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Visar resultat 1 - 5 av 17 avhandlingar som matchar ovanstående sökkriterier.

1. 1. On Cooperative Surveillance, Online Trajectory Planning and Observer Based Control

   Författare :David A. Anisi; Xiaoming Hu; Randal Beard; KTH; []
   Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; Surveillance Missions; Minimum-Time Surveillance; Unmanned Ground Vehicles; Connectivity Constraints; Combinatorial Optimization; Computational Optimal Control; Receding Horizon Control; Mission Uncertainty; Safety; Task Completion; Adaptive Grid Methods; Missile Guidance; Nonlinear Observer Design; Active Observers; Non--uniformly Observable Systems; Mobile Robotic Systems; Intrinsic Observers; Differential Geometric Methods; Euler-Lagrange Systems; Contraction Analysis.; Optimization; systems theory; Optimeringslära; systemteori; Applied mathematics; Tillämpad matematik;

   Sammanfattning : The main body of this thesis consists of six appended papers. In the  first two, different  cooperative surveillance problems are considered. The second two consider different aspects of the trajectory planning problem, while the last two deal with observer design for mobile robotic and Euler-Lagrange systems respectively. LÄS MER

3. 2. Online trajectory planning and observer based control

   Författare :David A. Anisi; Xiaoming Hu; Daizhan Cheng; KTH; []
   Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; Computational Optimal Control; Receding Horizon Control; Mission Uncertainty; Safety; Task Completion; Consensus Problem; Simultaneous Arrival; Adaptive Grid Methods; Missile Guidance; Nonlinear Observer Design; Active Observers; Non--uniformly Observable Systems; Mobile Robotic Systems; Intrinsic Observers; Differential Geometric Methods; Euler-Lagrange Systems; Contraction Analysis.; Optimization; systems theory; Optimeringslära; systemteori;

   Sammanfattning : The main body of this thesis consists of four appended papers. The first two consider different aspects of the trajectory planning problem, while the last two deal with observer design for mobile robotic and Euler-Lagrange systems respectively. LÄS MER

4. 3. Topics in the mean-field type approach to pedestrian crowd modeling and conventions

   Författare :Alexander Aurell; Boualem Djehiche; Xiaoming Hu; Roland Malhamé; KTH; []
   Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; NATURVETENSKAP; NATURAL SCIENCES; pedestrian crowds; stochastic differential equations; mean field; stochastic control; games; backward dynamics; sticky boundary; stochastic maximum principle; social conventions; folkmassor; stokastiska differentialekvationer; medelfält; stokastisk styrning; limaktiga randvillkor; stokastiska maximumprincipen; dynamik med ändvillkor; spel; konventioner;

   Sammanfattning : This thesis consists of five appended papers, primarily addressingtopics in pedestrian crowd modeling and the formation of conventions.The first paper generalizes a pedestrian crowd model for competingsubcrowds to include nonlocal interactions and an arbitrary (butfinite) number of subcrowds. LÄS MER

5. 4. Control and coordination of mobile multi-agent systems

   Författare :Tove Gustavi; Xiaoming Hu; Kostas J. Kyriakopoulos; KTH; []
   Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; Mobile robotics; tracking; obstacle avoidance; formation control; nonlinear observers; multi-agent coordination; connectivity graphs.; Optimization; systems theory; Optimeringslära; systemteori;

   Sammanfattning : In this thesis, various control problems originating from the field of mobile robotics are considered. In particular, the thesis deals with problems that are related to the interaction and coordination of multiple mobile units. The scientific contributions are presented in five papers that together constitute the main part of the thesis. LÄS MER

7. 5. Data Filtering and Control Design for Mobile Robots

   Författare :Maja Karasalo; Xiaoming Hu; John Baras; KTH; []
   Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; formation control; tracking; nonlinear control; optimal smoothing; adaptive filtering; Optimization; systems theory; Optimeringslära; systemteori;

   Sammanfattning : In this thesis, we consider problems connected to navigation and tracking for autonomousrobots under the assumption of constraints on sensors and kinematics. We study formation controlas well as techniques for filtering and smoothing of noise contaminated input. The scientific contributions of the thesis comprise five papers. LÄS MER