Essays about: "Control Barrier Function CBF"
Showing result 1 - 5 of 8 essays containing the words Control Barrier Function CBF.
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1. 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)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
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2. 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)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
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3. Control Barrier Functions for Formation Control of Leader-follower Multi-agent Systems
University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)Abstract : This thesis studies formation control for a class of general leader-follower multi-agent systems with Control Barrier Functions (CBFs) such that connectivity maintenance is fulfilled for all the neighboring agents. In leader-follower multi-agent systems, only the leader agents are controlled by the externally designed input, while the followers are guided through their dynamic couplings with the neighboring agents. READ MORE
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4. Intelligent Drone Swarms : Motion planning and safe collision avoidance control of autonomous drone swarms
University essay from Linköpings universitet/Institutionen för systemteknikAbstract : The use of unmanned aerial vehicles (UAV), so-called drones, has been growingrapidly in the last decade. Today, they are used for, among other things, monitoring missions and inspections of places that are difficult for people to access. Toefficiently and robustly execute these types of missions, a swarm of drones maybe used, i.e. READ MORE
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5. Control barrier function-enabled human-in-the-loop control for multi-robot systems : Centralized and distributed approaches
University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)Abstract : Autonomous multi-robot systems have found many real-world applications in factory settings, rescue tasks and light shows. Albeit these successful applications, the multi-robot system is usually pre-programmed with limited flexibility for online adaptation. READ MORE