R.T. Rajan
26 records found
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The usage of robots replacing human tasks has become more prevalent. Controlling multiple of these robots can be useful in applications such as disaster response, surveillance and exploration. This form of control is often achieved by using geometric patterns, such as triangles,
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Autonomous navigation is a critical aspect of robotic systems, particularly in hostile and uncertain environments, and robot localization is central to navigation. Robot localization establishes its position within its surroundings. This thesis addresses the challenge of robot lo
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Climate change poses a serious threat to ecosystems and increases the need for accurate and rigorous monitoring of ecosystems. Current monitoring solutions are often bulky, expensive, and lack critical functionalities such as on-board inference capabilities, robust wireless conne
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This thesis presents an approach to monocular depth estimation for Unmanned Aerial Vehicles (UAVs). Monocular depth estimation is a critical perception task for UAVs, enabling them to infer depth information from visual data without relying on heavy or power-consuming sensors suc
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Traditional target tracking using monostatic radar systems typically relies on centralized or decentralized architectures, where all data is transmitted to a fusion center for processing the position and velocity of mobile targets. This approach not only introduces a single point
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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 da
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The Constant Tone Extension (CTE) function introduced since Bluetooth Low Energy 5.1 greatly improves indoor Bluetooth Low Energy localization. These small, low-energy beacons transmit signals that Bluetooth-enabled devices can use to calculate proximity and positioning. This tec
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In an era marked by the demand for unprecedented levels of precision in engineering applications, the profound impact of friction forces on motion control systems cannot be underestimated. This thesis extensively investigates the frictional behavior of the Proton Motion Stage, an
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This thesis project has been done with Crownstone, a subsidiary company of Almende. One of their project goals was to develop indoor localization algorithms to determine room-level location of an asset within the Crownstone network for smart-building, home automation and healthca
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Gaussian process regression (GPR), a potent non-parametric data modeling tool, has gained attention but is hindered by its high com- putational load. State-of-the-art low-rank approximations like struc- tured kernel interpolation (SKI)-based methods offer efficiency, yet lack a s
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The evolution of aerial vehicle technology necessitates robust trajectory prediction models. These models are crucial for maintaining safe airspace and enabling autonomous operations. Automatic dependent surveillance–broadcast (ADS-B) is a surveillance system that enables aircraf
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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 prim
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Distributed formation control has received increasing attention in multiagent systems. Maintaining certain geometry in space is advantageous in many applications such as space interferometry and underwater sensing. At present, there is a variety of distributed solutions for agent
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This work is focused on the distributed system, i.e. Multi-agent Systems (MAS), with application in environmental monitoring and learning. The specific task is to develop algorithms, i.e. Gaussian Process (GP), that are robust, accurate and fully-distributed to learn the unknown
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Autonomous agents are the future of many services and industries such as delivery systems, surveillance and monitoring, and search and rescue missions. An important aspect in an autonomous agent is the navigation system it uses to traverse the environment. Not much emphasis has b
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The recent advances in wireless communication, micro-fabrication, and integration have led to the rise of multi-agent networks such as wireless sensor networks, drone swarms, and satellite arrays. These multi-agent networks comprise multiple agents, which cooperate to solve a pro
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Communication system for a deepsea robot
Analysis of underwater communication using electric quasi-static fields
In this report the analysis of underwater communication using electric quasi-static fields is undertaken, in which key aspects that influence the performance the communication between a transmitting and receiving electrode is examined. A mathematical model was proposed for the tr
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With the advancement in technology, Unmanned Aerial Vehicles (UAVs) have been able to safely maneuver in risky environments. During landing, the UAV should be able to slow down while not affecting its physical design. Currently, multiple sensors are being used to increase the acc
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In this thesis, we propose a new class of pairwise frequency, multi-domain time synchronization and ranging algorithms for anchorless mobile networks of asynchronous nodes. We apply these techniques and study network and mission level aspects of time synchronization to Orbiting L
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Autonomous robots are increasingly used in more and more applications, such as warehouse robots, search-and-rescue robots and autonomous vacuum cleaners. These applications are often in environments where the GPS signals are denied or inaccurate, which makes it difficult to loca
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