Essays about: "CBF"

Showing result 1 - 5 of 21 essays containing the word CBF.

  1. 1. Safety-Critical Teleoperation with Time-Varying Delays : MPC-CBF-based approaches for obstacle avoidance

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Riccardo Periotto; [2023]
    Keywords : Robust Control Barrier Functions RCBFs ; Model Predictive Control MPC ; Obstacle Avoidance; Time-Varying Delays; Teleoperation; Robust Control Barrier Functions RCBFs ; Model Predictive Control MPC ; Obstacle Avoidance; Time-Varying Delays; Teleoperation;

    Abstract : The thesis focuses on the design of a control strategy for safety-critical remote teleoperation. The main goal is to make the controlled system track the desired velocity specified by a human operator while avoiding obstacles despite communication delays. READ MORE

  3. 2. Psilocybin Induced Psychedelic Experiences : their Neural Mechanisms and Efficacy for Treating Depressive Disorders

    University essay from Högskolan i Skövde/Institutionen för biovetenskap

    Author : Linda Lindecrantz; Nicklas Villman; [2023]
    Keywords : psilocybin; depression; fMRI; systematic review; DMN;

    Abstract : The aim of this systematic review is to present the current literature on the therapeutic potential of the classic psychedelic compound psilocybin for depressive disorders and the neurocognitive mechanisms involved recorded with functional magnetic resonance imaging (fMRI). A comprehensive literature search was conducted in the electronic databases Web of Science, Scopus and Medline EBSCO using a Boolean search string containing the keywords psilocybin, depression, fMRI, MRI and PET. READ MORE

  4. 3. Multi-robot coordination and planning with human-in-the-loop under STL specifications : Centralized and distributed frameworks

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Yixiao Zhang; [2023]
    Keywords : Multi-agent systems; Human-in-the-loop systems; Signal temporal logic; Cooperative control; ROS Implementation; Multi-agent-system; Människa-i-loop-system; Signaltemporallogik; Samarbetande styrning; ROS-implementering;

    Abstract : Recent urbanization and industrialization have brought tremendous pressure and challenges to modern autonomous systems. When considering multiple complex tasks, cooperation and coordination between multiple agents can improve efficiency in a system. READ MORE

  5. 4. On the Equivalence of Time-Varying CBF-Based Control and Prescribed Performance Control : Conversion and Qualitative Comparison

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Ryo Namerikawa; [2023]
    Keywords : Control Barrier Function; Invariance control; Nonlinear control; Prescribed Performance Control; Safety-critical system; Icke-linjär reglering; invariansreglering; säkerhetskritiska system; prestandasäkring;

    Abstract : These days, a wide range of autonomous systems, such as automobiles, delivery drones, and embedded household systems, are becoming more and more common in our society. This trend is projected to continue in the future. To effectively manage these dynamic systems, ensuring their safe operation is crucial for the well-being of our lives. READ MORE

  6. 5. Safe autonomous lane-switching controller using high-order control barrier and Lyapunov functions

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Arno Frauenfelder; [2023]
    Keywords : ;

    Abstract : With the rising interest in autonomous vehicles due to developments with electric cars and computer vision, controllers that provide safe, collision free manoeuvres are crucial for the advancement of this technology. In this thesis, a controller for autonomous vehicles for safe, collision-free lane switching on highways including adaptive cruise control is proposed. READ MORE