Sökning: "NMPC"

Visar resultat 1 - 5 av 9 avhandlingar innehållade ordet NMPC.

1. 1. Reactive Navigation Methods for Autonomous Robots: Safety, Coordination, and Field Deployment

   Författare :Björn Lindqvist; George Nikolakopoulos; Christoforos Kanellakis; Alberto Bemporad; Luleå tekniska universitet; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Field Robotics; NMPC; Obstacle Avoidance; Collision Avoidance; Multi-agent Systems; Robot Navigation; Robotics and Artificial Intelligence; Robotik och artificiell intelligens;

   Sammanfattning : In the new era of intelligent systems, small-scale electronics, and advanced sensors, the application use-cases and operational capabilities of autonomous robots are exponentially increasing. Through their ability to execute complex tasks while relying only on onboard sensors and computation, autonomous field robots are showing promising results in inspection of infrastructure, search-and-rescue or surveillance, maintenance tasks, or in general operations in areas that prove to be dangerous or hazardous for human operators to enter, while also often increasing the efficiency of such tasks. LÄS MER

3. 2. Supervisory control for emission compliance of heavy-duty vehicles

   Författare :Mohammed Razaul Karim; Chalmers tekniska högskola; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; supervisory control; Euro VI emission legislation; exhaust aftertreatment system; Pontryagin’s minimum principle; E-NMPC.; Diesel engines;

   Sammanfattning : Heavy freight trucks globally contribute to a significant proportion of transport-related air pollution. The dominant air pollutants from heavy freight trucks with diesel engine and exhaust aftertreatment system (EATS) are CO2, hydrocarbons (HC), CO, particulate matter (PM), NOX (NO and NO2), and NH3. LÄS MER

4. 3. On the utilization of Nonlinear MPC for Unmanned Aerial Vehicle Path Planning

   Författare :Björn Lindqvist; George Nikolakopoulos; Dimos Dimarogonas; Luleå tekniska universitet; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Unmanned Aerial Vehicles; Obstacle Avoidance; Collision Avoidance; Nonlinear MPC; Model Predictive Control; Multi-agent Systems; Dynamic Obstacles; Robotics and Artificial Intelligence; Robotik och artificiell intelligens;

   Sammanfattning : This compilation thesis presents an overarching framework on the utilization of nonlinear model predictive control(NMPC) for various applications in the context of Unmanned Aerial Vehicle (UAV) path planning and collision avoidance. Fast and novel optimization algorithms allow for NMPC formulations with high runtime requirement, as those posed by controlling UAVs, to also have sufficiently large prediction horizons as to in an efficient manner integrate collision avoidance in the form of set-exclusion constraints that constrain the available position-space of the robot. LÄS MER

5. 4. Risk Aware Path Planning and Dynamic Obstacle Avoidance towards Enabling Safe Robotic Missions

   Författare :Samuel Karlsson; George Nikolakopoulos; Georgia Chalvatzaki; Luleå tekniska universitet; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Robotic; Path planning; Obstacle avoidanc; Robotic missions; licenti thesis; Robotics and Artificial Intelligence; Robotik och artificiell intelligens;

   Sammanfattning : This compilation thesis presents two main contributions in path planning and obstacle avoidance, as well as an integration of the proposed modules with other frameworks to enable resilient robotic missions in complex environments.In general, through different types of robotic missions it is important to have a collision tolerant and reliable system, both regarding potential risks from collisions with dynamic and static obstacles, but also to secure the overall mission success. LÄS MER

7. 5. On Control and Deployment of Autonomous Service Robots

   Författare :Andreas Papadimitriou; George Nikolakopoulos; Christoforos Kanellakis; Martin Saska; Luleå tekniska universitet; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Robotics and Artificial Intelligence; Robotik och artificiell intelligens;

   Sammanfattning : This thesis investigates the control, modeling, and localization of unmanned service robots to enable their autonomous operation in real-world applications. Recent developments in electronics and computational capability have enabled the inspection and maintenance via aerial and ground robotic platforms, thus creating novel research opportunities in the area of control frameworks of such robotics setups. LÄS MER