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L. Ferranti

26 records found

Collision avoidance of autonomous surface vessels considering proactive COLREG compliance

How the concept of the ship domain and arena can be applied in a collision avoidance framework of ASVs

This thesis presents a COLREG-compliant collision avoidance and detection algorithm for the safe navigation of autonomous surface vessels. The method builds upon the Velocity Obstacle algorithm and implements the concept of the ship domain and the ship arena into the framework. T ...
This work introduces a novel training strategy for Gaussian Process (GP) models aimed at improving their predictive accuracy and uncertainty quantification capabilities over extended prediction horizons. This improvement is highly relevant for applications in model predictive con ...
Monitoring wildfires using multiple unmanned aerial vehicles (UAVs) is essential for timely intervention and management of the fire while minimising risks to human lives. A research gap was identified for practical UAV solutions integrating critical features, such as localisation ...

Probabilistic Motion Planning in Dynamic Environments

Parallelizable Scenario-Based Trajectory Optimization with Global Guidance

Logistics and transportation can greatly benefit from the use of autonomous robots, such as self-driving vehicles. Robots can help to move goods or people without human supervision. One of the main components that enable autonomous navigation among humans is motion planning. Moti ...

Trajectory planning and following in urban environments

To reduce traffic accidents involving vulnerable road users

This thesis presents a comprehensive approach to integrating a trajectory planner and follower for autonomous vehicles (AVs) using model predictive contouring control (MPCC). The planner generates collision-free trajectories with a kinematic bicycle model, while the follower trac ...
Many autonomous navigation tasks require mobile robots to operate in dynamic environments involving interactions between agents. Developing interaction-aware motion planning algorithms that enable safe and intelligent interactions remains challenging. Dynamic game theory renders ...
Creating autonomous Micro Aerial Vehicles for executing complex missions poses various challenges, including safe navigation in the presence of external wind disturbances. Most current navigation methods handle external wind disturbances through real-time estimation and rejection ...
The ‘New Space’ mentality is gaining in popularity and is at the basis of the growing size of satellite constellations. These satellite constellations are used for technologies such as satellite navigation and internet, but a clear framework to controlling large satellite conste ...
Electric vehicles are a cleaner and more efficient means of transport. However, the sub-energy-optimal acceleration and deceleration inputs of drivers result in speed trajectories that cause superfluous expenditure of the stored electrical energy in battery. Optimising the speed ...
Cooperative driving controllers are becoming interesting subjects for future research in automated driving with the increase in connectivity. Using true-scale
autonomous vehicles to properly test new control algorithms can be a challenge
due to three main factors: costs, ...

Model Predictive Control-based Driver Assistance System

Predicting Combined Vehicle and Driver Behaviour during Complex Truck Docking Manoeuvres

Due to the continuously increasing volume of road freight transportation, there is a need to aid or automate truck-trailer driving. Truck docking, the process of parking a truck-trailer combination at a loading dock, is one of the most difficult manoeuvres for professional driver ...
Quay walls are important structures that keep the water in harbours and canals within their bounds, and accommodate large infrastructure like roads or ship-handling structures on top of them. Due to their importance it is critical that they do not fail or collapse. Inspections ar ...
Mobile robots are getting more common in warehouses, distribution centers and factories, where they are used to boost productivity. At the same time, they are moving into the everyday world, where they need to operate in uncontrolled and cluttered environments. In order to extend ...
Recent developments have enabled the mass production of cheap, high-performance multirotors. As a result of this, the multirotor has found a large variety of different uses. Testing new algorithms using real-life flights is costly in terms of time and potentially in terms of mate ...
For travelling from point A to point B, autonomous vehicles generate a route between the points. During the mission, the vehicle uses a motion planning and controls algorithm to follow the planned route while avoiding static and dynamic obstacles. Motion planning algorithms gene ...
Research and development of motion control in the field of autonomous driving is significantly increasing nowadays. Model predictive control (MPC) is one of the most powerful and practical tools currently available. It is important to select the parameters of the MPC, such as wei ...
With inland transportation increasing every passing day, vehicle platooning offers a good solution towards travelling more efficiently. Along with reducing traffic congestion on roads, platooning also leads to better fuel consumption among vehicles, fewer accidents, and most imp ...
With increased developments and interest in platooning and higher levels of automation (SAE level 3+), the need for safety systems that are capable of monitoring system health and maintain safe operation in faulty scenarios is increasing. Methods for the detection, isolation and ...
The world is becoming increasingly congested due to a continuous growth of world population and overall wealth. Current road capacity limitations will lead to a significant decrease of traffic flow accompanied by a serious increase in global fuel consumption and air pollution. Ev ...
The progress in technology has made vehicles safer and the quest to make them even more safe is never ending. Autonomous cars present the solution to make cars much more safer by eliminating the primary cause of road accidents, human error. However, autonomous cars tend to fail i ...