the neuroscience. It provides a unified framework that combines action perception and learning in the human brain. This research aims to implement the perception aspect of the free energy principle into robotics. T
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Nonholonomic mechanical systems encompass a large class of practically interesting robotic structures, such as wheeled mobile robots, space manipulators, and multi-fingered robot hands. However, few results exist on the cooperative control of such systems in a generic, distribute
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Multi-Agent Source Seeking in Unknown Environments
A hybrid adaptive feedback approach for unicycles
The application of autonomous robotic vehicles to explore unknown environments is a growing field of interest in the research community. This thesis report studies the practical implementation of employing three autonomous vehicles to navigate towards a signal emitting source in
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Advanced Driver Assistance Systems (ADAS) aim to increase safety and reduce mental workload. However, the gap in the understanding of the closed-loop driver-vehicle interaction often leads to reduced user acceptance. In this research, an optimal torque control law is calculated o
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Driving simulators are widely used for understanding Human-Machine Interaction, driver behavior and driver training. The effectiveness of such simulators in this process depends largely on their ability to generate realistic motion cues. Though the conventional filter-based motio
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Anomaly Detection in Intersection Control
Sliding Mode Observer Based Anomaly Detection in Virtual Platooning Enabled Intersection Control
Road intersections have a large impact on road accidents and travel delay. Applying infrastructure, such as stop signs and traffic lights, are supposed to prevent collisions on the intersection. However, such methods contribute to the travel delay, while accidents still occur due
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Roboat Formation Control
Sailing in Formation for Waste Transport using Roboat units
Formation control of autonomous surface vessels (ASVs) is researched extensively in the last years, since it has promising applications. However very few designed strategies have been validated during real experiments. In this research, two
control methods for distributed lea ...
control methods for distributed lea ...